Metadata-Version: 2.4
Name: dexsuite
Version: 0.1.0rc1
Summary: DexSuite: one framework for dexterous manipulation across arms, hands and tasks, on Genesis.
Project-URL: Homepage, https://dexsuiteorg.github.io/
Project-URL: Documentation, https://dexsuite.readthedocs.io/
Project-URL: Repository, https://github.com/anashoussaini/Dexsuite
Project-URL: Datasets, https://huggingface.co/dexsuite
Requires-Python: >=3.10
Description-Content-Type: text/markdown
Requires-Dist: torch
Requires-Dist: genesis-world==0.4.3
Requires-Dist: mink
Requires-Dist: quadprog
Requires-Dist: pynput
Requires-Dist: pyyaml
Requires-Dist: cattrs
Requires-Dist: gymnasium
Requires-Dist: numpy
Provides-Extra: spacemouse
Requires-Dist: evdev; platform_system == "Linux" and extra == "spacemouse"
Requires-Dist: hidapi; platform_system != "Linux" and extra == "spacemouse"
Provides-Extra: datasets
Requires-Dist: h5py; extra == "datasets"
Requires-Dist: lerobot==0.4.4; extra == "datasets"
Requires-Dist: numpy<2.4; extra == "datasets"
Provides-Extra: vive
Requires-Dist: openvr; extra == "vive"
Requires-Dist: pyzmq; extra == "vive"
Provides-Extra: manus
Requires-Dist: websockets; extra == "manus"
Provides-Extra: devices
Requires-Dist: evdev; platform_system == "Linux" and extra == "devices"
Requires-Dist: hidapi; platform_system != "Linux" and extra == "devices"
Requires-Dist: openvr; extra == "devices"
Requires-Dist: pyzmq; extra == "devices"
Requires-Dist: websockets; extra == "devices"
Provides-Extra: all
Requires-Dist: dexsuite[datasets,devices]; extra == "all"

<p align="center">
  <img src="https://dexsuite.readthedocs.io/en/latest/_static/brand/wordmark.svg" alt="DexSuite" width="360">
</p>

<h3 align="center">Dexterous manipulation. Simulated, teleoperated, benchmarked.<br>All in one framework.</h3>

<p align="center">
  <a href="https://dexsuiteorg.github.io/"><b>Website</b></a> ·
  <a href="https://dexsuite.readthedocs.io/"><b>Documentation</b></a> ·
  <a href="https://huggingface.co/dexsuite"><b>Datasets</b></a>
</p>

<p align="center">
  <img src="https://dexsuite.readthedocs.io/en/latest/_static/home/hero.webp" alt="A Sharpa hand picks up a spray can and paints the stencil" width="480">
</p>

DexSuite brings the robot, the tasks, teleoperation, tactile sensing, the data and the evaluation into one stack, on the
[Genesis](https://github.com/Genesis-Embodied-AI/Genesis) simulator. A task is written once and runs with any arm and
any hand, from a parallel-jaw gripper to a 24-joint hand.

## Install

```bash
pip install dexsuite                # every arm, hand and task
pip install "dexsuite[all]"         # plus SpaceMouse, Vive and Manus teleoperation and the LeRobot dataset tools
```

Python 3.10 or newer and a CUDA GPU (the CPU works for a quick look). The first environment on a machine compiles the
Genesis kernels, which takes about a minute. On a machine without a display, `export PYOPENGL_PLATFORM=egl`.

| | |
|---|---|
| Tasks | Reach, Lift, Push, Pick & Place, Stack, Rack Mug, Move Pan, Drill to Point, Place Fruits, Make Coffee, Tool Hang and the bimanual set |
| Arms | Franka Panda, Franka FR3, Kinova Gen3, KUKA iiwa 14, Rethink Sawyer, UR5e, UR10e, UFactory Lite 6, Link6, Unitree Z1, and six integrated robots |
| End-effectors | Robotiq 2F-85, UMI gripper, Allegro Hand, BarrettHand, D'Claw, Inspire, Ability, Schunk SVH, LEAP and Shadow hands |
| `[all]` | SpaceMouse, Vive and Manus teleoperation, LeRobot recording (0.4.4), HDF5 export |

## Quickstart

```python
import dexsuite as ds

env = ds.make("lift", manipulator="franka", gripper="allegro")
obs, info = env.reset(seed=0)

for _ in range(300):
    action = env.action_space.sample()       # 6 values move the hand, 16 set the Allegro joints
    obs, reward, terminated, truncated, info = env.step(action)
```

Every environment is a Gymnasium environment with batched PyTorch tensors: `n_envs=64` builds 64 copies in one
simulator. The [documentation](https://dexsuite.readthedocs.io/) covers the tasks, the robots, the actions and
observations, teleoperation and the benchmark datasets on [Hugging Face](https://huggingface.co/dexsuite).

## Citation

```bibtex
@article{dexsuite2026,
  author  = {Anonymous},
  title   = {DexSuite: An All-in-One Framework for Dexterous Manipulation Across Arms, Hands, and Tasks},
  year    = {2026},
}
```
