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
IsaacLabdirectory):
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