[Question] sim2real for imitation learning

[YongcanZhou]

https://isaac-sim.github.io/IsaacLab/main/source/overview/imitation-learning/teleop_imitation.html

How can I infer the .pth file trained by imitation learning on a real machine? Can I use ROS to simultaneously view the robot operation and the movement of the real machine in the isaaclab interface? Are there any recommended codes for this? Thank you very much