Installation

Requires uv and Python >= 3.12.

git clone https://github.com/robonet-ai/handumi-sw.git
cd handumi-sw
bash install.sh              # PICO support included
# bash install.sh --skip-xrt # Meta Quest only
source .venv/bin/activate

Check:

python --version
handumi-record --help

install.sh creates the virtual environment, runs uv sync, and builds the XRoboToolkit SDK needed for PICO. Use --skip-xrt when the setup only uses Meta Quest. It also creates the ignored machine-local configs/rig.yaml from configs/rig.example.yaml without overwriting an existing rig configuration.

Optional robot and simulation profiles

The base environment does not install manufacturer SDKs. Select only the profiles needed on the workstation:

bash install.sh --skip-xrt --sim --robot openarmv1
# Or manage profiles directly after installing system prerequisites:
uv sync --extra sim
uv sync --extra piper
uv sync --extra openarm
uv sync --extra cuda --extra sim

install.sh --robot openarmv1 installs the official Ubuntu system packages before building the pinned Python binding. The equivalent manual sequence is:

sudo apt install -y software-properties-common
sudo add-apt-repository -y ppa:openarm/main
sudo apt update
sudo apt install -y libopenarm-can-dev openarm-can-utils
uv sync --extra openarm

Simulation does not require piper_sdk or openarm_can.