Deploying a manipulator control policy into Isaac SIm

[ZachAtkins0n]

I have a successful control policy using rsl_rl using the Isaac Reach environment for manipulator which works when I play the environment in Isaac Lab. Now I'm trying to deploy this to Isaac Sim itself in order to read the joint positions using ROS. I've tried following the docs for deploying a policy with the H1 example, however now I'm getting stuck with the following error:

RuntimeError: mat1 and mat2 shapes cannot be multiplied (1x32 and 41x32)

I'm not sure where to look to resolve this issue

[RandomOakForest]

Thanks for posting this. Could you share a more complete error log file and code? That error just seems to say the second matrix should be transposed.

[ZachAtkins0n]

I've found that issue was because of the joints initiated in isaaclab for the robot arm and not all the joints are initiated specifically for the robotiq gripper itself. This means a conflicting issue occurs with the usd file to control the robot arm in isaacsim as it tries to use all the joint positions for movement including mimic joints as well, whilst the policy only makes use 7 joints.