Integrating GR00T with Isaac Lab: Custom Task Creation Beyond IsaacLabEval

[annahsu041]

Setup

• Isaac Sim: 5.0.0
• OS: Ubuntu 20.04
• GPU: RTX 4090 (Driver 570.133.07, CUDA 12.8)

First of all, thank you for your work. I am working on integrating GR00T-N1.5-3B with Isaac Lab (Franka Panda + RGB-D camera). My goal is to move beyond the default IsaacLabEval usage and gain finer control over the pipeline.
Problem

• I have already created tasks following the required file format, but none of them run successfully.
• I also attempted to load some custom modules to extend functionality, but the integration still fails.
• I would like to replicate the structure and workflow of to build my own tasks.

Questions

1. Are there examples or documentation showing how to create tasks outside of IsaacLabEval?
2. When mimicking , which core modules or classes must be inherited or overridden?
3. What is the recommended way to validate that my task definitions are correct (e.g., debugging tools or validation steps)?
4. Any best practices for integrating custom modules into the task pipeline without breaking compatibility?