Using Isaac Lab's pre-trained model in another model

[ayushkumar8340]

Hello everyone,

I’m fairly new to using Isaac Lab and I’ve been experimenting with creating a project to train a robotic arm. So far, I’ve successfully trained a UR10 robot to reach a specific target point with a defined orientation, essentially achieving a 6-DOF pose. This training process produced a .pt file, which represents the trained policy.

Now, I’d like to use this trained model as part of another training setup. Specifically, I want to train a vision-based model where the reward function depends on whether the robotic arm is able to successfully reach the desired 6-DOF pose. In other words, my goal is to integrate the pre-trained .pt file into the action space of this new vision model training, and then provide rewards based on the arm’s ability to achieve the correct pose, and I don't want to retrain the UR_10's existing model.

Could anyone guide me on how I might go about implementing this?

Thanks in advance for the help.