Update README.md

README.md

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----
-license: bsd-3-clause
----
+---
+pretty_name: Retargeted Robot Motion Dataset
+license: other
+tags:
+  - robotics
+  - motion-capture
+  - robot-motion
+  - imitation-learning
+  - reinforcement-learning
+dataset_info:
+  features:
+    - name: joints_list
+      dtype: string
+    - name: joint_positions
+      dtype: float32
+    - name: root_position
+      dtype: float32
+    - name: root_quaternion
+      dtype: float32
+    - name: fps
+      dtype: float32
+    - name: duration
+      dtype: float32
+    - name: r_forearm
+      dtype: float32
+    - name: l_forearm
+      dtype: float32
+    - name: r_sole
+      dtype: float32
+    - name: l_sole
+      dtype: float32
+  splits:
+    - name: train
+      num_bytes: ~
+      num_examples: ~
+  download_size: ~
+  dataset_size: ~
+---
+
+# Retargeted Robot Motion Dataset
+
+This dataset provides retargeted motion capture sequences for a variety of robotic platforms. The motion data is derived from the [CMU Motion Capture Database](https://mocap.cs.cmu.edu/) and includes a wide range of motion types beyond locomotion — such as gestures, interactions, and full-body activities.
+
+The data has been adapted to match the kinematic structure of specific robots, enabling its use in tasks such as:
+
+- Imitation learning
+- Reinforcement learning
+- Motion analysis
+- Skill learning from demonstration
+
+---
+
+## 📁 Dataset Format
+
+Each `.npy` file contains a dictionary with the following keys:
+
+- `joints_list`: list of joint names
+- `joint_positions`: per-frame joint angle vectors
+- `root_position`: per-frame 3D position of the robot’s base
+- `root_quaternion`: per-frame orientation as quaternions (`xyzw`)
+- `fps`: sampling rate of the motion (frames per second)
+- `duration`: total sequence duration in seconds
+- `r_forearm`, `l_forearm`: optional 3D positions of the forearms
+- `r_sole`, `l_sole`: optional 3D positions of the soles of the feet
+
+> All lists should have consistent lengths across time frames.
+
+### Example
+
+```python
+{
+  "joints_list": ["joint_1", "joint_2", ...],
+  "joint_positions": [np.array([...]), ...],
+  "root_position": [np.array([x, y, z]), ...],
+  "root_quaternion": [np.array([x, y, z, w]), ...],
+  "fps": 120.0,
+  "duration": 3.2
+}
+```
+
+---
+
+## 📂 Repository Structure
+
+The dataset repository is organized by robot model:
+
+```
+.
+├── ergocub/
+│   ├── wave_hand.npy
+│   ├── walk_forward.npy
+│   └── ...
+├── another_robot/
+│   └── ...
+├── README.md
+```
+
+Each folder contains `.npy` files with motion data retargeted to that specific robot's model.
+
+---
+
+## 📄 License
+
+Original motion capture data © Carnegie Mellon University.  
+Retargeted datasets are provided for research purposes under the BSD 3-Clause license.