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Map human motion onto a robot hand

Retargeting connects two different mechanisms. Begin by checking the mapping.

Choose the embodiment first

Select a robot hand supported by the implementation you are using. A human hand and a robot hand may have different joints, ranges and coupling. The goal is a useful task motion, not necessarily identical joint angles.

Start with a documented example

Use the Dex Retargeting examples and their expected input format. Keep the first trial in visualization or simulation. AnyTeleop provides research context for connecting human input, a hand and an arm.

Check names, frames and limits

Match joints by name across the retargeter, robot model and driver. Check coordinate frames, left-versus-right configuration and motion limits. Verify one finger at a time before interpreting a complete grasp.

Share the failure as well as the fit

Record the model and code versions, input method and retargeting settings. Describe where contact or a pinch becomes inaccurate. Connecting real hardware requires a separate safe control and validation procedure; this guide is a research starting point.

Dex Retargeting documentation · AnyTeleop research