Installation

Prerequisites

Python 3.8 or newer
NumPy
Pinocchio (for robot kinematics)
PyYAML (for configuration files)

Basic Installation

You can install DexRobot Kinematics from source:

git clone https://github.com/dexrobot/dexrobot_kinematics.git
cd dexrobot_kinematics
pip install -e .

The URDF models for DexHand must also be installed. By default, you should clone the dexrobot_urdf directory into the same parent directory as dexrobot_kinematics (can be overridden in yaml configuration files shown in dexrobot_kinematics/config):

# In the same parent directory as dexrobot_kinematics
git clone https://github.com/dexrobot/dexrobot_urdf.git