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Docker Setup for NVIDIA Isaac GR00T

Docker configuration for building and running a containerized GR00T environment with all dependencies pre-installed. A single Dockerfile supports both x86_64 and aarch64 (GB200, Grace Hopper) architectures. On aarch64, torchcodec is installed from the prebuilt wheel shipped under scripts/deployment/dgpu/wheels/; the build falls back to a source compile only if the wheel is missing.

Prerequisites

  • Docker (version 20.10+) and perform post-installation setup so you can run Docker commands without sudo. If you skip this setup, prefix the Docker commands below with sudo.
  • NVIDIA Container Toolkit (installation guide)
  • NVIDIA GPU with compatible drivers
  • Bash shell
  • Sufficient disk space (several GB)

Building the Docker Image

From the repository root:

bash docker/build.sh

This builds from nvidia/cuda:12.8.0-devel-ubuntu22.04, installs all dependencies via uv sync, and sets up the GR00T codebase at /workspace/.

Running the Container

Interactive shell (uses code baked into image):

docker run -it --rm --gpus all \
    --ipc=host --ulimit memlock=-1 --ulimit stack=67108864 \
    gr00t

Development mode (mounts local codebase for live editing):

docker run -it --rm --gpus all \
    --ipc=host --ulimit memlock=-1 --ulimit stack=67108864 \
    -v $(pwd):/workspace \
    gr00t bash -c "uv pip install -e . && bash"

Edge Device Containers

Thor Container (Jetson Thor / CUDA 13)

The gr00t-thor image is built from scripts/deployment/thor/Dockerfile for Jetson Thor with CUDA 13 support:

bash docker/build.sh --profile=thor

For full Thor usage instructions (inference, benchmarks, bare metal setup), see the Deployment & Inference Guide.

Spark Container (DGX Spark / CUDA 13)

The gr00t-spark image is built from scripts/deployment/spark/Dockerfile for DGX Spark with CUDA 13 support:

bash docker/build.sh --profile=spark

For full Spark usage instructions (inference, benchmarks, bare metal setup), see the Deployment & Inference Guide.

Orin Container (Jetson Orin / CUDA 12.6)

The gr00t-orin image is built from scripts/deployment/orin/Dockerfile for Jetson Orin (JetPack 6.2, CUDA 12.6, Python 3.10):

bash docker/build.sh --profile=orin

For full Orin usage instructions (inference, benchmarks, bare metal setup), see the Deployment & Inference Guide.

Troubleshooting

GPU not detected:

  • Verify NVIDIA Container Toolkit: nvidia-container-toolkit --version
  • Restart Docker: sudo systemctl restart docker
  • Test GPU access: docker run --rm --gpus all nvidia/cuda:12.0.0-base-ubuntu22.04 nvidia-smi

Permission errors:

  • Use sudo with Docker commands, or add your user to the docker group: sudo usermod -aG docker $USER

Build failures:

  • Check disk space: df -h
  • Clean Docker: docker system prune -a
  • Rebuild: bash docker/build.sh --no-cache