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LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2016-2024 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

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+# LAFAN1 Retargeting Dataset
+
+To make the motion of humanoid robots more natural, we redirected LAFAN1[^1] motion capture data to [Unitree](https://www.unitree.com/)'s humanoid robots, supporting three models: [H1, H1_2](https://www.unitree.com/h1), and [G1](https://www.unitree.com/g1). This redirection was achieved through numerical optimization based on Interaction Mesh[^2] and IK, considering end-effector pose constraints, as well as joint position and velocity constraints, to prevent foot slippage. It is important to note that the redirection only accounted for kinematic constraints and did not include dynamic constraints or actuator limitations. As a result, the robot cannot perfectly execute the redirected trajectories.
+
+This database stores the redirected trajectories in CSV format. Each row in the CSV file corresponds to the original motion capture data for each frame, recording the configurations of all joints in the humanoid robot in the following order:
+
+```txt
+The Order of Configuration
+G1:
+    root_joint(XYZQXQYQZQW)
+    left_hip_pitch_joint
+    left_hip_roll_joint
+    left_hip_yaw_joint
+    left_knee_joint
+    left_ankle_pitch_joint
+    left_ankle_roll_joint
+    right_hip_pitch_joint
+    right_hip_roll_joint
+    right_hip_yaw_joint
+    right_knee_joint
+    right_ankle_pitch_joint
+    right_ankle_roll_joint
+    waist_yaw_joint
+    waist_roll_joint
+    waist_pitch_joint
+    left_shoulder_pitch_joint
+    left_shoulder_roll_joint
+    left_shoulder_yaw_joint
+    left_elbow_joint
+    left_wrist_roll_joint
+    left_wrist_pitch_joint
+    left_wrist_yaw_joint
+    right_shoulder_pitch_joint
+    right_shoulder_roll_joint
+    right_shoulder_yaw_joint
+    right_elbow_joint
+    right_wrist_roll_joint
+    right_wrist_pitch_joint
+    right_wrist_yaw_joint
+
+H1_2:
+    root_joint(XYZQXQYQZQW)
+    left_hip_yaw_joint
+    left_hip_pitch_joint
+    left_hip_roll_joint
+    left_knee_joint
+    left_ankle_pitch_joint
+    left_ankle_roll_joint
+    right_hip_yaw_joint
+    right_hip_pitch_joint
+    right_hip_roll_joint
+    right_knee_joint
+    right_ankle_pitch_joint
+    right_ankle_roll_joint
+    torso_joint
+    left_shoulder_pitch_joint
+    left_shoulder_roll_joint
+    left_shoulder_yaw_joint
+    left_elbow_joint
+    left_wrist_roll_joint
+    left_wrist_pitch_joint
+    left_wrist_yaw_joint
+    right_shoulder_pitch_joint
+    right_shoulder_roll_joint
+    right_shoulder_yaw_joint
+    right_elbow_joint
+    right_wrist_roll_joint
+    right_wrist_pitch_joint
+    right_wrist_yaw_joint
+
+H1:
+    root_joint(XYZQXQYQZQW)
+    left_hip_yaw_joint
+    left_hip_roll_joint
+    left_hip_pitch_joint
+    left_knee_joint
+    left_ankle_joint
+    right_hip_yaw_joint
+    right_hip_roll_joint
+    right_hip_pitch_joint
+    right_knee_joint
+    right_ankle_joint
+    torso_joint
+    left_shoulder_pitch_joint
+    left_shoulder_roll_joint
+    left_shoulder_yaw_joint
+    left_elbow_joint
+    right_shoulder_pitch_joint
+    right_shoulder_roll_joint
+    right_shoulder_yaw_joint
+    right_elbow_joint
+```
+
+[^1]: [LAFAN1 dataset](https://github.com/ubisoft/ubisoft-laforge-animation-dataset) is licensed under Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International Public License (unlike the code, which is licensed under MIT).
+[^2]: <https://ieeexplore.ieee.org/document/6651585>