dance/                          28 clips — dance routines
  B_DadDance/
  B_LongDance/
  B_SpiralDance/
  B_StretchDance/
  B_WiggleDance/
  J_Dance0_StepTouch/
  J_Dance1_Modern/
  J_Dance2_Salsa/
  J_Dance3_Woah/
  J_Dance4_Broadway/
  J_Dance5_Hype/
  J_Dance6_Sassy/
  J_Dance7_Party/
  J_Dance8_WestCoast/
  J_Dance9_PeaceMaker/
  J_Dance11_Gnarly/
  J_Dance12_LushLife/
  J_Dance17_Shuffle/
  J_Dance18_TikTok/
  J_Dance19_LetsGO/
  J_Dance20_DWG/
  J_Dance21_Blunt/
  J_Dance22_Thrilling/
  J_Dance23_MidnightSun/
  J_ShortDance13_SingleLadies/
  J_ShortDance14_Disco/
  J_ShortDance15_Nineties/
  J_ShortDance16_JazzWalk/
karate/                         27 clips — karate/martial arts moves
  B_AttackKarate/
  B_BowKarate/
  B_ChopsKarate/
  B_CrazyChopsKarate/
  B_ForwardKarate/
  B_LongKarate/
  B_SpinKarate/
  M_Move1/                — Guard Combo
  M_Move2/                — Low Punch
  M_Move3/                — Horse Stance
  M_Move4/                — Spin Punch
  M_Move5/                — Twist Punch
  M_Move6/                — Spin Strike
  M_Move7/                — Rapid Punch
  M_Move8/                — Drop Spin
  M_Move9/                — Level Change
  M_Move10/               — Side Kick
  M_Move11/               — Blitz
  M_Move17/               — Double Strike
  M_Move18/               — Front Kick
  M_Move19/               — Slow Kata
  M_Move20/               — Open Strike
  M_ShortMove12/          — Quick Jab
  M_ShortMove13/          — Snap Kick
  M_ShortMove14/          — Light Punch
  M_ShortMove15/          — Drop Strike
  M_ShortMove16/          — Power Burst
bonus/                           5 clips — fencing, hands-up, chops, video extraction
  B_Fence1/
  B_Fence2/
  B_HandsChop/
  B_HandsUp/
  V_Rocamena/          — extracted via video2robot
movin-studio-project/           Raw Movin Studio recordings and project file

Each clip lives in its own subfolder containing:

File	Format
`<clip>.bvh`	BVH motion capture (humanoid skeleton, Hips root)
`<clip>.pkl`	Retargeted G1 joint trajectories (29 DOF)
`<clip>_bl.fbx`	FBX for Blender
`<clip>_mb.fbx`	FBX for Maya
`<clip>_ue.fbx`	FBX for Unreal Engine
`<clip>_un.fbx`	FBX for Unity

Retarget

All 59 BVH clips have been retargeted to the Unitree G1 (mode 15, 29 DOF) using movin_sdk_python. The pipeline:

BVH → IK: Per-frame inverse kinematics maps human skeleton to G1 joint limits (1.75m human height)
Ground calibration: MuJoCo forward kinematics finds minimum foot Z across all frames, shifts root down for ground contact
PKL output: {fps, root_pos, root_rot, dof_pos} — 60 FPS, quaternions in xyzw order, 29 joint angles
Video render: MuJoCo offscreen 1080x1080, libx264 CRF 18

Run python retarget_all.py to regenerate (skips existing outputs).

Equipment

Motion Capture

All 59 clips were captured using the MOVIN TRACIN markerless motion capture system from MOVIN3D. MOVIN TRACIN uses on-device AI to fuse LiDAR point clouds and vision into production-ready motion data — no markers, no suit, no multi-camera rig. Captured performances were recorded and exported using MOVIN Studio, which provides real-time skeleton visualization, recording management, and export to BVH and FBX formats. Retargeting from human skeleton to G1 robot joint space was performed using movin_sdk_python.

Thank you to MOVIN3D for building an incredible motion capture platform that makes professional-grade mocap accessible to robotics researchers.

Workstation

All data was captured and policies were trained on a Dell Pro Max Tower T2 workstation from Dell Technologies:

Component	Spec
CPU	Intel Core Ultra 9 285K (24 cores, up to 7.2 GHz)
GPU	NVIDIA RTX PRO 6000 Blackwell Workstation Edition (96 GB GDDR7)
RAM	128 GB DDR5
Storage	2x 4 TB WD SN8000S NVMe SSD (8 TB total)
OS	Ubuntu 24.04 LTS

The RTX PRO 6000 Blackwell with 96 GB of VRAM enables running thousands of parallel MuJoCo-Warp simulation environments on a single GPU for reinforcement learning training, while the 24-core Ultra 9 285K handles motion retargeting and data processing. Thank you to Dell Technologies for providing the compute power behind this project.

Pipeline Progress

Stage	Bonus (5)	Dance (28)	Karate (27)	Total (60)
Capture	5	28	27	60
PKL (retarget)	5	28	27	60
NPZ (training)	4	28	27	59
Policy (.pt)	4	0	0	4
ONNX (.onnx)	4	0	0	4

Clips

Dance (28)

Mocap	Retarget	Training
B_DadDance `MOVIN3D`

B_LongDance `MOVIN3D`

B_SpiralDance `MOVIN3D`

B_StretchDance `MOVIN3D`

B_WiggleDance `MOVIN3D`

J_Dance0_StepTouch `MOVIN3D`

J_Dance1_Modern `MOVIN3D`

J_Dance2_Salsa `MOVIN3D`

J_Dance3_Woah `MOVIN3D`

J_Dance4_Broadway `MOVIN3D`

J_Dance5_Hype `MOVIN3D`

J_Dance6_Sassy `MOVIN3D`

J_Dance7_Party `MOVIN3D`

J_Dance8_WestCoast `MOVIN3D`

J_Dance9_PeaceMaker `MOVIN3D`

J_Dance11_Gnarly `MOVIN3D`

J_Dance12_LushLife `MOVIN3D`

J_Dance17_Shuffle `MOVIN3D`

J_Dance18_TikTok `MOVIN3D`

J_Dance19_LetsGO `MOVIN3D`

J_Dance20_DWG `MOVIN3D`

J_Dance21_Blunt `MOVIN3D`

J_Dance22_Thrilling `MOVIN3D`

J_Dance23_MidnightSun `MOVIN3D`

J_ShortDance13_SingleLadies `MOVIN3D`

J_ShortDance14_Disco `MOVIN3D`

J_ShortDance15_Nineties `MOVIN3D`

J_ShortDance16_JazzWalk `MOVIN3D`

Karate (27)

Mocap	Retarget	Training
B_AttackKarate `MOVIN3D`

B_BowKarate `MOVIN3D`

B_ChopsKarate `MOVIN3D`

B_CrazyChopsKarate `MOVIN3D`

B_ForwardKarate `MOVIN3D`

B_LongKarate `MOVIN3D`

B_SpinKarate `MOVIN3D`

M_Move1 — Guard Combo `MOVIN3D`

M_Move2 — Low Punch `MOVIN3D`

M_Move3 — Horse Stance `MOVIN3D`

M_Move4 — Spin Punch `MOVIN3D`

M_Move5 — Twist Punch `MOVIN3D`

M_Move6 — Spin Strike `MOVIN3D`

M_Move7 — Rapid Punch `MOVIN3D`

M_Move8 — Drop Spin `MOVIN3D`

M_Move9 — Level Change `MOVIN3D`

M_Move10 — Side Kick `MOVIN3D`

M_Move11 — Blitz `MOVIN3D`

M_Move17 — Double Strike `MOVIN3D`

M_Move18 — Front Kick `MOVIN3D`

M_Move19 — Slow Kata `MOVIN3D`

M_Move20 — Open Strike `MOVIN3D`

M_ShortMove12 — Quick Jab `MOVIN3D`

M_ShortMove13 — Snap Kick `MOVIN3D`

M_ShortMove14 — Light Punch `MOVIN3D`

M_ShortMove15 — Drop Strike `MOVIN3D`

M_ShortMove16 — Power Burst `MOVIN3D`

Bonus (5)

Mocap	Retarget	Training	Policy
B_Fence1 `MOVIN3D`

B_Fence2 `MOVIN3D`

B_HandsChop `MOVIN3D`

B_HandsUp `MOVIN3D`

V_Rocamena `video2robot`

Capture Details

Skeleton: Humanoid, Hips root, 6-DOF root channels, 3-DOF joint rotations (YXZ)
Export formats: BVH + 4 FBX variants (Blender, Maya, Unreal, Unity)

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