Get the Code and Models#

What Do I Need for This Module?

Hands-on. You’ll need a computer with Docker and an NVIDIA GPU (Ada or Blackwell architecture).

In this module, you’ll clone the workshop repository and build the Docker containers used throughout the rest of the course.

The current version of this content uses:

  • Isaac Sim 5.1.0

  • Isaac Lab 2.3.0

  • LeRobot 0.4.3

  • GR00T N1.6

Clone the Repository#

git clone https://github.com/isaac-sim/Sim-to-Real-SO-101-Workshop.git
cd Sim-to-Real-SO-101-Workshop

Build the Teleop and Simulation Container#

docker build -t teleop-docker -f docker/sim/Dockerfile .

Build the Real Robot and Inference Server#

This build takes significantly longer than the teleop container.

For NVIDIA GPUs based on the Blackwell architecture (e.g. RTX PRO 6000):

./docker/real/build.sh blackwell

For NVIDIA GPUs based on the Ada architecture (e.g. RTX 4090):

./docker/real/build.sh ada

Get the Models#

You can either download these now, or as you go.

From the root of the course repository:

mkdir -p models

hf download aravindhs-NV/grootn16-finetune_sreetz-so101_teleop_vials_rack_left \
  --local-dir ./models/aravindhs-NV/grootn16-finetune_sreetz-so101_teleop_vials_rack_left

hf download aravindhs-NV/grootn16-finetune_sreetz-so101_teleop_vials_rack_left_sim_and_real \
  --local-dir ./models/aravindhs-NV/grootn16-finetune_sreetz-so101_teleop_vials_rack_left_sim_and_real

hf download aravindhs-NV/sreetz-so101_teleop_vials_rack_left_augment_02 \
  --local-dir ./models/aravindhs-NV/sreetz-so101_teleop_vials_rack_left_augment_02

hf download aravindhs-NV/so100-orig-groot-vials-rack-left-cosmos-70 \
  --local-dir ./models/aravindhs-NV/so100-orig-groot-vials-rack-left-cosmos-70

What’s Next?#

Next we’ll calibrate and start running our robot!

Continue to Calibrating the SO-101.