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 stateful SeqRetargeting instance.
  • retargeting.retarget(ref_value, fixed_qpos=None) returns full robot qpos in retargeting.joint_names order.
  • retargeting.reset(), set_qpos(), and get_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.

Project links

Data verified by PyPI on Jul 15, 2026
Data provided by the project maintainers, verified at the time the release was uploaded to PyPI.

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Credits

Author: Dexi contributors

License expression

MIT
View SPDX License List

Requires

Python >=3.10

Tags

robotics retargeting hand rust pyo3

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