The repository is the official codes of DexRepNet++, which includes two manipulation tasks (In-hand Reorientation and HandOver).

For the grasping task with IsaacGym, you can access the codes in the repository.

• Create a conda environment

  conda create -n your_env_name python==3.8
  conda activate your_env_name

• Install torch

  pip install torch==1.13.0+cu117 torchvision==0.14.0+cu117 torchaudio==0.13.0 --extra-index-url https://download.pytorch.org/whl/cu117

• Install IsaacGym

  1. Download isaacgym
  2. Extract the downloaded files to the main directory of the project
  3. Use the following commands to install isaacgym

    cd isaacgym/python
    pip install -e .

The above commands show how to install the major packages. You can install other packages by yourself if needed.

Refer to the examples in the folder Train_Manipulation/script