9. Isaac Gym

The Omniverse Isaac Gym extension provides an interface for performing reinforcement learning training and inferencing in Isaac Sim. This framework simplifies the process of connecting reinforcement learning libraries and algorithms with other components in Isaac Sim. Similar to existing frameworks and environment wrapper classes that inherit from gym.Env, the Omniverse Isaac Gym extension also provides an interface inheriting from gym.Env and implements a simple set of APIs required by most common RL libraries. This interface can be used as a bridge connecting RL libraries with physics simulation and tasks running in the Isaac Sim framework.

These set of tutorials details usage of Omniverse Isaac Gym and Orbit, an open-sourced unified and modular framework for robot learning.