Retargeting
SkillDev toolsUse when working on Workbench motion retargeting, SONIC retargeted motion artifacts, SkyPilot retargeting YAMLs, or retargeting CLI behavior.
Available today. Use it from your connected AI after setup.
No other account needed.
Connect ahel once, and every AI you use reads what you have installed.
Then ask your AI: use the Retargeting skill
What this skill tells your AI
The instructions your AI receives, as published by nebius/nebius-physical-ai in skills/tools/retargeting/SKILL.md and read by ahel’s review.
Retargeting converts already-retargeted SOMA/G1/Bones motion artifacts into the real motion-lib PKL schema consumed by SONIC locomotion training.
Interfaces
CLI:
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.yamlworkflows/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.
Signals
- GitHub stars
- 28
- Forks
- 15
- Last commit
- Sep 2026
Advanced
- Catalog kind
- skill
- Gateway key
retargeting- Source
- github.com/nebius/nebius-physical-ai