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Add docs for gear assembly validation #4380

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3 changes: 3 additions & 0 deletions ...tatic/policy_deployment/02_gear_assembly/isaaclab_gear_insertion_validation.gif
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38 changes: 37 additions & 1 deletion docs/source/policy_deployment/02_gear_assembly/gear_assembly_policy.rst
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Expand Up @@ -490,7 +490,43 @@ You can monitor training metrics in real-time using TensorBoard. Open a new term
Replace ``<log_dir>`` with the path to your training logs (e.g., ``logs/rsl_rl/gear_assembly_ur10e/2025-11-19_19-31-01``). TensorBoard will display plots showing rewards, episode lengths, and other metrics. Verify that the rewards are increasing over iterations to ensure the policy is learning successfully.


Step 3: Deploy on Real Robot
Step 3: Validating in Isaac Lab
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

After training is complete, validate the trained policy in Isaac Lab before deploying to real hardware:

.. code-block:: bash

python scripts/reinforcement_learning/rsl_rl/play.py \
--task Isaac-Deploy-GearAssembly-UR10e-2F140-v0 \
--num_envs 1 \
--checkpoint <path_to_checkpoint>

Replace ``<path_to_checkpoint>`` with the path to your trained model checkpoint (e.g., ``logs/rsl_rl/gear_assembly_ur10e/2025-11-19_19-31-01/model_1499.pt``).

This will run the policy in the simulation viewer where you can visually verify that the gear insertion is working correctly.

.. figure:: ../../_static/policy_deployment/02_gear_assembly/isaaclab_gear_insertion_validation.gif
:align: center
:figwidth: 100%
:alt: Gear insertion policy validation in Isaac Lab

Validating the trained gear insertion policy in Isaac Lab simulation.


Step 4: Validating with Isaac Sim + Isaac ROS
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Before deploying to real hardware, you can validate the full ROS integration and deployment workflow using Isaac Sim with Isaac ROS. This allows you to test the complete system including:

- Policy inference with ROS integration
- Robot control through ROS action interfaces
- Visualization of the robot behavior

Follow the `Gear Insertion Policy Tutorial with Isaac Sim <https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/tutorials/isaac_sim/tutorial_isaac_sim_gear_insertion_policy.html>`_ to set up and validate the complete pipeline in simulation before moving to real hardware.


Step 5: Deploy on Real Robot
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Once training is complete, follow the `Isaac ROS inference documentation <https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/packages/isaac_manipulator_ur_dnn_policy/index.html>`_ to deploy your policy.
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