Enums

Stable StrEnum values used in configs, registries, results, and CLI resolution. Registry keys such as Robot.G1_LIKE and Objective.LAPLACIAN match the string values documented below.

Workflow & scene

TaskKind

Bases: StrEnum

Supported high-level retargeting workflows.

Attributes:

Name	Type	Description
ROBOT_ONLY	str	Retarget humanoid motion without scene props ("robot_only").
OBJECT_INTERACTION	str	Retarget with manipulated objects and contact ("object_interaction").
CLIMBING	str	Climbing / terrain interaction workflow ("climbing").

ROBOT_ONLY member

ROBOT_ONLY = 'robot_only'

OBJECT_INTERACTION member

OBJECT_INTERACTION = 'object_interaction'

CLIMBING member

CLIMBING = 'climbing'

Frames & rotation

FrameConvention

Bases: StrEnum

Coordinate frame conventions understood by the package.

Attributes:

Name	Type	Description
Z_UP_RIGHT_HANDED	str	Z-up, right-handed world frame.
Y_UP_RIGHT_HANDED	str	Y-up, right-handed world frame (common in video/SMPL).

Z_UP_RIGHT_HANDED member

Z_UP_RIGHT_HANDED = 'z_up_right_handed'

Y_UP_RIGHT_HANDED member

Y_UP_RIGHT_HANDED = 'y_up_right_handed'

QuaternionOrder

Bases: StrEnum

Quaternion storage order.

Attributes:

Name	Type	Description
WXYZ	str	Scalar-first (w, x, y, z) layout.
XYZW	str	Scalar-last (x, y, z, w) layout (common in graphics APIs).

WXYZ member

WXYZ = 'wxyz'

XYZW member

XYZW = 'xyzw'

Registries

Robot

Bases: RobotKind

Built-in robot registry keys.

Attributes:

Name	Type	Description
SYNTHETIC_HUMANOID	str	Lightweight test humanoid.
G1_LIKE	str	Unitree G1-style humanoid preset.
T1_LIKE	str	Booster T1-style humanoid preset.

Attributes

SYNTHETIC_HUMANOID class-attribute instance-attribute

SYNTHETIC_HUMANOID = 'synthetic_humanoid'

G1_LIKE class-attribute instance-attribute

G1_LIKE = 'g1_like'

T1_LIKE class-attribute instance-attribute

T1_LIKE = 't1_like'

MotionFormat

Bases: MotionFormatKind

Built-in motion format registry keys.

Attributes:

Name	Type	Description
MINIMAL	str	Minimal joint-name + qpos arrays.
SMPLH	str	SMPL-H pose parameters.
LAFAN	str	LaFAN1-style skeleton dumps.
MOCAP	str	Generic mocap tables.
SMPLX	str	SMPL-X body pose and shape.

Attributes

MINIMAL class-attribute instance-attribute

MINIMAL = 'minimal'

SMPLH class-attribute instance-attribute

SMPLH = 'smplh'

LAFAN class-attribute instance-attribute

LAFAN = 'lafan'

MOCAP class-attribute instance-attribute

MOCAP = 'mocap'

SMPLX class-attribute instance-attribute

SMPLX = 'smplx'

Objective

Bases: ObjectiveKind

Built-in objective term registry keys.

Attributes:

Name	Type	Description
LAPLACIAN	str	Interaction-mesh Laplacian deformation objective.
LINK_TRACKING	str	Track named robot links to per-frame world-space target points.
SMOOTHNESS	str	Temporal smoothness on generalized coordinates.
NOMINAL_TRACKING	str	Track a nominal pose trajectory.
DIAGONAL_REGULARIZATION	str	Penalize selected qpos coordinates toward zero.

Attributes

LAPLACIAN class-attribute instance-attribute

LAPLACIAN = 'laplacian'

LINK_TRACKING class-attribute instance-attribute

LINK_TRACKING = 'link_tracking'

SMOOTHNESS class-attribute instance-attribute

SMOOTHNESS = 'smoothness'

NOMINAL_TRACKING class-attribute instance-attribute

NOMINAL_TRACKING = 'nominal_tracking'

DIAGONAL_REGULARIZATION class-attribute instance-attribute

DIAGONAL_REGULARIZATION = 'diagonal_regularization'

Constraint

Bases: ConstraintKind

Built-in constraint term registry keys.

Attributes:

Name	Type	Description
JOINT_LIMITS	str	Enforce joint limits.
TRUST_REGION	str	Limit per-step configuration change.
FOOT_STICKING	str	Foot support consistency constraints.
FOOT_LOCK	str	Lock feet during planted phases.
NON_PENETRATION	str	Prevent interpenetration with scene geometry.
SELF_COLLISION	str	Self-collision avoidance.

Attributes

JOINT_LIMITS class-attribute instance-attribute

JOINT_LIMITS = 'joint_limits'

TRUST_REGION class-attribute instance-attribute

TRUST_REGION = 'trust_region'

FOOT_STICKING class-attribute instance-attribute

FOOT_STICKING = 'foot_sticking'

FOOT_LOCK class-attribute instance-attribute

FOOT_LOCK = 'foot_lock'

NON_PENETRATION class-attribute instance-attribute

NON_PENETRATION = 'non_penetration'

SELF_COLLISION class-attribute instance-attribute

SELF_COLLISION = 'self_collision'

MetricName

Bases: MetricKind

Built-in evaluation metric names.

Attributes:

Name	Type	Description
OPTIMIZATION_COST	str	Final optimization cost.
FOOT_SLIDING	str	Foot sliding during contact.
CONTACT_PRESERVATION	str	Agreement with input contact signal.
PENETRATION	str	Mesh penetration depth metric.

Attributes

OPTIMIZATION_COST class-attribute instance-attribute

OPTIMIZATION_COST = 'optimization_cost'

FOOT_SLIDING class-attribute instance-attribute

FOOT_SLIDING = 'foot_sliding'

CONTACT_PRESERVATION class-attribute instance-attribute

CONTACT_PRESERVATION = 'contact_preservation'

PENETRATION class-attribute instance-attribute

PENETRATION = 'penetration'

KinematicsBackendName

Bases: KinematicsKind

Built-in kinematics backend registry keys.

Attributes:

Name	Type	Description
SIMPLE	str	Lightweight analytic / table backend.
MUJOCO	str	MuJoCo model backend.

Attributes

SIMPLE class-attribute instance-attribute

SIMPLE = 'simple'

MUJOCO class-attribute instance-attribute

MUJOCO = 'mujoco'

SolverBackend

Bases: SolverKind

Optimization backend choices.

Attributes:

Name	Type	Description
AUTO	str	Pick an available backend at runtime.
NUMPY_LEAST_SQUARES	str	SciPy/NumPy least-squares solver.
CVXPY_CLARABEL	str	CVXPY with Clarabel conic solver.

Attributes

AUTO class-attribute instance-attribute

AUTO = 'auto'

NUMPY_LEAST_SQUARES class-attribute instance-attribute

NUMPY_LEAST_SQUARES = 'numpy_least_squares'

CVXPY_CLARABEL class-attribute instance-attribute

CVXPY_CLARABEL = 'cvxpy_clarabel'

ExportFormat

Bases: ExporterKind

Built-in exporter registry keys.

Attributes:

Name	Type	Description
MUJOCO_NPZ	str	MuJoCo-compatible NPZ export bundle.

Attributes

MUJOCO_NPZ class-attribute instance-attribute

MUJOCO_NPZ = 'mujoco_npz'

Run lifecycle

RunStatus

Bases: StrEnum

Retargeting or evaluation lifecycle state.

Attributes:

Name	Type	Description
SUCCESS	str	Completed successfully.
PARTIAL	str	Completed with recoverable issues.
FAILED	str	Failed before producing a usable result.
SKIPPED	str	Skipped (for example missing inputs).

SUCCESS member

SUCCESS = 'success'

PARTIAL member

PARTIAL = 'partial'

FAILED member

FAILED = 'failed'

SKIPPED member

SKIPPED = 'skipped'