| # Isaac Lab Evaluation Tasks | |
| [](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html) | |
| [](https://isaac-sim.github.io/IsaacLab/main/index.html) | |
| [](https://docs.python.org/3/whatsnew/3.11.html) | |
| [](https://releases.ubuntu.com/20.04/) | |
| [](https://github.com/isaac-sim/IsaacLab/actions/workflows/pre-commit.yaml) | |
| [](https://opensource.org/license/apache-2-0) | |
| ## 📝 Overview | |
| This repository introduces two new industrial manipulation tasks designed in [Isaac Lab](https://isaac-sim.github.io/IsaacLab/main/index.html), enabling simulating and evaluating manipulation policies (e.g. [Isaac GR00T N1](https://github.com/NVIDIA/Isaac-GR00T/tree/n1-release)) using a humanoid robot. The tasks are designed to simulate realistic industrial scenarios, including Nut Pouring and Exhaust Pipe Sorting. | |
| It also provides benchmarking scripts for closed-loop evaluation of manipulation policy (i.e. Isaac GR00T N1) with post-trained checkpoints. These scripts enable developers to load prebuilt Isaac Lab environments and industrial tasks—such as nut pouring and pipe sorting—and run standardized benchmarks to quantitatively assess policy performance. | |
| ## 📦 Installation | |
| For detailed installation instructions, see [Installation Guide](doc/installation.md). | |
| ## 🛠️ Evaluation Tasks | |
| Two industrial tasks have been created in [Isaac Lab](https://isaac-sim.github.io/IsaacLab/main/index.html) to simulate robotic manipulation scenarios. The environments are set up with a humanoid robot (i.e. Fourier GR1-T2) positioned in front of several industrial objects on a table. This can include multi-step bi-manual tasks such as grasping, moving, sorting, or placing the objects into specific locations. | |
| The robot is positioned upright, facing the table with both arms slightly bent and hands open. A first-person-view monocular RGB camera is mounted on its head to cover the workspace. | |
| ### Nut Pouring | |
| <div align="center"> | |
| <img src="doc/gr-1_nut_pouring_policy.gif" width="600" alt="Nut Pouring Task"> | |
| <p><em>The robot picks up a beaker containing metallic nuts, pours one nut into a bowl, and places the bowl on a scale.</em></p> | |
| </div> | |
| The task is defined as successful if following criteria have been met. | |
| 1. The sorting beaker is placed in the sorting bin | |
| 2. The factory nut is in the sorting bowl | |
| 3. The sorting bowl is placed on the sorting scale | |
| ### Exhaust Pipe Sorting | |
| <div align="center"> | |
| <img src="doc/gr-1_exhaust_pipe_demo.gif" width="600" alt="Exhaust Pipe Sorting Task"> | |
| <p><em>The robot picks up the blue exhaust pipe, transfers it to the other hand, and places the pipe into the blue bin.</em></p> | |
| </div> | |
| The task is defined as successful if following criteria has been met. | |
| 1. The blue exhaust pipe is placed in the correct position | |
| ## 📦 Downloading Datasets (Optional) | |
| For dataset information and download instructions, see [Datasets Guide](doc/datasets.md). | |
| ## 🤖 Isaac GR00T N1 Policy Post Training (Optional) | |
| For detailed post-training instructions including data conversion and model fine-tuning, see [Post Training Guide](doc/post-training.md). | |
| ## 📦 Downloading Checkpoints | |
| For information on available pre-trained checkpoints and download instructions, see [Checkpoints Guide](doc/checkpoints.md). | |
| ## 📈 Policy Closed-loop Evaluation | |
| For detailed evaluation instructions including benchmarking features and performance results, see [Evaluation Guide](doc/evaluation.md). | |
| ## Code formatting | |
| We have a pre-commit template to automatically format your code. | |
| To install pre-commit: | |
| ```bash | |
| pip install pre-commit | |
| ``` | |
| Then you can run pre-commit with: | |
| ```bash | |
| pre-commit run --all-files | |
| ``` | |
| ## Troubleshooting | |
| For common issues and solutions, see [Troubleshooting Guide](doc/troubleshooting.md). | |
| ## Contributing | |
| For more details, see [CONTRIBUTING.md](CONTIRBUTING.md) | |