[Question] Deploying SKRL Policy from IsaacLab to IsaacSim

[AndreaRossetto]

I've trained a SKRL PPO agent in IsaacLab, I'm able to play it in isaaclab and as you can see is working quite well

Video.del.2025-08-06.08-32-35.webm

I want to validate it in IsaacSim but that the model is moving "randomly" crazy.

Video.del.2025-08-06.08-29-59.webm

This is the code I use to deploy the policy in isaacsim and the configuration from the training

simDeploy.py
config.yaml

In isaacsim I set the same physics_dt and simulation_dt of isaaclab used in training, also the action scale is the same. I'm not able to deploy it in isaacsim correctly. What I can do ?

[RandomOakForest]

Thank you for posting this. Great work! It seems the issue is that the initial position of the robot in Isaac Sim is not standing. I'll move this post to our Discussions for the team and others to follow up.

[AndreaRossetto]

At the beginning seems like is jumping back

isaacsim.webm

and then it fall away and start shaking on the ground