datamentorshfcc-by-4.0, mit

G1 Movement Dataset

Name: G1 Movement Dataset
Creator: datamentorshf
Keywords: motion_capture, joint_positions, joint_velocities, body_pose, body_linear_velocity, body_angular_velocity, humanoid_motion, locomotion, movement_retargeting, motion_capture_studio

Motion-capture clips retargeted to the Unitree G1 humanoid robot, provided in multiple formats (raw mocap CSV, SONIC-format CSVs, and Humanoid-GPT NPZ) for training and simulation.

Downloads0
Episodes63

Why This Matters for Physical AI

This dataset enables training of humanoid robot controllers and motion generation models by providing high-quality motion-capture data retargeted specifically for the Unitree G1 platform.

Technical Profile

Modalities: motion_capturejoint_positionsjoint_velocitiesbody_posebody_linear_velocitybody_angular_velocity
Robot Embodiments: Unitree G1humanoid
Action Space: joint_positions
Environment: motion_capture_studio
Task Types: humanoid_motionlocomotionmovement_retargeting
Episodes: 63
Data Format: CSV, NPZ
Annotation Types: motion_capture_retargetingmetadata
License: cc-by-4.0, mit

Part of the G1 Movement Dataset family

Access

View on HuggingFace

Need custom motion_capture data?

Claru builds purpose-built datasets for motion_capture_studio applications with dense human annotations and quality assurance.

Request a Sample Pack

Related Datasets

DiMorph AMP Metadata

Metadata and reproduction instructions for AMP (Adversarial Motion Priors) supervision used in DiMorph T1/K1/H1/G1 humanoid robot experiments. The actual motion capture frames are not hosted due to AMASS licensing restrictions.

motion_capture

null downloadsAug 2026amass-non-commercial-research

BEHAVIOR-1K Torque Sidecars

Per-frame joint torque, gravity, and Coriolis signals for BEHAVIOR-1K 2026 challenge demonstrations obtained through physics-enabled re-simulation. Augments official challenge demos with 28-dimensional joint effort measurements and dynamics decomposition.

proprioceptionforce_torquejoint_positionsjoint_velocities

6K downloadsAug 2026MIT

KungFu Athlete Bot Dataset For Humanoid Robots

A motion capture dataset derived from martial arts training videos containing 992 motion samples for humanoid robot control, processed through GVHMR and GMR-based retargeting with ground and jump motion subsets.

motion_captureproprioception

3K downloadsMay 2026apache-2.0

CMU Motion Capture Library — FBX Format

A large-scale library of 2,548 human motion capture animations in FBX format derived from the CMU Graphics Lab Motion Capture Database, covering a wide range of everyday and athletic motions for use in robotics, animation, and machine learning research.

skeletonmotion_capture

2K downloadsMar 2026cmu-mocap

OmniContact Dataset: Contact-Rich Humanoid Object Interaction

A dataset of human-object interaction motion capture data and processed G1 humanoid trajectories for contact-rich box manipulation and soccer-style interactions. It provides motion capture source data, retargeted trajectories, object poses, and contact labels for learning contact-rich manipulation.

proprioceptionmotion_capture

1K downloadsJul 2026cc-by-4.0

React (Tactile-Visual Manipulation)

Dense, contact-rich, synchronized multimodal interaction data collected from human hands holding handheld GelSight tactile sensors. Intended for tactile-visual dynamics and world-model learning.

rgbdepthtactilemotion_capture

622 downloadsJul 2026cc-by-4.0