Universal dexterous-hand retargeting with MediaPipe, MuJoCo, and YAML-configured robot hands.
Use live tracking or recorded motion to visualize, simulate, or control a supported hand.
somehand provides a command-line tool for complete tracking workflows and a small Python API for embedding retargeting in another application. Inputs include webcam, video, PICO Bridge, hc_mocap UDP, and saved recordings. Robot models and retargeting constraints are selected with YAML configs; large runtime assets are downloaded separately.
| Company | Model | DoF | Joints |
|---|---|---|---|
| LinkerHand | L6 | 6 | 11 |
| LinkerHand | L10 | 10 | 20 |
| LinkerHand | L20 | 16 | 21 |
| LinkerHand | L20 Pro | 17 | 21 |
| LinkerHand | L21 | 17 | 17 |
| LinkerHand | L25 | 21 | 21 |
| LinkerHand | L30 | 20 | 20 |
| LinkerHand | LHG20 | 16 | 21 |
| LinkerHand | O6 | 6 | 11 |
| LinkerHand | O7 | 7 | 17 |
| LinkerHand | T12 | 14 | 19 |
| DexRobot | DexHand021 | 20 | 20 |
| Unitree | Dex5 | 20 | 20 |
| Inspire | DFQ | 6 | 12 |
| Inspire | FTP | 6 | 12 |
| AGIBOT | OmniHand | 10 | 16 |
| BrainCo | Revo2 | 6 | 11 |
| OYMotion | RoHand | 6 | 25 |
| Sharpa | Wave 01 | 22 | 22 |
| Wuji | Wuji Hand | 20 | 20 |
See configs/retargeting/{left,right,bihand} for current single-hand and bi-hand availability.
Start with Installation or 安装, then choose the CLI tutorial or Python API tutorial.