├── .dockerignore ├── .flake8 ├── .gitattributes ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── .vscode ├── .gitignore ├── extensions.json ├── tasks.json └── tools │ ├── launch.template.json │ ├── settings.template.json │ └── setup_vscode.py ├── CONTIRBUTING.md ├── LICENCE ├── README.md ├── doc ├── checkpoints.md ├── datasets.md ├── evaluation.md ├── gr-1_exhaust_pipe_demo.gif ├── gr-1_gn1_tuned_exhaust_pipe.gif ├── gr-1_gn1_tuned_nut_pourin.gif ├── gr-1_nut_pouring_policy.gif ├── installation.md ├── post-training.md └── troubleshooting.md ├── pyproject.toml ├── scripts ├── closed_loop_policy.py ├── config │ ├── __init__.py │ ├── args.py │ ├── gr00t │ │ ├── gr00t_joint_space.yaml │ │ ├── info.json │ │ └── modality.json │ └── gr1 │ │ ├── action_joint_space.yaml │ │ └── state_joint_space.yaml ├── convert_hdf5_to_lerobot.py ├── evaluate_gn1.py ├── evaluators │ ├── __init__.py │ ├── evaluator_base.py │ └── gr00t_n1_evaluator.py ├── io_utils.py ├── policies │ ├── __init__.py │ ├── gr00t_n1_policy.py │ ├── image_conversion.py │ ├── joints_conversion.py │ └── policy_base.py └── robot_joints.py └── source └── isaaclab_eval_tasks ├── config └── extension.toml ├── isaaclab_eval_tasks ├── __init__.py ├── tasks │ ├── __init__.py │ └── manipulation │ │ └── pick_place │ │ ├── exhaustpipe_gr1t2_closedloop_env_cfg.py │ │ └── nutpour_gr1t2_closedloop_env_cfg.py └── tests │ └── test_environments.py ├── pyproject.toml └── setup.py /.dockerignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/.dockerignore -------------------------------------------------------------------------------- /.flake8: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/.flake8 -------------------------------------------------------------------------------- /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/.gitattributes -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/.gitmodules -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/.pre-commit-config.yaml -------------------------------------------------------------------------------- /.vscode/.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/.vscode/.gitignore -------------------------------------------------------------------------------- /.vscode/extensions.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/.vscode/extensions.json -------------------------------------------------------------------------------- /.vscode/tasks.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/.vscode/tasks.json -------------------------------------------------------------------------------- /.vscode/tools/launch.template.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/.vscode/tools/launch.template.json -------------------------------------------------------------------------------- /.vscode/tools/settings.template.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/.vscode/tools/settings.template.json -------------------------------------------------------------------------------- /.vscode/tools/setup_vscode.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/.vscode/tools/setup_vscode.py -------------------------------------------------------------------------------- /CONTIRBUTING.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/CONTIRBUTING.md -------------------------------------------------------------------------------- /LICENCE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/LICENCE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/README.md -------------------------------------------------------------------------------- /doc/checkpoints.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/doc/checkpoints.md -------------------------------------------------------------------------------- /doc/datasets.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/doc/datasets.md -------------------------------------------------------------------------------- /doc/evaluation.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/doc/evaluation.md -------------------------------------------------------------------------------- /doc/gr-1_exhaust_pipe_demo.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/doc/gr-1_exhaust_pipe_demo.gif -------------------------------------------------------------------------------- /doc/gr-1_gn1_tuned_exhaust_pipe.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/doc/gr-1_gn1_tuned_exhaust_pipe.gif -------------------------------------------------------------------------------- /doc/gr-1_gn1_tuned_nut_pourin.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/doc/gr-1_gn1_tuned_nut_pourin.gif -------------------------------------------------------------------------------- /doc/gr-1_nut_pouring_policy.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/doc/gr-1_nut_pouring_policy.gif -------------------------------------------------------------------------------- /doc/installation.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/doc/installation.md -------------------------------------------------------------------------------- /doc/post-training.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/doc/post-training.md -------------------------------------------------------------------------------- /doc/troubleshooting.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/doc/troubleshooting.md -------------------------------------------------------------------------------- /pyproject.toml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/pyproject.toml -------------------------------------------------------------------------------- /scripts/closed_loop_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/closed_loop_policy.py -------------------------------------------------------------------------------- /scripts/config/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/config/__init__.py -------------------------------------------------------------------------------- /scripts/config/args.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/config/args.py -------------------------------------------------------------------------------- /scripts/config/gr00t/gr00t_joint_space.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/config/gr00t/gr00t_joint_space.yaml -------------------------------------------------------------------------------- /scripts/config/gr00t/info.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/config/gr00t/info.json -------------------------------------------------------------------------------- /scripts/config/gr00t/modality.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/config/gr00t/modality.json -------------------------------------------------------------------------------- /scripts/config/gr1/action_joint_space.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/config/gr1/action_joint_space.yaml -------------------------------------------------------------------------------- /scripts/config/gr1/state_joint_space.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/config/gr1/state_joint_space.yaml -------------------------------------------------------------------------------- /scripts/convert_hdf5_to_lerobot.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/convert_hdf5_to_lerobot.py -------------------------------------------------------------------------------- /scripts/evaluate_gn1.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/evaluate_gn1.py -------------------------------------------------------------------------------- /scripts/evaluators/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/evaluators/__init__.py -------------------------------------------------------------------------------- /scripts/evaluators/evaluator_base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/evaluators/evaluator_base.py -------------------------------------------------------------------------------- /scripts/evaluators/gr00t_n1_evaluator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/evaluators/gr00t_n1_evaluator.py -------------------------------------------------------------------------------- /scripts/io_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/io_utils.py -------------------------------------------------------------------------------- /scripts/policies/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/policies/__init__.py -------------------------------------------------------------------------------- /scripts/policies/gr00t_n1_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/policies/gr00t_n1_policy.py -------------------------------------------------------------------------------- /scripts/policies/image_conversion.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/policies/image_conversion.py -------------------------------------------------------------------------------- /scripts/policies/joints_conversion.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/policies/joints_conversion.py -------------------------------------------------------------------------------- /scripts/policies/policy_base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/policies/policy_base.py -------------------------------------------------------------------------------- /scripts/robot_joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/scripts/robot_joints.py -------------------------------------------------------------------------------- /source/isaaclab_eval_tasks/config/extension.toml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/source/isaaclab_eval_tasks/config/extension.toml -------------------------------------------------------------------------------- /source/isaaclab_eval_tasks/isaaclab_eval_tasks/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/source/isaaclab_eval_tasks/isaaclab_eval_tasks/__init__.py -------------------------------------------------------------------------------- /source/isaaclab_eval_tasks/isaaclab_eval_tasks/tasks/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/source/isaaclab_eval_tasks/isaaclab_eval_tasks/tasks/__init__.py -------------------------------------------------------------------------------- /source/isaaclab_eval_tasks/isaaclab_eval_tasks/tasks/manipulation/pick_place/exhaustpipe_gr1t2_closedloop_env_cfg.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/source/isaaclab_eval_tasks/isaaclab_eval_tasks/tasks/manipulation/pick_place/exhaustpipe_gr1t2_closedloop_env_cfg.py -------------------------------------------------------------------------------- /source/isaaclab_eval_tasks/isaaclab_eval_tasks/tasks/manipulation/pick_place/nutpour_gr1t2_closedloop_env_cfg.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/source/isaaclab_eval_tasks/isaaclab_eval_tasks/tasks/manipulation/pick_place/nutpour_gr1t2_closedloop_env_cfg.py -------------------------------------------------------------------------------- /source/isaaclab_eval_tasks/isaaclab_eval_tasks/tests/test_environments.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/source/isaaclab_eval_tasks/isaaclab_eval_tasks/tests/test_environments.py -------------------------------------------------------------------------------- /source/isaaclab_eval_tasks/pyproject.toml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/source/isaaclab_eval_tasks/pyproject.toml -------------------------------------------------------------------------------- /source/isaaclab_eval_tasks/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/isaac-sim/IsaacLabEvalTasks/HEAD/source/isaaclab_eval_tasks/setup.py --------------------------------------------------------------------------------