Dex Retargeting is a Python library for retargeting hand poses from human hand models to dexterous robot hands. It supports multiple retargeting methods (e.g., keypoint-based, joint angle mapping) and is designed for use in robot learning and teleoperation. Version 0.5.0 has a nightly release cadence, with active development. Requires Python >=3.7, <3.13.
pip install dex-retargetingNo compatibility data collected yet for this library.
Verified import paths — ran on the pinned version, not inferred.
Load a retargeting function and apply it to a source hand pose (e.g., MANO joints). The function returns robot-specific joint angles.
Ensure your input joints follow the MANO hand joint ordering (21 joints in specific order). Refer to the model documentation.
Use a robot configuration object: `from dex_retargeting.robot_config import get_robot_config; robot_cfg = get_robot_config('allegro'); robot_joints = retarget(source_pose, robot_cfg)`Use Python 3.7-3.12.
No dependency data recorded yet.