Add A Motion Format

A motion format owns one ordered MotionJoint vocabulary.

from retarget import FrameConvention, MotionFormatKind, MotionJoint
from retarget.motion import MotionFormatSpec, motion_formats


class LabFormat(MotionFormatKind):
    CAPTURE = "lab_capture"


class LabJoint(MotionJoint):
    ROOT = "root"
    LEFT_TOE = "left_toe"
    RIGHT_TOE = "right_toe"


motion_formats.register(
    LabFormat.CAPTURE,
    MotionFormatSpec(
        name="lab_capture",
        joint_vocabulary=LabJoint,
        root_joint=LabJoint.ROOT,
        frame_convention=FrameConvention.Y_UP_RIGHT_HANDED,
        default_height_m=1.75,
    ),
)

The joint order is tuple(LabJoint). Contact semantics remain separate and are produced by an observation recipe.

Add A Loader

Loaders parse one external storage layout. They do not synchronize recordings, infer contacts, or resolve robot links.

from pathlib import Path

from retarget import MotionLoaderKind, SampleTimeline
from retarget.motion import MotionFormatSpec, MotionSequence, motion_loaders


class LabLoaderKind(MotionLoaderKind):
    LAB = ".labmotion"


@motion_loaders.register(LabLoaderKind.LAB)
class LabMotionLoader:
    def load(
        self,
        path: Path,
        spec: MotionFormatSpec,
        *,
        name: str | None = None,
    ) -> MotionSequence:
        data = parse_lab_file(path)
        return MotionSequence(
            name=name or path.stem,
            joint_vocabulary=spec.joint_vocabulary,
            joints=spec.joints,
            root_joint=spec.root_joint,
            joint_positions=data.global_joint_positions,
            timeline=SampleTimeline.uniform(data.frame_count, data.fps),
            frame=spec.frame_convention,
        )

For heterogeneous sensors, load native HumanPoseRecording or MocapRecording objects and fuse them in an ObservationRecipe.