Are there any courses for isaac gym? particular in generating and implementing robot gaits

Hi I builkd small arduino robots but would like to use rl for their gaits.
I got isaac gym working and got my urdf walking using the ant example
would really love to learn a lot more about RL to implement the policies that I creast on arduino/raspi on my hardware robots… there isnt much information how to do this… are there any courses to learn to use isaac gym?

the README and code in this repo may be helpful to you, the anymal robot walking example is implemented in this repo as well