oniichan521/zest-g1-cartwheel-motion

ZEST G1 Cartwheel Motion Library (SONIC motion_lib format)

Derived dataset: the ZEST G1 cartwheel reference (reference_motions_g1/23_cartwheel.h5, Zenodo 10.5281/zenodo.21135719, CC-BY-4.0), converted to the SONIC / GEAR-SONIC motion_lib pickle format for motion-imitation training on the Unitree G1.

Contents

motion_lib keys per entry: root_trans_offset, pose_aa, dof, root_rot, smpl_joints, fps (50).

Provenance

• —Source: ZEST (Zenodo 21135719), manuscript aec7695 — a G1 cartwheel reference associated with ZEST's hardware-evaluated cartwheel experiments (Table 1: MAE(q) = 0.078 rad, multi-contact = yes).
• —Conversion (convert_zest.py): 120 Hz → 50 Hz quaternion resampling; root pose taken directly from the HDF5 pelvis (yaw-normalized, XY zeroed at frame 0). The ZEST poses were converted into the SONIC MJCF convention with per-frame optimization (position IK) because the ZEST URDF and the SONIC MJCF use different joint conventions; the 6 wrist DOFs are handled separately (fixed to the reference values, fitted sign for the right wrist yaw) because of URDF/MJCF hand frame differences.
• —FK-reconstruction QC vs. the raw reference: full — mean 1.0 cm / p95 5.1 cm; core — mean 1.4 cm / p95 8.8 cm.
• —Known residual: 25–33 cm wrist link-frame difference between the ZEST URDF and the SONIC MJCF under hand support (frame convention; not alignable by joint-space values).

Attribution

• —ZEST dataset — CC-BY-4.0, DOI 10.5281/zenodo.21135719 ("ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control", Science Robotics aec7695).
• —SONIC / GEAR-SONIC — NVIDIA (github.com/NVlabs/GR00T-WholeBodyControl).
• —Motion Data by Bones Studio.