Installation¶
Minimal Requirements¶
We recommend using conda environment with Python=3.10
conda create -n dexmachina python=3.10
conda activate dexmachina
Clone and install this custom fork version of Genesis (a modified version that supports entity-to-entity contact position reading, disable default visualizer, group-based collision filtering, etc)
pip install torch==2.5.1
git clone https://github.com/MandiZhao/Genesis.git
cd Genesis
pip install -e .
pip install libigl==2.5.1 # NOTE: this is a temporary fix specifically for my fork of Genesis
git clone https://github.com/MandiZhao/rl_games.git
cd rl_games
pip install -e .
Install additional packages for RL training:
pip install gymnasium ray seaborn wandb trimesh
Local install the
dexmachinapackage:
cd dexmachina
pip install -e .
If you’d like to install the full conda environment that includes all the packages, use the below yaml file:
# this is obtained from: conda export -f dexmachina.yaml
conda env create -f dexmachina.yaml
Additional Package Dependencies¶
Kinematic retargeting¶
Install the dex-retargeting package:
pip install dex_retargeting
Note that this might downgrade your numpy to numpy==1.26.4, but it runs fine with rest of the codebase.
Minor but also need to install sklearn for mapping contacts -> this is needed if you want to process new data
pip install scikit-learn
Process Additional ARCTIC data¶
Follow instructions from ARCTIC repo and install in a separate conda environment: https://github.com/zc-alexfan/arctic/blob/master/docs/setup.md