How can ı use the policies in Isaac SIM?

Robotics & Edge Computing Robotics - Isaac Isaac Gym
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1

How can ise the policies in Isaac sim?
I have train my Unitree Go1 and ı have .pt files. But i dont know how can i use this file.
I tried change the anymal_standalone.py but it doesnt work. Because this .pt file doesnt contain “constants.pkl” and the “code”.

Original anymal pt file and my train policies.

Screenshot from 2023-07-04 14-43-16
Screenshot from 2023-07-04 14-43-161920×1080 172 KB

https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_gym_transfer_policy.html
This page doesn’t useful. Because it just talk about differences. It doesnt talk about how can i use the policies in ısaac sim. Please help. Please ask question for the details.

Thanks in advance.

2

Hi! Have you solved it? I think you can check this Deploying Policies in Isaac Sim — Omniverse IsaacSim, and see < Exporting> in the tutorial.

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To use the trained .pt policy files in Isaac Sim, you need to load them using PyTorch’s torch.load() function in your script, such as anymal_standalone.py, and ensure the model is in evaluation mode with model.eval(). The policy file should output actions based on the robot’s observations (e.g., joint states, velocities), and these outputs need to be applied to the robot’s actuators in Isaac Sim. If the .pt file is missing essential files like constants.pkl or the original training code, you’ll need those to ensure proper integration. For detailed guidance, refer to the Isaac Sim documentation and forums, or visit rookiesideloader.com for more resources.