README.md

---
language: en
license: cc-by-nc-4.0
task_categories:
- robotics
- reinforcement-learning
tags:
- robotics
- motion-capture
- humanoid
- human-object-interaction
- contact-rich-manipulation
- robot-learning
- box
- soccer
size_categories:
- 10K<n<100K
---

# OmniContact Dataset: Contact-Rich Humanoid Object Interaction

[Project Page](https://omnicontact.github.io/)

This dataset contains human-object interaction motion capture data and processed G1 humanoid trajectories for contact-rich box manipulation and soccer-style interactions. The main entry point is the provided visualizer, which lets users inspect the processed NPZ trajectory, original BVH motion, object pose, and contact labels side by side.

<div align="center">
  <div style="width:100%;max-width:1200px;margin:0 auto;">
    <div style="padding:6px 0;margin:8px 0;">
      <h3 style="margin:0 0 6px 0;">Carry box</h3>
      <div style="display:grid;grid-template-columns:repeat(2,minmax(320px,1fr));gap:10px;align-items:start;">
        <div>
          <video autoplay loop muted controls width="560" style="display:block;width:100%;aspect-ratio:16/9;background:#111;border-radius:8px;object-fit:contain;">
            <source src="https://huggingface.co/datasets/lightcone02/OmniContact-Dataset/resolve/main/demo/mocap_task_videos/carry_box.mp4" type="video/mp4">
          </video>
          <sub>BVH source</sub>
        </div>
        <div>
          <video autoplay loop muted controls width="560" style="display:block;width:100%;aspect-ratio:16/9;background:#111;border-radius:8px;object-fit:contain;">
            <source src="https://huggingface.co/datasets/lightcone02/OmniContact-Dataset/resolve/main/demo/g1_videos/carry_box.mp4" type="video/mp4">
          </video>
          <sub>G1 retarget</sub>
        </div>
      </div>
    </div>
    <div style="padding:6px 0;margin:8px 0;">
      <h3 style="margin:0 0 6px 0;">Push box</h3>
      <div style="display:grid;grid-template-columns:repeat(2,minmax(320px,1fr));gap:10px;align-items:start;">
        <div>
          <video autoplay loop muted controls width="560" style="display:block;width:100%;aspect-ratio:16/9;background:#111;border-radius:8px;object-fit:contain;">
            <source src="https://huggingface.co/datasets/lightcone02/OmniContact-Dataset/resolve/main/demo/mocap_task_videos/push_box.mp4" type="video/mp4">
          </video>
          <sub>BVH source</sub>
        </div>
        <div>
          <video autoplay loop muted controls width="560" style="display:block;width:100%;aspect-ratio:16/9;background:#111;border-radius:8px;object-fit:contain;">
            <source src="https://huggingface.co/datasets/lightcone02/OmniContact-Dataset/resolve/main/demo/g1_videos/push_box.mp4" type="video/mp4">
          </video>
          <sub>G1 retarget</sub>
        </div>
      </div>
    </div>
    <div style="padding:6px 0;margin:8px 0;">
      <h3 style="margin:0 0 6px 0;">Slide box</h3>
      <div style="display:grid;grid-template-columns:repeat(2,minmax(320px,1fr));gap:10px;align-items:start;">
        <div>
          <video autoplay loop muted controls width="560" style="display:block;width:100%;aspect-ratio:16/9;background:#111;border-radius:8px;object-fit:contain;">
            <source src="https://huggingface.co/datasets/lightcone02/OmniContact-Dataset/resolve/main/demo/mocap_task_videos/slide_box.mp4" type="video/mp4">
          </video>
          <sub>BVH source</sub>
        </div>
        <div>
          <video autoplay loop muted controls width="560" style="display:block;width:100%;aspect-ratio:16/9;background:#111;border-radius:8px;object-fit:contain;">
            <source src="https://huggingface.co/datasets/lightcone02/OmniContact-Dataset/resolve/main/demo/g1_videos/slide_box.mp4" type="video/mp4">
          </video>
          <sub>G1 retarget</sub>
        </div>
      </div>
    </div>
    <div style="padding:6px 0;margin:8px 0;">
      <h3 style="margin:0 0 6px 0;">Kick ball</h3>
      <div style="display:grid;grid-template-columns:repeat(2,minmax(320px,1fr));gap:10px;align-items:start;">
        <div>
          <video autoplay loop muted controls width="560" style="display:block;width:100%;aspect-ratio:16/9;background:#111;border-radius:8px;object-fit:contain;">
            <source src="https://huggingface.co/datasets/lightcone02/OmniContact-Dataset/resolve/main/demo/mocap_task_videos/kick_ball.mp4" type="video/mp4">
          </video>
          <sub>BVH source</sub>
        </div>
        <div>
          <video autoplay loop muted controls width="560" style="display:block;width:100%;aspect-ratio:16/9;background:#111;border-radius:8px;object-fit:contain;">
            <source src="https://huggingface.co/datasets/lightcone02/OmniContact-Dataset/resolve/main/demo/g1_videos/kick_ball.mp4" type="video/mp4">
          </video>
          <sub>G1 retarget</sub>
        </div>
      </div>
    </div>
    <div style="padding:6px 0;margin:8px 0;">
      <h3 style="margin:0 0 6px 0;">Relocate ball</h3>
      <div style="display:grid;grid-template-columns:repeat(2,minmax(320px,1fr));gap:10px;align-items:start;">
        <div>
          <video autoplay loop muted controls width="560" style="display:block;width:100%;aspect-ratio:16/9;background:#111;border-radius:8px;object-fit:contain;">
            <source src="https://huggingface.co/datasets/lightcone02/OmniContact-Dataset/resolve/main/demo/mocap_task_videos/carry_ball_bvh_full_20260330000436_1_1775201289.mp4" type="video/mp4">
          </video>
          <sub>BVH source</sub>
        </div>
        <div>
          <video autoplay loop muted controls width="560" style="display:block;width:100%;aspect-ratio:16/9;background:#111;border-radius:8px;object-fit:contain;">
            <source src="https://huggingface.co/datasets/lightcone02/OmniContact-Dataset/resolve/main/demo/g1_videos/g1_carryball_h264.mp4" type="video/mp4">
          </video>
          <sub>G1 retarget</sub>
        </div>
      </div>
    </div>
  </div>
</div>

## Dataset Structure

| Subset | Description | Source Data | Processed Trajectories |
| ------ | ----------- | ----------- | ---------------------- |
| `npz/box/case1_carry/` | G1 trajectories for carrying boxes. | In-house MoCap | 217 |
| `npz/box/case2_push/` | G1 trajectories for pushing boxes with hand contact. | In-house MoCap | 165 |
| `npz/box/case3_slide/` | G1 trajectories for sliding boxes. | In-house MoCap | 118 |
| `npz/soccer/case1_kick_forward/` | Forward soccer-ball kicking motions. | In-house MoCap | 30 |
| `npz/soccer/case2_kick_left/` | Left soccer-ball kicking motions. | In-house MoCap | 30 |
| `npz/soccer/case3_kick_right/` | Right soccer-ball kicking motions. | In-house MoCap | 30 |
| `npz/soccer/case4_carry/` | Carrying the soccer ball. | In-house MoCap | 51 |
| `npz/soccer/case5_pickball_kick/` | Picking up and kicking the soccer ball. | In-house MoCap | 59 |
| **Total** |  |  | **700** |

Additional directories:

- `raw_mocap/box/` and `raw_mocap/soccer/` contain sanitized source captures with `motion_actor.bvh`, `motion_actor.csv`, object-pose CSV files (`prop_*.csv` or `object_pose_*.csv`), and `capture_meta.json`.
- `assets/` contains the G1 URDF and object meshes used by the visualizer.
- `bvh_cache/` contains cached BVH parses for faster loading.
- `metadata/raw_mocap_manifest.csv` maps capture IDs to cases and raw files.
- `metadata/splits.csv` provides the recommended 70/15/15 train/val/test split.
- `demo/mocap_task_videos/` contains one rendered mocap preview video for each task.
- `demo/g1_videos/` contains recorded G1 trajectory previews for matched examples.
- `demo/g1_glbs/` contains serialized G1 preview data exported from processed `.npz` trajectories (currently JSON).

## Data Format

Each processed `.npz` file contains one trajectory. Common keys include:

- **`fps`**: Frames per second.
- **`base_pos_w`**: Floating-base position, shape `[T, 3]`.
- **`base_quat_w`**: Floating-base orientation in `wxyz` order, shape `[T, 4]`.
- **`joint_pos`**: G1 joint positions, shape `[T, 29]`.
- **`body_pos_w`**: Body positions, shape `[T, 39, 3]`.
- **`body_quat_w`**: Body orientations in `wxyz` order, shape `[T, 39, 4]`.
- **`object_pos_w`**: Object position, shape `[T, 3]`.
- **`object_quat_w`**: Object orientation in `wxyz` order, shape `[T, 4]`.
- **`contact_info`**: Binary contact labels, shape `[T, 4, 1]`.

The contact-label order is:

```text
left_ankle, right_ankle, left_wrist, right_wrist
```

Raw mocap folders keep only the files needed to reconstruct motion and object pose. Operator metadata, internal configs, logs, validation reports, quality reports, and ZIP files are excluded.

## Quick Usage

```bash
# After cloning or downloading this dataset
pip install numpy
```

```python
import numpy as np

path = "npz/box/case1_carry/20260330000166_1_1775007076_with_contact.npz"
with np.load(path, allow_pickle=False) as data:
    joint_pos = data["joint_pos"]          # (T, 29)
    base_pos = data["base_pos_w"]          # (T, 3)
    base_quat = data["base_quat_w"]        # (T, 4), wxyz
    object_pos = data["object_pos_w"]      # (T, 3)
    contact = data["contact_info"]         # (T, 4, 1)
    fps = float(data["fps"][0])
```

Use `metadata/splits.csv` to select the recommended train/val/test split by `capture_id`.

## Visualize

The repository provides `visualize_npz_bvh_minimal.py`, a local browser visualizer based on Viser. It shows the processed G1 trajectory and original BVH skeleton side by side, with object pose and contact highlights.

```bash
# Install visualization dependencies
pip install numpy viser yourdfpy
```

Box example:

```bash
python visualize_npz_bvh_minimal.py \
  --data npz/box/case1_carry/20260330000336_1_1775817056_with_contact.npz
```

Soccer example:

```bash
python visualize_npz_bvh_minimal.py \
  --data npz/soccer/case1_kick_forward/20260330000532_1_1775265300_with_contact.npz
```

Then open `http://localhost:8092`.

To browse all matched NPZ/BVH samples:

```bash
python visualize_npz_bvh_minimal.py
```

Useful options:

- `--max-frames 600`: load a short prefix for quick inspection.
- `--playback-speed 0.5`: slow down playback.
- `--sync-mode frame`: synchronize NPZ and BVH by frame index.
- `--align-roots`: align the first BVH root to the first NPZ root.
- `--bvh-line-width 1`: render a thinner BVH skeleton.

## Citation

```bibtex
@misc{yu2026omnicontactchainingmetaskillscontact,
      title={OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation}, 
      author={Runyi Yu and Xiaoyi Lin and Ji Ma and Yinhuai Wang and Koukou Luo and Jiahao Ji and Huayi Wang and Wenjia Wang and Runhan Zhang and Ping Tan and Ting Wu and Ruoli Dai and Qifeng Chen and Lei Han},
      year={2026},
      eprint={2606.26201},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2606.26201}, 
}
```