Installation Guide

Prerequisites

• Python >= 3.8

• Core dependencies: numpy, gymnasium, mani-skill, opencv-python, transforms3d

Install from Source

cd /path/to/ManiDreams
pip install -e .

Optional Dependencies

Install task-specific extras as needed:

# Object catching (RL policy solver)
pip install -e ".[catching]"

# Diamond diffusion world model (pixel-based pushing)
pip install -e ".[diffusion]"

# PPO training and evaluation
pip install -e ".[ppo]"

# Robustness evaluation scripts
pip install -e ".[eval]"

# Documentation tools
pip install -e ".[docs]"

# Everything
pip install -e ".[all]"

Verify Installation

python examples/tasks/object_pushing/main.py