retargeting

name	retargeting
description	Use when working on Workbench motion retargeting, SONIC retargeted motion artifacts, SkyPilot retargeting YAMLs, or retargeting CLI behavior.

Retargeting

Retargeting converts already-retargeted SOMA/G1/Bones motion artifacts into the real motion-lib PKL schema consumed by SONIC locomotion training.

Interfaces

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.yaml
• npa/src/npa/workflows/skypilot/sonic-locomotion-finetuning.yaml

Routing And Data Flow

Retargeting 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.

Workflow Constraint

Keep orchestration logic in SkyPilot YAML. Do not add a Python runner script for the SONIC locomotion fine-tuning path.