{"categories":[{"label":"Artificial Intelligence","url":"https://skillfed.io/packages/category/scientific-engineering-artificial-intelligence/7"}],"enrichment":{"capability":"Translates human hand motion to robot hand motion through retargeting optimizers, supporting both video-based and pose-dataset-based workflows.","skillfed_tags":["robotics","motion-capture","teleoperation"],"use_cases":["Teleoperation systems that stream human hand video and need robot hand control commands.","Post-processing human demonstration datasets to retarget poses for robot imitation learning tasks.","Mapping hand-object interaction data from human demonstrations to dexterous robot platforms with different morphologies.","Research on dexterous manipulation where human motion capture needs translation to specific robot hand models.","Integration with simulators for validation and testing of retargeted hand trajectories."],"what_it_does":"Dex Retargeting is a Python library that maps human hand motion to robot hand motion through a suite of retargeting optimizers. It originated from the AnyTeleop project and supports two main workflows: translating human hand video into robot commands (useful for teleoperation systems) and post-processing hand-object pose datasets for robot imitation learning. The library handles the complex problem of mapping human hand kinematics to different robot hand morphologies, accounting for differences in joint counts, ranges, and configurations.\n\nThe package depends on anytree, lxml, nlopt, numpy, pin, pytransform3d, and pyyaml to perform optimization and geometric transformations. It explicitly manages joint ordering through named joint identifiers to ensure compatibility with external simulators and robot drivers. The library is in alpha status and has not seen a release in over a year, though the repository remains active.","worth_installing":"Yes, with conditions. Install if you need to map human hand motion to a dexterous robot hand and are comfortable with alpha-stage software. The low install friction and permissive MIT license are favorable. However, the aging maintenance status and reliance on compiled dependencies like nlopt mean you should verify platform compatibility and be prepared to troubleshoot if issues arise. No known security vulnerabilities."},"id":"dex-retargeting","links":{"html":"https://skillfed.io/packages/dex-retargeting","md":"https://skillfed.io/packages/dex-retargeting.md","pypi":"https://pypi.org/project/dex-retargeting/"},"maintenance":{"status":"aging"},"meta":{"latest_release":"2025-04-05","license_spdx":null,"license_treatment":"permissive","name":"dex-retargeting","python_support":"capped_below_current","summary":"Hand pose retargeting for dexterous robot hand."},"popularity":{"monthly_downloads":212101,"position":9464,"tier":"top_15000"},"security":{"n_vulnerabilities":0},"version":"0.5.0"}