Status
Open
- Use the existing reach task found here: isaac_so_arm101
- Base task: Isaac Lab Reach Task (move robot arm to a target).
- Reference repo: kinova_isaaclab_sim2real.
- Pipeline:
- Sim → Train reach policy in Isaac Lab (using rsl_rl or rl_games).
- ROS 2 fake hardware → Validate on a simulated ROS 2 robot driver without real hardware.
- Real hardware → Deploy the same trained policy directly to a Kinova Gen3 (or other robot with ROS 2 drivers).
- Key idea: Isaac Lab handles training, ROS 2 handles deployment. No need for Isaac Sim at runtime on the real robot.
- Why it matters: Demonstrates the full sim-to-real loop — train once, reuse policies across both sim and physical robots.