CoolFace
Datasetpublic

whirlwind-ams/lafan_locomotion_k1

Lafan Locomotion K1 Motion-capture clips from the LAFAN1 dataset retargeted for the Booster Robotics K1 (22 motion DOF), used as reference motions for training in booster_mjlab. Usage With datasets: from datasets import load_dataset clips = load_dataset("<namespace>/lafan_locomotion_k1", split="train") With booster_mjlab: from booster_mjlab.motion import HfMotionDataset, MotionLoader dataset = HfMotionDataset("<namespace>/lafan_locomotion_k1")… See the full description on the dataset page: https://huggingface.co/datasets/whirlwind-ams/lafan_locomotion_k1.

sourceHugging Faceupdated 8d agoView on Hugging Face
0likes49downloads
Dataset Card

Lafan Locomotion K1

Motion-capture clips from the LAFAN1 dataset retargeted for the Booster Robotics K1 (22 motion DOF), used as reference motions for training in booster_mjlab.

<picture> <source srcset="https://github.com/IntelligentRoboticsLab/boostermjlab/raw/main/assets/motiongriddark.webp" media="(prefers-color-scheme: dark)"> <source srcset="./assets/motiongridlight.webp" media="(prefers-color-scheme: light)"> <img src="https://github.com/IntelligentRoboticsLab/boostermjlab/raw/main/assets/motiongridlight.webp" alt="Retargeted lafanlocomotionk1 clips playing on the K1" width="720"> </picture>

Usage

With datasets:

python
from datasets import load_dataset

clips = load_dataset("<namespace>/lafan_locomotion_k1", split="train")

With booster_mjlab:

python
from booster_mjlab.motion import HfMotionDataset, MotionLoader

dataset = HfMotionDataset("<namespace>/lafan_locomotion_k1")
motion = dataset[0]  # a booster_mjlab MotionFile

# MotionLoader accepts the Hub ID directly:
loader = MotionLoader(
    dataset_root="<namespace>/lafan_locomotion_k1",
    simulation_dt=0.02,
    speed_factor=1.0,
)