PyPI - dexi-rs - Versions diffs - 0.1.1__tar.gz - Mend

dexi-rs 0.1.1__tar.gz

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dexi_rs-0.1.1/Cargo.toml ADDED Viewed

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+[workspace]
+resolver = "2"
+members = ["crates/dexi", "crates/dexi-py"]
+[workspace.dependencies]
+nalgebra = "0.33"
+roxmltree = "0.20"
+serde = { version = "1", features = ["derive"] }
+serde_yaml = "0.9"
+thiserror = "2"
+rand = "0.8"
+approx = "0.5"
+slsqp = "1.0"

dexi_rs-0.1.1/LICENSE ADDED Viewed

@@ -0,0 +1,21 @@
+MIT License
+Copyright (c) 2026 Dexi contributors
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

dexi_rs-0.1.1/PKG-INFO ADDED Viewed

@@ -0,0 +1,76 @@
+Metadata-Version: 2.4
+Name: dexi-rs
+Version: 0.1.1
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Rust
+Classifier: Topic :: Scientific/Engineering
+License-File: LICENSE
+Summary: Fast Rust hand retargeting with Python bindings
+Keywords: robotics,retargeting,hand,rust,pyo3
+Home-Page: https://github.com/yuxiang-gao/dexi
+Author: Dexi contributors
+License-Expression: MIT
+Requires-Python: >=3.9
+Description-Content-Type: text/markdown; charset=UTF-8; variant=GFM
+Project-URL: Homepage, https://pypi.org/project/dexi-rs/
+# dexi-rs
+`dexi-rs` is a fast hand-retargeting package backed by a Rust engine. It loads
+bundled robot-hand YAML configs and URDFs, then maps 3D human-hand targets to
+robot-hand joint positions.
+Install distribution `dexi-rs`; import module `dexi_py`.
+```bash
+uv pip install dexi-rs
+```
+## Quickstart
+```python
+import dexi_py
+cfg = dexi_py.load_config("teleop/allegro_hand_right.yml")
+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)))
+```
+## Resource helpers
+```python
+import dexi_py
+print(dexi_py.available_configs())
+config_path = dexi_py.config_path("teleop/allegro_hand_right.yml")
+asset_root = dexi_py.asset_path("robots/hands")
+```
+## Retargeting API
+- `RetargetingConfig.from_file(path)` loads an external YAML config.
+- `dexi_py.load_config(name)` loads a bundled config.
+- `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.
+Bundled config families cover Allegro, Shadow, Schunk SVH, LEAP, Ability,
+Inspire, and Panda gripper hands for position, vector, and DexPilot-style
+retargeting where available.

dexi_rs-0.1.1/README.md ADDED Viewed

@@ -0,0 +1,55 @@
+# dexi-rs
+`dexi-rs` is a fast hand-retargeting package backed by a Rust engine. It loads
+bundled robot-hand YAML configs and URDFs, then maps 3D human-hand targets to
+robot-hand joint positions.
+Install distribution `dexi-rs`; import module `dexi_py`.
+```bash
+uv pip install dexi-rs
+```
+## Quickstart
+```python
+import dexi_py
+cfg = dexi_py.load_config("teleop/allegro_hand_right.yml")
+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)))
+```
+## Resource helpers
+```python
+import dexi_py
+print(dexi_py.available_configs())
+config_path = dexi_py.config_path("teleop/allegro_hand_right.yml")
+asset_root = dexi_py.asset_path("robots/hands")
+```
+## Retargeting API
+- `RetargetingConfig.from_file(path)` loads an external YAML config.
+- `dexi_py.load_config(name)` loads a bundled config.
+- `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.
+Bundled config families cover Allegro, Shadow, Schunk SVH, LEAP, Ability,
+Inspire, and Panda gripper hands for position, vector, and DexPilot-style
+retargeting where available.

dexi_rs-0.1.1/THIRD_PARTY_NOTICES.md ADDED Viewed

@@ -0,0 +1,22 @@
+# Third-party notices
+Dexi bundles robot-hand YAML configs and URDF files so examples and installed
+wheels work without extra downloads.
+The bundled assets are derived from upstream open-source hand-retargeting robot
+descriptions and per-hand license files are preserved next to the copied URDFs
+where available:
+- `assets/robots/hands/ability_hand/LICENSE.txt`
+- `assets/robots/hands/allegro_hand/LICENSE`
+- `assets/robots/hands/inspire_hand/LICENSE.txt`
+- `assets/robots/hands/leap_hand/LICENSE.txt`
+- `assets/robots/hands/schunk_hand/LICENSE`
+- `assets/robots/hands/shadow_hand/LICENSE`
+- The Panda gripper URDF is included from the same upstream asset set; no
+  separate adjacent Panda license file was present in that asset tree.
+Only the YAML configs and URDF files needed by the shipped examples/configs are
+included. Mesh directories are intentionally not packaged because the Rust core
+parses kinematics, limits, and mimic tags from URDFs and the user-facing
+visualization examples render 3D point clouds rather than robot meshes.