Dex Retargeting
DexSuite contributors
Software for mapping human hand motion to the joint configurations of robotic hands.
What you can explore
Explore retargeting objectives and supported hand models before connecting a robot.
Before you use it
Joint ordering can differ between a model, simulator and robot driver. Map joints by name and validate motion limits before hardware use.
Original contributors
Yuzhe Qin and contributors
License / access: MIT · check dependency and model licenses separately
Study the method in contextAdapt to another hand: workshop, experiment and worked answer →
Start with the right setup.
INPUTHuman hand motion and a target-hand configuration
OUTPUTRobot joint configurations
- Environment
- Retargeting library
- Embodiment
- Configured robot hand
What you need
Use the repository installation and a matching robot configuration.
First useful check
Try the documented example, then check joint order and frame alignment.
Where it stops
Retargeted poses still need collision checks, limits and a hardware controller.
Editorial reference · checked 2026-09-22