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---
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:
- `workflows/testing/retargeting.yaml`
- `workflows/testing/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.
