| --- |
| 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. |
|
|
| ```python |
| 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: |
|
|
| ```bash |
| 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. |
|
|
| ```python |
| 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"] |
| ``` |
|
|
|
|
