This repo isolates the retargeting module from Rokoko's Blender Plugin with none of the other cruft or frills.
In order to retarget an animation in Blender you will need to do the following:
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Select an armature with an animation as the source armature, select an armature that should receive the animation as the target armature and then press "Build Bone List"
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Check if the bones got filled in correctly and fix any incorrect or missing bones
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Select "Auto Scale" if the armatures differ in size or resize them manually
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In "Use Pose:" select the pose that should be used for retargeting
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Important: Make sure that both armature are in the same pose for correct retargeting
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Press "Retarget Animation"
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Done!