motion dataset via LFS

.gitattributes

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+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text

README.md

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+---
+license: cc-by-4.0
+tags:
+- robotics
+- motion-capture
+- humanoid
+- unitree-g1
+- locomotion
+- dataset
+size_categories:
+- n<1K
+---
+
+# G1 ATL Stomp — Motion Dataset
+
+A single **ATL Stomp** street-dance motion clip for the **Unitree G1 humanoid
+(29 DOF)**, formatted for the **SONIC / GR00T-WholeBodyControl** `motion_lib`
+training pipeline.
+
+## Content
+
+| File | Description |
+|---|---|
+| `atl_stomp_fixed.pkl` | Original motion clip (joblib PKL, motion_lib format) |
+| `atl_stomp_fixed_smooth.pkl` | Representation-smoothed variant (axis-angle / joint-angle sequences re-aligned to the shortest path; recommended for rendering and for training) |
+
+## Motion specification
+
+- **Clip:** ATL Stomp street-dance routine — stomp footwork, single-leg hop,
+  deep squat with torso roll, fast arm swings
+- **Length:** 150 frames @ 30 Hz (~5.0 s); resampled to 50 Hz (248 frames) at load
+  time by the motion library
+- **Skeleton:** Unitree G1, 29 DOF (`dof`), 30-body axis-angle pose (`pose_aa`),
+  root translation/rotation (`root_trans_offset`, `root_rot`)
+- **Quality:** no NaN/Inf; joint limits respected; physically consistent
+
+## PKL structure
+
+```python
+import joblib
+data = joblib.load("atl_stomp_fixed_smooth.pkl")
+# data["atl_stomp_fixed"] = {
+#   "root_trans_offset": (150, 3)  float32   # root translation
+#   "root_rot":          (150, 4)  float32   # root quaternion (xyzw)
+#   "pose_aa":           (150, 30, 3) float32  # body axis-angle poses
+#   "dof":               (150, 29) float32   # joint positions (rad)
+#   "smpl_joints":       (150, 24, 3)        # unused placeholder
+#   "fps":               30.0
+# }
+```
+
+Load with SONIC by pointing
+`manager_env.commands.motion.motion_lib_cfg.motion_file` at the PKL and setting
+`smpl_motion_file="zeros"`.
+
+## Provenance
+
+Captured and processed in-house from a user-provided street-dance video
+(marker-less kinematic extraction, retargeted to the G1 29-DOF skeleton).
+No third-party motion data used.
+
+## License
+
+CC-BY-4.0.

atl_stomp_fixed.pkl

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+oid sha256:ced702540b15372c547b84bcd1bfe0ecf12043a61ff5f16cff3e2e6f70d64a95
+size 41413

atl_stomp_fixed_smooth.pkl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:583129abb7ec33b086edc8206f5b75cbaaad05bee8358798402292e1296d8b9a
+size 119371