dexi-rs
dexi-rs is a fast hand-retargeting package backed by a Rust engine. It loads
YAML config files from filesystem paths plus bundled robot-hand URDF assets,
then maps 3D human-hand targets to robot-hand joint positions.
Install distribution dexi-rs; import module dexi_rs.
uv pip install dexi-rs
Quickstart
import dexi_rs
cfg = dexi_rs.load_config("configs/teleop/allegro_hand_right.yml") # direct filesystem path
retargeting = cfg.build()
# Four wrist-to-fingertip vectors for this Allegro vector config.
target = [
0.03, -0.02, 0.08,
0.04, 0.00, 0.09,
0.03, 0.02, 0.085,
0.02, 0.04, 0.07,
]
qpos = retargeting.retarget(target)
print(dict(zip(retargeting.joint_names, qpos)))
The wheel bundles robot URDF/mesh assets only. YAML configs are regular files:
use this repository's configs/ directory, copy a config into your own project,
or pass any custom config path to load_config().
Resource helpers
import dexi_rs
print(dexi_rs.available_configs("configs"))
config_path = dexi_rs.config_path("configs/teleop/allegro_hand_right.yml")
asset_root = dexi_rs.asset_path("robots/hands")
Retargeting API
RetargetingConfig.from_file(path)loads a YAML config.dexi_rs.load_config(path)loads a config file from a filesystem path.config.build()creates a statefulSeqRetargetinginstance.retargeting.retarget(ref_value, fixed_qpos=None)returns full robot qpos inretargeting.joint_namesorder.retargeting.reset(),set_qpos(), andget_qpos()control sequence state.retargeting.link_positions(qpos, link_names)returns world-frame 3D points for visualization.
Repository config families cover Allegro, Shadow, Schunk SVH, LEAP, Ability, Inspire, Fourier, and Panda gripper hands for position, vector, and DexPilot-style retargeting where available.
1 maintainer
Metadata
1 maintainer
Release files for dexi-rs 0.4.1
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| File | Size | Uploaded | Provenance | Actions |
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| dexi_rs-0.4.1.tar.gz | 15.5 MB | Without provenance | Details for dexi_rs-0.4.1.tar.gz |
Built distributions (wheels)
Total release size: 334.7 MB
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