oniichan521/g1-atl-stomp-motion

G1 ATL Stomp — Motion Dataset

An ATL Stomp street-dance motion clip for the Unitree G1 humanoid (29 DOF), formatted for the SONIC / GR00T-WholeBodyControl motion_lib training pipeline, together with the time-stretched and repaired variants used for fine-tuning.

Content

File	Frames @ 30 Hz	Description
atl_stomp_fixed.pkl	150	Original motion clip (joblib PKL, motion_lib format)
atl_stomp_fixed_smooth.pkl	150	Representation-smoothed variant (axis-angle / joint-angle sequences re-aligned to the shortest path)
atl_stomp_v4.pkl	178	Re-cut clip used for the v4 fine-tune
atl_stomp_v5.pkl	267	1.5× time-stretch of v4 (root rotation slerped, joints linear) — more control steps per motion frame; the reference the V6 and V8 stages were trained on
atl_stomp_v7.pkl	267	v5 with the root rotation track repaired (see below) — the reference used for the released policy
atl_stomp_fixed_tail.pkl	330	fixed + settle-to-stance tail (freeze 1 s, ease 4 s, hold 1 s) — the reference for the before/after comparison
atl_stomp_v8_tail.pkl	327	v7 + settle tail — the reference for the full-length slowed clip

Root-track repair (v7)

v5 stores the root rotation twice: as root_rot (a quaternion track) and as pose_aa[:, 0] (axis-angle). The motion library builds the reference pose from pose_aa, and on that track four frames are corrupted:

Disagreement with root_rot on those frames	exactly 120.0°
Disagreement on every other frame	≤ 0.05°
Frames (267-frame clip @ 30 Hz)	100, 143, 148, 221
Corresponding control frames @ 50 Hz	167, 238, 247, 368

At each of those frames the reference teleports — every tracked body jumps 10–56 cm in a single 20 ms step while the root stays put — and a tracking policy destabilised by it falls 20–30 control frames later. atl_stomp_v7.pkl rebuilds pose_aa[:, 0] from the clean root_rot quaternions (sign-aligned along the short arc, angle kept over the full [0, 2π] range so a rotation passing through π stays continuous). Maximum disagreement afterwards: 0.05°.

The repair script is code/fix_motion_aa.py in qjwdlwjdl/G1-ATL-Stomp.

Settle tail (*_tail)

The choreography ends frozen mid-pose on one leg with the arms overhead. The tail extends the reference: hold the final pose, a smoothstep ease back to the neutral stance (dof → 0, pelvis → standing height, heading kept, roll/pitch levelled), then a hold, so a policy that tracks it ends the clip standing instead of freezing mid-pose. Built by code/add_settle_tail.py; the appended frames are constructed directly from the dof axes + root quaternion, so they introduce no representation wraps.

File	Tail
atl_stomp_fixed_tail.pkl	30 frames freeze + 120 frames ease + 30 frames hold (1 s + 4 s + 1 s)
atl_stomp_v8_tail.pkl	45 frames ease + 15 frames hold (1.5 s + 0.5 s)

Motion specification

• Clip: ATL Stomp street-dance routine — stomp footwork, single-leg hop, deep squat with torso roll, fast arm swings — ending in a settle back to a neutral stance on the *_tail variants
• Skeleton: Unitree G1, 29 DOF (dof), 30-body axis-angle pose (pose_aa), root translation/rotation (root_trans_offset, root_rot)
• Source rate: 30 Hz; the motion library resamples to the 50 Hz control rate at load time (267 frames → 444 control steps for v5/v7)
• Quality: no NaN/Inf; joint limits respected; physically consistent

PKL structure

import joblib
data = joblib.load("atl_stomp_v7.pkl")
# data["atl_stomp_v5"] = {
#   "root_trans_offset": (267, 3)     float32   # root translation
#   "root_rot":          (267, 4)     float32   # root quaternion (xyzw)
#   "pose_aa":           (267, 30, 3) float32   # body axis-angle poses
#   "dof":               (267, 29)    float32   # G1 joint angles (MuJoCo order)
#   "smpl_joints":       (267, 24, 3) float32   # unused placeholder
#   "fps":               30.0
# }

Provenance

Motion captured in-house from a user-provided street-dance video; no third-party motion data used. Conversion from a 36-column CSV (root position + root quaternion + 29 G1 joint angles, MuJoCo order) to motion_lib format is done by code/convert_clean_csv.py.

Credit

Motion Data by Bones Studio.

License

Released under CC-BY-4.0.