Is it possible to do Reinforcement learning research with isacc sim?

Isacc gym is a standalone system that does not directly interface with isacc sim. And the render in Isaac Gym is relatively basic, so I wonder is it possible to use isacc sim to do reinforcement learning research directly.

Hi @ligongzheng1 ,

It should be possible to do RL in Isaac Sim, but you won’t be able to get the same speed performance as Isaac Gym. Isaac Gym was designed with an end-to-end GPU pipeline with vectorized environments to boost the training time of RL. These features are currently not available in Isaac Sim.