Got 6/7-DoF robot arms in Isaac Lab running reinforcement learning
We've been trying RL in Isaac Lab and adapted a SO-ARM100-based setup to two robot arms from AgileX Robotics: PiPER (6-DoF) and NERO (7-DoF). The current setup includes:
- PiPER: end-effector reaching
- NERO: reaching + cube manipulation
- PPO-based training
- 64 parallel simulation environments
The main goal was to get a quick RL workflow up and running for PiPER and NERO in simulation. Will be exploring sim-to-real deployment on the physical arms. Still a work in progress, but sharing it here in case it's useful for anyone. Feel free to drop your questions, glad to communicate.
u/Agilex_Robotics — 2 days ago