k1_motion_data

This repository collects motion data for the Booster K1 humanoid robot, and serves as an index for datasets. Please use ethz-nomadz/GMR for retargeting motion data to the K1 robot with added constraints.

• data: directory for storing datasets
• index: directory for index yaml files for curation of motion data
• scripts: directory for data processing scripts

Downloading Datasets (NomadZ Drive)

To make things easier, we have uploaded the datasets to the NomadZ Google Drive. Please download the following Drive folder and place it the data directory.

Note: This Drive folder may be deleted in the future, so please refer to the instruction below for the manual version if it is no longer available.

Downloading Datasets (Manual)

AMASS

Please download the following files from the AMASS dataset (https://amass.is.tue.mpg.de/download.php):

• CMU (SMPL-X N)
• HDM05 (SMPL-X N)

Then place the files in the following directory structure:

AMASS
├── CMU
│   ├── 01
│   │   └── 01_01_stageii.npz
│   │   └── ...
│   ├── ...
├── HDM05
│   ├── bk
│   │   └── HDM_bk_01-01_01_120_stageii.npz
│   │   └── ...
│   ├── ...

WorldPose

Real soccer footage dataset. To be added.

NomadZ

In-house made dataset (using GVHMR). To be added.

Adding New Datasets

To add a new dataset or adjust the existing ones, please make a new branch (e.g. AMASS/CMU/add_kick_motions) and submit a pull request with the new data and a description of the changes. Try to stick to the existing format for consistency (especially the yaml files). The use of LLM to maintain format consistency is encouraged.

Preferably, they should be npz files of SMPL-X format. Please indicate with a description file in the same directory if the format is different.