Building the Workspace

What Do I Need for This Module?

The equipment is listed below - here you will assemble your robot laboratory.

This module is about constructing and standardizing the real-world task area. This includes a lightbox enclosure, lighting, cameras, mat, vials, and rack—so it matches the Isaac Lab scene used for training and evaluation.

Building the lightbox this way gives you a consistent environment, so you can use our models and datasets.

You can also keep using it after this learning path, to do more of your own robot experiments!

Important

Why are we starting with the physical workspace?

When you do Physical AI work in the real world, you might not have a physical workspace available to you when you start out. We often start in sim, for all the reasons we discussed earlier (ease of testing, cost, safety, ease of iteration).

For this workshop, we will set up the physical space first for three reasons:

1. We give you this info early on, so you can order parts or build your workspace in prep for finishing the learning path

2. To give you experience with the physical robot and teleoperation. It’s fun!

3. To give you a sense of how “hard” the task is, when using the same inputs the AI model will have (two cameras, joint positions)

The Lightbox Environment

Let’s start by building a white lightbox enclosure that includes:

1. Cameras — one on the robot (wrist / gripper view), one stationary (external / scene view)

2. Lights — diffuse light with controllable brightness

3. Props — centrifuge vials, yellow rack, foam mat.

Why we use a lightbox

Limits variables for learning and debugging A plain, bright enclosure reduces visual noise so the policy can focus on the task-relevant features—gripper, vials, and rack.

Matches the digital twin The Isaac Lab scene replicates this enclosure’s dimensions, color, camera placements, and object geometry. Matching the real bench to that design shrinks the visual domain gap—one of the main sources of sim-to-real failure.

Accommodates low-performance cameras Consumer webcams have auto-exposure and limited dynamic range. Bright, diffuse lighting inside the box keeps images clean and consistent.

Enables transferable models Controlling the environment makes it easier to prepare models that transfer across robots and setups. Debugging focuses on policy and calibration, not uncontrolled scene drift.

Bill of Materials

The complete robot + workspace setup should cost less than $500 USD, estimated based on the options below.

We recommend getting the SO-101 pre-assembled, as it comes with a teleop arm and is easier to assemble. You can also build it yourself, but it’s a bit more work.

Robot

Approximate cost: $300 USD

Item	Description	Model/Specs	Quantity	Details
SO-101 Robot Arm and Teleop Arm	6-DoF collaborative robot arm (SO-101 or similar)	SO-101 package 3, orange	1	Main robot for pick-and-place task; Teleop arm optional for demonstration recording. We recommend this kit because of the included gripper camera, which will match our datasets. Alternatively, you can print and build your own SO-101!

Workspace

Approximate cost: $130 USD

Item	Description	Model/Specs	Quantity	Details
Camera (External)	USB webcam, fixed mount, ~78° horizontal FoV	Logitech C920 or equivalent	1	Fixed perspective to capture overview of workspace; must be stable and aligned as in simulation.
Lightbox Enclosure Panels	White foam board box, approx. 30” wide, 20” tall, 20” deep.	Assemble from 5 sheets of 20x30” foam board, 3/16” thick	5	Provides consistent, diffuse lighting and neutral background for images. Other white lightboxes can be substituted. Thicker or thinner foam board works.
Light Source	LED tube light, diffuse, CRI >90, ~4000K, adjustable	Neewer Dimmable LED Bar	1	Ensures workspace is brightly and uniformly illuminated.
Black Work Mat	Foam mat for workspace	Black EVA foam	1	Non-slip surface for vials and rack; color matches simulation environment.
Centrifuge Vials	50ml with screw cap, clear plastic	Falcon tube or similar	1-4	Props manipulated by robot; clear sides allow for visual consistency with simulation.
Vial Rack	Yellow, fits 4+ vials, similar to simulation asset	3D printed in yellow - models available here	1	Holds vials upright, target for pick and place. Yellow color to match digital twin is best, as low as 5% infill can work.
USB-C Charging Block	To power the light	Anker 25W USB-C Charging Block	as needed	21W or greater. Sufficient power for all lights and accessories; ensure safety and compliance with device specs.
USB-C Cable	To power the light	USB-C to USB-C cable, 6ft	1	Suggested light above is battery powered, but this will keep it powered
(optional) Foam board joints	To assemble lightbox	3D printed, model here	8	Allows assembly of lightbox without tearing the foam board during disassembly. Alternatively, you can use tape.

Props

Approximate cost: $20 USD.

Item	Description	Model/Specs	Quantity	Details
Centrifuge Vials	50ml with screw cap, clear plastic	Falcon tube or similar	1-4	Props manipulated by robot; clear sides allow for visual consistency with simulation.
Vial Rack	Yellow, fits 4+ vials, similar to simulation asset	3D printed	1	Holds vials upright; color/shape should closely match digital asset.

Build the Workspace

In short, we’ll:

1. Cut the foam board to size

2. Cut a hole for the external camera

3. Mount the light

4. Clamp and position the props and robot.

Assemble the Lightbox

1. Cut 2 of the 5 foam board panels down to 20” x 20”. These will become the sides.

2. On one of the 20”x20” panels, cut a rectangular hole for the external camera. The Logitech webcam arm is approximately 5 cm × 1.5 cm — size the hole to slide it through snugly.

3. Now assemble the box - there are two options:

Option A — Tape (fast)

White duct tape or gaffer tape along the seams.

• Pros: cheap, fast, no tools required

• Cons: removing the tape later will damage the foam board

Keep foam board edges flush when taping. Running tape along the full length of each seam produces the strongest bond; small pieces work but are weaker.

Option B — 3D-printed corners (reusable)

Print the corner assemblies from the BOM link above and snap panels in.

• Pros: clean look, easy to disassemble and reassemble

• Cons: requires access to a 3D printer

Camera Placement Measurements

Parameter	Value
Height	40 cm from base of lightbox
Distance from back wall	~27 cm from back of robot to center of camera lens
Lateral offset from back	24 cm from back panel
Angle	45 deg downward, aimed at the workspace. Make sure the camera has a good view of both the robot, the vials, and the rack.

Tip

Verify the camera view matches the sample images before finalizing the slot position. A few centimeters of error is acceptable; large deviations change what the policy sees and degrade performance.

Set Up the Light

The light should be bright, diffuse, and daylight-temperature. If you use the lights listed in the BOM, they are already diffuse.

Warning

These lights can get warm over extended use. Do not leave them on overnight, and monitor temperature during long sessions.

Foam board top — interior mount

If you use foam board for the top panel, mount a diffuse panel light inside the lightbox facing down. Zip ties through small holes in the foam board are the most reliable attachment; tape can work but may release from heat.

Open top — external mount

Clamp or position an external diffuse light above the open top, angled to illuminate the workspace evenly.

Turn on the light and set brightness before teleoperation or policy runs.

1. Press the power button on the light.

2. Press and hold the power button again until the travel lock progress bar completes and the light stays on.

3. Use the brightness controls; for evaluations and data collection, target roughly 50–100 %.

4. Plug in the light if AC power is available; battery-only runs may not last a full session.

Mount the Robot

Clamp the SO-101 to a solid table. Position it so the base sits inside the lightbox at the position shown in the reference photo below.

This gives it good range-of-motion and lets the external camera see the robot well.

Verify the clamps do not restrict the robot’s range of motion—test by manually moving each joint through its range before powering on.

Arrange the Mat, Vials, and Rack

Our simulation environment and checkpoint models are overfit to the rack generally being on the left side and vials on the right. Use the reference photo above for positioning.

If you customize the Isaac Lab environment we’ll use later, you could try out other configurations!

Rack Placement Measurements

Place the foam mat flat under the vials, and scatter 1–3 vials on the mat in varied poses (same general layout as in simulation).

Physical Layout Checklist

Before you place the robot in the enclosure or run any real-robot software:

1. Enclosure — Lightbox panels assembled; interior clear of stray objects.

2. Mat and props — Foam mat flat; yellow rack in its designated spot; 1–3 vials on the mat in varied poses (same general layout as in simulation).

3. Cameras — Wrist and external cameras mounted and aimed so both the mat/rack and gripper workspace are visible; no heavy occlusion or glare.

4. Cables — Route camera and robot cables so they do not snag or limit joint motion (cables can create false calibration limits; see Troubleshooting, Calibration Fails).

5. Lighting — Light on and bright enough (previous section).

Re-check this checklist before Real Evaluation and before each Strategy 2 / Strategy 3 deployment if anything was moved.

Key Takeaways

• Workspace setup is critical for successful training and deployment.

What’s Next?

With the workspace built and staged, continue to Get the Code.