Datasets:

exptech
/

g1-moves

@@ -389,23 +389,30 @@ cd ~/Repositories/mjlab-gui
 MUJOCO_GL=egl MUJOCO_EGL_DEVICE_ID=0 uv run train \
   Mjlab-Tracking-Flat-Unitree-G1 \
   --env.commands.motion.motion-file ~/Repositories/g1-moves/<category>/<clip>/training/<clip>.npz \
-  --env.scene.num-envs 4096 \
   --agent.max-iterations 30000 \
-  --agent.save-interval 500 \
   --agent.run-name <clip> \
   --video --video-interval 5000
 ```
 **Key parameters**:
-- `num-envs 4096`: parallel simulation environments (reduce to 2048/1024 if OOM)
-- `max-iterations 30000`: training steps (~6 hours on RTX PRO 6000)
-- `save-interval 500`: checkpoint every 500 iterations
 - `video-interval 5000`: record evaluation video every 5000 steps
 **Output structure**:
 ```
 logs/rsl_rl/g1_tracking/<timestamp>_<clip>/
-  model_0.pt ... model_29999.pt    Checkpoints
   params/agent.yaml                PPO hyperparameters
   params/env.yaml                  Environment config (includes motion_file path)
   events.out.tfevents.*            TensorBoard log
@@ -429,13 +436,12 @@ uv run tensorboard --logdir logs/rsl_rl/g1_tracking/ --port 6006
 # Check final checkpoint exists and has expected keys
 python -c "
 import torch
-ckpt = torch.load('logs/rsl_rl/g1_tracking/<run>/model_29999.pt', map_location='cpu', weights_only=False)
 print(f'iter={ckpt[\"iter\"]}, keys={list(ckpt.keys())}')
-assert ckpt['iter'] == 29999
 "
 ```
-**Time**: ~6 hours for 30k iterations with 4096 envs on RTX PRO 6000
 ### Stage 5: Render Policy Rollout
@@ -545,7 +551,54 @@ git push
 ## Batch Processing
-To process multiple clips end-to-end:
 ### Retarget all (Stage 1)
 ```bash
@@ -553,35 +606,17 @@ cd ~/Repositories/g1-moves
 python retarget_all.py --workers 4
 ```
-### Train multiple clips sequentially (Stage 4)
 ```bash
 cd ~/Repositories/mjlab-gui
-for CLIP in B_DadDance J_Dance3_Woah M_Move1; do
-  CATEGORY=$(python -c "
-import json
-with open('$HOME/Repositories/g1-moves/manifest.json') as f:
-    print(json.load(f)['clips']['${CLIP}']['category'])
-  ")
-  echo "=== Training ${CLIP} (${CATEGORY}) ==="
-  MUJOCO_GL=egl MUJOCO_EGL_DEVICE_ID=0 uv run train \
-    Mjlab-Tracking-Flat-Unitree-G1 \
-    --env.commands.motion.motion-file ~/Repositories/g1-moves/${CATEGORY}/${CLIP}/training/${CLIP}.npz \
-    --env.scene.num-envs 4096 \
-    --agent.max-iterations 30000 \
-    --agent.save-interval 500 \
-    --agent.run-name ${CLIP} \
-    --video --video-interval 5000
-done
-```
-### Batch archive all new policies (Stage 6)
-After training completes, archive each run:
-```bash
-cd ~/Repositories/mjlab-gui/logs/rsl_rl/g1_tracking/
-for RUN_DIR in */; do
-  CLIP=$(echo ${RUN_DIR} | sed 's/.*_//' | sed 's/\///')
-  # ... run Stage 6 commands for each
-done
 ```
 ## Sim-to-Real Deployment

 MUJOCO_GL=egl MUJOCO_EGL_DEVICE_ID=0 uv run train \
   Mjlab-Tracking-Flat-Unitree-G1 \
   --env.commands.motion.motion-file ~/Repositories/g1-moves/<category>/<clip>/training/<clip>.npz \
+  --env.scene.num-envs 8192 \
   --agent.max-iterations 30000 \
+  --agent.save-interval 2000 \
   --agent.run-name <clip> \
   --video --video-interval 5000
 ```
 **Key parameters**:
+- `num-envs 8192`: parallel simulation environments (~40GB VRAM on RTX PRO 6000; reduce to 4096/2048 if OOM)
+- `max-iterations`: adaptive based on clip duration (see below)
+- `save-interval 2000`: checkpoint every 2000 iterations
 - `video-interval 5000`: record evaluation video every 5000 steps
+**Adaptive iterations** (set automatically by `batch_pipeline.py`):
+- Clips < 10s: 15,000 iterations (~2-3 hours)
+- Clips 10-25s: 20,000 iterations (~3-4 hours)
+- Clips >= 25s: 30,000 iterations (~4-5 hours)
+**Early stopping**: The batch pipeline monitors TensorBoard during training (every 5 min). If `Episode_Termination/time_out` ratio >= 0.95 for 3 consecutive checks after 10k iterations, training is terminated early. A time_out ratio of 0.95 means the robot survives the full episode 95% of the time, which strongly correlates with good motion tracking quality.
 **Output structure**:
 ```
 logs/rsl_rl/g1_tracking/<timestamp>_<clip>/
+  model_0.pt ... model_N.pt        Checkpoints (every 2000 iterations)
   params/agent.yaml                PPO hyperparameters
   params/env.yaml                  Environment config (includes motion_file path)
   events.out.tfevents.*            TensorBoard log
 # Check final checkpoint exists and has expected keys
 python -c "
 import torch
+ckpt = torch.load('logs/rsl_rl/g1_tracking/<run>/model_N.pt', map_location='cpu', weights_only=False)
 print(f'iter={ckpt[\"iter\"]}, keys={list(ckpt.keys())}')
 "
 ```
+**Time**: ~2-5 hours per clip with 8192 envs on RTX PRO 6000 (depends on clip duration and early stopping)
 ### Stage 5: Render Policy Rollout
 ## Batch Processing
+The preferred method for batch training is `batch_pipeline.py`, which handles all 5 stages (correction → NPZ → training → verification → archive) with resilience, early stopping, and adaptive iterations.
+### Automated pipeline (recommended)
+```bash
+cd ~/Repositories/mjlab-gui
+# Preview what will be processed
+python app/scripts/batch_pipeline.py --dry-run
+# Run the full pipeline (processes all untrained clips)
+python app/scripts/batch_pipeline.py
+# Check progress
+python app/scripts/batch_pipeline.py --status
+```
+The pipeline is designed to run unattended via systemd:
+```bash
+# Start/stop
+systemctl --user start g1-batch-training
+systemctl --user stop g1-batch-training
+# View logs
+journalctl --user -u g1-batch-training -f
+tail -f ~/Repositories/mjlab-gui/app/scripts/batch_logs/<clip>_training.log
+```
+**Pipeline features**:
+- Processes clips longest-first (most training value per hour)
+- Skips clips that already have policies (`has_policy` in manifest.json)
+- JSON state file with atomic writes — survives crashes and restarts
+- SIGTERM/SIGINT signal handling — saves state before exit
+- Checkpoint-based training resume on restart
+- Per-clip logs in `app/scripts/batch_logs/`
+**Training optimizations** (configured in `batch_pipeline.py`):
+| Parameter | Value | Effect |
+|-----------|-------|--------|
+| `NUM_ENVS` | 8192 | ~2x throughput vs 4096 (~40GB VRAM) |
+| `SAVE_INTERVAL` | 2000 | Less checkpoint I/O overhead |
+| Adaptive iterations | 15k/20k/30k | Based on clip duration (<10s / <25s / >=25s) |
+| Early stopping | time_out >= 0.95 | Terminates converged training after 3 consecutive checks (every 5 min), minimum 10k iterations |
+**Expected training time per clip** (RTX PRO 6000, 8192 envs):
+- Short clips (<10s): ~1.5-2.5 hours
+- Medium clips (10-25s): ~2.5-4 hours
+- Long clips (>=25s): ~3-5 hours (often early-stopped before 30k)
 ### Retarget all (Stage 1)
 ```bash
 python retarget_all.py --workers 4
 ```
+### Manual single-clip training (Stage 4)
 ```bash
 cd ~/Repositories/mjlab-gui
+MUJOCO_GL=egl MUJOCO_EGL_DEVICE_ID=0 uv run train \
+  Mjlab-Tracking-Flat-Unitree-G1 \
+  --env.commands.motion.motion-file ~/Repositories/g1-moves/<category>/<clip>/training/<clip>.npz \
+  --env.scene.num-envs 8192 \
+  --agent.max-iterations 30000 \
+  --agent.save-interval 2000 \
+  --agent.run-name <clip> \
+  --video --video-interval 5000
 ```
 ## Sim-to-Real Deployment

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-*No recent activity*
 </claude-mem-context>

 <!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+### Feb 26, 2026
+| ID | Time | T | Title | Read |
+|----|------|---|-------|------|
+| #2041 | 11:02 PM | 🔵 | Complete pipeline status audit across 60 motion clips | ~545 |
 </claude-mem-context>

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-*No recent activity*
 </claude-mem-context>

 <!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+### Mar 2, 2026
+| ID | Time | T | Title | Read |
+|----|------|---|-------|------|
+| #2056 | 10:39 PM | 🔵 | ONNX Policy Export Format with Multi-Output Structure | ~360 |
 </claude-mem-context>

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-*No recent activity*
 </claude-mem-context>

 <!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+### Mar 2, 2026
+| ID | Time | T | Title | Read |
+|----|------|---|-------|------|
+| #2062 | 10:40 PM | 🔵 | Trained Policies Exported to ONNX Format for Deployment and HuggingFace Distribution | ~331 |
 </claude-mem-context>

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@@ -3,5 +3,9 @@
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-*No recent activity*
 </claude-mem-context>

 <!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+### Mar 2, 2026
+| ID | Time | T | Title | Read |
+|----|------|---|-------|------|
+| #2062 | 10:40 PM | 🔵 | Trained Policies Exported to ONNX Format for Deployment and HuggingFace Distribution | ~331 |
 </claude-mem-context>

bonus/B_HandsUp/README.md CHANGED Viewed

@@ -9,6 +9,7 @@
 | `capture/` | BVH, MP4, GIF, 4x FBX |
 | `retarget/` | PKL, CSV, MP4, GIF |
 | `training/` | NPZ, MP4, GIF |
 ## Motion Stats

 | `capture/` | BVH, MP4, GIF, 4x FBX |
 | `retarget/` | PKL, CSV, MP4, GIF |
 | `training/` | NPZ, MP4, GIF |
+| `policy/` | PT, MP4, GIF, agent.yaml, env.yaml, training_log.csv |
 ## Motion Stats

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-*No recent activity*
 </claude-mem-context>

 <!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+### Mar 2, 2026
+| ID | Time | T | Title | Read |
+|----|------|---|-------|------|
+| #2062 | 10:40 PM | 🔵 | Trained Policies Exported to ONNX Format for Deployment and HuggingFace Distribution | ~331 |
 </claude-mem-context>

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-*No recent activity*
 </claude-mem-context>

 <!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+### Feb 25, 2026
+| ID | Time | T | Title | Read |
+|----|------|---|-------|------|
+| #2031 | 10:55 PM | ✅ | Regenerated V_Rocamena motion NPZ with corrected configuration | ~346 |
+| #2030 | " | ✅ | Applied self-penetration correction to V_Rocamena retargeted motion | ~591 |
+### Feb 26, 2026
+| ID | Time | T | Title | Read |
+|----|------|---|-------|------|
+| #2038 | 12:51 AM | ✅ | Generated GIF visualization for V_Rocamena retargeted motion | ~485 |
+| #2036 | 12:47 AM | ✅ | Deployed corrected V_Rocamena motion data with self-penetration fixes to HuggingFace | ~698 |
+| #2034 | 12:44 AM | 🔵 | V_Rocamena video-extracted motion quality comparable to MOVIN3D live capture | ~683 |
 </claude-mem-context>

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	@@ -0,0 +1,11 @@

+<claude-mem-context>
+# Recent Activity
+<!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+### Feb 26, 2026
+| ID | Time | T | Title | Read |
+|----|------|---|-------|------|
+| #2036 | 12:47 AM | ✅ | Deployed corrected V_Rocamena motion data with self-penetration fixes to HuggingFace | ~698 |
+</claude-mem-context>

dance/B_SpiralDance/policy/CLAUDE.md ADDED Viewed

	@@ -0,0 +1,11 @@

+<claude-mem-context>
+# Recent Activity
+<!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+### Mar 2, 2026
+| ID | Time | T | Title | Read |
+|----|------|---|-------|------|
+| #2071 | 10:43 PM | 🟣 | Training Logs Extracted and Archived for All 10 Completed Clips | ~381 |
+</claude-mem-context>

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	@@ -0,0 +1,11 @@

+<claude-mem-context>
+# Recent Activity
+<!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+### Mar 2, 2026
+| ID | Time | T | Title | Read |
+|----|------|---|-------|------|
+| #2071 | 10:43 PM | 🟣 | Training Logs Extracted and Archived for All 10 Completed Clips | ~381 |
+</claude-mem-context>

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	@@ -0,0 +1,11 @@

+<claude-mem-context>
+# Recent Activity
+<!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+### Mar 2, 2026
+| ID | Time | T | Title | Read |
+|----|------|---|-------|------|
+| #2071 | 10:43 PM | 🟣 | Training Logs Extracted and Archived for All 10 Completed Clips | ~381 |
+</claude-mem-context>

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dance/J_Dance8_WestCoast/policy/agent.yaml ADDED Viewed

	@@ -0,0 +1,48 @@

+seed: 42
+num_steps_per_env: 24
+max_iterations: 30000
+obs_groups:
+  policy: !!python/tuple
+  - policy
+  critic: !!python/tuple
+  - critic
+save_interval: 2000
+experiment_name: g1_tracking
+run_name: J_Dance8_WestCoast
+logger: tensorboard
+wandb_project: mjlab
+wandb_tags: !!python/tuple []
+resume: false
+load_run: .*
+load_checkpoint: model_.*.pt
+clip_actions: null
+upload_model: true
+class_name: OnPolicyRunner
+algorithm:
+  num_learning_epochs: 5
+  num_mini_batches: 4
+  learning_rate: 0.0005
+  schedule: adaptive
+  gamma: 0.99
+  lam: 0.95
+  entropy_coef: 0.005
+  desired_kl: 0.01
+  max_grad_norm: 1.0
+  value_loss_coef: 1.0
+  use_clipped_value_loss: true
+  clip_param: 0.2
+  normalize_advantage_per_mini_batch: false
+policy:
+  actor_hidden_dims:
+  - 512
+  - 256
+  - 128
+  critic_hidden_dims:
+  - 512
+  - 256
+  - 128
+  activation: elu
+  init_noise_std: 1.0
+  noise_std_type: scalar
+  actor_obs_normalization: true
+  critic_obs_normalization: true

dance/J_Dance8_WestCoast/policy/env.yaml ADDED Viewed

	@@ -0,0 +1,1081 @@

+decimation: 4
+scene:
+  num_envs: 8192
+  env_spacing: 2.0
+  terrain:
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      lin_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      ang_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      joint_pos:
+        .*: 0.0
+      joint_vel:
+        .*: 0.0
+    spec_fn: !!python/name:mjlab.entity.entity.%3Clambda%3E ''
+    articulation: null
+    lights: !!python/tuple
+    - name: sun
+      body: world
+      mode: fixed
+      target: null
+      type: directional
+      castshadow: true
+      pos: !!python/tuple
+      - 0
+      - 0
+      - 1.5
+      dir: !!python/tuple
+      - 0
+      - 0
+      - -1
+      cutoff: 45.0
+      exponent: 10.0
+    cameras: !!python/tuple []
+    textures: !!python/tuple
+    - name: groundplane
+      type: 2d
+      builtin: checker
+      rgb1: !!python/tuple
+      - 0.2
+      - 0.3
+      - 0.4
+      rgb2: !!python/tuple
+      - 0.1
+      - 0.2
+      - 0.3
+      width: 300
+      height: 300
+      mark: edge
+      markrgb: !!python/tuple
+      - 0.8
+      - 0.8
+      - 0.8
+    materials: !!python/tuple
+    - name: groundplane
+      rgba: !!python/tuple
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      texuniform: true
+      texrepeat: !!python/tuple
+      - 4
+      - 4
+      reflectance: 0.2
+      texture: groundplane
+      geom_names_expr: !!python/tuple
+      - terrain
+    collisions: !!python/tuple []
+    terrain_type: plane
+    terrain_generator: null
+    env_spacing: 2.0
+    max_init_terrain_level: null
+    num_envs: 8192
+  entities:
+    robot:
+      init_state:
+        pos: !!python/tuple
+        - 0
+        - 0
+        - 0.76
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+        lin_vel: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        ang_vel: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        joint_pos:
+          .*_hip_pitch_joint: -0.312
+          .*_knee_joint: 0.669
+          .*_ankle_pitch_joint: -0.363
+          .*_elbow_joint: 0.6
+          left_shoulder_roll_joint: 0.2
+          left_shoulder_pitch_joint: 0.2
+          right_shoulder_roll_joint: -0.2
+          right_shoulder_pitch_joint: 0.2
+        joint_vel:
+          .*: 0.0
+      spec_fn: !!python/name:mjlab.asset_zoo.robots.unitree_g1.g1_constants.get_spec ''
+      articulation:
+        actuators: !!python/tuple
+        - target_names_expr: !!python/tuple
+          - .*_elbow_joint
+          - .*_shoulder_pitch_joint
+          - .*_shoulder_roll_joint
+          - .*_shoulder_yaw_joint
+          - .*_wrist_roll_joint
+          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+          - joint
+          armature: 0.003609725
+          frictionloss: 0.0
+          stiffness: 14.25062309787429
+          damping: 0.907222843292423
+          effort_limit: 25.0
+        - target_names_expr: !!python/tuple
+          - .*_hip_pitch_joint
+          - .*_hip_yaw_joint
+          - waist_yaw_joint
+          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+          - joint
+          armature: 0.01017752004132231
+          frictionloss: 0.0
+          stiffness: 40.17923863450712
+          damping: 2.557889775413375
+          effort_limit: 88.0
+        - target_names_expr: !!python/tuple
+          - .*_hip_roll_joint
+          - .*_knee_joint
+          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+          - joint
+          armature: 0.025101924999999997
+          frictionloss: 0.0
+          stiffness: 99.09842777666111
+          damping: 6.308801853496639
+          effort_limit: 139.0
+        - target_names_expr: !!python/tuple
+          - .*_wrist_pitch_joint
+          - .*_wrist_yaw_joint
+          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+          - joint
+          armature: 0.00425
+          frictionloss: 0.0
+          stiffness: 16.77832748089279
+          damping: 1.06814150219
+          effort_limit: 5.0
+        - target_names_expr: !!python/tuple
+          - waist_pitch_joint
+          - waist_roll_joint
+          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+          - joint
+          armature: 0.00721945
+          frictionloss: 0.0
+          stiffness: 28.50124619574858
+          damping: 1.814445686584846
+          effort_limit: 50.0
+        - target_names_expr: !!python/tuple
+          - .*_ankle_pitch_joint
+          - .*_ankle_roll_joint
+          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+          - joint
+          armature: 0.00721945
+          frictionloss: 0.0
+          stiffness: 28.50124619574858
+          damping: 1.814445686584846
+          effort_limit: 50.0
+        soft_joint_pos_limit_factor: 0.9
+      lights: !!python/tuple []
+      cameras: !!python/tuple []
+      textures: !!python/tuple []
+      materials: !!python/tuple []
+      collisions: !!python/tuple
+      - geom_names_expr: !!python/tuple
+        - .*_collision
+        contype: 1
+        conaffinity: 1
+        condim:
+          ^(left|right)_foot[1-7]_collision$: 3
+          .*_collision: 1
+        priority:
+          ^(left|right)_foot[1-7]_collision$: 1
+        friction:
+          ^(left|right)_foot[1-7]_collision$: !!python/tuple
+          - 0.6
+        solref: null
+        solimp: null
+        disable_other_geoms: true
+  sensors: !!python/tuple
+  - name: self_collision
+    primary:
+      mode: subtree
+      pattern: pelvis
+      entity: robot
+      exclude: !!python/tuple []
+    secondary:
+      mode: subtree
+      pattern: pelvis
+      entity: robot
+      exclude: !!python/tuple []
+    fields: !!python/tuple
+    - found
+    reduce: none
+    num_slots: 1
+    secondary_policy: first
+    track_air_time: false
+    global_frame: false
+    history_length: 0
+    debug: false
+  extent: null
+  spec_fn: null
+observations:
+  actor:
+    terms:
+      command:
+        func: &id002 !!python/name:mjlab.envs.mdp.observations.generated_commands ''
+        params:
+          command_name: motion
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      motion_anchor_pos_b:
+        func: &id003 !!python/name:mjlab.tasks.tracking.mdp.observations.motion_anchor_pos_b ''
+        params:
+          command_name: motion
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.25
+          n_max: 0.25
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      motion_anchor_ori_b:
+        func: &id004 !!python/name:mjlab.tasks.tracking.mdp.observations.motion_anchor_ori_b ''
+        params:
+          command_name: motion
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.05
+          n_max: 0.05
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      base_lin_vel:
+        func: &id001 !!python/name:mjlab.envs.mdp.observations.builtin_sensor ''
+        params:
+          sensor_name: robot/imu_lin_vel
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.5
+          n_max: 0.5
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      base_ang_vel:
+        func: *id001
+        params:
+          sensor_name: robot/imu_ang_vel
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.2
+          n_max: 0.2
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      joint_pos:
+        func: &id005 !!python/name:mjlab.envs.mdp.observations.joint_pos_rel ''
+        params:
+          biased: true
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.01
+          n_max: 0.01
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      joint_vel:
+        func: &id006 !!python/name:mjlab.envs.mdp.observations.joint_vel_rel ''
+        params: {}
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.5
+          n_max: 0.5
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      actions:
+        func: &id007 !!python/name:mjlab.envs.mdp.observations.last_action ''
+        params: {}
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: true
+    history_length: null
+    flatten_history_dim: true
+    nan_policy: disabled
+    nan_check_per_term: true
+  critic:
+    terms:
+      command:
+        func: *id002
+        params:
+          command_name: motion
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      motion_anchor_pos_b:
+        func: *id003
+        params:
+          command_name: motion
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      motion_anchor_ori_b:
+        func: *id004
+        params:
+          command_name: motion
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      body_pos:
+        func: !!python/name:mjlab.tasks.tracking.mdp.observations.robot_body_pos_b ''
+        params:
+          command_name: motion
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      body_ori:
+        func: !!python/name:mjlab.tasks.tracking.mdp.observations.robot_body_ori_b ''
+        params:
+          command_name: motion
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      base_lin_vel:
+        func: *id001
+        params:
+          sensor_name: robot/imu_lin_vel
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      base_ang_vel:
+        func: *id001
+        params:
+          sensor_name: robot/imu_ang_vel
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      joint_pos:
+        func: *id005
+        params: {}
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      joint_vel:
+        func: *id006
+        params: {}
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      actions:
+        func: *id007
+        params: {}
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: false
+    history_length: null
+    flatten_history_dim: true
+    nan_policy: disabled
+    nan_check_per_term: true
+actions:
+  joint_pos:
+    entity_name: robot
+    clip: null
+    transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+    - joint
+    actuator_names: !!python/tuple
+    - .*
+    scale:
+      .*_elbow_joint: 0.43857731392336724
+      .*_shoulder_pitch_joint: 0.43857731392336724
+      .*_shoulder_roll_joint: 0.43857731392336724
+      .*_shoulder_yaw_joint: 0.43857731392336724
+      .*_wrist_roll_joint: 0.43857731392336724
+      .*_hip_pitch_joint: 0.5475464629911068
+      .*_hip_yaw_joint: 0.5475464629911068
+      waist_yaw_joint: 0.5475464629911068
+      .*_hip_roll_joint: 0.35066146637882434
+      .*_knee_joint: 0.35066146637882434
+      .*_wrist_pitch_joint: 0.07450087032950714
+      .*_wrist_yaw_joint: 0.07450087032950714
+      waist_pitch_joint: 0.43857731392336724
+      waist_roll_joint: 0.43857731392336724
+      .*_ankle_pitch_joint: 0.43857731392336724
+      .*_ankle_roll_joint: 0.43857731392336724
+    offset: 0.0
+    preserve_order: false
+    use_default_offset: true
+events:
+  push_robot:
+    func: !!python/name:mjlab.envs.mdp.events.push_by_setting_velocity ''
+    params:
+      velocity_range:
+        x: !!python/tuple
+        - -0.5
+        - 0.5
+        y: !!python/tuple
+        - -0.5
+        - 0.5
+        z: !!python/tuple
+        - -0.2
+        - 0.2
+        roll: !!python/tuple
+        - -0.52
+        - 0.52
+        pitch: !!python/tuple
+        - -0.52
+        - 0.52
+        yaw: !!python/tuple
+        - -0.78
+        - 0.78
+    mode: interval
+    interval_range_s: !!python/tuple
+    - 1.0
+    - 3.0
+    is_global_time: false
+    min_step_count_between_reset: 0
+  base_com:
+    func: !!python/name:mjlab.envs.mdp.dr.body.body_com_offset ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: !!python/tuple
+        - torso_link
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      operation: add
+      ranges:
+        0: !!python/tuple
+        - -0.025
+        - 0.025
+        1: !!python/tuple
+        - -0.05
+        - 0.05
+        2: !!python/tuple
+        - -0.05
+        - 0.05
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  encoder_bias:
+    func: !!python/name:mjlab.envs.mdp.dr.joint.encoder_bias ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      bias_range: !!python/tuple
+      - -0.01
+      - 0.01
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  foot_friction:
+    func: !!python/name:mjlab.envs.mdp.dr.geom.geom_friction ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: ^(left|right)_foot[1-7]_collision$
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      operation: abs
+      ranges: !!python/tuple
+      - 0.3
+      - 1.2
+      shared_random: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+seed: 42
+sim:
+  nconmax: 35
+  njmax: 250
+  ls_parallel: true
+  contact_sensor_maxmatch: 64
+  mujoco:
+    timestep: 0.005
+    integrator: implicitfast
+    impratio: 1.0
+    cone: pyramidal
+    jacobian: auto
+    solver: newton
+    iterations: 10
+    tolerance: 1.0e-08
+    ls_iterations: 20
+    ls_tolerance: 0.01
+    ccd_iterations: 50
+    gravity: !!python/tuple
+    - 0
+    - 0
+    - -9.81
+    multiccd: false
+  nan_guard:
+    enabled: false
+    buffer_size: 100
+    output_dir: /tmp/mjlab/nan_dumps
+    max_envs_to_dump: 5
+viewer:
+  lookat: !!python/tuple
+  - 0.0
+  - 0.0
+  - 0.0
+  distance: 3.0
+  elevation: -5.0
+  azimuth: 90.0
+  origin_type: !!python/object/apply:mjlab.viewer.viewer_config.OriginType
+  - 3
+  entity_name: robot
+  body_name: torso_link
+  env_idx: 0
+  enable_reflections: true
+  enable_shadows: true
+  height: 240
+  width: 320
+episode_length_s: 10.0
+rewards:
+  motion_global_root_pos:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.motion_global_anchor_position_error_exp ''
+    params:
+      command_name: motion
+      std: 0.3
+    weight: 0.5
+  motion_global_root_ori:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.motion_global_anchor_orientation_error_exp ''
+    params:
+      command_name: motion
+      std: 0.4
+    weight: 0.5
+  motion_body_pos:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.motion_relative_body_position_error_exp ''
+    params:
+      command_name: motion
+      std: 0.3
+    weight: 1.0
+  motion_body_ori:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.motion_relative_body_orientation_error_exp ''
+    params:
+      command_name: motion
+      std: 0.4
+    weight: 1.0
+  motion_body_lin_vel:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.motion_global_body_linear_velocity_error_exp ''
+    params:
+      command_name: motion
+      std: 1.0
+    weight: 1.0
+  motion_body_ang_vel:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.motion_global_body_angular_velocity_error_exp ''
+    params:
+      command_name: motion
+      std: 3.14
+    weight: 1.0
+  action_rate_l2:
+    func: !!python/name:mjlab.envs.mdp.rewards.action_rate_l2 ''
+    params: {}
+    weight: -0.1
+  joint_limit:
+    func: !!python/name:mjlab.envs.mdp.rewards.joint_pos_limits ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: !!python/tuple
+        - .*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: -10.0
+  self_collisions:
+    func: !!python/name:mjlab.tasks.tracking.mdp.rewards.self_collision_cost ''
+    params:
+      sensor_name: self_collision
+    weight: -10.0
+terminations:
+  time_out:
+    func: !!python/name:mjlab.envs.mdp.terminations.time_out ''
+    params: {}
+    time_out: true
+  anchor_pos:
+    func: !!python/name:mjlab.tasks.tracking.mdp.terminations.bad_anchor_pos_z_only ''
+    params:
+      command_name: motion
+      threshold: 0.25
+    time_out: false
+  anchor_ori:
+    func: !!python/name:mjlab.tasks.tracking.mdp.terminations.bad_anchor_ori ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      command_name: motion
+      threshold: 0.8
+    time_out: false
+  ee_body_pos:
+    func: !!python/name:mjlab.tasks.tracking.mdp.terminations.bad_motion_body_pos_z_only ''
+    params:
+      command_name: motion
+      threshold: 0.25
+      body_names: !!python/tuple
+      - left_ankle_roll_link
+      - right_ankle_roll_link
+      - left_wrist_yaw_link
+      - right_wrist_yaw_link
+    time_out: false
+commands:
+  motion:
+    resampling_time_range: !!python/tuple
+    - 1000000000.0
+    - 1000000000.0
+    debug_vis: true
+    motion_file: /home/mitch/Repositories/g1-moves/dance/J_Dance8_WestCoast/training/J_Dance8_WestCoast.npz
+    anchor_body_name: torso_link
+    body_names: !!python/tuple
+    - pelvis
+    - left_hip_roll_link
+    - left_knee_link
+    - left_ankle_roll_link
+    - right_hip_roll_link
+    - right_knee_link
+    - right_ankle_roll_link
+    - torso_link
+    - left_shoulder_roll_link
+    - left_elbow_link
+    - left_wrist_yaw_link
+    - right_shoulder_roll_link
+    - right_elbow_link
+    - right_wrist_yaw_link
+    entity_name: robot
+    pose_range:
+      x: !!python/tuple
+      - -0.05
+      - 0.05
+      y: !!python/tuple
+      - -0.05
+      - 0.05
+      z: !!python/tuple
+      - -0.01
+      - 0.01
+      roll: !!python/tuple
+      - -0.1
+      - 0.1
+      pitch: !!python/tuple
+      - -0.1
+      - 0.1
+      yaw: !!python/tuple
+      - -0.2
+      - 0.2
+    velocity_range:
+      x: !!python/tuple
+      - -0.5
+      - 0.5
+      y: !!python/tuple
+      - -0.5
+      - 0.5
+      z: !!python/tuple
+      - -0.2
+      - 0.2
+      roll: !!python/tuple
+      - -0.52
+      - 0.52
+      pitch: !!python/tuple
+      - -0.52
+      - 0.52
+      yaw: !!python/tuple
+      - -0.78
+      - 0.78
+    joint_position_range: !!python/tuple
+    - -0.1
+    - 0.1
+    adaptive_kernel_size: 1
+    adaptive_lambda: 0.8
+    adaptive_uniform_ratio: 0.1
+    adaptive_alpha: 0.001
+    sampling_mode: adaptive
+    viz:
+      mode: ghost
+      ghost_color: !!python/tuple
+      - 0.5
+      - 0.7
+      - 0.5
+      - 0.5
+curriculum: {}
+metrics: {}
+is_finite_horizon: false
+scale_rewards_by_dt: true

dance/J_Dance8_WestCoast/policy/training_log.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

karate/B_AttackKarate/policy/CLAUDE.md ADDED Viewed

	@@ -0,0 +1,11 @@

+<claude-mem-context>
+# Recent Activity
+<!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+### Mar 2, 2026
+| ID | Time | T | Title | Read |
+|----|------|---|-------|------|
+| #2071 | 10:43 PM | 🟣 | Training Logs Extracted and Archived for All 10 Completed Clips | ~381 |
+</claude-mem-context>

manifest.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "version": "1.0",
-  "generated": "2026-03-03T04:44:30Z",
   "robot": "unitree_g1",
   "robot_mode": 15,
   "dof": 29,
@@ -92,11 +92,12 @@
         "root_displacement_m": 5.9256,
         "mean_root_velocity": 0.1418
       },
-      "has_policy": false,
       "pipeline_stages": [
         "capture",
         "retarget",
-        "training"
       ]
     },
     "B_LongDance": {
@@ -1034,8 +1035,8 @@
       "training_frames": 2264,
       "file_sizes": {
         "bvh": 2652346,
-        "pkl": 652644,
-        "csv": 768135,
         "npz": 4058882
       },
       "joint_range": {
@@ -1056,17 +1057,17 @@
           -0.3243,
           -0.3466,
           -2.3818,
-          0.2422,
           -1.4,
-          -0.4577,
           -0.4152,
-          0.0535,
-          -0.2356,
           -2.3994,
           -1.7286,
           -0.2411,
-          -0.3816,
-          0.0504,
           0.0062,
           -0.5457
         ],
@@ -1094,7 +1095,7 @@
           0.2637,
           0.4843,
           0.0419,
-          -0.1664,
           1.4,
           1.568,
           0.4198,
@@ -1103,7 +1104,7 @@
         ]
       },
       "motion_stats": {
-        "mean_joint_velocity": 0.2768,
         "max_joint_velocity": 45.2737,
         "root_displacement_m": 4.2518,
         "mean_root_velocity": 0.1127
@@ -2048,8 +2049,8 @@
       "training_frames": 2394,
       "file_sizes": {
         "bvh": 2810090,
-        "pkl": 690084,
-        "csv": 815330,
         "npz": 4291842
       },
       "joint_range": {
@@ -2069,17 +2070,17 @@
           -0.987,
           -0.4551,
           -0.2582,
-          -1.8018,
-          0.1639,
           -1.3276,
-          -1.0366,
           -0.5429,
           -0.0955,
-          -0.4101,
           -1.8428,
           -2.2378,
           -1.1905,
-          -1.0472,
           -0.1187,
           -0.0601,
           -0.5602
@@ -2103,30 +2104,31 @@
           0.5154,
           1.6947,
           0.6637,
-          1.3871,
           0.1223,
-          0.194,
           0.6944,
           0.7586,
-          -0.269,
           1.3157,
           1.3895,
           0.5317,
-          0.258,
-          0.4385
         ]
       },
       "motion_stats": {
-        "mean_joint_velocity": 0.758,
         "max_joint_velocity": 43.0854,
         "root_displacement_m": 10.9827,
         "mean_root_velocity": 0.2753
       },
-      "has_policy": false,
       "pipeline_stages": [
         "capture",
         "retarget",
-        "training"
       ]
     },
     "J_Dance9_PeaceMaker": {

 {
   "version": "1.0",
+  "generated": "2026-03-04T00:00:29Z",
   "robot": "unitree_g1",
   "robot_mode": 15,
   "dof": 29,
         "root_displacement_m": 5.9256,
         "mean_root_velocity": 0.1418
       },
+      "has_policy": true,
       "pipeline_stages": [
         "capture",
         "retarget",
+        "training",
+        "policy"
       ]
     },
     "B_LongDance": {
       "training_frames": 2264,
       "file_sizes": {
         "bvh": 2652346,
+        "pkl": 326475,
+        "csv": 768137,
         "npz": 4058882
       },
       "joint_range": {
           -0.3243,
           -0.3466,
           -2.3818,
+          0.0558,
           -1.4,
+          -0.118,
           -0.4152,
+          0.0145,
+          -0.224,
           -2.3994,
           -1.7286,
           -0.2411,
+          -0.0998,
+          0.0145,
           0.0062,
           -0.5457
         ],
           0.2637,
           0.4843,
           0.0419,
+          -0.0401,
           1.4,
           1.568,
           0.4198,
         ]
       },
       "motion_stats": {
+        "mean_joint_velocity": 0.2931,
         "max_joint_velocity": 45.2737,
         "root_displacement_m": 4.2518,
         "mean_root_velocity": 0.1127
       "training_frames": 2394,
       "file_sizes": {
         "bvh": 2810090,
+        "pkl": 345204,
+        "csv": 815342,
         "npz": 4291842
       },
       "joint_range": {
           -0.987,
           -0.4551,
           -0.2582,
+          -1.8004,
+          -0.0043,
           -1.3276,
+          -1.0252,
           -0.5429,
           -0.0955,
+          -0.4035,
           -1.8428,
           -2.2378,
           -1.1905,
+          -0.9795,
           -0.1187,
           -0.0601,
           -0.5602
           0.5154,
           1.6947,
           0.6637,
+          1.3457,
           0.1223,
+          0.1794,
           0.6944,
           0.7586,
+          -0.0426,
           1.3157,
           1.3895,
           0.5317,
+          0.2579,
+          0.4359
         ]
       },
       "motion_stats": {
+        "mean_joint_velocity": 0.769,
         "max_joint_velocity": 43.0854,
         "root_displacement_m": 10.9827,
         "mean_root_velocity": 0.2753
       },
+      "has_policy": true,
       "pipeline_stages": [
         "capture",
         "retarget",
+        "training",
+        "policy"
       ]
     },
     "J_Dance9_PeaceMaker": {

quality_report.json CHANGED Viewed

@@ -1,5 +1,5 @@
 {
-  "generated": "2026-03-03T04:44:30Z",
   "checks": {
     "joint_limit_violations": {
       "description": "Frames where retargeted angles exceed G1 limits",
@@ -60,9 +60,9 @@
           "worst_joint": null
         },
         "J_Dance1_Modern": {
-          "violations": 58,
           "max_excess_rad": 0.0,
-          "worst_joint": "right_ankle_roll_joint"
         },
         "J_Dance20_DWG": {
           "violations": 0,
@@ -115,9 +115,9 @@
           "worst_joint": null
         },
         "J_Dance8_WestCoast": {
-          "violations": 11,
           "max_excess_rad": 0.0,
-          "worst_joint": "right_ankle_roll_joint"
         },
         "J_Dance9_PeaceMaker": {
           "violations": 0,
@@ -1453,10 +1453,12 @@
       "J_Dance11_Gnarly",
       "J_Dance12_LushLife",
       "J_Dance19_LetsGO",
       "J_Dance20_DWG",
       "J_Dance23_MidnightSun",
       "J_Dance6_Sassy",
       "J_Dance7_Party",
       "J_Dance9_PeaceMaker",
       "J_ShortDance13_SingleLadies",
       "B_AttackKarate",
@@ -1469,14 +1471,12 @@
       "J_Dance0_StepTouch",
       "J_Dance17_Shuffle",
       "J_Dance18_TikTok",
-      "J_Dance1_Modern",
       "J_Dance21_Blunt",
       "J_Dance22_Thrilling",
       "J_Dance2_Salsa",
       "J_Dance3_Woah",
       "J_Dance4_Broadway",
       "J_Dance5_Hype",
-      "J_Dance8_WestCoast",
       "J_ShortDance14_Disco",
       "J_ShortDance15_Nineties",
       "J_ShortDance16_JazzWalk",

 {
+  "generated": "2026-03-04T00:00:29Z",
   "checks": {
     "joint_limit_violations": {
       "description": "Frames where retargeted angles exceed G1 limits",
           "worst_joint": null
         },
         "J_Dance1_Modern": {
+          "violations": 0,
           "max_excess_rad": 0.0,
+          "worst_joint": null
         },
         "J_Dance20_DWG": {
           "violations": 0,
           "worst_joint": null
         },
         "J_Dance8_WestCoast": {
+          "violations": 0,
           "max_excess_rad": 0.0,
+          "worst_joint": null
         },
         "J_Dance9_PeaceMaker": {
           "violations": 0,
       "J_Dance11_Gnarly",
       "J_Dance12_LushLife",
       "J_Dance19_LetsGO",
+      "J_Dance1_Modern",
       "J_Dance20_DWG",
       "J_Dance23_MidnightSun",
       "J_Dance6_Sassy",
       "J_Dance7_Party",
+      "J_Dance8_WestCoast",
       "J_Dance9_PeaceMaker",
       "J_ShortDance13_SingleLadies",
       "B_AttackKarate",
       "J_Dance0_StepTouch",
       "J_Dance17_Shuffle",
       "J_Dance18_TikTok",
       "J_Dance21_Blunt",
       "J_Dance22_Thrilling",
       "J_Dance2_Salsa",
       "J_Dance3_Woah",
       "J_Dance4_Broadway",
       "J_Dance5_Hype",
       "J_ShortDance14_Disco",
       "J_ShortDance15_Nineties",
       "J_ShortDance16_JazzWalk",

space/CLAUDE.md ADDED Viewed

	@@ -0,0 +1,13 @@

+<claude-mem-context>
+# Recent Activity
+<!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+### Mar 3, 2026
+| ID | Time | T | Title | Read |
+|----|------|---|-------|------|
+| #2119 | 2:32 PM | ✅ | HuggingFace Spaces App Enhanced with Video Support | ~307 |
+| #2114 | 2:26 PM | 🟣 | HuggingFace Space Interactive Gallery Site Created | ~507 |
+| #2109 | 2:21 PM | 🟣 | HuggingFace Space Configuration for G1 Moves Dataset | ~327 |
+</claude-mem-context>

space/README.md ADDED Viewed

	@@ -0,0 +1,9 @@

+---
+title: G1 Moves
+emoji: "\U0001F916"
+colorFrom: blue
+colorTo: indigo
+sdk: static
+pinned: false
+license: cc-by-4.0
+---

space/app.js ADDED Viewed

	@@ -0,0 +1,385 @@

+/* ========================================
+   G1 Moves — Showcase App
+   ======================================== */
+(function () {
+  'use strict';
+  // ------------------------------------
+  // State
+  // ------------------------------------
+  let allClips = [];
+  let baseUrl = '';
+  let activeCategory = 'all';
+  let activeStage = 'retarget';
+  // ------------------------------------
+  // DOM refs
+  // ------------------------------------
+  const grid = document.getElementById('clip-grid');
+  const emptyState = document.getElementById('empty-state');
+  const modal = document.getElementById('pipeline-modal');
+  // ------------------------------------
+  // Init
+  // ------------------------------------
+  async function init() {
+    try {
+      const res = await fetch('data.json');
+      const data = await res.json();
+      allClips = data.clips;
+      baseUrl = data.base_url;
+      updateStats(data.stats);
+      filterAndRender();
+      setupCategoryButtons();
+      setupStageButtons();
+      setupModal();
+      setupScrollReveal();
+    } catch (err) {
+      grid.innerHTML = '<p style="padding:2rem;color:#888;font-family:monospace;">Failed to load data.json</p>';
+    }
+  }
+  // ------------------------------------
+  // Stats
+  // ------------------------------------
+  function updateStats(stats) {
+    setText('stat-total', stats.total);
+    setText('stat-dance', stats.dance);
+    setText('stat-karate', stats.karate);
+    setText('stat-bonus', stats.bonus);
+    setText('stat-policies', stats.policies);
+  }
+  function setText(id, value) {
+    const el = document.getElementById(id);
+    if (el) el.textContent = value;
+  }
+  // ------------------------------------
+  // Filtering & Rendering
+  // ------------------------------------
+  function filterAndRender() {
+    const filtered = activeCategory === 'all'
+      ? allClips
+      : allClips.filter(c => c.category === activeCategory);
+    grid.innerHTML = '';
+    emptyState.classList.toggle('visible', filtered.length === 0);
+    filtered.forEach((clip, i) => {
+      const card = createCard(clip, i);
+      grid.appendChild(card);
+    });
+    observeLazyImages();
+    observeCardReveal();
+  }
+  // ------------------------------------
+  // Card creation
+  // ------------------------------------
+  function createCard(clip, index) {
+    const card = document.createElement('div');
+    card.className = 'clip-card';
+    card.dataset.clipId = clip.id;
+    const stageData = clip.stages[activeStage];
+    const mediaSrc = stageData
+      ? mediaUrl(stageData)
+      : null;
+    const isVideo = mediaSrc && mediaSrc.endsWith('.mp4');
+    const stages = ['capture', 'retarget', 'training', 'policy'];
+    card.innerHTML =
+      '<div class="card-media">' +
+        (mediaSrc
+          ? (isVideo
+            ? '<video data-src="' + mediaSrc + '" autoplay muted loop playsinline preload="none" class="lazy-video"></video>'
+            : '<img data-src="' + mediaSrc + '" alt="' + escHtml(clip.name) + '" loading="lazy">')
+          : '<div class="card-placeholder">Not available</div>') +
+        '<div class="card-duration">' + formatDuration(clip.duration) + '</div>' +
+        (clip.has_policy ? '<div class="card-badge">TRAINED</div>' : '') +
+      '</div>' +
+      '<div class="card-info">' +
+        '<div class="card-title">' + escHtml(clip.name) + '</div>' +
+        '<div class="card-meta">' +
+          '<span class="card-category">' + clip.category + '</span>' +
+          '<span class="card-separator"></span>' +
+          '<span>' + clip.performer + '</span>' +
+        '</div>' +
+        '<div class="card-stages">' +
+          stages.map(function (s) {
+            var has = !!clip.stages[s];
+            var active = s === activeStage;
+            var cls = 'card-stage-btn' +
+              (active ? ' active' : '') +
+              (has ? '' : ' disabled');
+            return '<button class="' + cls + '" data-stage="' + s + '"' +
+              (has ? '' : ' disabled') +
+              ' title="' + capitalize(s) + '">' +
+              s.charAt(0).toUpperCase() +
+              '</button>';
+          }).join('') +
+        '</div>' +
+      '</div>';
+    // Media click → open modal
+    card.querySelector('.card-media').addEventListener('click', function () {
+      openModal(clip);
+    });
+    // Per-card stage buttons
+    var stageBtns = card.querySelectorAll('.card-stage-btn:not(.disabled)');
+    for (var i = 0; i < stageBtns.length; i++) {
+      stageBtns[i].addEventListener('click', (function (btn) {
+        return function (e) {
+          e.stopPropagation();
+          switchCardStage(card, clip, btn.dataset.stage);
+        };
+      })(stageBtns[i]));
+    }
+    return card;
+  }
+  function switchCardStage(card, clip, stage) {
+    var stageData = clip.stages[stage];
+    if (!stageData) return;
+    var src = mediaUrl(stageData);
+    var isVideo = src && src.endsWith('.mp4');
+    var existing = card.querySelector('.card-media img, .card-media video');
+    var placeholder = card.querySelector('.card-placeholder');
+    var target = existing || placeholder;
+    if (target) {
+      var newEl;
+      if (isVideo) {
+        newEl = document.createElement('video');
+        newEl.src = src;
+        newEl.autoplay = true;
+        newEl.muted = true;
+        newEl.loop = true;
+        newEl.playsInline = true;
+      } else {
+        newEl = document.createElement('img');
+        newEl.src = src;
+        newEl.alt = clip.name;
+      }
+      target.replaceWith(newEl);
+    }
+    // Update active state on buttons
+    var btns = card.querySelectorAll('.card-stage-btn');
+    for (var i = 0; i < btns.length; i++) {
+      btns[i].classList.toggle('active', btns[i].dataset.stage === stage);
+    }
+  }
+  // ------------------------------------
+  // Lazy loading
+  // ------------------------------------
+  var lazyObserver = null;
+  function observeLazyImages() {
+    if (!lazyObserver) {
+      lazyObserver = new IntersectionObserver(function (entries) {
+        entries.forEach(function (entry) {
+          if (entry.isIntersecting) {
+            var img = entry.target;
+            if (img.dataset.src) {
+              img.src = img.dataset.src;
+              img.removeAttribute('data-src');
+            }
+            lazyObserver.unobserve(img);
+          }
+        });
+      }, { rootMargin: '300px' });
+    }
+    var lazies = grid.querySelectorAll('img[data-src], video[data-src]');
+    for (var i = 0; i < lazies.length; i++) {
+      lazyObserver.observe(lazies[i]);
+    }
+  }
+  // ------------------------------------
+  // Card reveal on scroll
+  // ------------------------------------
+  var revealObserver = null;
+  function observeCardReveal() {
+    if (!revealObserver) {
+      revealObserver = new IntersectionObserver(function (entries) {
+        entries.forEach(function (entry) {
+          if (entry.isIntersecting) {
+            entry.target.classList.add('visible');
+            revealObserver.unobserve(entry.target);
+          }
+        });
+      }, { threshold: 0.05, rootMargin: '40px' });
+    }
+    var cards = grid.querySelectorAll('.clip-card:not(.visible)');
+    for (var i = 0; i < cards.length; i++) {
+      // Stagger the transition delay
+      cards[i].style.transitionDelay = (i * 0.04) + 's';
+      revealObserver.observe(cards[i]);
+    }
+  }
+  // ------------------------------------
+  // Category buttons
+  // ------------------------------------
+  function setupCategoryButtons() {
+    var btns = document.querySelectorAll('.category-btn');
+    for (var i = 0; i < btns.length; i++) {
+      btns[i].addEventListener('click', function () {
+        setActiveBtn('.category-btn', this);
+        activeCategory = this.dataset.category;
+        filterAndRender();
+      });
+    }
+  }
+  // ------------------------------------
+  // Global stage buttons
+  // ------------------------------------
+  function setupStageButtons() {
+    var btns = document.querySelectorAll('.global-stage-btn');
+    for (var i = 0; i < btns.length; i++) {
+      btns[i].addEventListener('click', function () {
+        setActiveBtn('.global-stage-btn', this);
+        activeStage = this.dataset.stage;
+        filterAndRender();
+      });
+    }
+  }
+  function setActiveBtn(selector, activeEl) {
+    var btns = document.querySelectorAll(selector);
+    for (var i = 0; i < btns.length; i++) {
+      btns[i].classList.toggle('active', btns[i] === activeEl);
+    }
+  }
+  // ------------------------------------
+  // Modal
+  // ------------------------------------
+  function setupModal() {
+    var closeBtn = modal.querySelector('.modal-close');
+    if (closeBtn) {
+      closeBtn.addEventListener('click', closeModal);
+    }
+    modal.addEventListener('click', function (e) {
+      if (e.target === modal) closeModal();
+    });
+    document.addEventListener('keydown', function (e) {
+      if (e.key === 'Escape') closeModal();
+    });
+  }
+  function openModal(clip) {
+    var stages = ['capture', 'retarget', 'training', 'policy'];
+    modal.querySelector('.modal-title').textContent = clip.name;
+    modal.querySelector('.modal-meta').textContent =
+      clip.category + '  ·  ' + clip.performer + '  ·  ' +
+      formatDuration(clip.duration) + '  ·  ' +
+      clip.frames + ' frames @ ' + clip.fps + ' fps';
+    var modalGrid = modal.querySelector('.modal-grid');
+    modalGrid.innerHTML = stages.map(function (s) {
+      var data = clip.stages[s];
+      var unavail = !data ? ' unavailable' : '';
+      var label = '<div class="modal-stage-label">' + s.toUpperCase() + '</div>';
+      if (data) {
+        var src = mediaUrl(data);
+        var isVid = src && src.endsWith('.mp4');
+        var mediaTag = isVid
+          ? '<video src="' + src + '" autoplay muted loop playsinline></video>'
+          : '<img src="' + src + '" alt="' + escHtml(clip.name) + ' ' + s + '" loading="lazy">';
+        return '<div class="modal-stage' + unavail + '">' +
+          label + mediaTag +
+          '</div>';
+      }
+      return '<div class="modal-stage' + unavail + '">' +
+        label +
+        '<div class="modal-placeholder">Not yet available</div>' +
+        '</div>';
+    }).join('');
+    modal.classList.add('open');
+    document.body.style.overflow = 'hidden';
+  }
+  function closeModal() {
+    modal.classList.remove('open');
+    document.body.style.overflow = '';
+    // Pause modal videos to stop background playback
+    var videos = modal.querySelectorAll('video');
+    for (var i = 0; i < videos.length; i++) {
+      videos[i].pause();
+    }
+  }
+  // ------------------------------------
+  // Scroll reveal for sections
+  // ------------------------------------
+  function setupScrollReveal() {
+    var sections = document.querySelectorAll('.reveal');
+    if (!sections.length) return;
+    var observer = new IntersectionObserver(function (entries) {
+      entries.forEach(function (entry) {
+        if (entry.isIntersecting) {
+          entry.target.classList.add('revealed');
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+    for (var i = 0; i < sections.length; i++) {
+      observer.observe(sections[i]);
+    }
+  }
+  // ------------------------------------
+  // Utils
+  // ------------------------------------
+  function mediaUrl(stageData) {
+    var file = stageData.mp4 || stageData.gif;
+    if (!file) return null;
+    return baseUrl ? baseUrl + '/' + file : file;
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+  function formatDuration(seconds) {
+    var m = Math.floor(seconds / 60);
+    var s = Math.round(seconds % 60);
+    return m + ':' + (s < 10 ? '0' : '') + s;
+  }
+  function capitalize(str) {
+    return str.charAt(0).toUpperCase() + str.slice(1);
+  }
+  function escHtml(str) {
+    var div = document.createElement('div');
+    div.textContent = str;
+    return div.innerHTML;
+  }
+  // ------------------------------------
+  // Boot
+  // ------------------------------------
+  if (document.readyState === 'loading') {
+    document.addEventListener('DOMContentLoaded', init);
+  } else {
+    init();
+  }
+})();

space/data.json ADDED Viewed

	@@ -0,0 +1,1299 @@

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+      "name": "Short Dance 15 Nineties",
+      "category": "dance",
+      "performer": "Jasmine Coro",
+      "duration": 13.12,
+      "fps": 60,
+      "frames": 787,
+      "stages": {
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+          "mp4": "media/dance/J_ShortDance15_Nineties/capture/J_ShortDance15_Nineties.mp4"
+        },
+        "retarget": {
+          "mp4": "media/dance/J_ShortDance15_Nineties/retarget/J_ShortDance15_Nineties_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/dance/J_ShortDance15_Nineties/training/J_ShortDance15_Nineties_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "J_ShortDance16_JazzWalk",
+      "name": "Short Dance 16 Jazz Walk",
+      "category": "dance",
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+      "fps": 60,
+      "frames": 637,
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+          "mp4": "media/dance/J_ShortDance16_JazzWalk/capture/J_ShortDance16_JazzWalk.mp4"
+        },
+        "retarget": {
+          "mp4": "media/dance/J_ShortDance16_JazzWalk/retarget/J_ShortDance16_JazzWalk_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/dance/J_ShortDance16_JazzWalk/training/J_ShortDance16_JazzWalk_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "B_AttackKarate",
+      "name": "Attack Karate",
+      "category": "karate",
+      "performer": "Mitch Chaiet",
+      "duration": 47.18,
+      "fps": 60,
+      "frames": 2831,
+      "stages": {
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+          "mp4": "media/karate/B_AttackKarate/capture/B_AttackKarate.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/B_AttackKarate/retarget/B_AttackKarate_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/B_AttackKarate/training/B_AttackKarate_training.mp4"
+        },
+        "policy": {
+          "mp4": "media/karate/B_AttackKarate/policy/B_AttackKarate_policy.mp4"
+        }
+      },
+      "has_policy": true
+    },
+    {
+      "id": "B_BowKarate",
+      "name": "Bow Karate",
+      "category": "karate",
+      "performer": "Mitch Chaiet",
+      "duration": 37.57,
+      "fps": 60,
+      "frames": 2254,
+      "stages": {
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+          "mp4": "media/karate/B_BowKarate/capture/B_BowKarate.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/B_BowKarate/retarget/B_BowKarate_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/B_BowKarate/training/B_BowKarate_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "B_ChopsKarate",
+      "name": "Chops Karate",
+      "category": "karate",
+      "performer": "Mitch Chaiet",
+      "duration": 52.67,
+      "fps": 60,
+      "frames": 3160,
+      "stages": {
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+          "mp4": "media/karate/B_ChopsKarate/capture/B_ChopsKarate.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/B_ChopsKarate/retarget/B_ChopsKarate_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/B_ChopsKarate/training/B_ChopsKarate_training.mp4"
+        },
+        "policy": {
+          "mp4": "media/karate/B_ChopsKarate/policy/B_ChopsKarate_policy.mp4"
+        }
+      },
+      "has_policy": true
+    },
+    {
+      "id": "B_CrazyChopsKarate",
+      "name": "Crazy Chops Karate",
+      "category": "karate",
+      "performer": "Mitch Chaiet",
+      "duration": 24.2,
+      "fps": 60,
+      "frames": 1452,
+      "stages": {
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+          "mp4": "media/karate/B_CrazyChopsKarate/capture/B_CrazyChopsKarate.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/B_CrazyChopsKarate/retarget/B_CrazyChopsKarate_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/B_CrazyChopsKarate/training/B_CrazyChopsKarate_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "B_ForwardKarate",
+      "name": "Forward Karate",
+      "category": "karate",
+      "performer": "Mitch Chaiet",
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+      "fps": 60,
+      "frames": 2180,
+      "stages": {
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+          "mp4": "media/karate/B_ForwardKarate/capture/B_ForwardKarate.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/B_ForwardKarate/retarget/B_ForwardKarate_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/B_ForwardKarate/training/B_ForwardKarate_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "B_LongKarate",
+      "name": "Long Karate",
+      "category": "karate",
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+      "duration": 48.02,
+      "fps": 60,
+      "frames": 2881,
+      "stages": {
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+          "mp4": "media/karate/B_LongKarate/capture/B_LongKarate.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/B_LongKarate/retarget/B_LongKarate_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/B_LongKarate/training/B_LongKarate_training.mp4"
+        },
+        "policy": {
+          "mp4": "media/karate/B_LongKarate/policy/B_LongKarate_policy.mp4"
+        }
+      },
+      "has_policy": true
+    },
+    {
+      "id": "B_SpinKarate",
+      "name": "Spin Karate",
+      "category": "karate",
+      "performer": "Mitch Chaiet",
+      "duration": 25.67,
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+      "frames": 1540,
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+          "mp4": "media/karate/B_SpinKarate/capture/B_SpinKarate.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/B_SpinKarate/retarget/B_SpinKarate_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/B_SpinKarate/training/B_SpinKarate_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "M_Move1",
+      "name": "Move 1: Guard Combo",
+      "category": "karate",
+      "performer": "Mike Gassaway",
+      "duration": 31.17,
+      "fps": 60,
+      "frames": 1870,
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+          "mp4": "media/karate/M_Move1/capture/M_Move1.mp4"
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+        "retarget": {
+          "mp4": "media/karate/M_Move1/retarget/M_Move1_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_Move1/training/M_Move1_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "M_Move10",
+      "name": "Move 10: Side Kick",
+      "category": "karate",
+      "performer": "Mike Gassaway",
+      "duration": 30.53,
+      "fps": 60,
+      "frames": 1832,
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+          "mp4": "media/karate/M_Move10/capture/M_Move10.mp4"
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+        "retarget": {
+          "mp4": "media/karate/M_Move10/retarget/M_Move10_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_Move10/training/M_Move10_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "M_Move11",
+      "name": "Move 11: Blitz",
+      "category": "karate",
+      "performer": "Mike Gassaway",
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+      "frames": 996,
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+          "mp4": "media/karate/M_Move11/capture/M_Move11.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/M_Move11/retarget/M_Move11_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_Move11/training/M_Move11_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "M_Move17",
+      "name": "Move 17: Double Strike",
+      "category": "karate",
+      "performer": "Mike Gassaway",
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+          "mp4": "media/karate/M_Move17/capture/M_Move17.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/M_Move17/retarget/M_Move17_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_Move17/training/M_Move17_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "M_Move18",
+      "name": "Move 18: Front Kick",
+      "category": "karate",
+      "performer": "Mike Gassaway",
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+      "fps": 60,
+      "frames": 1003,
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+          "mp4": "media/karate/M_Move18/capture/M_Move18.mp4"
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+        "retarget": {
+          "mp4": "media/karate/M_Move18/retarget/M_Move18_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_Move18/training/M_Move18_training.mp4"
+        }
+      },
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+    },
+    {
+      "id": "M_Move19",
+      "name": "Move 19: Slow Kata",
+      "category": "karate",
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+      "frames": 1012,
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+        "retarget": {
+          "mp4": "media/karate/M_Move19/retarget/M_Move19_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_Move19/training/M_Move19_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "M_Move2",
+      "name": "Move 2: Low Punch",
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+          "mp4": "media/karate/M_Move2/capture/M_Move2.mp4"
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+        "retarget": {
+          "mp4": "media/karate/M_Move2/retarget/M_Move2_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_Move2/training/M_Move2_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "M_Move20",
+      "name": "Move 20: Open Strike",
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+          "mp4": "media/karate/M_Move20/capture/M_Move20.mp4"
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+        "retarget": {
+          "mp4": "media/karate/M_Move20/retarget/M_Move20_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_Move20/training/M_Move20_training.mp4"
+        }
+      },
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+    {
+      "id": "M_Move3",
+      "name": "Move 3: Horse Stance",
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+        "retarget": {
+          "mp4": "media/karate/M_Move3/retarget/M_Move3_retarget.mp4"
+        },
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+          "mp4": "media/karate/M_Move3/training/M_Move3_training.mp4"
+        }
+      },
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+    },
+    {
+      "id": "M_Move4",
+      "name": "Move 4: Spin Punch",
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+          "mp4": "media/karate/M_Move4/capture/M_Move4.mp4"
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+        "retarget": {
+          "mp4": "media/karate/M_Move4/retarget/M_Move4_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_Move4/training/M_Move4_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "M_Move5",
+      "name": "Move 5: Twist Punch",
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+          "mp4": "media/karate/M_Move5/capture/M_Move5.mp4"
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+        "retarget": {
+          "mp4": "media/karate/M_Move5/retarget/M_Move5_retarget.mp4"
+        },
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+          "mp4": "media/karate/M_Move5/training/M_Move5_training.mp4"
+        }
+      },
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+    },
+    {
+      "id": "M_Move6",
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+          "mp4": "media/karate/M_Move6/capture/M_Move6.mp4"
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+        "retarget": {
+          "mp4": "media/karate/M_Move6/retarget/M_Move6_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_Move6/training/M_Move6_training.mp4"
+        }
+      },
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+    {
+      "id": "M_Move7",
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+          "mp4": "media/karate/M_Move7/capture/M_Move7.mp4"
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+        "retarget": {
+          "mp4": "media/karate/M_Move7/retarget/M_Move7_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_Move7/training/M_Move7_training.mp4"
+        }
+      },
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+    {
+      "id": "M_Move8",
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+          "mp4": "media/karate/M_Move8/capture/M_Move8.mp4"
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+        "retarget": {
+          "mp4": "media/karate/M_Move8/retarget/M_Move8_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_Move8/training/M_Move8_training.mp4"
+        }
+      },
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+    },
+    {
+      "id": "M_Move9",
+      "name": "Move 9: Level Change",
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+          "mp4": "media/karate/M_Move9/capture/M_Move9.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/M_Move9/retarget/M_Move9_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_Move9/training/M_Move9_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "M_ShortMove12",
+      "name": "Short Move 12: Quick Jab",
+      "category": "karate",
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+      "fps": 60,
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+          "mp4": "media/karate/M_ShortMove12/capture/M_ShortMove12.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/M_ShortMove12/retarget/M_ShortMove12_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_ShortMove12/training/M_ShortMove12_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "M_ShortMove13",
+      "name": "Short Move 13: Snap Kick",
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+          "mp4": "media/karate/M_ShortMove13/capture/M_ShortMove13.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/M_ShortMove13/retarget/M_ShortMove13_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_ShortMove13/training/M_ShortMove13_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "M_ShortMove14",
+      "name": "Short Move 14: Light Punch",
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+          "mp4": "media/karate/M_ShortMove14/capture/M_ShortMove14.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/M_ShortMove14/retarget/M_ShortMove14_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_ShortMove14/training/M_ShortMove14_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "M_ShortMove15",
+      "name": "Short Move 15: Drop Strike",
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+          "mp4": "media/karate/M_ShortMove15/capture/M_ShortMove15.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/M_ShortMove15/retarget/M_ShortMove15_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_ShortMove15/training/M_ShortMove15_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "M_ShortMove16",
+      "name": "Short Move 16: Power Burst",
+      "category": "karate",
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+      "duration": 7.38,
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+          "mp4": "media/karate/M_ShortMove16/capture/M_ShortMove16.mp4"
+        },
+        "retarget": {
+          "mp4": "media/karate/M_ShortMove16/retarget/M_ShortMove16_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/karate/M_ShortMove16/training/M_ShortMove16_training.mp4"
+        }
+      },
+      "has_policy": false
+    },
+    {
+      "id": "B_Fence1",
+      "name": "Fence 1",
+      "category": "bonus",
+      "performer": "Mitch Chaiet",
+      "duration": 27.0,
+      "fps": 60,
+      "frames": 1620,
+      "stages": {
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+          "mp4": "media/bonus/B_Fence1/capture/B_Fence1.mp4"
+        },
+        "retarget": {
+          "mp4": "media/bonus/B_Fence1/retarget/B_Fence1_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/bonus/B_Fence1/training/B_Fence1_training.mp4"
+        },
+        "policy": {
+          "mp4": "media/bonus/B_Fence1/policy/B_Fence1_policy.mp4"
+        }
+      },
+      "has_policy": true
+    },
+    {
+      "id": "B_Fence2",
+      "name": "Fence 2",
+      "category": "bonus",
+      "performer": "Mitch Chaiet",
+      "duration": 10.63,
+      "fps": 60,
+      "frames": 638,
+      "stages": {
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+          "mp4": "media/bonus/B_Fence2/capture/B_Fence2.mp4"
+        },
+        "retarget": {
+          "mp4": "media/bonus/B_Fence2/retarget/B_Fence2_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/bonus/B_Fence2/training/B_Fence2_training.mp4"
+        },
+        "policy": {
+          "mp4": "media/bonus/B_Fence2/policy/B_Fence2_policy.mp4"
+        }
+      },
+      "has_policy": true
+    },
+    {
+      "id": "B_HandsChop",
+      "name": "Hands Chop",
+      "category": "bonus",
+      "performer": "Mitch Chaiet",
+      "duration": 29.43,
+      "fps": 60,
+      "frames": 1766,
+      "stages": {
+        "capture": {
+          "mp4": "media/bonus/B_HandsChop/capture/B_HandsChop.mp4"
+        },
+        "retarget": {
+          "mp4": "media/bonus/B_HandsChop/retarget/B_HandsChop_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/bonus/B_HandsChop/training/B_HandsChop_training.mp4"
+        },
+        "policy": {
+          "mp4": "media/bonus/B_HandsChop/policy/B_HandsChop_policy.mp4"
+        }
+      },
+      "has_policy": true
+    },
+    {
+      "id": "B_HandsUp",
+      "name": "Hands Up",
+      "category": "bonus",
+      "performer": "Mitch Chaiet",
+      "duration": 7.37,
+      "fps": 60,
+      "frames": 442,
+      "stages": {
+        "capture": {
+          "mp4": "media/bonus/B_HandsUp/capture/B_HandsUp.mp4"
+        },
+        "retarget": {
+          "mp4": "media/bonus/B_HandsUp/retarget/B_HandsUp_retarget.mp4"
+        },
+        "training": {
+          "mp4": "media/bonus/B_HandsUp/training/B_HandsUp_training.mp4"
+        },
+        "policy": {
+          "mp4": "media/bonus/B_HandsUp/policy/B_HandsUp_policy.mp4"
+        }
+      },
+      "has_policy": true
+    }
+  ],
+  "stats": {
+    "dance": 28,
+    "karate": 27,
+    "bonus": 4,
+    "policies": 16,
+    "total": 59
+  }
+}

space/g1-moves/CLAUDE.md ADDED Viewed

	@@ -0,0 +1,7 @@

+<claude-mem-context>
+# Recent Activity
+<!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+*No recent activity*
+</claude-mem-context>

space/g1-moves/space/CLAUDE.md ADDED Viewed

	@@ -0,0 +1,7 @@

+<claude-mem-context>
+# Recent Activity
+<!-- This section is auto-generated by claude-mem. Edit content outside the tags. -->
+*No recent activity*
+</claude-mem-context>

space/generate_data.py ADDED Viewed

	@@ -0,0 +1,150 @@

+#!/usr/bin/env python3
+"""Generate data.json for the G1 Moves showcase site.
+Reads manifest.json + scans the filesystem to determine which media
+files (GIF/MP4) exist for each clip at each pipeline stage.
+Usage:
+    python generate_data.py              # from space/ directory
+    python generate_data.py --repo /path/to/g1-moves
+"""
+import argparse
+import json
+import re
+from pathlib import Path
+STAGES = ["capture", "retarget", "training", "policy"]
+# Descriptive subtitles for karate moves (from README)
+KARATE_SUBTITLES = {
+    "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",
+}
+def format_display_name(clip_id: str) -> str:
+    """Convert clip ID to human-readable name."""
+    name = re.sub(r"^[BJMV]_", "", clip_id)
+    name = re.sub(r"([a-z\d])([A-Z])", r"\1 \2", name)
+    name = re.sub(r"([A-Za-z])(\d)", r"\1 \2", name)
+    name = name.replace("_", " ")
+    return name
+def get_media_file(clip_id: str, stage: str) -> str:
+    """Return the expected GIF filename for a clip at a given stage."""
+    if stage == "capture":
+        return f"{clip_id}.gif"
+    return f"{clip_id}_{stage}.gif"
+def scan_stage(repo: Path, category: str, clip_id: str, stage: str) -> dict | None:
+    """Check for media files at a pipeline stage. Returns paths dict or None."""
+    stage_dir = repo / category / clip_id / stage
+    result = {}
+    gif_name = get_media_file(clip_id, stage)
+    gif_path = stage_dir / gif_name
+    if gif_path.exists():
+        result["gif"] = f"{category}/{clip_id}/{stage}/{gif_name}"
+    # Also check for MP4
+    mp4_name = gif_name.replace(".gif", ".mp4")
+    mp4_path = stage_dir / mp4_name
+    if mp4_path.exists():
+        result["mp4"] = f"{category}/{clip_id}/{stage}/{mp4_name}"
+    return result if result else None
+def main():
+    parser = argparse.ArgumentParser(description="Generate site data from manifest")
+    parser.add_argument(
+        "--repo",
+        type=Path,
+        default=Path(__file__).parent.parent,
+        help="Path to g1-moves repository root",
+    )
+    args = parser.parse_args()
+    repo = args.repo.resolve()
+    manifest_path = repo / "manifest.json"
+    if not manifest_path.exists():
+        print(f"ERROR: manifest.json not found at {manifest_path}")
+        return
+    manifest = json.loads(manifest_path.read_text())
+    clips = []
+    stats = {"dance": 0, "karate": 0, "bonus": 0, "policies": 0, "total": 0}
+    for clip_id, info in sorted(manifest["clips"].items()):
+        cat = info["category"]
+        stats[cat] = stats.get(cat, 0) + 1
+        stats["total"] += 1
+        stages = {}
+        for stage in STAGES:
+            media = scan_stage(repo, cat, clip_id, stage)
+            if media:
+                stages[stage] = media
+        has_policy = "policy" in stages
+        if has_policy:
+            stats["policies"] += 1
+        subtitle = KARATE_SUBTITLES.get(clip_id)
+        display_name = format_display_name(clip_id)
+        if subtitle:
+            display_name = f"{display_name}: {subtitle}"
+        clips.append(
+            {
+                "id": clip_id,
+                "name": display_name,
+                "category": cat,
+                "performer": info.get("performer", "Unknown"),
+                "duration": info.get("duration_s", 0),
+                "fps": info.get("fps", 60),
+                "frames": info.get("frames", 0),
+                "stages": stages,
+                "has_policy": has_policy,
+            }
+        )
+    # Sort: categories grouped, then alphabetical
+    cat_order = {"dance": 0, "karate": 1, "bonus": 2}
+    clips.sort(key=lambda c: (cat_order.get(c["category"], 9), c["id"]))
+    data = {
+        "base_url": "https://huggingface.co/datasets/exptech/g1-moves/resolve/main",
+        "clips": clips,
+        "stats": stats,
+    }
+    output = Path(__file__).parent / "data.json"
+    output.write_text(json.dumps(data, indent=2))
+    print(f"Generated {output.name}: {len(clips)} clips, {stats['policies']} policies")
+if __name__ == "__main__":
+    main()

space/logo.png ADDED Viewed

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