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JamesLLMs/LDM ★ 295 26 APPLICATION

This repository provides a functional system for motion retargeting from human video to robot models. It detects arm and hand poses from monocular video using MediaPipe, fuses the detections, applies multi-stage coordinate transformations (world → first-person → URDF standard), and retargets the motion to robot URDF models using numerical optimization. The system includes visualization tools for debugging coordinate transformations and verifying retargeting results. The architecture is modular with separate components for detection (`src/whobody_dect/`), retargeting (`src/dex_retargeting/`), and example workflows (`example/`). Key entry points include `example/vector_retargeting/retarget_from_wholebody_video.py` for the main retargeting pipeline and `src/whobody_dect/simple_visualize.py` for coordinate system validation.

RATING: 7.0/10 MAINT: maintained DRIFT: low
#motion-retargeting #pose-estimation #robot-kinematics #coordinate-transform #sapien-visualization #mediapipe-fusion #urdf-retargeting #teleoperation
▸ 3 reusable components found
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