| | --- |
| | license: cc-by-4.0 |
| | task_categories: |
| | - robotics |
| | - reinforcement-learning |
| | tags: |
| | - motion-capture |
| | - humanoid-robot |
| | - unitree-g1 |
| | - bvh |
| | - sim-to-real |
| | - mujoco |
| | - reinforcement-learning |
| | - motion-imitation |
| | size_categories: |
| | - n<1K |
| | viewer: false |
| | --- |
| | |
| | <p align="center"> |
| | <img src="logo.png" alt="Experiential Technologies" width="500"> |
| | </p> |
| |
|
| | # G1 Moves |
| |
|
| | Motion capture clips for the Unitree G1 humanoid robot, captured with Movin Studio and exported as BVH and FBX. |
| |
|
| | ## Credits |
| |
|
| | **Director:** [Mitch Chaiet](https://mitchchaiet.com/) |
| | **DIT:** [Molly Maguire](https://www.linkedin.com/in/mollymaguire001/) |
| | **Dance:** [Jasmine Coro](https://jasminecoro.com/) |
| | **Karate:** [Mike Gassaway](https://www.backstage.com/u/mike-gassaway/) |
| |
|
| | ## Structure |
| |
|
| | ``` |
| | 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](https://github.com/MOVIN3D/movin_sdk_python). The pipeline: |
| |
|
| | 1. **BVH → IK**: Per-frame inverse kinematics maps human skeleton to G1 joint limits (1.75m human height) |
| | 2. **Ground calibration**: MuJoCo forward kinematics finds minimum foot Z across all frames, shifts root down for ground contact |
| | 3. **PKL output**: `{fps, root_pos, root_rot, dof_pos}` — 60 FPS, quaternions in xyzw order, 29 joint angles |
| | 4. **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](https://movin3d.com/) markerless motion capture system from [MOVIN3D](https://movin3d.com/). 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](https://www.movin3d.com/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](https://github.com/MOVIN3D/movin_sdk_python). |
| |
|
| | Thank you to [MOVIN3D](https://movin3d.com/) 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](https://creatorfolio.co/mitchbookpro) workstation from [Dell Technologies](https://www.dell.com/): |
| |
|
| | | 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](https://www.dell.com/) 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) |
| | |
