Isaac Cable Insertion Policy Deployment

Turn a trusted DisplayPort training checkpoint into a fresh LEAPP export and a recorded simulation trial. Use the ROS Node LEAPP runtime with Triton and Isaac Sim 6.0.0 in separate Docker containers. Compatibility checking and simulation use the same simulator container and image. Use NVIDIA images and packaged ROS dependencies.

The supported task is IsaacTraining-DisplayPortInsertion-Rizon4s-TaskSpace-ROS-Inference with the stock recurrent actor and operational-space controller. The harness validates its supported observation/action/controller contract before export. Joint-space and incompatible task variants require a deliberate implementation change.

Inputs

Find these from user input or the training report; ask only for missing inputs: