Dex Retargeting

0.5.0 verified Sat May 09 auth: no python

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-retargeting

Common errors

error ModuleNotFoundError: No module named 'dex_retargeting' ↓

cause Package not installed or misspelled.

fix

Run pip install dex-retargeting (note the hyphen, not underscore).

error AttributeError: module 'dex_retargeting' has no attribute 'PoseRetargeting' ↓

cause Attempted to import PoseRetargeting from root of package.

fix

Use from dex_retargeting.retargeting import PoseRetargeting instead.

error ValueError: Unknown robot name 'panda' ↓

cause Specified robot name not in the list of supported robots.

fix

Check supported robot names: 'allegro', 'shadowhand', 'barrett', etc. See docs.

Warnings

gotcha The retarget function expects source poses in a specific joint order (MANO convention). Using incorrect ordering will silently produce wrong results. ↓

fix Ensure your input joints follow the MANO hand joint ordering (21 joints in specific order). Refer to the model documentation.

deprecated The 'robot_name' parameter in retarget() is deprecated in favor of passing a robot config object in future versions. Current version still supports string names, but will be removed. ↓

fix 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)`

breaking Python 3.13 and above are not supported due to <3.13 constraint. ↓

fix Use Python 3.7-3.12.

Imports

PoseRetargeting
wrong
```
from dex_retargeting import PoseRetargeting
```
correct
```
from dex_retargeting.retargeting import PoseRetargeting
```
PoseRetargeting is not exposed at the package root; must import from submodule.

retarget

from dex_retargeting.retargeting import retarget

Quickstart

Load a retargeting function and apply it to a source hand pose (e.g., MANO joints). The function returns robot-specific joint angles.

import numpy as np
from dex_retargeting.retargeting import retarget

# Example: retarget a single hand pose
source_pose = np.random.rand(21, 3)  # MANO hand joints
robot_joints = retarget(source_pose, robot_name='allegro')
print(robot_joints)