.. FurnitureBench documentation master file, created by
   sphinx-quickstart on Wed Mar 15 17:03:10 2023.
   You can adapt this file completely to your liking, but it should at least
   contain the root `toctree` directive.

FurnitureBench
==============

**FurnitureBench** is a reproducible real-world furniture assembly benchmark for long-horizon and complex robotic manipulation.
It includes a standardized environment setup and a large dataset of over 200 hours of teleoperation demonstrations.
Furthermore, we provide a simulator, **FurnitureSim**, that enables easy and fast evaluation of algorithms.

This document includes FurnitureBench setup instructions, links to datasets and 3D models, and basic tutorials for FurnitureBench and FurnitureSim.
A general overview of FurnitureBench is available in our `project website <../index.html>`_.

.. figure:: _static/images/furniture_teaser.jpg
   :width: 100%
   :alt: furniture_teaser

If you use FurnitureBench in your research, please cite `our paper <http://arxiv.org/abs/2305.12821>`_:

.. code-block:: bibtex

    @inproceedings{heo2023furniturebench,
      title={FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation},
      author={Minho Heo and Youngwoon Lee and Doohyun Lee and Joseph J. Lim},
      booktitle={Robotics: Science and Systems},
      year={2023}
    }


.. toctree::
   :maxdepth: 1
   :caption: Getting Started
   :hidden:

   getting_started/furniturebench_overview
   getting_started/installing_furniture_bench
   getting_started/installing_furniture_sim

.. toctree::
   :maxdepth: 1
   :caption: Tutorials
   :hidden:

   tutorials/furniture_bench
   tutorials/furniture_sim
   tutorials/training_and_testing
   tutorials/dataset
   tutorials/teleoperation

.. toctree::
   :maxdepth: 1
   :caption: References
   :hidden:

   references/code_organization
   references/troubleshooting
   references/development_roadmap
   references/3d_printing

.. Indices and tables
.. ==================

.. * :ref:`genindex`
.. * :ref:`modindex`
.. * :ref:`search`