RRGGZZ/Adam-pro-spider

Adam Pro SPIDER Human Motion Retargeting Dataset

This dataset contains Adam Pro 31-DOF humanoid motion data after physics-based retargeting and optimization with SPIDER. The trajectory_mjwp.npz files are the optimized MuJoCo-Warp/SPIDER outputs, while trajectory_kinematic.npz stores the corresponding kinematic reference used for comparison and replay.

Repository: RRGGZZ/Adam-pro-spider

Source directory in the SPIDER workspace:

example_datasets/processed/human_motion/adam_pro_31dof/humanoid

Archive prefix inside shards:

adam_pro_31dof/humanoid

Contents

• Files: 7511
• Payload size: 3.45 GiB
• Shards: 4

Each tar shard preserves the processed SPIDER directory layout. Typical motion entries include:

• scene.xml: MuJoCo scene used for replay.
• scene_eq.xml: equality-constraint scene variant.
• task_info.json: task metadata and reference timing.
• source_info.json: source motion metadata.
• 0/trajectory_mjwp.npz: SPIDER-optimized physics trajectory.
• 0/trajectory_kinematic.npz: kinematic reference trajectory.
• 0/config.yaml: optimization config saved with the run.

Download And Restore

From your SPIDER workspace, download the dataset repository and extract the shards:

hf download RRGGZZ/Adam-pro-spider \
  --repo-type dataset \
  --local-dir hf_download/Adam-pro-spider

mkdir -p example_datasets/processed/human_motion
for shard in hf_download/Adam-pro-spider/data/*.tar; do
  tar -xf "$shard" -C example_datasets/processed/human_motion
done

The extracted tree will include:

example_datasets/processed/human_motion/adam_pro_31dof/humanoid

Raw Adam PKL Split Motions

This repository also includes the split Adam PKL source motions used before SPIDER/MJWP optimization. These files are stored separately from the optimized trajectories:

raw/adam_pkl_split

• Source workspace path: human_motion/adam_pkl_split
• Archive prefix inside shards: human_motion/adam_pkl_split
• Files: 4660
• Payload size: 5.60 GiB
• Shards: 6

To download only this raw PKL split subset:

hf download RRGGZZ/Adam-pro-spider \
  --repo-type dataset \
  --include "raw/adam_pkl_split/*" \
  --local-dir hf_download/Adam-pro-spider

Restore it from the SPIDER workspace root:

mkdir -p human_motion
for shard in hf_download/Adam-pro-spider/raw/adam_pkl_split/data/*.tar; do
  tar -xf "$shard" -C .
done

The extracted tree will include:

human_motion/adam_pkl_split

Replay

After extracting the shards, replay one optimized motion with the aligned viewer:

./replay_aligned.sh adam_0-walk_forward_relax_impro_002__A001

Or replay directly with headless_replay.sh:

./headless_replay.sh \
  --task adam_0-walk_forward_relax_impro_002__A001 \
  --data-id 0 \
  --robot-type adam_pro_31dof \
  --config-yaml spider/assets/robots/adam_pro_31dof/config.yaml \
  --replay-only \
  --no-process \
  --replay-mode mujoco \
  --show-reference

Manifest

See manifest.json for shard checksums and file counts.

Maintainer Upload

To rebuild and upload this dataset after adding new processed motions, run from the SPIDER workspace:

.venv/bin/python scripts/package_hf_dataset.py \
  --repo-id RRGGZZ/Adam-pro-spider \
  --upload \
  --commit-message "Update Adam Pro 31DOF humanoid SPIDER optimized dataset"

If the shards are already built under hf_upload/adam_pro_31dof_humanoid, upload only the existing staging folder:

.venv/bin/python scripts/package_hf_dataset.py \
  --repo-id RRGGZZ/Adam-pro-spider \
  --upload \
  --upload-only \
  --commit-message "Update Adam Pro 31DOF humanoid SPIDER optimized dataset"

To package and upload the raw Adam PKL split subset:

.venv/bin/python scripts/package_hf_dataset.py \
  --source-dir human_motion/adam_pkl_split \
  --out-dir hf_upload/adam_pkl_split \
  --archive-prefix human_motion/adam_pkl_split \
  --shard-prefix adam_pkl_split \
  --path-in-repo raw/adam_pkl_split \
  --no-readme \
  --upload \
  --commit-message "Upload Adam PKL split source motions"