Cryyzz/Lafan1_Retarget_To_BUMI-GMR

LAFAN1 to BUMI — Generalized Motion Retargeting Dataset

Dataset Description

This dataset contains retargeted motion data transferred from the LAFAN1 human motion capture dataset onto the BUMI V3.0 bipedal humanoid robot using a two-pass inverse kinematics (IK) pipeline. The resulting joint trajectories are ready to use for robot learning, imitation learning, and motion control research.

• Repository: Cryyzz/lafan1-to-bumi-gmr
• License: CC-BY-NC-4.0
• Robot: BUMI V3.0 — 21-DOF bipedal humanoid
• Source motion: LAFAN1 (BVH format)

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Files

File	Size	Description
lafan1-to-bumi-gmr.zip	102 MB	Retargeted joint trajectories for all LAFAN1 sequences
bvh_lafan1_to_bumi.json	4.61 KB	Retargeting configuration: IK mapping tables and scale factors

Robot Model Files

The following model files are used for simulation and retargeting. Please refer to the BUMI robot platform for the full model package (meshes + URDF/MJCF).

File	Format	Description
BUMI_V3_0_collision_v4.urdf	URDF	Robot description for ROS / other toolchains
bumi_v3_v4.xml	MuJoCo MJCF	Robot description for MuJoCo physics simulation

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Robot: BUMI V3.0

BUMI V3.0 is a 21-DOF bipedal humanoid robot with symmetric left/right limb design.

Kinematic structure:

base_link
├── waist_yaw_link
│   ├── l_arm_pitch → l_arm_roll → l_arm_yaw → l_elbow_pitch → [l_hand_link]
│   └── r_arm_pitch → r_arm_roll → r_arm_yaw → r_elbow_pitch → [r_hand_link]
├── l_leg_pitch → l_leg_roll → l_leg_yaw → l_knee_pitch → l_ankle_pitch → l_ankle_roll
└── r_leg_pitch → r_leg_roll → r_leg_yaw → r_knee_pitch → r_ankle_pitch → r_ankle_roll

Joint count by body part:

Body Part	Joints	DOF
Waist	waist_yaw	1
Left Arm	l_arm_pitch, l_arm_roll, l_arm_yaw, l_elbow_pitch	4
Right Arm	r_arm_pitch, r_arm_roll, r_arm_yaw, r_elbow_pitch	4
Left Leg	l_leg_pitch, l_leg_roll, l_leg_yaw, l_knee_pitch, l_ankle_pitch, l_ankle_roll	6
Right Leg	r_leg_pitch, r_leg_roll, r_leg_yaw, r_knee_pitch, r_ankle_pitch, r_ankle_roll	6
Total		21

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Retargeting Pipeline

The retargeting uses a two-pass IK strategy defined in bvh_lafan1_to_bumi.json.

Scale Factors (human_scale_table)

Human bone lengths are scaled down to match BUMI's proportions before IK solving (assuming a reference human height of 1.8 m):

Body Segment	Scale
Hips, Spine, Legs	0.55
Arms, Forearms, Hands	0.60

IK Pass 1 (ik_match_table1) — Coarse Alignment

Emphasises rotation matching across the whole body. The torso (waist_yaw_link) is given a high rotation weight (100) to anchor the upper body orientation first. Arm and leg segments are aligned with moderate weights.

IK Pass 2 (ik_match_table2) — Fine End-Effector Matching

Increases position weights on the root (base_link) and end-effectors (l_hand_link, r_hand_link, l_ankle_roll_link, r_ankle_roll_link) to achieve accurate foot placement and hand positioning.

IK Entry Format

"robot_link": ["human_bone", position_weight, rotation_weight, [pos_offset_x, y, z], [quat_w, x, y, z]]

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Source Dataset

LAFAN1 — A large-scale human motion capture dataset for locomotion and action research.

Human skeleton bones used in this retargeting: Hips, Spine2, LeftUpLeg, RightUpLeg, LeftLeg, RightLeg, LeftFootMod, RightFootMod, LeftArm, RightArm, LeftForeArm, RightForeArm, LeftHand, RightHand

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Intended Uses

• Humanoid robot imitation learning
• Motion control policy training
• Sim-to-real transfer research
• Benchmarking motion retargeting methods

Out-of-Scope Uses

• Commercial use (see CC-BY-NC-4.0 license)
• Direct deployment on physical robots without safety validation

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Citation

If you use this dataset in your research, please cite the LAFAN1 dataset and the BUMI robot platform:

@dataset{cryyzz2025lafan1bumi,
  author    = {Cryyzz},
  title     = {LAFAN1 to BUMI Generalized Motion Retargeting Dataset},
  year      = {2025},
  publisher = {Hugging Face},
  url       = {https://huggingface.co/datasets/Cryyzz/lafan1-to-bumi-gmr}
}

---

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LAFAN1 到 BUMI — 通用动作重定向数据集

数据集简介

本数据集包含从 LAFAN1 人体动作捕捉数据集重定向到 BUMI V3.0 双足人形机器人的动作数据，采用两轮逆运动学（IK）流程生成。输出的关节轨迹可直接用于机器人学习、模仿学习和运动控制研究。

• 仓库： Cryyzz/lafan1-to-bumi-gmr
• 许可证： CC-BY-NC-4.0
• 机器人： BUMI V3.0 — 21 自由度双足人形机器人
• 源动作数据： LAFAN1（BVH 格式）

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文件说明

文件	大小	说明
lafan1-to-bumi-gmr.zip	102 MB	所有 LAFAN1 序列的重定向关节轨迹
bvh_lafan1_to_bumi.json	4.61 KB	重定向配置：IK 映射表与缩放比例

机器人模型文件

以下模型文件用于仿真和重定向计算，完整模型包（含 STL 网格 + URDF/MJCF）请参阅 BUMI 机器人平台：

文件	格式	说明
BUMI_V3_0_collision_v4.urdf	URDF	用于 ROS 及其他工具链的机器人描述文件
bumi_v3_v4.xml	MuJoCo MJCF	用于 MuJoCo 物理仿真的机器人描述文件

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机器人：BUMI V3.0

BUMI V3.0 是一款具有 21 个自由度的双足人形机器人，采用左右对称肢体设计。

运动学链结构：

base_link
├── waist_yaw_link
│   ├── l_arm_pitch → l_arm_roll → l_arm_yaw → l_elbow_pitch → [l_hand_link]
│   └── r_arm_pitch → r_arm_roll → r_arm_yaw → r_elbow_pitch → [r_hand_link]
├── l_leg_pitch → l_leg_roll → l_leg_yaw → l_knee_pitch → l_ankle_pitch → l_ankle_roll
└── r_leg_pitch → r_leg_roll → r_leg_yaw → r_knee_pitch → r_ankle_pitch → r_ankle_roll

各部位自由度：

部位	关节	自由度
腰部	waist_yaw	1
左臂	l_arm_pitch, l_arm_roll, l_arm_yaw, l_elbow_pitch	4
右臂	r_arm_pitch, r_arm_roll, r_arm_yaw, r_elbow_pitch	4
左腿	l_leg_pitch, l_leg_roll, l_leg_yaw, l_knee_pitch, l_ankle_pitch, l_ankle_roll	6
右腿	r_leg_pitch, r_leg_roll, r_leg_yaw, r_knee_pitch, r_ankle_pitch, r_ankle_roll	6
合计		21

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重定向流程

重定向采用 bvh_lafan1_to_bumi.json 中定义的两轮 IK 策略。

缩放比例（human_scale_table）

在 IK 求解前，将人体骨骼长度按比例缩放至 BUMI 的体型（参考人体身高 1.8 m）：

身体部位	缩放比例
髋部、脊柱、腿部	0.55
手臂、前臂、手部	0.60

第一轮 IK（ik_match_table1）— 粗粒度对齐

强调全身旋转匹配。躯干（waist_yaw_link）旋转权重设为 100，优先锁定上身姿态方向；手臂和腿部以中等权重进行对齐。

第二轮 IK（ik_match_table2）— 末端精细匹配

提高根节点（base_link）和末端执行器（l_hand_link、r_hand_link、l_ankle_roll_link、r_ankle_roll_link）的位置权重，实现精确的落脚点和手部位置控制。

IK 配置格式

"机器人连杆": ["人体骨骼", 位置权重, 旋转权重, [位置偏移 x, y, z], [四元数 w, x, y, z]]

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源数据集

LAFAN1 — 大规模人体动作捕捉数据集，覆盖多种运动和动作类别。

本重定向使用的人体骨骼节点： Hips、Spine2、LeftUpLeg、RightUpLeg、LeftLeg、RightLeg、LeftFootMod、RightFootMod、LeftArm、RightArm、LeftForeArm、RightForeArm、LeftHand、RightHand

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适用场景

• 人形机器人模仿学习
• 运动控制策略训练
• 仿真到现实（Sim-to-Real）迁移研究
• 动作重定向方法的基准测试

不适用场景

• 商业用途（见 CC-BY-NC-4.0 许可证）
• 未经安全验证直接部署到真实机器人上

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引用

如果您在研究中使用了本数据集，请引用 LAFAN1 数据集和 BUMI 机器人平台：

@dataset{cryyzz2025lafan1bumi,
  author    = {Cryyzz},
  title     = {LAFAN1 to BUMI Generalized Motion Retargeting Dataset},
  year      = {2025},
  publisher = {Hugging Face},
  url       = {https://huggingface.co/datasets/Cryyzz/lafan1-to-bumi-gmr}
}