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51 changes: 38 additions & 13 deletions README.md
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<p align="center">
<a href="https://github.com/openrobokit/retargetingkit"><img src="https://raw.githubusercontent.com/openrobokit/retargetingkit/main/docs/assets/retargetingkit-banner.webp" alt="RetargetingKit" width="100%"></a>
<a href="https://github.com/openrobokit/retargetingkit"><img src="https://openrobokit.com/assets/docs/retargetingkit/assets/retargetingkit-banner.webp" alt="RetargetingKit" width="100%"></a>
</p>

<p align="center">
<a href="pyproject.toml"><img src="https://img.shields.io/badge/python-3.10%2B-blue" alt="Python 3.10+"></a>
<a href="https://github.com/openrobokit/retargetingkit/actions/workflows/build.yml"><img src="https://img.shields.io/badge/CI-GitHub_Actions-blue" alt="GitHub Actions"></a>
<a href="https://openrobokit.com/retargetingkit"><img src="https://img.shields.io/badge/homepage-RetargetingKit-blue" alt="Homepage"></a>
<a href="https://openrobokit.com/docs/retargetingkit/overview/"><img src="https://img.shields.io/badge/docs-RetargetingKit-blue" alt="Docs"></a>
</p>

RetargetingKit maps live or recorded human motion to robot hands, arms, and humanoids using [RoboKit](https://github.com/openrobokit/robokit) optimization and neural hand models.
Expand All @@ -14,8 +16,19 @@ The two main applications are:
- 🎮 **Real-time teleoperation**
- ⚡ **Offline retargeting in parallel**

<p align="center">
<a href="https://openrobokit.com/retargetingkit"><img src="https://openrobokit.com/assets/docs/retargetingkit/assets/retargetingkit-paper-teaser.png" alt="RetargetingKit paper teaser showing hand manipulation and humanoid teleoperation" width="100%"></a><br>
<em>Real-time teleoperation with dexterous hands and humanoids.</em>
</p>

<p align="center">
<a href="https://openrobokit.com/retargetingkit"><img src="https://openrobokit.com/assets/docs/retargetingkit/assets/showcase/full-body-scene.png" alt="Humanoid retargeting in a furnished scene" width="100%"></a><br>
<em>Body-and-hand retargeting in a furnished scene.</em>
</p>

## Quick links

- [Homepage](https://openrobokit.com/retargetingkit)
- [Docs](https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/overview.md)
- [Quickstart](https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/quickstart.md)
- [Installation](https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/installation.md)
Expand All @@ -35,34 +48,46 @@ See [Installation](https://github.com/openrobokit/retargetingkit/blob/main/docs/

<table width="100%">
<tr>
<td width="50%" align="center" valign="top">
<a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/hand_retargeting.md#work-with-trajectories"><img src="https://raw.githubusercontent.com/openrobokit/retargetingkit/main/docs/assets/built-in-tasks/hand-retargeting.webp" alt="Tracked hand skeleton and retargeted robot hand side by side" width="300"></a><br>
<td width="33%" align="center" valign="top">
<a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/hand_retargeting.md#work-with-trajectories"><img src="https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/hand-retargeting.webp" alt="Tracked hand skeleton and retargeted robot hand side by side" width="300"></a><br>
<strong><a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/hand_retargeting.md#work-with-trajectories">Hand<br>retargeting</a></strong>
</td>
<td width="50%" align="center" valign="top">
<a href="src/retargetingkit/gallery/hand_contact.py"><img src="https://raw.githubusercontent.com/openrobokit/retargetingkit/main/docs/assets/built-in-tasks/hand-geometry-sim.webp" alt="Robot hand grasping a sage cylinder in a white studio" width="300"></a><br>
<td width="33%" align="center" valign="top">
<a href="src/retargetingkit/gallery/hand_contact.py"><img src="https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/hand-geometry-sim.webp" alt="Robot hand grasping a sage cylinder in a white studio" width="300"></a><br>
<strong><a href="src/retargetingkit/gallery/hand_contact.py">Geometry-aware hand<br>retargeting</a></strong>
</td>
<td width="33%" align="center" valign="top">
<a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/hand_retargeting.md#preview-live-motion"><img src="https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/hand-teleoperation.webp" alt="Physical robot hand rotating a purple cube" width="300"></a><br>
<strong><a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/hand_retargeting.md#preview-live-motion">Real-time hand<br>teleoperation</a></strong>
</td>
</tr>
<tr>
<td width="50%" align="center" valign="top">
<a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/humanoid_retargeting.md"><img src="https://raw.githubusercontent.com/openrobokit/retargetingkit/main/docs/assets/built-in-tasks/humanoid-retargeting.webp" alt="Human body skeleton and retargeted humanoid side by side" width="300"></a><br>
<td width="33%" align="center" valign="top">
<a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/humanoid_retargeting.md"><img src="https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/humanoid-retargeting.webp" alt="Human body skeleton and retargeted humanoid side by side" width="300"></a><br>
<strong><a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/humanoid_retargeting.md">Humanoid<br>retargeting</a></strong>
</td>
<td width="50%" align="center" valign="top">
<a href="src/retargetingkit/gallery/humanoid_terrain.py"><img src="https://raw.githubusercontent.com/openrobokit/retargetingkit/main/docs/assets/built-in-tasks/humanoid-geometry.webp" alt="Rendered humanoid crouching and climbing on stepped terrain" width="300"></a><br>
<td width="33%" align="center" valign="top">
<a href="src/retargetingkit/gallery/humanoid_terrain.py"><img src="https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/humanoid-geometry.webp" alt="Rendered humanoid crouching and climbing on stepped terrain" width="300"></a><br>
<strong><a href="src/retargetingkit/gallery/humanoid_terrain.py">Geometry-aware humanoid<br>retargeting</a></strong>
</td>
<td width="33%" align="center" valign="top">
<a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/humanoid_retargeting.md"><img src="https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/humanoid-teleoperation.webp" alt="Physical humanoid crouching to pick up a green bottle" width="300"></a><br>
<strong><a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/humanoid_retargeting.md">Real-time humanoid<br>teleoperation</a></strong>
</td>
</tr>
<tr>
<td width="50%" align="center" valign="top">
<a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/full_body_retargeting.md"><img src="https://raw.githubusercontent.com/openrobokit/retargetingkit/main/docs/assets/built-in-tasks/full-body-retargeting.webp" alt="Standing humanoid turning and taking small steps on a white background" width="300"></a><br>
<td width="33%" align="center" valign="top">
<a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/full_body_retargeting.md"><img src="https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/full-body-retargeting.webp" alt="Standing humanoid turning and taking small steps on a white background" width="300"></a><br>
<strong><a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/full_body_retargeting.md">Full-body<br>retargeting</a></strong>
</td>
<td width="50%" align="center" valign="top">
<a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/full_body_retargeting.md#retarget-an-indoor-interaction"><img src="https://raw.githubusercontent.com/openrobokit/retargetingkit/main/docs/assets/built-in-tasks/full-body-geometry.webp" alt="Rendered humanoid interacting with objects and furniture in a kitchen on a white background" width="300"></a><br>
<td width="33%" align="center" valign="top">
<a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/full_body_retargeting.md#retarget-an-indoor-interaction"><img src="https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/full-body-geometry.webp" alt="Rendered humanoid interacting with objects and furniture in a kitchen on a white background" width="300"></a><br>
<strong><a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/full_body_retargeting.md#retarget-an-indoor-interaction">Geometry-aware full-body<br>retargeting</a></strong>
</td>
<td width="33%" align="center" valign="top">
<a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/humanoid_retargeting.md#control-both-inspire-hands"><img src="https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/full-body-teleoperation.webp" alt="Physical humanoid handling flowers at a table" width="300"></a><br>
<strong><a href="https://github.com/openrobokit/retargetingkit/blob/main/docs/guide/humanoid_retargeting.md#control-both-inspire-hands">Real-time full-body<br>teleoperation</a></strong>
</td>
</tr>
</table>

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# Arm Retargeting

![An xArm7 carrying an XHand in the interactive retargeting gallery](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/hand_retargeting.webp)

Map a tracked wrist to an xArm6 or xArm7 end effector. The arm solver uses RoboKit inverse kinematics with position, orientation, joint-limit, and smoothness terms.

## How Retargeting Works
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# Full-Body Retargeting

| Body, hand, and object interaction. | Body and hand motion in a furnished scene. |
| ![SAGA body and hand interaction retargeted in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/full_body_hoi.webp) | ![ParaHome body and scene interaction retargeted in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/full_body_hsi.webp) |
| --- | --- |
| Body, hand, and object interaction. | Body and hand motion in a furnished scene. |

Retarget body motion, articulated fingers, and object interaction together to a G1 with Inspire hands. RetargetingKit loads SAGA or ParaHome clips; RoboKit solves the robot motion and object poses.

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# Hand Retargeting

| Hand motion on a robot assembly. | Hand-object contact refinement. |
| ![Tracked hand retargeted to an xArm7 and XHand](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/hand_retargeting.webp) | ![Hand-object contact refinement in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/hand_contact.webp) |
| --- | --- |
| Hand motion on a robot assembly. | Hand-object contact refinement. |

Map human hand motion to robot joint positions with RoboKit's online or offline optimization. Start with a recorded example, then connect a [Manus glove](../reference/sources/manus.md) or [Apple Vision Pro](../reference/sources/vision_pro.md).

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# Humanoid Retargeting

| Human motion mapped to a humanoid. | Humanoid motion on terrain. |
| ![Human motion retargeted to a G1 in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/humanoid.webp) | ![Humanoid adapting motion to terrain in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/humanoid_terrain.webp) |
| --- | --- |
| Human motion mapped to a humanoid. | Humanoid motion on terrain. |

Map recorded or live body motion to G1 at 50 Hz. The runtime sends robot root pose and joint positions to its configured targets; the SONIC target derives joint velocities for whole-body control.

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# Neural Hand Retargeting

![Neural hand inference in the interactive gallery](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/hand_neural.webp)

Train a model for one robot hand, then map wrist-local MANO-21 keypoints to joint positions in URDF order. Curated checkpoints support Allegro, Sharpa Wave, and XHand.

## How Inference Works
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![RetargetingKit](../assets/retargetingkit-banner.webp)
![RetargetingKit](https://openrobokit.com/assets/docs/retargetingkit/assets/retargetingkit-banner.webp)

[![Dexterous hand and humanoid motion](https://openrobokit.com/assets/docs/retargetingkit/assets/retargetingkit-paper-teaser.png)](https://openrobokit.com/retargetingkit)

RetargetingKit maps human motion to robot hands, arms, and humanoids. It combines RoboKit optimization with neural hand models for recorded motion and real-time teleoperation.

Expand Down Expand Up @@ -37,17 +39,17 @@ flowchart LR

## Features

| [![Hand retargeting](../assets/built-in-tasks/hand-retargeting.webp)](hand_retargeting.md) | [![Geometry-aware hand retargeting](../assets/built-in-tasks/hand-geometry-sim.webp)](hand_retargeting.md#inspect-object-contact) |
| --- | --- |
| **[Hand retargeting](hand_retargeting.md)** Map tracked hand motion to robot joints. | **[Geometry-aware hand retargeting](hand_retargeting.md#inspect-object-contact)** Refine hands against object geometry. |
| [![Hand retargeting](https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/hand-retargeting.webp)](hand_retargeting.md) | [![Geometry-aware hand retargeting](https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/hand-geometry-sim.webp)](hand_retargeting.md#inspect-object-contact) | [![Real-time hand teleoperation](https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/hand-geometry.webp)](hand_retargeting.md#preview-live-motion) |
| --- | --- | --- |
| **[Hand retargeting](hand_retargeting.md)** Map tracked hand motion to robot joints. | **[Geometry-aware hand retargeting](hand_retargeting.md#inspect-object-contact)** Refine hands against object geometry. | **[Real-time hand teleoperation](hand_retargeting.md#preview-live-motion)** Drive a robot hand from live tracking. |

| [![Humanoid retargeting](../assets/built-in-tasks/humanoid-retargeting.webp)](humanoid_retargeting.md) | [![Geometry-aware humanoid retargeting](../assets/built-in-tasks/humanoid-geometry.webp)](humanoid_retargeting.md) |
| --- | --- |
| **[Humanoid retargeting](humanoid_retargeting.md)** Map captured body motion to humanoids. | **[Geometry-aware humanoid retargeting](humanoid_retargeting.md)** Account for terrain and contact. |
| [![Humanoid retargeting](https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/humanoid-retargeting.webp)](humanoid_retargeting.md) | [![Geometry-aware humanoid retargeting](https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/humanoid-geometry.webp)](humanoid_retargeting.md) | [![Real-time humanoid teleoperation](https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/humanoid-teleoperation.webp)](humanoid_retargeting.md) |
| --- | --- | --- |
| **[Humanoid retargeting](humanoid_retargeting.md)** Map captured body motion to humanoids. | **[Geometry-aware humanoid retargeting](humanoid_retargeting.md)** Account for terrain and contact. | **[Real-time humanoid teleoperation](humanoid_retargeting.md)** Drive a humanoid from live motion. |

| [![Full-body retargeting](../assets/built-in-tasks/full-body-retargeting.webp)](full_body_retargeting.md) | [![Geometry-aware full-body retargeting](../assets/built-in-tasks/full-body-geometry.webp)](full_body_retargeting.md#retarget-an-indoor-interaction) |
| --- | --- |
| **[Full-body retargeting](full_body_retargeting.md)** Combine body and hand motion. | **[Geometry-aware full-body retargeting](full_body_retargeting.md#retarget-an-indoor-interaction)** Preserve scene and object interactions. |
| [![Full-body retargeting](https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/full-body-retargeting.webp)](full_body_retargeting.md) | [![Geometry-aware full-body retargeting](https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/full-body-geometry.webp)](full_body_retargeting.md#retarget-an-indoor-interaction) | [![Real-time full-body teleoperation](https://openrobokit.com/assets/docs/retargetingkit/assets/built-in-tasks/full-body-teleoperation.webp)](humanoid_retargeting.md#control-both-inspire-hands) |
| --- | --- | --- |
| **[Full-body retargeting](full_body_retargeting.md)** Combine body and hand motion. | **[Geometry-aware full-body retargeting](full_body_retargeting.md#retarget-an-indoor-interaction)** Preserve scene and object interactions. | **[Real-time full-body teleoperation](humanoid_retargeting.md#control-both-inspire-hands)** Drive body and hands together. |

## Quick links

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Expand Up @@ -11,17 +11,21 @@ uvx --from 'retargetingkit[vis]' \

Open the Viser URL printed in the terminal. Select a robot and motion, then play or scrub the result. Replace `hand_retargeting` with any gallery below. Each preview records that gallery's Viser scene.

| **`hand_retargeting`** Retarget tracked hands. | **`hand_neural`** Compare neural hand models. | **`hand_contact`** Refine hand-object contact. |
| ![Hand retargeting in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/hand_retargeting.webp) | ![Neural hand retargeting in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/hand_neural.webp) | ![Hand contact retargeting in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/hand_contact.webp) |
| --- | --- | --- |
| **`hand_retargeting`** Retarget tracked hands. | **`hand_neural`** Compare neural hand models. | **`hand_contact`** Refine hand-object contact. |

| **`hand_object_dexmachina`** Explore DexMachina interactions. | **`hand_object_gigahands`** Explore GigaHands interactions. | **`hand_object_oakink2`** Explore OakInk2 interactions. |
| ![DexMachina hand-object retargeting in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/hand_object_dexmachina.webp) | ![GigaHands hand-object retargeting in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/hand_object_gigahands.webp) | ![OakInk2 hand-object retargeting in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/hand_object_oakink2.webp) |
| --- | --- | --- |
| **`hand_object_dexmachina`** Explore DexMachina interactions. | **`hand_object_gigahands`** Explore GigaHands interactions. | **`hand_object_oakink2`** Explore OakInk2 interactions. |

| **`humanoid`** Browse motions and robot presets. | **`humanoid_contact`** Retarget object interactions. | **`humanoid_terrain`** Adapt motion to terrain. |
| ![Humanoid retargeting in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/humanoid.webp) | ![Humanoid contact retargeting in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/humanoid_contact.webp) | ![Humanoid terrain retargeting in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/humanoid_terrain.webp) |
| --- | --- | --- |
| **`humanoid`** Browse motions and robot presets. | **`humanoid_contact`** Retarget object interactions. | **`humanoid_terrain`** Adapt motion to terrain. |

| **`full_body_hoi`** Retarget body and hand interactions. | **`full_body_hsi`** Retarget body motion in furnished scenes. |
| ![Full-body object interaction in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/full_body_hoi.webp) | ![Full-body scene interaction in Viser](https://openrobokit.com/assets/docs/retargetingkit/assets/gallery/full_body_hsi.webp) |
| --- | --- |
| **`full_body_hoi`** Retarget body and hand interactions. | **`full_body_hsi`** Retarget body motion in furnished scenes. |

To list gallery module names from an installed checkout, run `uv run python -m retargetingkit.gallery`. Gallery data, robot models, and checkpoints download on first use; complete [asset setup](assets.md) first.

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