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.dockerignore

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+# ignore .git related folders
+.git/
+.github/
+.gitignore
+# ignore docs
+docs/
+# ignore logs
+**/logs/
+**/runs/
+**/output/*
+**/outputs/*
+**/videos/*
+*.tmp
+# ignore docker
+docker/cluster/exports/
+docker/.container.cfg
+# ignore recordings
+recordings/
+# ignore __pycache__
+**/__pycache__/
+**/*.egg-info/
+# ignore isaac sim symlink
+_isaac_sim?

.flake8

@@ -0,0 +1,24 @@
+# copied from https://github.com/isaac-sim/IsaacLab/blob/main/.flake8
+
+[flake8]
+show-source=True
+statistics=True
+per-file-ignores=*/__init__.py:F401
+# E402: Module level import not at top of file
+# E501: Line too long
+# W503: Line break before binary operator
+# E203: Whitespace before ':' -> conflicts with black
+# D401: First line should be in imperative mood
+# R504: Unnecessary variable assignment before return statement.
+# R505: Unnecessary elif after return statement
+# SIM102: Use a single if-statement instead of nested if-statements
+# SIM117: Merge with statements for context managers that have same scope.
+ignore=E402,E501,W503,E203,D401,R504,R505,SIM102,SIM117
+max-line-length = 120
+max-complexity = 30
+exclude=_*,.vscode,.git,docs/**
+# docstrings
+docstring-convention=google
+# annotations
+suppress-none-returning=True
+allow-star-arg-any=True

.gitattributes

@@ -1,60 +1,46 @@
-*.7z filter=lfs diff=lfs merge=lfs -text
-*.arrow filter=lfs diff=lfs merge=lfs -text
-*.avro filter=lfs diff=lfs merge=lfs -text
-*.bin filter=lfs diff=lfs merge=lfs -text
-*.bz2 filter=lfs diff=lfs merge=lfs -text
-*.ckpt filter=lfs diff=lfs merge=lfs -text
-*.ftz filter=lfs diff=lfs merge=lfs -text
-*.gz filter=lfs diff=lfs merge=lfs -text
-*.h5 filter=lfs diff=lfs merge=lfs -text
-*.joblib filter=lfs diff=lfs merge=lfs -text
-*.lfs.* filter=lfs diff=lfs merge=lfs -text
-*.lz4 filter=lfs diff=lfs merge=lfs -text
-*.mds filter=lfs diff=lfs merge=lfs -text
-*.mlmodel filter=lfs diff=lfs merge=lfs -text
-*.model filter=lfs diff=lfs merge=lfs -text
-*.msgpack filter=lfs diff=lfs merge=lfs -text
-*.npy filter=lfs diff=lfs merge=lfs -text
-*.npz filter=lfs diff=lfs merge=lfs -text
-*.onnx filter=lfs diff=lfs merge=lfs -text
-*.ot filter=lfs diff=lfs merge=lfs -text
-*.parquet filter=lfs diff=lfs merge=lfs -text
-*.pb filter=lfs diff=lfs merge=lfs -text
-*.pickle filter=lfs diff=lfs merge=lfs -text
-*.pkl filter=lfs diff=lfs merge=lfs -text
-*.pt filter=lfs diff=lfs merge=lfs -text
-*.pth filter=lfs diff=lfs merge=lfs -text
-*.rar filter=lfs diff=lfs merge=lfs -text
-*.safetensors filter=lfs diff=lfs merge=lfs -text
-saved_model/**/* filter=lfs diff=lfs merge=lfs -text
-*.tar.* filter=lfs diff=lfs merge=lfs -text
-*.tar filter=lfs diff=lfs merge=lfs -text
-*.tflite filter=lfs diff=lfs merge=lfs -text
-*.tgz filter=lfs diff=lfs merge=lfs -text
-*.wasm filter=lfs diff=lfs merge=lfs -text
-*.xz filter=lfs diff=lfs merge=lfs -text
-*.zip filter=lfs diff=lfs merge=lfs -text
-*.zst filter=lfs diff=lfs merge=lfs -text
-*tfevents* filter=lfs diff=lfs merge=lfs -text
-# Audio files - uncompressed
-*.pcm filter=lfs diff=lfs merge=lfs -text
-*.sam filter=lfs diff=lfs merge=lfs -text
-*.raw filter=lfs diff=lfs merge=lfs -text
-# Audio files - compressed
-*.aac filter=lfs diff=lfs merge=lfs -text
-*.flac filter=lfs diff=lfs merge=lfs -text
-*.mp3 filter=lfs diff=lfs merge=lfs -text
-*.ogg filter=lfs diff=lfs merge=lfs -text
-*.wav filter=lfs diff=lfs merge=lfs -text
-# Image files - uncompressed
-*.bmp filter=lfs diff=lfs merge=lfs -text
+# copied and modified from https://github.com/NVIDIA/warp/blob/main/.gitattributes
+* text=auto
+*.sh text eol=LF
+
+# copied from https://github.com/isaac-sim/IsaacLab/blob/main/.gitattributes
+*.usd filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text
+*.mtl filter=lfs diff=lfs merge=lfs -text
+*.obj filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
-*.tiff filter=lfs diff=lfs merge=lfs -text
-# Image files - compressed
 *.jpg filter=lfs diff=lfs merge=lfs -text
-*.jpeg filter=lfs diff=lfs merge=lfs -text
-*.webp filter=lfs diff=lfs merge=lfs -text
-# Video files - compressed
+*.psd filter=lfs diff=lfs merge=lfs -text
 *.mp4 filter=lfs diff=lfs merge=lfs -text
-*.webm filter=lfs diff=lfs merge=lfs -text
+*.usda filter=lfs diff=lfs merge=lfs -text
+*.hdr filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.jit filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_annotated/lerobot/data/chunk-000/episode_000000.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_annotated/lerobot/data/chunk-000/episode_000001.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_annotated/lerobot/data/chunk-000/episode_000002.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_annotated/lerobot/data/chunk-000/episode_000003.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_annotated/lerobot/data/chunk-000/episode_000004.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_annotated.hdf5 filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000000.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000001.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000002.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000003.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000004.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000005.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000006.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000007.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000008.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000009.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000010.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000011.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000012.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000013.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000014.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000015.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000016.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000017.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000018.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000019.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small/lerobot/data/chunk-000/episode_000020.parquet filter=lfs diff=lfs merge=lfs -text
+datasets/apple_pick_place_generated_small.hdf5 filter=lfs diff=lfs merge=lfs -text

.gitignore

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+# Omniverse
+**/*.dmp
+**/.thumbs
+
+# Python
+.DS_Store
+**/*.egg-info/
+**/__pycache__/
+**/.pytest_cache/
+**/*.pyc
+**/*.pb
+
+# IDE
+**/.idea/
+**/.vscode/
+# Don't ignore the top-level .vscode directory as it is
+# used to configure VS Code settings
+!.vscode
+
+# Outputs
+**/runs/*
+**/logs/*
+**/recordings/*
+**/output/*
+**/outputs/*
+**/videos/*
+**/wandb/*
+**/.neptune/*
+docker/artifacts/
+*.tmp
+
+# Isaac-Sim packman
+_isaac_sim*
+_repo
+_build
+.lastformat
+
+datasets_large/

.gitmodules

@@ -0,0 +1,4 @@
+[submodule "submodules/Isaac-GR00T"]
+	path = submodules/Isaac-GR00T
+	url = git@github.com:NVIDIA/Isaac-GR00T.git
+	branch = n1-release

.pre-commit-config.yaml

@@ -0,0 +1,49 @@
+repos:
+  - repo: https://github.com/python/black
+    rev: 23.10.1
+    hooks:
+      - id: black
+        args: ["--line-length", "120", "--preview"]
+  - repo: https://github.com/pycqa/flake8
+    rev: 6.1.0
+    hooks:
+      - id: flake8
+        additional_dependencies: [flake8-simplify, flake8-return]
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: trailing-whitespace
+      - id: check-symlinks
+      - id: destroyed-symlinks
+      - id: check-yaml
+      - id: check-merge-conflict
+      - id: check-case-conflict
+      - id: check-executables-have-shebangs
+      - id: check-toml
+      - id: end-of-file-fixer
+      - id: check-shebang-scripts-are-executable
+      - id: detect-private-key
+      - id: debug-statements
+  - repo: https://github.com/pycqa/isort
+    rev: 5.12.0
+    hooks:
+      - id: isort
+        name: isort (python)
+        args: ["--profile", "black", "--filter-files"]
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.15.0
+    hooks:
+      - id: pyupgrade
+        args: ["--py37-plus"]
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        additional_dependencies:
+        - tomli
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal

.vscode/.gitignore

@@ -0,0 +1,10 @@
+# Note: These files are kept for development purposes only.
+!tools/launch.template.json
+!tools/settings.template.json
+!tools/setup_vscode.py
+!extensions.json
+!tasks.json
+
+# Ignore all other files
+.python.env
+*.json

.vscode/extensions.json

@@ -0,0 +1,12 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846
+	// for the documentation about the extensions.json format
+	"recommendations": [
+		"ms-python.python",
+		"ms-python.vscode-pylance",
+		"ban.spellright",
+		"ms-iot.vscode-ros",
+		"ms-python.black-formatter",
+		"ms-python.flake8",
+	]
+}

.vscode/tasks.json

@@ -0,0 +1,23 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "setup_python_env",
+            "type": "shell",
+            "linux": {
+                "command": "${input:isaac_path}/python.sh ${workspaceFolder}/.vscode/tools/setup_vscode.py --isaac_path ${input:isaac_path}"
+            },
+            "windows": {
+                "command": "${input:isaac_path}/python.bat ${workspaceFolder}/.vscode/tools/setup_vscode.py --isaac_path ${input:isaac_path}"
+            }
+        }
+    ],
+    "inputs": [
+        {
+            "id": "isaac_path",
+            "description": "Absolute path to the current Isaac Sim installation. Can be skipped if Isaac Sim installed from pip.",
+            "default": "${HOME}/.local/share/ov/pkg/isaac_sim-4.2.0",
+            "type": "promptString"
+        },
+    ]
+}

.vscode/tools/launch.template.json

@@ -0,0 +1,66 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        // For standalone script execution
+        {
+            "name": "Python: Current File",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "${file}",
+            "console": "integratedTerminal",
+        },
+        {
+            "name": "Python: Train Environment",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Isaac-Velocity-Flat-Anymal-D-v0", "--num_envs", "4096", "--headless"],
+            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
+            "console": "integratedTerminal",
+        },
+        {
+            "name": "Python: Play Environment",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Isaac-Velocity-Flat-Anymal-D-Play-v0", "--num_envs", "32"],
+            "program": "${workspaceFolder}/scripts/rsl_rl/play.py",
+            "console": "integratedTerminal",
+        },
+
+        // For script execution inside a Docker
+        {
+            "name": "Docker: Current File",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "${file}",
+            "console": "integratedTerminal",
+            "env": {
+                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
+            }
+        },
+        {
+            "name": "Docker: Train Environment",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Isaac-Velocity-Flat-Anymal-D-v0", "--num_envs", "4096", "--headless"],
+            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
+            "console": "integratedTerminal",
+            "env": {
+                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
+            }
+        },
+        {
+            "name": "Docker: Play Environment",
+            "type": "debugpy",
+            "request": "launch",
+            "args" : ["--task", "Template-Isaac-Velocity-Flat-Anymal-D-Play-v0", "--num_envs", "32"],
+            "program": "${workspaceFolder}/scripts/rsl_rl/play.py",
+            "console": "integratedTerminal",
+            "env": {
+                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
+            }
+        }
+    ]
+}

.vscode/tools/settings.template.json

@@ -0,0 +1,86 @@
+{
+    "files.associations": {
+        "*.tpp": "cpp",
+        "*.kit": "toml",
+        "*.rst": "restructuredtext"
+    },
+    "editor.rulers": [120],
+
+    // files to be ignored by the linter
+    "files.watcherExclude": {
+        "**/.git/objects/**": true,
+        "**/.git/subtree-cache/**": true,
+        "**/node_modules/**": true,
+        "**/_isaac_sim/**": true,
+        "**/_compiler/**": true
+    },
+    // Configuration for spelling checker
+    "spellright.language": [
+        "en-US-10-1."
+    ],
+    "spellright.documentTypes": [
+        "markdown",
+        "latex",
+        "plaintext",
+        "cpp",
+        "asciidoc",
+        "python",
+        "restructuredtext"
+    ],
+    "cSpell.words": [
+        "literalinclude",
+        "linenos",
+        "instanceable",
+        "isaacSim",
+        "jacobians",
+        "pointcloud",
+        "ridgeback",
+        "rllib",
+        "robomimic",
+        "teleoperation",
+        "xform",
+        "numpy",
+        "tensordict",
+        "flatcache",
+        "physx",
+        "dpad",
+        "gamepad",
+        "linspace",
+        "upsampled",
+        "downsampled",
+        "arange",
+        "discretization",
+        "trimesh",
+        "uninstanceable"
+    ],
+    // This enables python language server. Seems to work slightly better than jedi:
+    "python.languageServer": "Pylance",
+    // We use "black" as a formatter:
+    "python.formatting.provider": "black",
+    "python.formatting.blackArgs": ["--line-length", "120"],
+    // Use flake8 for linting
+    "python.linting.pylintEnabled": false,
+    "python.linting.flake8Enabled": true,
+    "python.linting.flake8Args": [
+        "--max-line-length=120"
+    ],
+    // Use docstring generator
+    "autoDocstring.docstringFormat": "google",
+    "autoDocstring.guessTypes": true,
+    // Python environment path
+    // note: the default interpreter is overridden when user selects a workspace interpreter
+    //     in the status bar. For example, the virtual environment python interpreter
+    "python.defaultInterpreterPath": "",
+    // ROS distribution
+    "ros.distro": "noetic",
+    // Language specific settings
+    "[python]": {
+        "editor.tabSize": 4
+    },
+    "[restructuredtext]": {
+        "editor.tabSize": 2
+    },
+    // Python extra paths
+    // Note: this is filled up when vscode is set up for the first time
+    "python.analysis.extraPaths": []
+}

.vscode/tools/setup_vscode.py

@@ -0,0 +1,220 @@
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""This script sets up the vs-code settings for the Isaac Lab project.
+
+This script merges the python.analysis.extraPaths from the "{ISAACSIM_DIR}/.vscode/settings.json" file into
+the ".vscode/settings.json" file.
+
+This is necessary because Isaac Sim 2022.2.1 onwards does not add the necessary python packages to the python path
+when the "setup_python_env.sh" is run as part of the vs-code launch configuration.
+"""
+
+import argparse
+import os
+import pathlib
+import platform
+import re
+import sys
+
+PROJECT_DIR = pathlib.Path(__file__).parents[2]
+"""Path to the the project directory."""
+
+try:
+    import isaacsim  # noqa: F401
+
+    isaacsim_dir = os.environ.get("ISAAC_PATH", "")
+except ModuleNotFoundError or ImportError:
+    # Create a parser to get the isaac-sim path
+    parser = argparse.ArgumentParser(description="Setup the VSCode settings for the project.")
+    parser.add_argument("--isaac_path", type=str, help="The absolute path to the Isaac Sim installation.")
+    args = parser.parse_args()
+
+    # parse the isaac-sim directory
+    isaacsim_dir = args.isaac_path
+    # check if the isaac-sim directory is provided
+    if not os.path.exists(isaacsim_dir):
+        raise FileNotFoundError(
+            f"Could not find the isaac-sim directory: {isaacsim_dir}. Please provide the correct path to the Isaac Sim"
+            " installation."
+        )
+except EOFError:
+    print("Unable to trigger EULA acceptance. This is likely due to the script being run in a non-interactive shell.")
+    print("Please run the script in an interactive shell to accept the EULA.")
+    print("Skipping the setup of the VSCode settings...")
+    sys.exit(0)
+
+# check if the isaac-sim directory exists
+if not os.path.exists(isaacsim_dir):
+    raise FileNotFoundError(
+        f"Could not find the isaac-sim directory: {isaacsim_dir}. There are two possible reasons for this:"
+        "\n\t1. The Isaac Sim directory does not exist as provided CLI path."
+        "\n\t2. The script could import the 'isaacsim' package. This could be due to the 'isaacsim' package not being "
+        "installed in the Python environment.\n"
+        "\nPlease make sure that the Isaac Sim directory exists or that the 'isaacsim' package is installed."
+    )
+
+ISAACSIM_DIR = isaacsim_dir
+"""Path to the isaac-sim directory."""
+
+
+def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
+    """Overwrite the python.analysis.extraPaths in the Isaac Lab settings file.
+
+    The extraPaths are replaced with the path names from the isaac-sim settings file that exists in the
+    "{ISAACSIM_DIR}/.vscode/settings.json" file.
+
+    If the isaac-sim settings file does not exist, the extraPaths are not overwritten.
+
+    Args:
+        isaaclab_settings: The settings string to use as template.
+
+    Returns:
+        The settings string with overwritten python analysis extra paths.
+    """
+    # isaac-sim settings
+    isaacsim_vscode_filename = os.path.join(ISAACSIM_DIR, ".vscode", "settings.json")
+
+    # we use the isaac-sim settings file to get the python.analysis.extraPaths for kit extensions
+    # if this file does not exist, we will not add any extra paths
+    if os.path.exists(isaacsim_vscode_filename):
+        # read the path names from the isaac-sim settings file
+        with open(isaacsim_vscode_filename) as f:
+            vscode_settings = f.read()
+        # extract the path names
+        # search for the python.analysis.extraPaths section and extract the contents
+        settings = re.search(
+            r"\"python.analysis.extraPaths\": \[.*?\]", vscode_settings, flags=re.MULTILINE | re.DOTALL
+        )
+        settings = settings.group(0)
+        settings = settings.split('"python.analysis.extraPaths": [')[-1]
+        settings = settings.split("]")[0]
+
+        # read the path names from the isaac-sim settings file
+        path_names = settings.split(",")
+        path_names = [path_name.strip().strip('"') for path_name in path_names]
+        path_names = [path_name for path_name in path_names if len(path_name) > 0]
+
+        # change the path names to be relative to the Isaac Lab directory
+        rel_path = os.path.relpath(ISAACSIM_DIR, PROJECT_DIR)
+        path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
+    else:
+        path_names = []
+        print(
+            f"[WARN] Could not find Isaac Sim VSCode settings: {isaacsim_vscode_filename}."
+            "\n\tThis will result in missing 'python.analysis.extraPaths' in the VSCode"
+            "\n\tsettings, which limits the functionality of the Python language server."
+            "\n\tHowever, it does not affect the functionality of the Isaac Lab project."
+            "\n\tWe are working on a fix for this issue with the Isaac Sim team."
+        )
+
+    # add the path names that are in the Isaac Lab extensions directory
+    isaaclab_extensions = os.listdir(os.path.join(PROJECT_DIR, "source"))
+    path_names.extend(['"${workspaceFolder}/source/' + ext + '"' for ext in isaaclab_extensions])
+
+    # combine them into a single string
+    path_names = ",\n\t\t".expandtabs(4).join(path_names)
+    # deal with the path separator being different on Windows and Unix
+    path_names = path_names.replace("\\", "/")
+
+    # replace the path names in the Isaac Lab settings file with the path names parsed
+    isaaclab_settings = re.sub(
+        r"\"python.analysis.extraPaths\": \[.*?\]",
+        '"python.analysis.extraPaths": [\n\t\t'.expandtabs(4) + path_names + "\n\t]".expandtabs(4),
+        isaaclab_settings,
+        flags=re.DOTALL,
+    )
+    # return the Isaac Lab settings string
+    return isaaclab_settings
+
+
+def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
+    """Overwrite the default python interpreter in the Isaac Lab settings file.
+
+    The default python interpreter is replaced with the path to the python interpreter used by the
+    isaac-sim project. This is necessary because the default python interpreter is the one shipped with
+    isaac-sim.
+
+    Args:
+        isaaclab_settings: The settings string to use as template.
+
+    Returns:
+        The settings string with overwritten default python interpreter.
+    """
+    # read executable name
+    python_exe = os.path.normpath(sys.executable)
+
+    # replace with Isaac Sim's python.sh or python.bat scripts to make sure python with correct
+    # source paths is set as default
+    if f"kit{os.sep}python{os.sep}bin{os.sep}python" in python_exe:
+        # Check if the OS is Windows or Linux to use appropriate shell file
+        if platform.system() == "Windows":
+            python_exe = python_exe.replace(f"kit{os.sep}python{os.sep}bin{os.sep}python3", "python.bat")
+        else:
+            python_exe = python_exe.replace(f"kit{os.sep}python{os.sep}bin{os.sep}python3", "python.sh")
+
+    # replace the default python interpreter in the Isaac Lab settings file with the path to the
+    # python interpreter in the Isaac Lab directory
+    isaaclab_settings = re.sub(
+        r"\"python.defaultInterpreterPath\": \".*?\"",
+        f'"python.defaultInterpreterPath": "{python_exe}"',
+        isaaclab_settings,
+        flags=re.DOTALL,
+    )
+    # return the Isaac Lab settings file
+    return isaaclab_settings
+
+
+def main():
+    # Isaac Lab template settings
+    isaaclab_vscode_template_filename = os.path.join(PROJECT_DIR, ".vscode", "tools", "settings.template.json")
+    # make sure the Isaac Lab template settings file exists
+    if not os.path.exists(isaaclab_vscode_template_filename):
+        raise FileNotFoundError(
+            f"Could not find the Isaac Lab template settings file: {isaaclab_vscode_template_filename}"
+        )
+    # read the Isaac Lab template settings file
+    with open(isaaclab_vscode_template_filename) as f:
+        isaaclab_template_settings = f.read()
+
+    # overwrite the python.analysis.extraPaths in the Isaac Lab settings file with the path names
+    isaaclab_settings = overwrite_python_analysis_extra_paths(isaaclab_template_settings)
+    # overwrite the default python interpreter in the Isaac Lab settings file with the path to the
+    # python interpreter used to call this script
+    isaaclab_settings = overwrite_default_python_interpreter(isaaclab_settings)
+
+    # add template notice to the top of the file
+    header_message = (
+        "// This file is a template and is automatically generated by the setup_vscode.py script.\n"
+        "// Do not edit this file directly.\n"
+        "// \n"
+        f"// Generated from: {isaaclab_vscode_template_filename}\n"
+    )
+    isaaclab_settings = header_message + isaaclab_settings
+
+    # write the Isaac Lab settings file
+    isaaclab_vscode_filename = os.path.join(PROJECT_DIR, ".vscode", "settings.json")
+    with open(isaaclab_vscode_filename, "w") as f:
+        f.write(isaaclab_settings)
+
+    # copy the launch.json file if it doesn't exist
+    isaaclab_vscode_launch_filename = os.path.join(PROJECT_DIR, ".vscode", "launch.json")
+    isaaclab_vscode_template_launch_filename = os.path.join(PROJECT_DIR, ".vscode", "tools", "launch.template.json")
+    if not os.path.exists(isaaclab_vscode_launch_filename):
+        # read template launch settings
+        with open(isaaclab_vscode_template_launch_filename) as f:
+            isaaclab_template_launch_settings = f.read()
+        # add header
+        header_message = header_message.replace(
+            isaaclab_vscode_template_filename, isaaclab_vscode_template_launch_filename
+        )
+        isaaclab_launch_settings = header_message + isaaclab_template_launch_settings
+        # write the Isaac Lab launch settings file
+        with open(isaaclab_vscode_launch_filename, "w") as f:
+            f.write(isaaclab_launch_settings)
+
+
+if __name__ == "__main__":
+    main()

CONTIRBUTING.md

@@ -0,0 +1,17 @@
+Developer Certificate of Origin Version 1.1
+
+Copyright (C) 2004, 2006 The Linux Foundation and its contributors.
+
+Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.
+
+Developer's Certificate of Origin 1.1
+
+By making a contribution to this project, I certify that:
+
+(a) The contribution was created in whole or in part by me and I have the right to submit it under the open source license indicated in the file; or
+
+(b) The contribution is based upon previous work that, to the best of my knowledge, is covered under an appropriate open source license and I have the right under that license to submit that work with modifications, whether created in whole or in part by me, under the same open source license (unless I am permitted to submit under a different license), as indicated in the file; or
+
+(c) The contribution was provided directly to me by some other person who certified (a), (b) or (c) and I have not modified it.
+
+(d) I understand and agree that this project and the contribution are public and that a record of the contribution (including all personal information I submit with it, including my sign-off) is maintained indefinitely and may be redistributed consistent with this project or the open source license(s) involved.

LICENCE

@@ -0,0 +1,174 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
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+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
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+
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+      not limited to compiled object code, generated documentation,
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+
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+
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+   5. Submission of Contributions. Unless You explicitly state otherwise,
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+
+   6. Trademarks. This License does not grant permission to use the trade
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+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
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+   9. Accepting Warranty or Additional Liability. While redistributing
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+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.

README.md

@@ -0,0 +1,88 @@
+# Isaac Lab Evaluation Tasks
+
+[![Isaac Sim](https://img.shields.io/badge/IsaacSim-5.0.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
+[![Isaac Lab](https://img.shields.io/badge/IsaacLab-2.2.0-green.svg)](https://isaac-sim.github.io/IsaacLab/main/index.html)
+[![Python](https://img.shields.io/badge/python-3.11-blue.svg)](https://docs.python.org/3/whatsnew/3.11.html)
+[![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/20.04/)
+[![pre-commit](https://img.shields.io/github/actions/workflow/status/isaac-sim/IsaacLab/pre-commit.yaml?logo=pre-commit&logoColor=white&label=pre-commit&color=brightgreen)](https://github.com/isaac-sim/IsaacLab/actions/workflows/pre-commit.yaml)
+[![License](https://img.shields.io/badge/license-Apache--2.0-yellow.svg)](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)

datasets/apple_pick_place_annotated.hdf5

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datasets/apple_pick_place_annotated/lerobot/data/chunk-000/episode_000000.parquet

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datasets/apple_pick_place_annotated/lerobot/data/chunk-000/episode_000002.parquet

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datasets/apple_pick_place_annotated/lerobot/data/chunk-000/episode_000003.parquet

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datasets/apple_pick_place_annotated/lerobot/data/chunk-000/episode_000004.parquet

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+size 76048

datasets/apple_pick_place_annotated/lerobot/meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["valid", "Pick up the apple and place it on the plate."], "length": 194}
+{"episode_index": 1, "tasks": ["valid", "Pick up the apple and place it on the plate."], "length": 201}
+{"episode_index": 2, "tasks": ["valid", "Pick up the apple and place it on the plate."], "length": 214}
+{"episode_index": 3, "tasks": ["valid", "Pick up the apple and place it on the plate."], "length": 181}
+{"episode_index": 4, "tasks": ["valid", "Pick up the apple and place it on the plate."], "length": 192}

datasets/apple_pick_place_annotated/lerobot/meta/info.json

@@ -0,0 +1,158 @@
+{
+    "codebase_version": "v2.0",
+    "robot_type": "g1",
+    "total_episodes": 5,
+    "total_frames": 982,
+    "total_tasks": 2,
+    "total_videos": 5,
+    "total_chunks": 0,
+    "chunks_size": 1000,
+    "fps": 20,
+    "splits": {
+        "train": "0:100"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.fps": 20.0,
+                "video.codec": "h264",
+                "video.pix_fmt": null,
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                28
+            ],
+            "names": [
+                "motor_0",
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "motor_7",
+                "motor_8",
+                "motor_9",
+                "motor_10",
+                "motor_11",
+                "motor_12",
+                "motor_13",
+                "motor_14",
+                "motor_15",
+                "motor_16",
+                "motor_17",
+                "motor_18",
+                "motor_19",
+                "motor_20",
+                "motor_21",
+                "motor_22",
+                "motor_23",
+                "motor_24",
+                "motor_25",
+                "motor_26",
+                "motor_27"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                28
+            ],
+            "names": [
+                "motor_0",
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "motor_7",
+                "motor_8",
+                "motor_9",
+                "motor_10",
+                "motor_11",
+                "motor_12",
+                "motor_13",
+                "motor_14",
+                "motor_15",
+                "motor_16",
+                "motor_17",
+                "motor_18",
+                "motor_19",
+                "motor_20",
+                "motor_21",
+                "motor_22",
+                "motor_23",
+                "motor_24",
+                "motor_25",
+                "motor_26",
+                "motor_27"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ]
+        },
+        "annotation.human.action.task_description": {
+            "dtype": "int64",
+            "shape": [
+                1
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