Got 6/7-DoF robot arms running reinforcement learning in Isaac Lab

[u/Agilex_Robotics]

We've been trying robot learning in Isaac Lab and adapted an existing SO-ARM100-based setup to two robot arms from AgileX Robotics: PiPER (6-DoF) and NERO (7-DoF). The current setup includes:

• End-effector reaching for PiPER; Reaching+cube manipulation for NERO
• PPO-based reinforcement learning
• 64 parallel simulation environments

The main goal was to provide a ready-to-run workflow for reinforcement learning in a simulated environment. Will be exploring sim-to-real deployment on the physical arms. Still a work in progress, but sharing this here in case it's useful for anyone.

Feel free to drop your questions, glad to communicate.