OmniRetarget
Description
OmniRetarget generated more than nine hours of interaction-preserving humanoid trajectories from OMOMO, LAFAN1, and in-house motion capture; the public Unitree G1 release contains four hours because LAFAN1-derived data cannot be redistributed. It covers object carrying, terrain climbing and traversal, and combined object-terrain interaction, with systematic augmentation of object pose, object size, terrain, and embodiment. NPZ files store frame rate, 29-DoF robot joint positions, floating-base pose, and optional object pose for loco-manipulation and reinforcement-learning research.
License
MIT.*
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