G1 LAFAN1 references (50 Hz)
This dataset contains 40 Unitree G1 reference motions derived from the LAFAN1 retargeting dataset for motion-tracking experiments in IsaacLab-Imitation.
Files
npz/g1/*.npz 40 reference motions at 50 Hz
manifests/g1_lafan1_manifest.json ordered training manifest
manifests/g1_lafan1_body_frame_audit.json coordinate-frame audit
language/g1_lafan1_language_commands.json generated language commands
Each NPZ records root, joint, and rigid-body states. root_pos and
body_pos_w use the same clip-local coordinate frame and do not contain an
Isaac scene-grid origin. joint_names and body_names record the exact array
ordering used by Isaac Lab.
The language commands were generated previously from motion storyboards and are provided in the same order as the manifest. They are not official LAFAN1 annotations and remain marked as needing human review.
Validation
The included body-frame audit checks all 40 motions. The release passes the root/body coordinate-frame gate; consumers should treat older NPZ exports that mix local root positions with scene-offset body positions as invalid.
License and provenance
The underlying LAFAN1 motion data is licensed under Creative Commons Attribution-NonCommercial-NoDerivatives 4.0. See the upstream LAFAN1 and retargeting dataset documentation for full provenance and terms.
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