Datasets:

AIGeeksGroup
/

MotionMamba2.0

language:
  - en
  - zh
tags:
  - robotics
  - motion
  - unitree-g1
  - motion-retargeting
pretty_name: MotionMamba2.0 G1 Mixed Motion CSV
size_categories:
  - 100K<n<1M
configs:
  - config_name: default
    data_files:
      - split: train
        path: metadata/train.jsonl
      - split: validation
        path: metadata/val.jsonl
      - split: test
        path: metadata/test.jsonl

MotionMamba2.0 G1 Mixed Motion CSV

Accepted G1 motion exports from BONES Seed, HiPHI and HumanML3D. BONES uses official G1 CSV input; HiPHI and HumanML3D are retargeted to G1. All packaged motions are sampled at 25 FPS. The package contains 179,648 motions, 660.98 hours, and their available text descriptions.

Split	Motions	Hours	Uncompressed CSV bytes
Train	156,819	588.922356	24,775,677,931
Validation	9,998	41.175389	1,766,247,317
Test	12,831	30.887122	1,274,131,579
Total	179,648	660.984867	27,816,056,827

Files

Files are stored directly in the repository root:

data/{train,val,test}/{source}-NNNN.tar.gz: sharded CSVs and original motion JSON sidecars. Shards contain only one source and one split. Approximately 512 MiB of uncompressed CSV data is assigned to each full shard.
metadata/{train,val,test}.jsonl: portable sample metadata, captions, splits, archive locations, extracted file locations, and original file SHA-256s.
dataset_info.json: measured counts, sizes, source-manifest hashes and shard checksums.

Archive members retain readable source sample names, for example motions/train/bones/Idle_Left_001__A017.csv. Characters that cannot be used safely in file paths are percent-encoded. Each metadata row gives the corresponding sample_id, archive_path, csv_path and sidecar_path. Paths are relative to the release directory; metadata does not depend on the original server's directory layout. The original sidecars retain their historical provenance fields.

The package does not include intermediate solver caches, videos, original BVH/SMPL inputs, qpos.npy, or the precomputed 414-dimensional features.npy.

Download and extract

This repository is public; no login is required for downloading.

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="AIGeeksGroup/MotionMamba2.0",
    repo_type="dataset",
    local_dir="MotionMamba2.0",
)

To download through HF-Mirror, set HF_ENDPOINT=https://hf-mirror.com before running the downloader. Uploads are made to the official Hugging Face endpoint.

Extract shards inside the release directory so that their paths agree with the metadata:

cd MotionMamba2.0
for shard in data/*/*.tar.gz; do tar -xzf "$shard"; done

CSV representation

Each CSV has 36 columns: frame index, three root translations, three root Euler angles, and 29 joint angles. Each CSV contains its ordered column names in the header row; units and rotation conventions are described below.

Frame indices start at zero; time is Frame / 25 seconds.
Root translation is in centimetres; multiply by 0.01 for metres.
Root Euler angles and articulated joint angles are in degrees; convert with numpy.deg2rad when a consumer expects radians.
Root Euler convention: SciPy lowercase extrinsic active xyz.
CSV root Euler coordinates are distinct from quaternion-based MuJoCo qpos.

import json
from pathlib import Path
import numpy as np

release = Path("MotionMamba2.0")
with (release / "metadata/train.jsonl").open() as f:
    sample = json.loads(next(f))

motion = np.loadtxt(release / sample["csv_path"], delimiter=",", skiprows=1,
                    ndmin=2)
root_translation_m = motion[:, 1:4] * 0.01
root_euler_xyz_rad = np.deg2rad(motion[:, 4:7])
joint_angles_rad = np.deg2rad(motion[:, 7:])
captions = sample["captions"]