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Use when working on Workbench motion retargeting, SONIC retargeted motion artifacts, SkyPilot retargeting YAMLs, or retargeting CLI behavior.
Install with Codex or Claude Copy this prompt, paste it into Codex, Claude, or another assistant, and let it review the skill page and install it for you.
Based on SOC occupation classification
Use when ingesting, validating, curating, or querying production sensor data as a versioned dataset-of-record, or wiring the dataset-ingest-curate workflow.
Use when generating adversarial scenarios via RL, ranking mined failures of a policy-under-test, or wiring the adversarial-scenario-hardening workflow.
Use when navigating the Cosmos3 integration in NPA or locating upstream Cosmos3 framework files, defaults, scripts, configs, recipes, and docs.
Use when Cosmos3 setup, fetch, inference, CUDA, uv, Docker, Hugging Face, GitHub, NGC, or checkpoint staging fails in NPA or in an upstream Cosmos framework checkout.
Use when setting up Cosmos3 access through NPA, checking source or Hugging Face reachability, staging the public Cosmos3 framework and checkpoint cache, or deciding which NPA workflow to use before inference.
Use for Claude Code reviews that need robotics, simulation, GPU-routing, sim-to-real, or BDD100K pipeline domain context.
| name | retargeting |
| description | Use when working on Workbench motion retargeting, SONIC retargeted motion artifacts, SkyPilot retargeting YAMLs, or retargeting CLI behavior. |
Retargeting converts already-retargeted SOMA/G1/Bones motion artifacts into the real motion-lib PKL schema consumed by SONIC locomotion training.
CLI:
npa workbench sonic retargeting run
npa workbench sonic retargeting workflow
npa workbench sonic retargeting status
npa workbench sonic retargeting list
SkyPilot YAML:
npa/src/npa/workflows/skypilot/retargeting.yamlnpa/src/npa/workflows/skypilot/sonic-locomotion-finetuning.yamlRetargeting is CPU-only by default.
Inputs and outputs use S3 paths:
--input-path: source motion prefix or object.--output-path: retargeted motion output prefix.--retarget-map: optional map artifact.The result artifacts are real .pkl motion-lib files plus
retargeting_result.json metadata. Do not replace this with a manifest-only
shim.
Raw BVH inputs can be converted to upstream SONIC SOMA skeleton PKLs with
extract_soma_joints_from_bvh.py, but upstream SONIC does not bundle a raw
BVH-to-G1 robot retargeter. Use external SOMA Retargeter/GMR before the final
SONIC motion-lib conversion when starting from raw BVH.
Keep orchestration logic in SkyPilot YAML. Do not add a Python runner script for the SONIC locomotion fine-tuning path.