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Getting Started

Requirements

  • Python >=3.10
  • Git submodules initialized
  • MuJoCo-compatible runtime environment
  • External runtime assets (downloaded separately — not in Git)

1. Install

git submodule update --init --recursive
pip install -e .

Verify:

somehand --help

2. Download Runtime Assets

python scripts/setup/download_assets.py --only mjcf mediapipe

Other useful variants:

Command What it downloads
python scripts/setup/download_assets.py Everything
python scripts/setup/download_assets.py --only examples Sample recordings and reference assets
python scripts/setup/download_assets.py --source huggingface --repo-id 12e21/somehand-assets From HuggingFace instead of ModelScope

Default asset repositories:

  • ModelScope: BingqianWu/somehand-assets
  • HuggingFace: 12e21/somehand-assets

3. (Optional) SDK Setup

Only needed for specific input/backend modes:

Integration Setup command When needed
LinkerHand real backend bash scripts/setup_linkerhand_sdk.sh Controlling real LinkerHand hardware
PICO Bridge input Installed by pip install -e . from the release wheel dependency Live PICO hand tracking

First Run

Webcam input — the simplest way to verify your setup:

somehand webcam

On macOS, run MuJoCo viewers through mjpython:

mjpython "$(command -v somehand)" webcam --hand both

Replay a saved recording:

somehand replay --recording recordings/webcam_hand.pkl

Render a recording to video:

somehand dump-video \
    --recording recordings/webcam_hand.pkl \
    --output recordings/webcam_hand_replay.mp4

Next Steps