---
license: apache-2.0
library_name: rl-games
tags:
  - reinforcement-learning
  - isaac-lab
  - robotics
  - so-101
  - franka
---

# rotate-retainer-pin

Trained reinforcement-learning policies for the **retainer pin rotate/catch** task,
produced with Isaac Lab.

## Models

| File | Robot |
| --- | --- |
| `retainer_catch_so-101.pt` | SO-101 |
| `retainer_catch_so-101_model_1596.pt` | SO-101 (checkpoint 1596) |
| `retainer_catch_franka.pt` | Franka |

The `.pt` files are PyTorch checkpoints. Load them with the matching Isaac Lab /
rl-games environment used during training.