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e6e993b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 | # ErgoCub Locomotion Dataset
This folder contains a retargeted locomotion dataset for the **ergoCub** humanoid robot, derived from the [CMU Motion Capture Database](https://mocap.cs.cmu.edu/).
The motion sequences used in this dataset were specifically selected from the **Walking** category, available at:
👉 [CMU MoCap - Walking Motions](https://mocap.cs.cmu.edu/motcat.php?maincat=3)
The original CMU motion capture data has been retargeted to fit the kinematic structure and constraints of the ergoCub robot, making it suitable for use in imitation learning, reinforcement learning, or motion analysis tasks related to bipedal locomotion.
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## 📁 Contents
This dataset includes:
- Joint positions and velocities
- Base positions and orientations
- Retargeted trajectories aligned to the ergoCub model
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## 📌 Notes
- Original motion data © Carnegie Mellon University.
- Retargeting and processing were performed specifically for research purposes involving the ergoCub robot platform.
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