Installation

Pre-requisites

• For Policy Closed-loop Evaluation, we have tested on Ubuntu 22.04, GPU: L40, RTX 4090 and A6000 Ada, and Python==3.11, CUDA version 12.8. DGX Spark and Blackwell has not yet been supported when running GR00T models.
• For Policy Post Training, see GR00T-N1 pre-requisites
• Please make sure you have the following dependencies installed in your system: ffmpeg, libsm6, libxext6

Setup Development Environment

• Install Isaac Lab by following the installation guide. We recommend using the conda installation as it simplifies calling Python scripts from the terminal.

• Clone this repository separately from the Isaac Lab installation (i.e. outside the IsaacLab directory):

git clone --recurse-submodules git@github.com:isaac-sim/IsaacLabEvalTasks.git

• Using a python interpreter or conda/virtual env that has Isaac Lab installed, install the library required by Isaac GR00T N1

# Within IsaacLabEvalTasks directory
cd submodules/Isaac-GR00T
pip install --upgrade setuptools
pip install -e .[base]
pip install --no-build-isolation flash-attn==2.7.1.post4
export PYTHONPATH=$PYTHONPATH:$INSTALL_DIR/IsaacLabEvalTasks/submodules/Isaac-GR00T

• Verify that the GR00T deps are correctly installed by running the following command:

python -c "import gr00t; print('gr00t imported successfully')"

• Using a python interpreter or conda/virtual env that has Isaac Lab installed, install the library of Evaluation Tasks

# Within IsaacLabEvalTasks directory
python -m pip install -e source/isaaclab_eval_tasks