Implementation method of the model learned with OmniIsaacGymEnvs for real robot

Omniverse Isaac Sim
1

When training with OmniIsaacGymEnvs, a PyTorch .pth file is saved. I’m exploring how to implement this in ROS for a real robot. Since OmniIsaacGymEnvs requires Omniverse libraries and the initiation of Isaac Sim, I believe a custom environment tailored for the actual robot is necessary.

I think I can get actions from the model as shown below, but I’m uncertain about how to port the structure of the model used during training to this new environment.

model = ~~~~
model = torch.load('weight.pth')
action = model(obs)
2

Hi @1616ttkj

You can take a look at this external link (Examples - skrl (1.0.0)) that contains simple examples for training in simulation (in OIGE) and deploy to real-world (Python and ROS)

1 Like
Sim_to_real problem
Connecting to Real Robot like RoboDK
3

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