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:

# Create DexMachina conda environment
conda create -n dexmachina python=3.12
conda activate dexmachina

# Install Genesis
git clone https://github.com/Genesis-Embodied-AI/Genesis.git
cd Genesis
pip install -e .

# Install DexMachina
git clone https://github.com/MandiZhao/dexmachina.git
cd dexmachina
pip install -e .

Install SPIDER (Minimal)

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

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

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