lafan1
Datasets
All datasets matching “lafan1”LAFAN1_Retargeting_Dataset
LAFAN1 Retargeting Dataset
To make the motion of humanoid robots more natural, we retargeted LAFAN1 motion capture data to Unitree's humanoid robots, supporting three models: H1, H1_2, and G1. This retargeting was achieved through numerical optimization based on Interaction Mesh and IK, considering end-effector pose constraints, as well as joint position and velocity constraints, to prevent foot slippage. It is important to note that the retargeting only accounted for kinematic… See the full description on the dataset page: https://huggingface.co/datasets/lvhaidong/LAFAN1_Retargeting_Dataset.Lafan1_Retarget_To_BUMI-GMR
LAFAN1 to BUMI — Generalized Motion Retargeting Dataset
Dataset Description
This dataset contains retargeted motion data transferred from the LAFAN1 human motion capture dataset onto the BUMI V3.0 bipedal humanoid robot using a two-pass inverse kinematics (IK) pipeline. The resulting joint trajectories are ready to use for robot learning, imitation learning, and motion control research.
Repository: Cryyzz/lafan1-to-bumi-gmr
License: CC-BY-NC-4.0
Robot: BUMI V3.0… See the full description on the dataset page: https://huggingface.co/datasets/Cryyzz/Lafan1_Retarget_To_BUMI-GMR.Contact_LAFAN1_Retargeting_Datasetlafan1LAFAN1_g1
LAFAN1 G1 BeyondMimic Motions
This directory contains Unitree G1 motion files converted from the
LAFAN1 Retargeting Dataset
for BeyondMimic model training in the unitree_rl_lab G1 Mimic workflow.
The source dataset provides retargeted LAFAN1 trajectories for Unitree humanoid robots. Its G1 CSV files are 30 FPS
kinematic trajectories. The .npz files here are converted motion files used by this repository's Mimic training and
replay scripts.
File Summary
g1/ -… See the full description on the dataset page: https://huggingface.co/datasets/wty-yy/LAFAN1_g1.LAFAN1_Retargeting_Dataset
LAFAN1 Retargeting Dataset
To make the motion of humanoid robots more natural, we retargeted LAFAN1 motion capture data to Unitree's humanoid robots, supporting three models: H1, H1_2, and G1. This retargeting was achieved through numerical optimization based on Interaction Mesh and IK, considering end-effector pose constraints, as well as joint position and velocity constraints, to prevent foot slippage. It is important to note that the retargeting only accounted for kinematic… See the full description on the dataset page: https://huggingface.co/datasets/introvoyz041/LAFAN1_Retargeting_Dataset.