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Installation

Basic Installation

Install DHB-XR using pip:

pip install dhb_xr

Optional Dependencies

DHB-XR supports several optional features that require additional dependencies:

GPU Support (PyTorch)

For GPU-accelerated encoding/decoding and tokenization:

pip install dhb_xr[gpu]

Optimization (CasADi)

For trajectory optimization and adaptation:

pip install dhb_xr[optimization]

Motion Database

For trajectory storage and retrieval:

pip install dhb_xr[database]

All Features

Install all optional dependencies:

pip install dhb_xr[all]

Development Installation

For development and testing:

git clone https://github.com/robodreamer/dhb-xr.git
cd dhb_xr
pip install -e ".[dev]"

Requirements

  • Python >= 3.10
  • NumPy >= 1.20
  • SciPy >= 1.7
  • Matplotlib >= 3.5

Optional:

  • PyTorch >= 2.0 (for GPU support)
  • CasADi >= 3.5 (for optimization)
  • FAISS >= 1.7 (for motion database)
  • DTAIDistance >= 3.0 (for trajectory similarity)