{
 "format": "realmimic-web-motions/1",
 "fps": 50,
 "clip_file": "float32 rows of 71 per 50 Hz frame: root_pos 3 | root_quat 4 (wxyz) | joint_pos 29 | root_lin_vel_w 3 | root_ang_vel_w 3 | joint_vel 29 (joint order of assets/policy/meta.json)",
 "fields": {
  "id": "unique id",
  "name": "label shown on the page",
  "kind": "pose (needs no motion data) | clip (a rows file next to this index)",
  "file": "clip rows file (kind clip)",
  "source": "where the motion comes from (dataset, subject/trial, or how it was authored)",
  "source_url": "link to the original data",
  "licence": "licence of the original motion data",
  "retargeting": "how the motion was retargeted to the G1 (kind clip)",
  "loop": "clip restarts from its first frame after the last (clips start and end in the default pose)",
  "group": "menu group on the page",
  "default": "the motion the page opens on"
 },
 "motions": [
  {
   "id": "stand",
   "name": "Stand",
   "kind": "pose",
   "pose": "default",
   "source": "the robot model's default pose (mjlab G1 keyframe) held still; no motion data",
   "source_url": null,
   "licence": "none (no motion data)",
   "retargeting": null
  },
  {
   "id": "wave",
   "name": "Wave",
   "kind": "clip",
   "file": "wave.bin",
   "loop": true,
   "source": "authored for this site from the robot model's default pose (right arm raised beside the head, three waves); tools/web_author_motions.py",
   "source_url": null,
   "licence": "Apache-2.0 (own data, no third-party motion capture)",
   "retargeting": null,
   "group": "Made for this page"
  },
  {
   "id": "squat",
   "name": "Squat",
   "kind": "clip",
   "file": "squat.bin",
   "loop": true,
   "source": "authored for this site from the robot model's default pose (slow squat and rise, feet planted); tools/web_author_motions.py",
   "source_url": null,
   "licence": "Apache-2.0 (own data, no third-party motion capture)",
   "retargeting": null,
   "group": "Made for this page"
  },
  {
   "id": "weight_shift",
   "name": "Weight shift",
   "kind": "clip",
   "file": "weight_shift.bin",
   "loop": true,
   "source": "authored for this site from the robot model's default pose (pelvis over the left foot, then the right; feet planted); tools/web_author_motions.py",
   "source_url": null,
   "licence": "Apache-2.0 (own data, no third-party motion capture)",
   "retargeting": null,
   "group": "Made for this page"
  },
  {
   "id": "turn",
   "name": "Turn in place",
   "kind": "clip",
   "file": "turn.bin",
   "loop": true,
   "source": "authored for this site from the robot model's default pose (90 degrees left in three stepping cycles, then back); tools/web_author_motions.py",
   "source_url": null,
   "licence": "Apache-2.0 (own data, no third-party motion capture)",
   "retargeting": null,
   "group": "Made for this page"
  },
  {
   "id": "style_zombie",
   "name": "Zombie walk",
   "kind": "clip",
   "file": "style_zombie.bin",
   "loop": false,
   "default": false,
   "group": "Walking styles (100STYLE)",
   "source": "100STYLE dataset (Mason, Starke, Komura 2022), Zombie_FW.bvh, 6.9-16.9 s",
   "source_url": "https://doi.org/10.5281/zenodo.8127870",
   "licence": "CC BY 4.0 (https://creativecommons.org/licenses/by/4.0/)",
   "retargeting": "keypoint IK to the G1 with its own segment lengths, root scaled by leg length; ground contact fixed, foot sliding removed; a short stop into a standing pose appended (the source keeps moving); modified from the original",
   "retargeted_by": "tools/web_retarget.py"
  },
  {
   "id": "style_elated",
   "name": "Elated walk",
   "kind": "clip",
   "file": "style_elated.bin",
   "loop": false,
   "default": true,
   "group": "Walking styles (100STYLE)",
   "source": "100STYLE dataset (Mason, Starke, Komura 2022), Elated_FW.bvh, 8-18 s",
   "source_url": "https://doi.org/10.5281/zenodo.8127870",
   "licence": "CC BY 4.0 (https://creativecommons.org/licenses/by/4.0/)",
   "retargeting": "keypoint IK to the G1 with its own segment lengths, root scaled by leg length; ground contact fixed, foot sliding removed; a short stop into a standing pose appended (the source keeps moving); modified from the original",
   "retargeted_by": "tools/web_retarget.py"
  },
  {
   "id": "style_robot",
   "name": "Robot walk",
   "kind": "clip",
   "file": "style_robot.bin",
   "loop": false,
   "default": false,
   "group": "Walking styles (100STYLE)",
   "source": "100STYLE dataset (Mason, Starke, Komura 2022), Robot_FW.bvh, 7.4-17.4 s",
   "source_url": "https://doi.org/10.5281/zenodo.8127870",
   "licence": "CC BY 4.0 (https://creativecommons.org/licenses/by/4.0/)",
   "retargeting": "keypoint IK to the G1 with its own segment lengths, root scaled by leg length; ground contact fixed, foot sliding removed; a short stop into a standing pose appended (the source keeps moving); modified from the original",
   "retargeted_by": "tools/web_retarget.py"
  },
  {
   "id": "style_star",
   "name": "Star walk",
   "kind": "clip",
   "file": "style_star.bin",
   "loop": false,
   "default": false,
   "group": "Walking styles (100STYLE)",
   "source": "100STYLE dataset (Mason, Starke, Komura 2022), Star_FW.bvh, 7.5-17.5 s",
   "source_url": "https://doi.org/10.5281/zenodo.8127870",
   "licence": "CC BY 4.0 (https://creativecommons.org/licenses/by/4.0/)",
   "retargeting": "keypoint IK to the G1 with its own segment lengths, root scaled by leg length; ground contact fixed, foot sliding removed; a short stop into a standing pose appended (the source keeps moving); modified from the original",
   "retargeted_by": "tools/web_retarget.py"
  },
  {
   "id": "style_morris",
   "name": "Morris dance steps",
   "kind": "clip",
   "file": "style_morris.bin",
   "loop": false,
   "default": false,
   "group": "Walking styles (100STYLE)",
   "source": "100STYLE dataset (Mason, Starke, Komura 2022), Morris_FW.bvh, 8.2-18.2 s",
   "source_url": "https://doi.org/10.5281/zenodo.8127870",
   "licence": "CC BY 4.0 (https://creativecommons.org/licenses/by/4.0/)",
   "retargeting": "keypoint IK to the G1 with its own segment lengths, root scaled by leg length; ground contact fixed, foot sliding removed; a short stop into a standing pose appended (the source keeps moving); modified from the original",
   "retargeted_by": "tools/web_retarget.py"
  },
  {
   "id": "style_dinosaur",
   "name": "Dinosaur walk",
   "kind": "clip",
   "file": "style_dinosaur.bin",
   "loop": false,
   "default": false,
   "group": "Walking styles (100STYLE)",
   "source": "100STYLE dataset (Mason, Starke, Komura 2022), Dinosaur_FW.bvh, 7.5-17.5 s",
   "source_url": "https://doi.org/10.5281/zenodo.8127870",
   "licence": "CC BY 4.0 (https://creativecommons.org/licenses/by/4.0/)",
   "retargeting": "keypoint IK to the G1 with its own segment lengths, root scaled by leg length; ground contact fixed, foot sliding removed; a short stop into a standing pose appended (the source keeps moving); modified from the original",
   "retargeted_by": "tools/web_retarget.py"
  },
  {
   "id": "style_wildlegs",
   "name": "Wild legs",
   "kind": "clip",
   "file": "style_wildlegs.bin",
   "loop": false,
   "default": false,
   "group": "Walking styles (100STYLE)",
   "source": "100STYLE dataset (Mason, Starke, Komura 2022), WildLegs_FW.bvh, 7.4-17.4 s",
   "source_url": "https://doi.org/10.5281/zenodo.8127870",
   "licence": "CC BY 4.0 (https://creativecommons.org/licenses/by/4.0/)",
   "retargeting": "keypoint IK to the G1 with its own segment lengths, root scaled by leg length; ground contact fixed, foot sliding removed; a short stop into a standing pose appended (the source keeps moving); modified from the original",
   "retargeted_by": "tools/web_retarget.py"
  },
  {
   "id": "cmu_75_06",
   "name": "180 jump",
   "kind": "clip",
   "file": "cmu_75_06.bin",
   "loop": false,
   "default": false,
   "group": "Motion capture (CMU)",
   "source": "CMU Graphics Lab Motion Capture Database, subject 75, trial 6",
   "source_url": "http://mocap.cs.cmu.edu/search.php?subjectnumber=75",
   "licence": "CMU Graphics Lab Motion Capture Database terms: free for all uses; may be copied, modified and redistributed; not to be resold, even converted",
   "retargeting": "keypoint IK to the G1 with its own segment lengths, root scaled by leg length; ground contact fixed, foot sliding removed; modified from the original",
   "retargeted_by": "tools/web_retarget.py"
  },
  {
   "id": "cmu_91_47",
   "name": "Jump turn",
   "kind": "clip",
   "file": "cmu_91_47.bin",
   "loop": false,
   "default": false,
   "group": "Motion capture (CMU)",
   "source": "CMU Graphics Lab Motion Capture Database, subject 91, trial 47",
   "source_url": "http://mocap.cs.cmu.edu/search.php?subjectnumber=91",
   "licence": "CMU Graphics Lab Motion Capture Database terms: free for all uses; may be copied, modified and redistributed; not to be resold, even converted",
   "retargeting": "keypoint IK to the G1 with its own segment lengths, root scaled by leg length; ground contact fixed, foot sliding removed; modified from the original",
   "retargeted_by": "tools/web_retarget.py"
  },
  {
   "id": "cmu_143_08",
   "name": "Jumping twists",
   "kind": "clip",
   "file": "cmu_143_08.bin",
   "loop": false,
   "default": false,
   "group": "Motion capture (CMU)",
   "source": "CMU Graphics Lab Motion Capture Database, subject 143, trial 8",
   "source_url": "http://mocap.cs.cmu.edu/search.php?subjectnumber=143",
   "licence": "CMU Graphics Lab Motion Capture Database terms: free for all uses; may be copied, modified and redistributed; not to be resold, even converted",
   "retargeting": "keypoint IK to the G1 with its own segment lengths, root scaled by leg length; ground contact fixed, foot sliding removed; modified from the original",
   "retargeted_by": "tools/web_retarget.py"
  },
  {
   "id": "cmu_20_01",
   "name": "Chicken dance",
   "kind": "clip",
   "file": "cmu_20_01.bin",
   "loop": false,
   "default": false,
   "group": "Motion capture (CMU)",
   "source": "CMU Graphics Lab Motion Capture Database, subject 20, trial 1",
   "source_url": "http://mocap.cs.cmu.edu/search.php?subjectnumber=20",
   "licence": "CMU Graphics Lab Motion Capture Database terms: free for all uses; may be copied, modified and redistributed; not to be resold, even converted",
   "retargeting": "keypoint IK to the G1 with its own segment lengths, root scaled by leg length; ground contact fixed, foot sliding removed; modified from the original",
   "retargeted_by": "tools/web_retarget.py"
  }
 ]
}