---
pretty_name: Retargeted Robot Motion Dataset
license: other
tags:
- robotics
- motion-capture
- robot-motion
- imitation-learning
- reinforcement-learning
dataset_info:
  features:
  - name: joints_list
    dtype: string
  - name: joint_positions
    dtype: float32
  - name: root_position
    dtype: float32
  - name: root_quaternion
    dtype: float32
  - name: fps
    dtype: float32
  - name: duration
    dtype: float32
  - name: r_forearm
    dtype: float32
  - name: l_forearm
    dtype: float32
  - name: r_sole
    dtype: float32
  - name: l_sole
    dtype: float32
  splits:
  - name: train
    num_bytes: null
    num_examples: null
  download_size: null
  dataset_size: null
size_categories:
- 100K<n<1M
---

# Retargeted Robot Motion Dataset

This dataset provides retargeted motion capture sequences for a variety of robotic platforms. The motion data is derived from the [CMU Motion Capture Database](https://mocap.cs.cmu.edu/) and includes a wide range of motion types beyond locomotion — such as gestures, interactions, and full-body activities.

The data has been adapted to match the kinematic structure of specific robots, enabling its use in tasks such as:

- Imitation learning
- Reinforcement learning
- Motion analysis
- Skill learning from demonstration

---

## 📁 Dataset Format

Each `.npy` file contains a dictionary with the following keys:

- `joints_list`: list of joint names
- `joint_positions`: per-frame joint angle vectors
- `root_position`: per-frame 3D position of the robot’s base
- `root_quaternion`: per-frame orientation as quaternions (`xyzw`)
- `fps`: sampling rate of the motion (frames per second)
- `duration`: total sequence duration in seconds
- `r_forearm`, `l_forearm`: optional 3D positions of the forearms
- `r_sole`, `l_sole`: optional 3D positions of the soles of the feet

> All lists should have consistent lengths across time frames.

### Example

```python
{
  "joints_list": ["joint_1", "joint_2", ...],
  "joint_positions": [np.array([...]), ...],
  "root_position": [np.array([x, y, z]), ...],
  "root_quaternion": [np.array([x, y, z, w]), ...],
  "fps": 120.0,
  "duration": 3.2
}
```

---

## 📂 Repository Structure

The dataset repository is organized by robot model:

```
.
├── ergocub/
│   ├── wave_hand.npy
│   ├── walk_forward.npy
│   └── ...
├── another_robot/
│   └── ...
├── README.md
```

Each folder contains `.npy` files with motion data retargeted to that specific robot's model.

---

## 📄 License

Original motion capture data © Carnegie Mellon University.  
Retargeted datasets are provided for research purposes under the BSD 3-Clause license.