# dexsuite/dex-retargeting

Various retargeting optimizers to translate human hand motion to robot hand motion.

Repository: https://github.com/dexsuite/dex-retargeting
Canonical: https://ross.abutalabs.com/products/dex-retargeting
Homepage: https://yzqin.github.io/anyteleop/
Language: Python
License: MIT
License Family: permissive
Topics: dexterous-manipulation, dexterous-robotic-hand, motion-retargeting
Last push: 2025-08-21T17:51:55+00:00

## Health v2 (maintenance only)
Score: 37/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 38, release rhythm 12, longevity 78
- inputs: {"age_days": 1103, "days_push": 377, "days_rel": 377, "gap_med": null, "n_releases_24m": 1}
- flags: prerelease_only
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1205, forks 142 (observed 2026-08-28T04:03:59.044847+00:00)

## What it is
A Python library of retargeting optimizers that translate human hand motion (from video or pose datasets) into robot dexterous hand joint commands. It originated from the AnyTeleop vision-based teleoperation system and is available on PyPI as dex_retargeting.

## Use cases
- retarget human hand motion from video to a robot hand
- teleoperate a dexterous robot hand with a camera
- convert hand-object pose datasets into robot hand trajectories
- generate teleoperation data for imitation learning
- map human finger poses to different dexterous hand models
- retarget hand poses in simulation like SAPIEN or IsaacGym

## When to choose
- you need to map human hand poses onto dexterous robot hands
- you are building a vision-based teleoperation system
- you want to convert hand pose datasets for robot learning
- you need a pip-installable, MIT-licensed retargeting solution

## When to avoid
- you need full-body or arm-only motion retargeting without hands
- you need a ready-made end-user teleoperation application rather than a library
- your robot hand is not supported by the provided robot configurations

## Facets
- artifact type: library
- maturity: active
- function: machine-learning, robotics, computer-vision, simulation
- domain: robotics, machine-learning, computer-vision
- platform: python, cross-platform
- tags: dexterous-manipulation, motion-retargeting, robot-hand, teleoperation, hand-pose

## Member repositories
- dexsuite/dex-retargeting (main) score 37

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:03:59.044847+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T06:19:25.055747+00:00, confidence not recorded.
  - readme: https://github.com/dexsuite/dex-retargeting (fetched 2026-08-28T04:03:59.044847+00:00, sha c0cf47863f21)
  - homepage: https://yzqin.github.io/anyteleop/ (fetched 2026-08-29T12:27:08.924522+00:00, sha 4131cd8db129)
  - registry_pypi: https://pypi.org/pypi/dex-retargeting/json (fetched 2026-08-29T12:27:08.933761+00:00, sha 6239df7c64fc)
- Data as of 2026-08-30T08:39:29.467469+00:00.