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Workflow: DexMachina (Genesis) ​

The DexMachina workflow integrates SPIDER with Genesis simulator and DexMachina framework for dexterous manipulation with downstream RL training.

Prerequisites ​

Install DexMachina Environment ​

Follow the official DexMachina installation guide:

Install SPIDER (Minimal) ​

Install SPIDER without MuJoCo Warp (only need optimization components):

bash
cd /path/to/spider
conda activate dexmachina

# Install SPIDER without dependencies (DexMachina has its own)
pip install --ignore-requires-python --no-deps -e .

Running DexMachina Workflow ​

Basic Example ​

bash
conda activate dexmachina
cd /path/to/spider

# Run with default config (Allegro hand, cube repose task)
python examples/run_dexmachina.py

This will:

  1. Initialize Genesis environment with DexMachina task
  2. Load reference motion from task
  3. Optimize trajectory with Sampling
  4. Save optimized trajectory and video