Toolbox for Real World Deployment using ROS2 (sim2real)

[louislelay]

Hey everyone!

I just wrapped up a small Sim2Real deployment project using Isaac Lab and wanted to share it here in case it’s helpful for others working on similar setups.

I trained a policy for an end-effector reaching task in Isaac Lab and deployed it on a real Kinova Gen3 arm using a lightweight ROS2-based pipeline, with no simulation dependency at runtime.

This could be useful if you're:

• Looking for a minimal example of Sim2Real deployment
• Working with real arms and want to adapt Isaac Lab outputs
• Curious about ROS2 integration

GitHub repo (with code + instructions):
🔗 https://github.com/louislelay/kinova_isaaclab_sim2real

Demo video:
🎥 https://youtu.be/5cP7AM1-FTA

Let me know if you have any questions or feedback, always happy to discuss or improve it!

[RandomOakForest]

This is great work. Thanks for sharing this here!

[AbbassIbrahim01]

Hi ,

Thank you for sharing your work! I’m currently working on a similar project. My goal is to deploy a model trained using the Direct Forge library onto a real robot. Specifically, I want the robot to use the trained data to autonomously perform pick-and-place tasks.

Could you help me with this, or at least advise on the best approach? I’m looking for guidance on:

• Deployment strategy for the trained model

• Best practices to ensure safe and reliable execution on the actual robot

Any advice, examples, or references would be greatly appreciated.

Thank you in advance!

Best regards