# AMASS Dataset Retargeted for Unitree G1
**Source:** https://huggingface.co/datasets/ember-lab-berkeley/AMASS_Retargeted_for_G1
**Fetched:** 2026-02-13
**Type:** Dataset

---

## Description

The AMASS (Archive of Motion Capture as Surface Shapes) dataset has been retargeted for the Unitree G1 humanoid robot and made available on HuggingFace. Multiple groups have produced retargeted versions, with the two primary datasets being:

1. **EMBER Lab (UC Berkeley)** - `ember-lab-berkeley/AMASS_Retargeted_for_G1`: Contains 100% of the AMASS dataset retargeted to G1, formatted for IsaacLab's AMP motion loader
2. **fleaven** - `fleaven/Retargeted_AMASS_for_robotics`: Multi-robot retargeted dataset including G1, with detailed joint mapping documentation

## Key Features / Contents

### EMBER Lab Dataset
- **Coverage**: 100% of the AMASS dataset retargeted to G1
- **Size**: 10K-100K motion files
- **Format**: Compatible with IsaacLab's AMP (Adversarial Motion Priors) motion loader and ProtoMotions
- **License**: CC-BY-4.0
- **Downloads**: ~6,260/month

### fleaven Retargeted Dataset

#### Data Format
- **Shape**: `[-1, 36]` (variable-length sequences, 36 parameters per frame)
- **Index layout**:
  - `[0:3]` - Root world position (x, y, z)
  - `[3:7]` - Root quaternion rotation (x, y, z, w)
  - `[7:36]` - 29 joint positions

#### Joint Order (29 DOF)

**Lower Body (12 joints)**:
- Left leg: hip_pitch, hip_roll, hip_yaw, knee, ankle_pitch, ankle_roll
- Right leg: hip_pitch, hip_roll, hip_yaw, knee, ankle_pitch, ankle_roll

**Torso (3 joints)**:
- waist_yaw, waist_roll, waist_pitch

**Upper Body (14 joints)**:
- Left arm: shoulder_pitch, shoulder_roll, shoulder_yaw, elbow, wrist_roll, wrist_pitch, wrist_yaw
- Right arm: shoulder_pitch, shoulder_roll, shoulder_yaw, elbow, wrist_roll, wrist_pitch, wrist_yaw

#### Model Source
Based on official Unitree G1 URDF: `g1_29dof_lock_waist_rev_1_0.xml` from `unitreerobotics/unitree_ros`

#### Constraints
- Joint positions comply with limits defined in the official Unitree G1 XML file
- Waist locked during retargeting (as indicated by model name)
- Elbow and knee joint handling optimized (updated 2025-04-15)

## G1 Relevance

These datasets are directly usable for G1 motion learning:

- **Adversarial Motion Priors (AMP)**: Train G1 locomotion policies that mimic human-like motion
- **IsaacLab Integration**: Drop-in compatible with IsaacLab's `humanoid_amp` task
- **Motion Diversity**: Thousands of motion clips covering walking, running, dancing, sports, and everyday activities
- **29-DOF Configuration**: Matches standard G1 joint configuration exactly
- **Pre-computed**: No need to run retargeting yourself; ready-to-use motion data

## Installation / Usage

### Download from HuggingFace
```bash
# EMBER Lab dataset (IsaacLab AMP format)
git lfs install
git clone https://huggingface.co/datasets/ember-lab-berkeley/AMASS_Retargeted_for_G1

# fleaven dataset (multi-robot, includes G1)
git clone https://huggingface.co/datasets/fleaven/Retargeted_AMASS_for_robotics
```

### Using with IsaacLab AMP
Place motion files in the IsaacLab motions directory:
```
IsaacLab/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/motions/
```

### Visualization (fleaven dataset)
```bash
cd Retargeted_AMASS_for_robotics/g1/
python visualize.py
```

### Python Loading Example
```python
import numpy as np

# Load a motion file
motion = np.load("motion_file.npy")
# motion.shape = (num_frames, 36)

root_pos = motion[:, 0:3]        # xyz position
root_quat = motion[:, 3:7]       # quaternion (x,y,z,w)
joint_pos = motion[:, 7:36]      # 29 joint angles
```

## Related Datasets

- [openhe/g1-retargeted-motions](https://huggingface.co/datasets/openhe/g1-retargeted-motions) - Another G1 retargeted motion dataset
- [lvhaidong/LAFAN1_Retargeting_Dataset](https://huggingface.co/datasets/lvhaidong/LAFAN1_Retargeting_Dataset) - LAFAN1 data retargeted for H1, H1_2, and G1
- [fleaven/Retargeted_AMASS_for_FourierN1](https://huggingface.co/datasets/fleaven/Retargeted_AMASS_for_FourierN1) - Same pipeline for Fourier N1 robot

## Licensing

- EMBER Lab dataset: CC-BY-4.0
- fleaven dataset: Must propagate original AMASS sub-dataset licenses; requires citation of AMASS, SMPL-X, and the retargeting project