hand-motion-pipeline/third_party/spider/docs/index.md

layout, hero, features

layout	hero	features
home	name text tagline image actions SPIDER Scalable Physics-Informed DExterous Retargeting A general framework for physics-based retargeting from human to diverse robot embodiments src alt /figs/teaser.png SPIDER theme text link brand Get Started /guide/quick-start theme text link alt View on GitHub https://github.com/facebookresearch/spider	icon title details 🔬 Physics-Based First general physics-based retargeting pipeline for both dexterous hand and humanoid robot manipulation icon title details ⚡ Fast Simulation GPU-accelerated batched simulation with MuJoCo Warp achieving 10-20x speedup over sequential execution icon title details 📊 Rich Datasets, Robots and Simulators Works with 6+ datasets out of the box including GigaHand, Hot3D, OakInk, and more. Supports 9+ robot embodiments including dexterous hands (Allegro, Inspire, Xhand) and humanoid robots (G1, H1, T1). Supports multiple simulators including MuJoCo Warp, Genesis, and HDMI. icon title details 🔄 Sim2Real Ready Optimized trajectories can be directly deployed to real-world robots with minimal adjustments

Quick Example

# Clone example datasets
git clone https://huggingface.co/datasets/retarget/retarget_example example_datasets

# Install with uv
uv sync --python 3.12
pip install --ignore-requires-python --no-deps -e .

# Run retargeting
uv run examples/run_mjwp.py