Motion Retargeting

April 4, 2026 · View on GitHub

Transform human motion data into robot-compatible joint trajectories for following training. We support GMR for retargeting (https://github.com/YanjieZe/GMR)

Prerequisites

Before running the motion retargeting pipeline, ensure you have:

1. Environment Setup

Please make sure the smplx and GMR are properly installed according to [environment setup doc].

Place your AMASS motion data in /assets/test_data/motion_retargeting/{dataset_name} or modify 'amass_dir' in 'script/motion_retargeting/*.sh' !Please check all related path in .sh and .yaml are right!

3. Model Preparation

Put SMPLX models under following path
thirdparties/
└── GMR/
    ├── assets/
    │   └── body_models/
    │       └── smplx/
    │           ├── SMPLX_FEMALE.npz
    │           ├── SMPLX_FEMALE.pkl
    │           ├── SMPLX_MALE.npz
    │           ├── SMPLX_MALE.pkl
    │           ├── SMPLX_NETURAL.npz
    │           └── SMPLX_NETURAL.pkl

4. Path Verification

Check data paths in the configuration scripts:

holomotion/scripts/motion_retargeting/run_motion_retargeting_gmr_smplx.sh

Before using GMR, it is recommended to run bash ./holomotion/scripts/motion_retargeting/apply_gmr_motion_retarget_patch.sh first, which can help reduce singular solutions to some extent.

Quick Start

1. Motion Retargeting

bash ./holomotion/scripts/motion_retargeting/run_motion_retargeting_gmr_smplx.sh

Reminder: set device = "cuda:0" to "cpu" in "smplx_to_robot_dataset.py" if facing cuda error

After GMR retargeting, we further need to convert the dataset into a HoloMotion-compatible npz format, please run:

bash ./holomotion/scripts/motion_retargeting/run_motion_retargeting_gmr_to_holomotion.sh

2. Motion Visualization

Generate video outputs to validate retargeting quality of the HoloMotion npz files:

bash ./holomotion/scripts/motion_retargeting/run_motion_viz_mujoco.sh

Output: video_rendering/{motion_name}.mp4 files in the retargeted data directories

3. Pack to HDF5 for Training

After retargeting, we need to pack the npz files into a compact HDF5 database:

bash ./holomotion/scripts/motion_retargeting/pack_hdf5_dataset.sh