If you use NVIDIA Isaac Sim for reinforcement learning, do you use Isaac Lab with it? Just want to get a sense of what the status quo is. [D]

The reason for this query is that I am in the process of shifting to Isaac Sim / Isaac Lab since that is what seems to be in use nowadays. However, Isaac Lab is proving to be somewhat difficult to handle.

While it handles the logging, and the creation of multi-actor systems for algorithms like PPO beautifully (with, say, hundreds of actors), its documentation leaves much to be desired. I am also concerned about the ease of setting up new robotic environments, actions, rewards, policies and possibly even custom algorithms.

So, what is it that you do at your lab?

In my mind there's a trade-off. On the one hand, I use the Isaac Lab scaffolding but run into its idiosyncracies very frequently until I document everything I need. Or, I interface directly with Isaac Sim, but then I need to write my own handlers for interfacing Isaac Sim with the RL agent.