Sim2Real in Isaac Lab

Omniverse Isaac Sim
1

Hello there,

Is there any support for Sim2Real in Isaac Lab? My goal is to perform a task, for example Isaac-Lift-Cube-Franka-v0, with my real Franka robot? I can provide the necessary observations to the model, how can I use weights of the training in a real setup?

Thanks

2

Hi @pedrosilva7320

That will depend on the RL library you used for training.
A possible solution is to create/replicate a Gymnasium API-based environment where observations/actions come from/control the real robot.

In the skrl’s docs Real-world examples you can find a basic example that, although it was trained with the now deprecated Isaac Gym preview and Omniverse Isaac Gym, is well suited to illustrate the case.

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