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.

Key dates

PyPI data
Data sourced directly from PyPI's database.
  • Released:
Newer release available (0.4.0)

1 maintainer

PyPI data
Data sourced directly from PyPI's database.
Avatar for yxgao from gravatar.com yxgao

Credits

Author: Dexi contributors

License expression

MIT
View SPDX License List

Requires

Python >=3.9

Tags

robotics retargeting hand rust pyo3

Classifiers

Report project as malware

Download files

Download the file for your platform. If you're not sure which to choose, learn more about installing packages.

Source Distribution

dexi_rs-0.3.2.tar.gz (15.4 MB view details)

Uploaded Source

Built Distributions

If you're not sure about the file name format, learn more about wheel file names.

dexi_rs-0.3.2-cp314-cp314-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (15.9 MB view details)

Uploaded CPython 3.14manylinux: glibc 2.17+ x86-64

dexi_rs-0.3.2-cp314-cp314-manylinux_2_17_aarch64.manylinux2014_aarch64.whl (15.9 MB view details)

Uploaded CPython 3.14manylinux: glibc 2.17+ ARM64

dexi_rs-0.3.2-cp314-cp314-macosx_11_0_arm64.whl (15.9 MB view details)

Uploaded CPython 3.14macOS 11.0+ ARM64

dexi_rs-0.3.2-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (15.9 MB view details)

Uploaded CPython 3.13manylinux: glibc 2.17+ x86-64

dexi_rs-0.3.2-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl (15.9 MB view details)

Uploaded CPython 3.13manylinux: glibc 2.17+ ARM64

dexi_rs-0.3.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (15.9 MB view details)

Uploaded CPython 3.12manylinux: glibc 2.17+ x86-64

dexi_rs-0.3.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl (15.9 MB view details)

Uploaded CPython 3.12manylinux: glibc 2.17+ ARM64

dexi_rs-0.3.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (15.9 MB view details)

Uploaded CPython 3.11manylinux: glibc 2.17+ x86-64

dexi_rs-0.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl (15.9 MB view details)

Uploaded CPython 3.11manylinux: glibc 2.17+ ARM64

dexi_rs-0.3.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (15.9 MB view details)

Uploaded CPython 3.10manylinux: glibc 2.17+ x86-64

dexi_rs-0.3.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl (15.9 MB view details)

Uploaded CPython 3.10manylinux: glibc 2.17+ ARM64

dexi_rs-0.3.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (16.0 MB view details)

Uploaded CPython 3.9manylinux: glibc 2.17+ x86-64

dexi_rs-0.3.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl (15.9 MB view details)

Uploaded CPython 3.9manylinux: glibc 2.17+ ARM64

File details

Details for the file dexi_rs-0.3.2.tar.gz.

File metadata

  • Download URL: dexi_rs-0.3.2.tar.gz
  • Upload date:
  • Size: 15.4 MB
  • Tags: Source
  • Uploaded using Trusted Publishing? No
  • Uploaded via: twine/6.2.0 CPython/3.14.3

File hashes

Hashes for dexi_rs-0.3.2.tar.gz
Algorithm Hash digest
SHA256 84771e7b7903e230f82a9d5e4043c311cd0b45eced6b816351a0040e6fdaf061
MD5 008a1a7ae7e95b1830d06bcee236cb1a
BLAKE2b-256 cb2a0143218340cdd305823082a549d8b2b7b559051e7de22157b6a38144fbf0

See more details on using hashes here.

File details

Details for the file dexi_rs-0.3.2-cp314-cp314-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.

File metadata

File hashes

Hashes for dexi_rs-0.3.2-cp314-cp314-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm Hash digest
SHA256 d27d4bdfa335c5e716ca3aa98493f035d43cb4d3544b4bd9ec8014961d3d2abc
MD5 530f7cf046f1d749a8702c12a5e902bd
BLAKE2b-256 d8f0aac3de45bbf65351c8729fdc2bf4f17731ffcd3972e8923d94f511e6bfa4

See more details on using hashes here.

File details

Details for the file dexi_rs-0.3.2-cp314-cp314-manylinux_2_17_aarch64.manylinux2014_aarch64.whl.

File metadata

File hashes

Hashes for dexi_rs-0.3.2-cp314-cp314-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
Algorithm Hash digest
SHA256 a43dd34a8a1bb13896441903d78c14eb7beac4884c48437686fab0373c075105
MD5 a425c43426795215af3f13e22c04c70e
BLAKE2b-256 ce7ec4b9f83f01f53e6c7f7ff90476d127eb05fb37275cfe35e99de3a0574622

See more details on using hashes here.

File details

Details for the file dexi_rs-0.3.2-cp314-cp314-macosx_11_0_arm64.whl.

File metadata

File hashes

Hashes for dexi_rs-0.3.2-cp314-cp314-macosx_11_0_arm64.whl
Algorithm Hash digest
SHA256 7b0b837f21d1c835f00427a3156ea9982b94f716aa7c1d93543ff8fd33e78c12
MD5 4a54970c73a8a0fda35f5f55e59b4761
BLAKE2b-256 02e237b4d08b21f24a887eea3b3e948d2d042ece6c7febb2000c7910c79e63ec

See more details on using hashes here.

File details

Details for the file dexi_rs-0.3.2-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.

File metadata

File hashes

Hashes for dexi_rs-0.3.2-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm Hash digest
SHA256 8079528722bbbee2815cfd380cbe65b0dc7aaf8450e45d1c6b25e0b5b2901518
MD5 593061bd10c76a70f7ace1254213a04d
BLAKE2b-256 1ed763710dcf3a0f4c0c81d8b0c088b9e4a220fac4a3b343794983cbbbe9555c

See more details on using hashes here.

File details

Details for the file dexi_rs-0.3.2-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl.

File metadata

File hashes

Hashes for dexi_rs-0.3.2-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
Algorithm Hash digest
SHA256 fd8ade38c87791ed5dc070689bcce9d0057f22c7a868c847ccb70d4684773cf0
MD5 805dd87cc8fad95f79c7925ac45e54b0
BLAKE2b-256 b7ede7e48c94f278f2b8b218c97afea9fb34672a60b0cc58d9f9a8c084226090

See more details on using hashes here.

File details

Details for the file dexi_rs-0.3.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.

File metadata

File hashes

Hashes for dexi_rs-0.3.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm Hash digest
SHA256 18803c9b1be026e779b6d6c1ff78cfb3da7f68361124f86ad7066786e46e5c57
MD5 2cc28a28408f486180b76e87ab4ed64b
BLAKE2b-256 4fe3d64a504df3b3d06ab818c92b18747d77d8a4df5497ea73bf93d5e9b56e1b

See more details on using hashes here.

File details

Details for the file dexi_rs-0.3.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl.

File metadata

File hashes

Hashes for dexi_rs-0.3.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
Algorithm Hash digest
SHA256 91bd83c78b527ad24ceee1fb1a91305ec3469d27faad8e34167f0ddb6c86a6bc
MD5 7c2fb3006a302fddeb79ec4faababcdb
BLAKE2b-256 c1e8b82b3dffd546de4147e6f9c7c4d972ac226d55b9f7b944237c7abb59680b

See more details on using hashes here.

File details

Details for the file dexi_rs-0.3.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.

File metadata

File hashes

Hashes for dexi_rs-0.3.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm Hash digest
SHA256 61c55ccaf0ecdc9c817f62e34ff6ff272073ce403abbf69b96f7176c38bda4c5
MD5 cbaa1d0c3740fc05328e5e2385645820
BLAKE2b-256 4ba8f0143b8627c5ec10b90c3d471bdbe85d5c338e953789007f4cc5402d9583

See more details on using hashes here.

File details

Details for the file dexi_rs-0.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl.

File metadata

File hashes

Hashes for dexi_rs-0.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
Algorithm Hash digest
SHA256 d533cd33e38779827864333a2126730f6b6cf5be315bc2709113266939305344
MD5 ab2cbbeb2e0cd4fbdee9ff0fc2822743
BLAKE2b-256 a149fecc66052b7bda84fd86896e63436670b83435bc91ea14080f8c9e7368dd

See more details on using hashes here.

File details

Details for the file dexi_rs-0.3.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.

File metadata

File hashes

Hashes for dexi_rs-0.3.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm Hash digest
SHA256 8660c9ad811fe35d00ac0ca56df8c115e998ea881d47b15f7f9528045682d2d9
MD5 a583f55f10a6bc5cb7d1b4548b027282
BLAKE2b-256 3df25112b2c098e37c6a60db9537c83e5eb22f75898e1eb30844ec0dea77691b

See more details on using hashes here.

File details

Details for the file dexi_rs-0.3.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl.

File metadata

File hashes

Hashes for dexi_rs-0.3.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
Algorithm Hash digest
SHA256 072d2def2f558c858f4b94f2a99d9cfa93661aeb8aeca92728660f72f8fdd764
MD5 3576cdcb38b62434116cda72235e5451
BLAKE2b-256 5a2f64227d8e1a5a5c9d9d375f6e6fdaa7458687fdf88415cb7ce45c47041c88

See more details on using hashes here.

File details

Details for the file dexi_rs-0.3.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.

File metadata

File hashes

Hashes for dexi_rs-0.3.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm Hash digest
SHA256 7183fc4a1d4fd7acafd13e89c8fb3d1592fed4e883c69d54a18976e1a4b77ee9
MD5 edf62b9c4f87782ffee4f5420aca1d99
BLAKE2b-256 812fc9ab65542e45af9a2ce7f4f575acde2e71aa1b47381deb1b5cc9f567fa2d

See more details on using hashes here.

File details

Details for the file dexi_rs-0.3.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl.

File metadata

File hashes

Hashes for dexi_rs-0.3.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
Algorithm Hash digest
SHA256 e99d6be2480bfc0079c208d089e56f4cf9d2e4e193fd0b5cf1bd1894e760e4f8
MD5 adc9a6b37fc6d62a562216c9f8e33567
BLAKE2b-256 b3915cf785f4b7c1ca540c1a2ea48ab5818ac9c16997efed6fbfcb3c6fd2dc09

See more details on using hashes here.

Release history Release notifications | RSS feed

0.4.0

21 files

This release

0.3.2 This release

14 files

0.3.1

2 files

0.3.0

2 files

0.2.0

2 files

0.1.2

2 files

0.1.1

2 files

Anthropic, PBC Visionary sponsor Bloomberg Visionary sponsor Hudson River Trading Visionary sponsor Meta Visionary sponsor NVIDIA Visionary sponsor Microsoft Sustainability sponsor Depot Continuous Integration AWS Cloud computing and Security Sponsor Datadog Monitoring Fastly CDN Google Download Analytics Sentry Error logging StatusPage Status page