Workspace installation

Clone the workspace with all submodules:

git clone --recurse-submodules https://github.com/thanhndv212/soarm-ws.git
cd soarm-ws

Each package installs independently — pip install -e . is the default:

cd soarm_sdk && pip install -e .
cd ../imu_sdk && pip install -e .
cd ../m5teleop && pip install -e .
cd ../soarm_lerobot && pip install -e .
cd ../camera_calibration && pip install -e .

soarm_mjlab is the one exception — it uses uv because mjlab gates torch behind mutually-exclusive CPU/CUDA extras routed to different package indices, which plain pip can't express:

cd soarm_mjlab
make sync-cpu   # or: uv sync --extra cpu --group dev

soarm_tamp installs like the rest on the host side, but planning needs the separate HPP container (its own image, not pip-installable) since pyhpp only exists there:

cd soarm_tamp && pip install -e .
./scripts/hpp_container.sh plan --out runs/cube01 --viewer none   # container
python -m soarm_tamp.execute runs/cube01 --dry-run                # host