openhe/g1-retargeted-motions

Unitree G1 Retargeted Motion Dataset

A comprehensive collection of human motion data retargeted to the Unitree G1 humanoid robot. This dataset contains 174 motion sequences spanning diverse categories including locomotion, dance, sports, and expressive movements.

Dataset Overview

This dataset provides motion data in a unified format suitable for training humanoid robot control policies. All motions have been retargeted from human motion capture data (SMPL format) to the Unitree G1 robot's kinematic structure using the Mink retargeting pipeline.

Total Files: 174 motion sequences Robot: Unitree G1 (23 DOF) Frame Rate: 30 FPS Format: Python pickle (.pkl)

Subsets

1. ACCAD_retargeted (113 files)

Motion capture data from the CMU ACCAD dataset, covering a wide range of basic movements:

• Locomotion: Walking, running, crawling, lying down
• Transitions: Stand-to-sit, crouch-to-run, lie-to-crouch
• Actions: Picking up boxes, lifting, looking around
• Dance: Cartwheels, gestures

Source: ACCAD - Carnegie Mellon University

2. LAFAN1_retargeted (40 files)

High-quality motion sequences from the LAFAN1 dataset:

• Locomotion: Multiple walking styles (walk1-4), running (run1-2), sprinting
• Dance: Contemporary dance sequences (dance1-2, 5 subjects each)
• Dynamic Movements: Jumps, falls and get-ups, fighting moves
• Sports: Fight and sports combinations

Source: LAFAN1 Dataset

3. dance_db_retargeted (13 files)

Curated selection of expressive dance and emotional movements:

Dance Styles:

• Latin: Bachata, Salsa, Reggaeton
• Street: Hip-hop, R&B
• Traditional: Zeibekiko, Greek folk dances
• Other: Capoeira, Flamenco, Zumba

Emotional Expressions:

• Positive: Happy, Excited, Relaxed
• Negative: Sad, Angry, Afraid

Source: DanceDB - Dance Motion Capture Database

4. kungfu_retargeted (8 files)

Martial arts and expressive poses:

• Bruce Lee pose
• Punches (Hooks, Horse stance)
• Kicks (Roundhouse, Side kick)
• Charleston dance

Data Format

Each .pkl file contains a nested dictionary structure:

{
    'motion_name.npz': {
        'root_trans_offset': np.ndarray,  # (T, 3) - Root position in world frame
        'root_rot': np.ndarray,           # (T, 4) - Root orientation (quaternion)
        'dof': np.ndarray,                # (T, 23) - Joint angles for 23 DOF
        'pose_aa': np.ndarray,            # (T, 27, 3) - Axis-angle representation
        'contact_mask': np.ndarray,       # (T, 2) - Foot contact labels [left, right]
        'fps': int,                       # Frame rate (30)
    }
}

Where T is the number of frames in the sequence.

Joint Configuration (23 DOF)

The Unitree G1 robot has 23 degrees of freedom:

• Torso: 3 DOF (waist pitch, roll, yaw)
• Arms: 8 DOF per arm (shoulder, elbow, wrist)
• Legs: 6 DOF per leg (hip, knee, ankle)

Usage

Loading Data

import pickle
import numpy as np

# Load a motion file
with open('ACCAD_retargeted/A1_-_Stand_stageii.pkl', 'rb') as f:
    data = pickle.load(f)

# Access motion data
motion_key = list(data.keys())[0]
motion = data[motion_key]

root_pos = motion['root_trans_offset']      # (T, 3)
root_rot = motion['root_rot']               # (T, 4)
joint_angles = motion['dof']                # (T, 23)
contacts = motion['contact_mask']           # (T, 2)

print(f"Sequence length: {len(root_pos)} frames")
print(f"Duration: {len(root_pos) / 30:.2f} seconds")

Visualization

Requires the HumanoidPnnV2 codebase for visualization:

python humanoid-task-cluster/scripts/visualize_smpl_motion.py \
    --motion_file example/motion_data/ACCAD_retargeted/C3_-_Run_stageii.pkl

Processing Pipeline

The motions were processed through the following pipeline:

1. Source Data: Human motion capture in SMPL/SMPL-X format
2. Retargeting: Mink inverse kinematics solver
3. Contact Detection: Physics-based foot contact detection
4. Validation: Manual inspection and filtering

Citation

If you use this dataset, please cite:

@misc{g1_retargeted_motions_2025,
  title={Unitree G1 Retargeted Motion Dataset},
  author={Your Name},
  year={2025},
  howpublished={\url{https://huggingface.co/datasets/your-username/g1-retargeted-motions}}
}

Original Data Sources

ACCAD:

@misc{accad_mocap,
  title={Advanced Computing Center for the Arts and Design Motion Capture Database},
  author={ACCAD},
  institution={The Ohio State University},
  url={http://accad.osu.edu/research/mocap/mocap_data.htm}
}

LAFAN1:

@article{harvey2020lafan1,
  title={Robust motion in-betweening},
  author={Harvey, F{\'e}lix G and Yurick, Mike and Nowrouzezahrai, Derek and Pal, Christopher},
  journal={ACM Transactions on Graphics (TOG)},
  volume={39},
  number={4},
  pages={60--1},
  year={2020}
}

License

This dataset is provided for research purposes. Please respect the original licenses of the source datasets:

• ACCAD: License
• LAFAN1: License

Related Resources

• Retargeting Code: MaskedMimic
• Robot: Unitree G1
• Training Framework: HumanoidPnnV2

Updates

• 2025-12: Initial release with 174 motion sequences