Is there Hierarchical Reinforcement Learning documentation in the direct workflow?

[H-Hisamichi]

Dear All,

I need help on how to load multiple Low-Level Policies into the directly workflow.
I first tried to convert the navigation demo code, but gave up.
We are currently trying to port the play.py code from rsl-rl to the directly workflow code.
Is there any information that would help me import multiple learned Policies in a direct workflow?

Thank you!

[H-Hisamichi]

Dear All,

My specific issue is that in rsl-rl play.py, the env is created using gym.make(). However, when running this within the High-Level Policy code, calling gym.make() multiple times causes an error: RuntimeError: Simulation context already exists. Cannot create a new one.
How can I set up the environment for running a trained Policy without using gym.make()?
Thank you!