🆕 Open Source Release: Unitree G1 Retargeted Data !!We are releasing 1000 hours of robot ready motion trajectories retargeted to the Unitree G1 humanoid. All data is provided in CSV format under the samples/ directory. Please indicate the source of the data when using it: from Chingmu. ChingMu 1000 Hour Embodied Motion Dataset High precision optical motion capture data for humanoid robots, dexterous hands, embodied AI, and virtual production. : Duration 1000+ hours @ 120 Hz Scenarios 15+ real world scenes Tasks 500+ standardized tasks Objects 200+ tracked props (6D pose) Modalities Skeleton · Finger · Object 6D · Video · Labels Formats BVH · Retargeted CSV · NPZ ✅ Access note: This dataset is fully open and publicly accessible. Key Features Optical ground truth – sub mm accuracy, 120 fps, no estimation errors. Dexterous hands – 20+ DoF per hand, synchronized with object 6DOP pose. Robot ready – pre retargeted to Unitree G1; custom retargeting available. Real world diversity – 15+ scenarios, 500+ tasks, 200+ objects. Multi modal – full body skeleton, finger motion, object pose, multi view video, semantic labels. Quality assured – every take passes automated cleaning + manual inspec…
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