Please advise on how to achieve autonomous navigation of anymal or go1 robotic dog under isaac sim?

I saw the video “Robot Autonomous with the Digital Twin in Isaac Sim” where the RL trained individual navigates autonomously in the building. Thinking about how to manually implement it yourself?

I read and tried ROS2 Navigation TUTORIALS , I would like to combine it with the aymal trained in RL in Gym to perform autonomous navigation in buildings (such as hospital scenes provided by SIM).
Navigation and RL walk Maybe a general issue, and I’m not sure if there is a suitable framework. Or can you give me some guidance? What if step by step achieves the above objectives?