How to evaluate policy on real robot and sim environment

[ShiyaoExtendQA]

I am working on evaluating a trained policy on a real robot and in a simulated environment (Isaac Gym). However, I am uncertain about the process and communication mechanisms involved.

My questions are:

• Evaluating on a real robot:

How do I retrieve real-time observations from the real robot with Lerobot?

• Evaluating in simulation (Isaac Gym):

Can I directly evaluate my trained policy in Isaac Gym?