Thanks for releasing this, really exciting work! Just wanted to share some issues I encountered when trying it out.

When I tried to install the repo I got an error complaining 'pip' not found at this line: https://github.com/NVIDIA-Omniverse/Orbit/blob/main/orbit.sh#L114. After changing it to use the isaac_sim python binary it did work.

Also, the franka lift env doesn't seem to train (got reward ~13 with rl_games and ~18 with rsl_rl, in both case arm just moved away ignoring the object).