setup.md

Setup

Create the conda environment. I highly recommend using Mamba, which is faster, but if you insist on Conda, then replace mamba commands below with conda

mamba env create -f scalingup.yml
mamba activate scalingup

Then, in the repo's root, install the repo as a pip package

pip install -e .

Run a quick command to check that an empty table top environment can be loaded

python examples/render_table_top.py

This should show you RGB, depth, and segmentation masks for the front workspace and wrist mounted camera view.

📘 Info

If the rendered image comes up weird, maybe your setup does not support MuJoCo's default renderer (GLFW). You can try one of their other supported renderers (osmesa,egl) by setting the MUJOCO_GL environment variable (e.g., MUJOCO_GL=osmesa).