Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-09-15 14:13:49 +08:00
commit 7e4ef6f98b
7002 changed files with 1452249 additions and 0 deletions
@@ -0,0 +1,114 @@
+# Installation
+
+This guide walks you through installing SPIDER and its dependencies.
+
+## Prerequisites
+
+- **Python**: 3.12 or higher
+- **CUDA**: 11.8 or higher (for GPU acceleration)
+- **Git**: For cloning repositories
+- **Git LFS**: For large file storage (datasets)
+
+## Option 1: Using uv (Recommended)
+
+[uv](https://github.com/astral-sh/uv) is a fast Python package installer that we recommend for development.
+
+### Install uv
+
+```bash
+# Linux/macOS
+curl -LsSf https://astral.sh/uv/install.sh | sh
+
+# Windows
+powershell -c "irm https://astral.sh/uv/install.ps1 | iex"
+```
+
+### Install SPIDER
+
+```bash
+# Clone the repository
+git clone https://github.com/facebookresearch/spider.git
+cd spider
+
+uv sync
+```
+
+### Clone Example Datasets
+
+```bash
+# Install git-lfs
+sudo apt install git-lfs  # Ubuntu/Debian
+# brew install git-lfs    # macOS
+
+git lfs install
+git clone https://huggingface.co/datasets/retarget/retarget_example example_datasets
+```
+
+## Option 2: Using Conda
+
+If you prefer conda for environment management:
+
+```bash
+# Clone the repository
+git clone https://github.com/facebookresearch/spider.git
+cd spider
+
+# Create conda environment
+conda create -n spider python=3.12
+conda activate spider
+
+# Install dependencies
+python -m pip install --upgrade pip
+python -m pip install -r requirements.txt
+python -m pip install --no-deps -e .
+```
+
+## Verify Installation
+
+Test your installation by running a simple example:
+
+```bash
+# With uv
+uv run examples/run_mjwp.py
+
+# With conda
+python examples/run_mjwp.py
+```
+
+If everything is installed correctly, you should see the MuJoCo viewer open with a retargeting simulation.
+
+## Optional: Install Additional Backends
+
+### DexMachina (Genesis Simulator)
+
+For RL training with Genesis simulator:
+
+```bash
+# Follow DexMachina installation instructions
+# https://mandizhao.github.io/dexmachina-docs/0_install.html
+
+conda activate dexmachina
+pip install --ignore-requires-python --no-deps -e .
+```
+
+### HDMI (Humanoid RL)
+
+For humanoid robot RL training:
+
+```bash
+# Clone and install HDMI
+git clone https://github.com/lecar-lab/hdmi.git
+cd hdmi
+
+# Install SPIDER in HDMI environment
+uv pip install --no-deps -e ../spider
+```
+
+### IDE Setup
+
+For VSCode, recommended extensions:
+- Python
+- Pylance
+- Ruff
+
+You can load the `.vscode/settings.json` file to your VSCode to get the recommended settings.