Isaac Learning&Sim

This is recording the Isaac family learning and simulation.

IsaaSim setup

1. Install IsaacSim as the instruction.
2. Python interpreter in isaacsim-x.x.x/python.sh and isaacsim-x.x.x/kit/python/bin/python3.
3. Run script with the IsaacSim python path and a SimulationApp file header

IsaaLab setup

1. Git clone IsaacLab.
2. Link to IsaacSim python interpreter.
3. Install dependency.

Custom RL task

1. Git clone IsaacLab.
2. Link to IsaacSim python interpreter.
3. Install dependency.
It seems that the drake installation in python3.7 doesn't support Parser.AddModelsXX, but only support Parser.AddModelFromFile. The latter function encounter troubles when importing urdf files.