Train a Quadruped Locomotion Policy and Simulate Cloth Manipulation with NVIDIA Isaac Lab and Newton

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Originally published at: https://developer.nvidia.com/blog/train-a-quadruped-locomotion-policy-and-simulate-cloth-manipulation-with-nvidia-isaac-lab-and-newton/

Physics plays a crucial role in robotic simulation, providing the foundation for accurate virtual representations of robot behavior and interactions within realistic environments. With these simulators, researchers and engineers can train, develop, test, and validate robotic control algorithms and prototype designs in a safe, accelerated, and cost-effective manner.  However, simulation often fails to match reality,…

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Would love to see this approach for the medical industry. Autonomous robots conducting procedures where a doctor/surgeon is not available.

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In Step 2, I get the following error:

File “<path_to_IsaacLab>/scripts/newton_sim2sim/rsl_rl_transfer.py”, line 147, in main
export_policy_as_jit(policy_nn, ppo_runner.obs_normalizer, path=export_model_dir, filename=“policy.pt”)

AttributeError: ‘OnPolicyRunner’ object has no attribute ‘obs_normalizer’

Any suggestions?