Sim2Real RL Pipeline for Kinova Gen3 – Isaac Lab + ROS 2 Deployment

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Hey all :waving_hand:

Over the past few weeks, I’ve been working on a sim2real pipeline to bring a simple reinforcement learning reach task from simulation to a real Kinova Gen3 arm. I used Isaac Lab for training and deployed everything through ROS 2.

:link: GitHub repo: GitHub - louislelay/kinova_isaaclab_sim2real: Codebase for Kinova Gen3 training in Isaac Lab, sim2real transfer and ROS deployment.

The repo includes:

  • RL training scripts using Isaac Lab
  • ROS 2-only deployment (no simulator needed at runtime)
  • A trained policy you can test right away on hardware

It’s meant to be simple, modular, and a good base for building on. Hope it’s useful or sparks some ideas for others working on sim2real or robotic manipulation!

~ Louis

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