Quickstart

uv sync --extra dev
uv run retarget doctor
uv run retarget run --config examples/basic/run_config.toml
uv run retarget evaluate --result examples/basic/generated/basic_retarget.npz

The config constructs a MotionFileObservationRecipe, a RoleRetargetingRecipe, and a RetargetingExperiment.

For native multimodal capture:

uv run python examples/skateboarding/run_retarget.py \
  --demo pushoff5_twoshoes \
  --max-frames 20 \
  --download-assets

That command loads native Vicon and GVHMR recordings directly, performs temporal and spatial registration in memory, derives semantic contacts, adapts them to the robot, and retargets. It does not consume or create a synchronized stage file.

Raw video can be composed with any HumanPoseEstimator through VideoPoseSource; GvhmrEstimator is the optional concrete local-checkout backend.

Verify changes with:

uv run ruff check src tests examples scripts docs/hooks
uv run mypy src/retarget
uv run pytest
uv run mkdocs build --strict

Continue with Introduction, Capture to retarget, and Architecture.