Download Artifacts

Large runtime artifacts are stored outside git. Download the shared sim2real artifacts folder before running deploy or onboard setup commands.

After download, the repo root should contain:

checkpoints/
third_party/
  wheels/
  prebuilt/

checkpoints/ contains exported policy YAML and ONNX files. Tutorial commands assume these paths exist locally, for example checkpoints/mimic-lite/32x8192-huge/policy.yaml.

third_party/wheels/ contains deployment-only wheels that are resolved by uv through find-links = ["third_party/wheels"]. On G1, use:

uv sync --extra inference-cpu --extra robot-g1

Use the GPU inference extra with the G1 robot extra when the onboard environment should install the JetPack 6 ONNX Runtime GPU wheel:

uv sync --extra inference-gpu --extra robot-g1

third_party/prebuilt/ contains prebuilt packages that are not Python wheels. The JetPack 5 Pico onboard setup expects:

third_party/prebuilt/jetpack5-aarch64/

Do not commit downloaded artifact contents. Keep refreshed artifacts in the Google Drive folder and keep local paths matching the layout above.