Retarget parkour, dance, and interaction clips onto any humanoid in ~30 seconds
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- Fast retarget — drag a human clip, pick a robot, export CSV/ZIP; Newton IK + MPC-SQP interaction mesh.
- Human formats — BVH / FBX / GLB / SMPL family; adapters for AMASS, GVHMR, LAFAN, OMOMO, PHUMA, intermimic, meshmimic, …
- Any URDF — upload any robot in the Web UI: drag in the URDF, drag in meshes; auto-detected, no manual tuning.
- Robot→robot (R2R) — retarget existing robot CSV/PKL exports onto a new URDF.
- Dataset analysis — scan, tag, embed, cluster, and subset human or robot motion libraries in the Web UI.
Requirements: Linux, Python 3.12+. Preview on CPU; retarget needs NVIDIA GPU (CUDA 12).
git clone https://github.com/jaggerShen/human-humanoid-tools.git
cd human-humanoid-tools
curl -LsSf https://astral.sh/uv/install.sh | sh # if needed
uv sync --extra all
uv run hhtools webOpen http://127.0.0.1:8009.
| Panel | Flow |
|---|---|
| Motion → Robot | Load clip → select robot → calibrate (once) → retarget → download CSV/ZIP |
| Robot → Robot | Source robot + trajectory → target URDF → calibrate → retarget / batch ZIP |
| Dataset analysis | Drop a folder → analyze → explore tags & scatter → export subset |
Robot tuning: edit configs/robots/unitree_g1/ or uploaded ~/.config/hhtools/robots/<name>/robot.yaml; run hhtools robot validate <name>. Details in framework.md.
Demo paths only — download full datasets from upstream. Adapters provided; no dataset redistribution.
| Mode | Dataset | Paper | Download |
|---|---|---|---|
| mimic | AMASS | arXiv | site |
| mimic | GVHMR | arXiv | GitHub |
| mimic | LAFAN1 | arXiv | GitHub |
| mimic | Motion-X | NeurIPS | GitHub |
| mimic | PHUMA | arXiv | GitHub |
| mimic | SOMA | arXiv | Hugging Face |
| intermimic | OMOMO | arXiv | GitHub |
| meshmimic | holosoma | arXiv | GitHub |
| meshmimic | PARC MS | arXiv | GitHub |
If you use human-humanoid-tools in research or products, please cite the repository:
@software{human_humanoid_tools2026,
title = {human-humanoid-tools (hhtools): humanoid motion retargeting and dataset analysis},
author = {jaggerShen and hhtools contributors},
year = {2026},
url = {https://github.com/jaggerShen/human-humanoid-tools},
license = {Apache-2.0}
}Links: GitHub repository · Issues · LICENSE
When publishing results built on bundled adapters, also cite the upstream datasets and solvers listed above and in NOTICE (e.g. SOMA-Retargeter, holosoma).
- Code: Apache-2.0 · third-party: NOTICE
- SMPL / SMPL-H / SMPL-X weights: not included; register at MPI and place under
configs/body_models/— see configs/body_models/README.md - More docs: framework.md · CONTRIBUTING.md