Best controller for manipulator (UR) in OmniIsaacGymEnv

I am having difficulties coming up with a controller for a vectorized RL environment in OmniIsaacGymEnv. Isaac Sim has the RMPFlow controller but I can’t find an example on how to vectorize it. Is this possible? Will it be slow? If not what are my options in OmniIsaacGymEnv?

Thank you!

Hi @paolo.a.torrado

The last part of this post may help:

This is great. Thank you for sharing. It fixed my issue.

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