Welcome to the OpenArm Isaac Lab Simulation Documentation.
We are developing Reinforcement Learning (RL) and Imitation Learning (IL) applications using the OpenArm model within the Isaac Sim / Isaac Lab environment. Our aim is to provide:
- Example codes for reinforcement learning tasks with OpenArm
- Seamless Sim2Real transfer for robotic manipulation tasks
All code will be released as open source to support the research and robotics community.
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Isaac Sim v4.5.0 Isaac Sim Documentation
-
Isaac Lab v2.1.0 Isaac Lab Documentation
Preview the performance of OpenArm in various manipulation tasks:
| Task | Demo Preview |
|---|---|
| Reaching |  |
| Lifting a Cube |  |
| Opening a Drawer |  |
We are actively developing and will soon release:
- Reinforcement Learning examples
- Imitation Learning examples
- Sim2Real transfer code
- Pretrained policies and curriculum examples
- Read the documentation
- Join the community on Discord
- Contact us through [email protected]
Copyright 2025 Enactic, Inc.
All participation in the OpenArm project is governed by our Code of Conduct.