wuji-retargeting

Hand motion retargeting for Wuji hands.

Repository: fiveages-sim/wuji-retargeting

Purpose

Retargets hand motion between different hand models:

  • Human to robot

  • Robot to robot

  • Mirror operations

Installation

git clone https://github.com/fiveages-sim/wuji-retargeting.git
cd wuji-retargeting
pip install -e .

Usage

from wuji_retargeting import Retargeter

retargeter = Retargeter(
    source_model="human_hand",
    target_model="wuji_hand2"
)

robot_joints = retargeter.retarget(human_joints)

Configuration

retargeting:
  source:
    model: human_hand
    joint_names: [...]
  
  target:
    model: wuji_hand2
    joint_names: [...]
  
  mapping:
    # Joint correspondence
    human_thumb_mcp: wuji_thumb_1
    human_thumb_pip: wuji_thumb_2
    # ...

SDK Preference

For best results, prefer wuji-sdk for direct hand control where available.