pshinde612/SEW-TWIST

---
language:
- en
tags:
- robotics
- teleoperation
- humanoid-robot
- motion-capture
- imitation-learning
- mujoco
- bvh
license: apache-2.0
---

# SEW-TWIST G1 Teleoperation Dataset

This dataset contains **offline teleoperation trajectories for the Unitree G1 humanoid robot** generated using the **SEW-MIMIC controller** \[1\] and **LaFAN1 BVH motion capture data** \[2\].

The dataset was generated by replaying BVH motion capture sequences through a MuJoCo simulation of the G1 robot and logging the resulting robot state trajectories in a format compatible with **TWIST-style imitation learning pipelines** \[3\].

Each trajectory is stored as a `.pkl` file containing joint states, root pose, and body positions for each simulation frame.

---

# Dataset Structure

```
dataset/
│
├── *.pkl # Motion trajectories
├── metadata.csv # Optional metadata per sequence
└── README.md
```

Each `.pkl` file contains a **single trajectory sequence** recorded from BVH playback.

---

# Data Format

Each `.pkl` file contains a Python dictionary with the following structure:

```python
{
"fps": float,
"root_pos": np.ndarray,
"root_rot": np.ndarray,
"dof_pos": np.ndarray,
"local_body_pos": np.ndarray,
"link_body_list": list[str]
}
```

---

# Fields

## fps

float

Frames per second of the recorded trajectory.

---

## root_pos

shape: (T, 3)
dtype: float32

World-space position of the robot root (pelvis mocap frame).

[x, y, z]

Units: **meters**

---

## root_rot

shape: (T, 4)
dtype: float32

Root orientation quaternion in **(x, y, z, w)** format.

This is converted from MuJoCo's internal `(w, x, y, z)` ordering during logging.

---

## dof_pos

shape: (T, 21)
dtype: float32

Joint configuration vector for the robot.

The DOF vector is concatenated as:

[left_leg, right_leg, torso, left_arm, right_arm]

### DOF Breakdown

| Body Part | DOF |
|-----------|----|
| Left Leg | 6 |
| Right Leg | 6 |
| Torso | 3 |
| Left Arm | 4 |
| Right Arm | 4 |

Total: **23 DOF**

---

## local_body_pos

shape: (T, N, 3)
dtype: float32

Local body positions for each link relative to the root frame.

Positions are computed as:

local = R_root^T * (x_world - root_pos)

Where

- R_root is the root rotation matrix
- x_world is the world position of the body

---

## link_body_list

list[str] length = N

Names of the robot bodies corresponding to the `local_body_pos` array.

Example entries include pelvis, hip joints, knees, ankles, torso, shoulders, elbows, wrists, and hands.

---

# Example Usage

```python
import pickle

with open("trajectory.pkl", "rb") as f:
data = pickle.load(f)

print(data.keys())
```

Output:

```
dict_keys([
'fps',
'root_pos',
'root_rot',
'dof_pos',
'local_body_pos',
'link_body_list'
])
```

---

# Intended Use

This dataset can be used for:

- humanoid motion imitation learning
- motion retargeting research
- policy learning from motion capture
- trajectory prediction
- humanoid control benchmarking

---

# Citation

This dataset is released as part of the **SEW-MIMIC project**

```bibtex
@misc{sew_mimic,
title={A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation},
author={Kong, Chuizheng and Cho, Yunho and Jung, Wonsuhk and others},
year={2026},
note={Project website: https://sew-mimic.com/}
}
```

---

# Acknowledgements

- **LaFAN1 Motion Capture Dataset**
- **MuJoCo Physics Engine**
- **SEW Geometric Teleoperation Framework**

# References

\[1\] **A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation**,
Project website: https://sew-mimic.com/
arXiv preprint arXiv:2602.01632, 2026

\[2\] **LaFAN1 Motion Capture Dataset**
Ubisoft La Forge.
https://github.com/ubisoft/ubisoft-laforge-animation-dataset

\[3\] Y. Ze, Z. Chen, J. P. Araújo, Z. Cao, X. B. Peng, J. Wu, and C. K. Liu,
**"TWIST: Teleoperated Whole-Body Imitation System,"**
Project website: https://yanjieze.com/TWIST/

# Data Sources and Licensing

This dataset is generated from the **LaFAN1 Motion Capture Dataset** provided by Ubisoft La Forge.

The original dataset is licensed under:

**Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)**

See the original repository for details:
https://github.com/ubisoft/ubisoft-laforge-animation-dataset

Users of this dataset must comply with the license terms of the original dataset.