retargeting
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.Contact_LAFAN1_Retargeting_DatasetLAFAN1_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.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/asgardtim/LAFAN1_Retargeting_Dataset.humanoid_retargeting_tools_resources
Humanoid Retargeting Data
The humanoid retargeting data used in humanoid_retargeting_tools.
# make sure hf CLI is installed
curl -LsSf https://hf.co/cli/install.sh | bash
# download the dataset
hf download wty-yy/humanoid_retargeting_tools_resources --repo-type=dataset --local-dir resources
resources/data/g1/lafan1/: Converted LAFAN1 G1 retargeting dataset in NPZ format.
resources/data/g1/kimodo/: Generate data from kimodo_fock.
resources/data/g1/dailylife/: DailyLife dataset… See the full description on the dataset page: https://huggingface.co/datasets/wty-yy/humanoid_retargeting_tools_resources.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/kERWINLIN/LAFAN1_Retargeting_Dataset.