Advice on Implementing a Python-Based Workspace for RL Tasks on LIMO Agilex

Omniverse Isaac Sim
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Hey everyone, I’m working on my thesis project, integrating reinforcement learning tasks on a LIMO Agilex robot using Isaac Sim with ROS2. I need to set up a Python-based workspace within Isaac Sim to efficiently develop, train, and test RL algorithms before deploying them on the real robot.

Does anyone have experience or tips on:

  • Best practices for structuring a Python-based RL workspace in Isaac Sim?
  • Useful libraries/frameworks that integrate well with Isaac Sim and NVIDIA’s RL tools?
  • Optimizing RL training/simulation for smooth transfer to the physical robot?

Any insights or shared experiences would be greatly appreciated. Thanks in advance.

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Thank you for posting this. It would be great if you’d like to give Isaac Lab a try. Isaac Lab is the robot learning framework of Isaac Sim. There is a great list of tutorials and how-to’s while the community is developing also amazing resources. See for example, this playlist of tutorials, and this how-to on Isaac Lab and ROS2. Isaac Lab is actively and heavily developed by NVIDIA.