Adds documentation on adding your own learning library

docs/source/how-to/add_own_library.rst

+Adding your own learning library
+================================
+
+Orbit comes pre-integrated with a number of libraries (such as RSL-RL , RL-Games, Stable Baselines, etc.).
+However, you may want to integrate your own library with Orbit or use a different version of the libraries than
+the one installed by Orbit. This is possible as long as the library is available as Python package that supports
+the Python version used by the underlying simulator. For instance, if you are using Isaac Sim 2023.1.1, you need
+to ensure that the library is available for Python 3.10.
+
+Using a different version of a library
+--------------------------------------
+
+If you want to use a different version of a library than the one installed by Orbit, you can install the library
+by building it from source or using a different version of the library available on PyPI.
+
+For instance, if you want to use your own modified version of the `rsl-rl`_ library, you can follow these steps:
+
+1. Follow the instructions for installing Orbit. This will install the default version of the ``rsl-rl`` library.
+2. Clone the ``rsl-rl`` library from the GitHub repository:
+
+   .. code-block:: bash
+
+     git clone git@github.com:leggedrobotics/rsl_rl.git
+
+
+3. Install the library in your Python environment:
+
+   .. code-block:: bash
+
+     # Assuming you are in the root directory of the Orbit repository
+     cd orbit
+
+     # Note: If you are using a virtual environment, make sure to activate it before running the following command
+     ./orbit.sh -p -m pip install -e /path/to/rsl_rl
+
+In this case, the ``rsl-rl`` library will be installed in the Python environment used by Orbit. You can now use the
+``rsl-rl`` library in your experiments. To check the library version and other details, you can use the following
+command:
+
+.. code-block:: bash
+
+  ./orbit.sh -p -m pip show rsl-rl
+
+This should now show the location of the ``rsl-rl`` library as the directory where you cloned the library.
+For instance, if you cloned the library to ``/home/user/git/rsl_rl``, the output of the above command should be:
+
+.. code-block:: bash
+
+  Name: rsl_rl
+  Version: 2.0.2
+  Summary: Fast and simple RL algorithms implemented in pytorch
+  Home-page: https://github.com/leggedrobotics/rsl_rl
+  Author: ETH Zurich, NVIDIA CORPORATION
+  Author-email:
+  License: BSD-3
+  Location: /home/user/git/rsl_rl
+  Requires: torch, torchvision, numpy, GitPython, onnx
+  Required-by:
+
+
+Integrating a new library
+-------------------------
+
+Adding a new library to Orbit is similar to using a different version of a library. You can install the library
+in your Python environment and use it in your experiments. However, if you want to integrate the library with
+Orbit, you can will first need to make a wrapper for the library, as explained in
+:ref:`how-to-env-wrappers`.
+
+The following steps can be followed to integrate a new library with Orbit:
+
+1. Add your library as an extra-dependency in the ``setup.py`` for the extension ``omni.isaac.orbit_tasks``.
+   This will ensure that the library is installed when you install Orbit or it will complain if the library is not
+   installed or available.
+2. Install your library in the Python environment used by Orbit. You can do this by following the steps mentioned
+   in the previous section.
+3. Create a wrapper for the library. You can check the module :mod:`omni.isaac.orbit_tasks.utils.wrappers`
+   for examples of wrappers for different libraries. You can create a new wrapper for your library and add it to the
+   module. You can also create a new module for the wrapper if you prefer.
+4. Create workflow scripts for your library to train and evaluate agents. You can check the existing workflow scripts
+   in the ``source/standalone/workflows`` directory for examples. You can create new workflow
+   scripts for your library and add them to the directory.
+
+Optionally, you can also add some tests and documentation for the wrapper. This will help ensure that the wrapper
+works as expected and can guide users on how to use the wrapper.
+
+* Add some tests to ensure that the wrapper works as expected and remains compatible with the library.
+  These tests can be added to the ``source/extensions/omni.isaac.orbit_tasks/test/wrappers`` directory.
+* Add some documentation for the wrapper. You can add the API documentation to the
+  ``docs/source/api/orbit_tasks/omni.isaac.orbit_tasks.utils.wrappers.rst`` file.
+
+.. _rsl-rl: https://github.com/leggedrobotics/rsl_rl

docs/source/how-to/index.rst

@@ -19,5 +19,6 @@ use Orbit. If you are new to Orbit, we recommend you start with the tutorials.
     save_camera_output
     draw_markers
     wrap_rl_env
+    add_own_library
     master_omniverse
     record_animation