--- title: LAFAN1_Retargeting_Dataset canonical_url: "https://www.modelscope.cn/datasets/unitreerobotics/LAFAN1_Retargeting_Dataset" md_url: "https://www.modelscope.cn/datasets/unitreerobotics/LAFAN1_Retargeting_Dataset.md" repository: unitreerobotics/LAFAN1_Retargeting_Dataset last_updated: 2025-02-09 license: "Apache License 2.0" storage_size: "299 MB" downloads: 8153 stars: 3 --- # LAFAN1_Retargeting_Dataset > LAFAN1_Retargeting_Dataset - unitreerobotics 在 ModelScope 开源的数据集。LAFAN1 Retargeting Dataset unitreerobotics/LAFAN1_Retargeting_Dataset 是 ModelScope 魔搭社区上的数据集，存储大小 299 MB，采用 Apache License 2.0 许可。 - **Repository**: unitreerobotics/LAFAN1_Retargeting_Dataset - **License**: Apache License 2.0 - **Storage size**: 299 MB - **Downloads**: 8153 - **Stars**: 3 - **Last updated**: 2025-02-09 Source: https://www.modelscope.cn/datasets/unitreerobotics/LAFAN1_Retargeting_Dataset --- # LAFAN1 Retargeting Dataset To make the motion of humanoid robots more natural, we retargeted [LAFAN1](https://github.com/ubisoft/ubisoft-laforge-animation-dataset) motion capture data to [Unitree](https://www.unitree.com/)'s humanoid robots, supporting three models: [H1, H1_2](https://www.unitree.com/h1), and [G1](https://www.unitree.com/g1). This retargeting was achieved through numerical optimization based on [Interaction Mesh](https://ieeexplore.ieee.org/document/6651585) 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 constraints and did not include dynamic constraints or actuator limitations. As a result, the robot cannot perfectly execute the retargeted trajectories. # How to visualize robot trajectories? ```shell # Step 1: Set up a Conda virtual environment conda create -n retarget python=3.10 conda activate retarget # Step 2: Install dependencies conda install pinocchio -c conda-forge pip install numpy rerun-sdk==0.22.0 trimesh # Step 3: Run the script python rerun_visualize.py # run the script with parameters: # python rerun_visualize.py --file_name dance1_subject2 --robot_type [g1|h1|h1_2] ``` # Dataset Collection Pipeline ![image/png](https://cdn-uploads.huggingface.co/production/uploads/67639932ad38702e6c8d16d9/_tAr3zwPotJGaUqxe2u4p.png) This database stores the retargeted trajectories in CSV format. Each row in the CSV file corresponds to the original motion capture data for each frame, recording the configurations of all joints in the humanoid robot in the following order: ```txt The Order of Configuration G1: (30 FPS) root_joint(XYZQXQYQZQW) left_hip_pitch_joint left_hip_roll_joint left_hip_yaw_joint left_knee_joint left_ankle_pitch_joint left_ankle_roll_joint right_hip_pitch_joint right_hip_roll_joint right_hip_yaw_joint right_knee_joint right_ankle_pitch_joint right_ankle_roll_joint waist_yaw_joint waist_roll_joint waist_pitch_joint left_shoulder_pitch_joint left_shoulder_roll_joint left_shoulder_yaw_joint left_elbow_joint left_wrist_roll_joint left_wrist_pitch_joint left_wrist_yaw_joint right_shoulder_pitch_joint right_shoulder_roll_joint right_shoulder_yaw_joint right_elbow_joint right_wrist_roll_joint right_wrist_pitch_joint right_wrist_yaw_joint H1_2: (30 FPS) root_joint(XYZQXQYQZQW) left_hip_yaw_joint left_hip_pitch_joint left_hip_roll_joint left_knee_joint left_ankle_pitch_joint left_ankle_roll_joint right_hip_yaw_joint right_hip_pitch_joint right_hip_roll_joint right_knee_joint right_ankle_pitch_joint right_ankle_roll_joint torso_joint left_shoulder_pitch_joint left_shoulder_roll_joint left_shoulder_yaw_joint left_elbow_joint left_wrist_roll_joint left_wrist_pitch_joint left_wrist_yaw_joint right_shoulder_pitch_joint right_shoulder_roll_joint right_shoulder_yaw_joint right_elbow_joint right_wrist_roll_joint right_wrist_pitch_joint right_wrist_yaw_joint H1: (30 FPS) root_joint(XYZQXQYQZQW) left_hip_yaw_joint left_hip_roll_joint left_hip_pitch_joint left_knee_joint left_ankle_joint right_hip_yaw_joint right_hip_roll_joint right_hip_pitch_joint right_knee_joint right_ankle_joint torso_joint left_shoulder_pitch_joint left_shoulder_roll_joint left_shoulder_yaw_joint left_elbow_joint right_shoulder_pitch_joint right_shoulder_roll_joint right_shoulder_yaw_joint right_elbow_joint ``` [LAFAN1](https://github.com/ubisoft/ubisoft-laforge-animation-dataset) is licensed under Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International Public License (unlike the code, which is licensed under MIT).