Reinforcement Learning Instructions

This code is based off the rl_games and IsaacGymEnvs codebases.

Install the simulation environment

Install IsaacGym by following the instructions in the official page. Then, install the required packages:

pip install -e IsaacGymEnvs
pip install -e rl_games

To train the policy, run the following commands:

cd IsaacGymEnvs/isaacgymenvs
python launch.py

See the launch.py file for the available options.