Retargeted AMASS for Robotics Project Overview This project aims to retarget motion data from the AMASS dataset to various robot models and open source the retargeted data to facilitate research and applications in robotics and human robot interaction. AMASS (Archive of Motion Capture as Surface Shapes) is a high quality human motion capture dataset, and the SMPL X model is a powerful tool for generating realistic human motion data. By adapting the motion data from AMASS to different robot models, we hope to provide a more diverse and accessible motion dataset for robot training and human robot interaction. Dataset Content This open source project includes the following: 1. Retargeted Motions : Motion files retargeted from AMASS to various robot models. Unitree G1 : The retargeted motions for the Unitree G1 robot are generated based on the official open source model provided by Unitree. https://github.com/unitreerobotics/unitree ros/blob/master/robots/g1 description/g1 29dof rev 1 0.xml The joint positions comply with the constraints defined in the XML file. data shape：[ 1,36] 0:3 root world position 3:7 root quaternion rotation, order: xyzw 7:36 joint positions joint order:…
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