RetargetingKit maps live or recorded human motion to robot hands, arms, and humanoids using RoboKit optimization and neural hand models.
The two main applications are:
- 🎮 Real-time teleoperation
- ⚡ Offline retargeting in parallel
Quick links
Installation
Requires Python 3.10 or newer:
uv add retargetingkit # or: pip install retargetingkit
See Installation for source installs, extras, and asset access.
Features
 Hand retargeting |
 Geometry-aware hand retargeting |
 Humanoid retargeting |
 Geometry-aware humanoid retargeting |
 Full-body retargeting |
 Geometry-aware full-body retargeting |
Explore recorded motions and robot presets in the gallery examples.
How it works
flowchart LR
Source["`Source
*VR · gloves · mocap · recordings*`"]
Retargeter["`Retargeter
*Optimization + Neural*`"]
Target["`Target
*Viser · robot hardware*`"]
Source -- "Frame: hand · arm · body" --> Retargeter
Retargeter -- "Command: robot joints · base pose" --> Target
classDef endpoint fill:#dbeafe,stroke:#2563eb,color:#111827
classDef solver fill:#dbc8ea,stroke:#8163a1,stroke-width:2px,color:#111827
class Source,Target endpoint
class Retargeter solver
| Component | Role | Read more |
|---|---|---|
| Source | Read a device or recording and produce a canonical frame. | Sources |
| Frame | Represent human hand, arm, or body motion. | Frames |
| Retargeter | Solve hand, arm, or body motion using RoboKit. | Interfaces |
| Command | Carry robot joint positions and an optional base pose. | Commands |
| Target | Preview commands or send them to a robot. | Targets |
See the framework overview for frames, commands, and named rigs.
1 maintainer
Metadata
1 maintainer
Release files for retargetingkit 0.1.0
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| File | Interpreter | ABI | Platform | Actions Reset |
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| retargetingkit-0.1.0-py3-none-any.whl | Python 3 | none | any | Details for retargetingkit-0.1.0-py3-none-any.whl |
Total release size: 298.7 kB
Release files / retargetingkit-0.1.0.tar.gz
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