Verify Installation¶

This tutorial verifies package registration, scene creation, reset, and stepping with one bounded headless run. It starts with the EE-only oracle to isolate scene and task setup before testing a physical robot profile.

Prerequisites

Complete Installation, including the dependency exports in ~/.bashrc, then run every command below from the AM-Bench repository root.

1. Activate the environment and inspect the GPU¶

source ../IsaacLab/env_isaaclab/bin/activate
nvidia-smi

Confirm that the selected GPU has enough free memory and that no unexpected Isaac Sim process is already running.

2. Verify environment registration¶

python scripts/environments/list_envs.py

The command starts Isaac Sim headlessly and prints the registered AM-Bench IDs, environment classes, and configuration entry points. Confirm that PressButton-Am-EE-Abs-PID-Direct-v0 appears in the table.

If you need a different task or profile, use Find an Environment before continuing.

3. Run the bounded smoke test¶

zero_agent.py is a continuous runner, so use timeout for this verification:

timeout --signal=INT 30s python scripts/environments/zero_agent.py \
  --task PressButton-Am-EE-Abs-PID-Direct-v0 \
  --num_envs 1 \
  --headless \
  --device cuda:0

The verification passes when:

Isaac Sim starts without a driver or renderer failure;
the task scene resets and prints its observation and action spaces;
the environment steps repeatedly until timeout sends the interrupt;
Isaac Sim shuts down and leaves no child process running.

Validation boundary

The zero-action agent is not expected to solve the task. A successful smoke test proves that this environment can be created and stepped on the current machine; it does not validate task success, policy quality, physical-robot controller behavior, or every registered environment.

See Troubleshooting if the process fails before stepping or does not shut down cleanly. Once the check passes, continue with Run an Environment.