Python API

The normal public entry point is RetargetingExperiment.

from retarget import (
    HumanoidRobotRole,
    MinimalMotionJoint,
    MotionFormat,
    RetargetingExperiment,
    Robot,
    TaskKind,
)
from retarget.motion import motion_formats
from retarget.recipes import (
    MotionFileObservationRecipe,
    RobotOnlySceneRecipe,
    RoleRetargetingRecipe,
)
from retarget.robots import robots

observation = MotionFileObservationRecipe.registered(
    "tests/fixtures/minimal_motion.json",
    MotionFormat.MINIMAL,
)
adaptation = RoleRetargetingRecipe(
    task_kind=TaskKind.ROBOT_ONLY,
    motion_format=motion_formats.get(MotionFormat.MINIMAL),
    scene=RobotOnlySceneRecipe(),
    link_roles={
        MinimalMotionJoint.PELVIS: HumanoidRobotRole.PELVIS,
        MinimalMotionJoint.LEFT_TOE: HumanoidRobotRole.LEFT_FOOT,
        MinimalMotionJoint.RIGHT_TOE: HumanoidRobotRole.RIGHT_FOOT,
    },
)
experiment = RetargetingExperiment(
    observation=observation,
    recipe=adaptation,
    robot=robots.get(Robot.SYNTHETIC_HUMANOID),
)
result = experiment.run()

Inspect Between Stages

scene_observation = experiment.observe()
problem = experiment.build_problem()

Reuse scene_observation with another recipe or robot without repeating capture processing. Call save_npz() only when an explicit checkpoint is useful.

Native Capture Sources

Built-in sources include:

• ViconRecordingSource
• ViconBagSource
• GvhmrOutputSource
• MocapArraySource
• VideoPoseSource
• InMemorySource

Implement ObservationSource[T] for another native format. Implement HumanPoseEstimator to derive a HumanPoseRecording from video.

Run Configs In Python

from retarget.cli.config import RetargetingRunConfig

config = RetargetingRunConfig.load("examples/basic/run_config.toml")
experiment = config.build_experiment()
result = experiment.run()
result.save_npz(config.output)

This is the same path used by retarget run --config.

Extension Points

Registries remain available for motion formats, loaders, robot providers, objectives, constraints, solvers, metrics, exporters, and visualizers. Capture sources and recipes are ordinary typed protocols; they do not require global registration for programmatic use.