git:20260703.774344b to git:20260724.349c740

2 added, 2 removed. Audit A to A.

---

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:

```bash

npa workbench sonic retargeting run

npa workbench sonic retargeting workflow

npa workbench sonic retargeting status

npa workbench sonic retargeting list

```

SkyPilot YAML:

- - `npa/workflows/workbench/skypilot/retargeting.yaml`

- - `npa/workflows/workbench/skypilot/sonic-locomotion-finetuning.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.