Human-Humanoid Tools
Retarget parkour, dance, and interaction clips onto any humanoid in ~30 seconds. Open-source retarget studio for any URDF, any dataset, and robot-to-robot transfer.
Fast Retarget
hhtools uses a dual-backend architecture around Newton IK (Warp-parallelizable) and Interaction-Mesh (MPC solver) to achieve industry-leading lightweight, high-speed motion transfer. A single full-body sequence — parkour, dance, or object interaction — can be fully retargeted in about 30 seconds, with smooth timing, no joint discontinuities, and no foot-sliding artifacts, dramatically compressing the humanoid motion debugging cycle. Batch parallel retargeting is also supported for fast-paced R&D workflows.
Any Motion
Reads and visualizes most open-source dataset formats with automatic detection, including but not limited to BVH, GLB, and SMPL. Supported datasets include bvh Mocap, AMASS, GVHMR, LAFAN1, OMOMO, PHUMA, InterMimic, and MeshMimic.
Any URDF
Breaking free from single-robot lock-in. Natively supports all standard URDF humanoid robot models — developers simply drag in a robot URDF and mesh folder, with no custom adapter code needed (auto-detected).
Robot → Robot (R2R)
Unlike traditional tools that only support human-to-robot transfer, hhtools implements a robot-to-robot motion transfer channel. A mature motion library from one humanoid can be directly migrated to another robot with significantly different structure. A unified skeletal-alignment pipeline solves the problem of missing target datasets.
Dataset Analysis & Visualize
Want to find clips with horizontal speeds above 3 m/s across 1,000 motion sequences? hhtools includes an integrated motion-analysis and 3D-visualization module supporting joint-trajectory curves, center-of-mass changes, contact heatmaps, and other multi-dimensional signals — helping developers clean, filter, and export high-quality training data in one place.