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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:

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
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

# 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)

cd Retargeted_AMASS_for_robotics/g1/
python visualize.py

Python Loading Example

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

openhe/g1-retargeted-motions - Another G1 retargeted motion dataset
lvhaidong/LAFAN1_Retargeting_Dataset - LAFAN1 data retargeted for H1, H1_2, and G1
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

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