Example Usage

Inspect Dexterous Hands and ARCTIC objects

Load one dexterous hand into a basic Genesis scene

• This default loads the left side hand to the scene

python examples/inspect_hand.py --hand allegro_hand --vis

Update 06/10/2025: this script now supports all 6 hands used in our paper preprint. Run the following (add --vis tag for on-screen viewer):

python examples/inspect_hand.py --hand ability_hand
python examples/inspect_hand.py --hand allegro_hand
python examples/inspect_hand.py --hand dexrobot_hand
python examples/inspect_hand.py --hand inspire_hand
python examples/inspect_hand.py --hand schunk_hand
python examples/inspect_hand.py --hand xhand

Load a pre-processed ARCTIC object and show one human demonstration trajectory:

python examples/load_object.py --obj_name box 

Train an RL policy with our proposed curriculum

Assume wandb logging is setup. Run the bash script below:

cd dexmachina
bash examples/train_rl.sh