Upper-body Dataset

Unitree H1-2 Upper-Body Motion Dataset

This dataset captures the upper-body motion trajectories of the H1-2 humanoid robot under a range of payload conditions (0, 1 , 2, and 3 kg). The motion sequences are adapted from the open-source AMASS dataset and carefully post-processed for stable, reliable execution on the actual hardware. In addition, the same trajectories are generated in Isaac Sim, laying the groundwork for future sim-to-real research and benchmarking on the H1-2 platform.

RealMan WR75S Upper-Body Motion Dataset

This dataset comprises recordings collected from the RealMan WR75S robot, organized into subdirectories by the specific counterweight used during data acquisition. The data is stored in HDF5 format and includes comprehensive measurements such as joint angles, velocities, electrical currents, and temperatures, ensuring coverage of the robot's kinematic and operational states for downstream analysis.

Whole-Body Dataset

Whole-Body Subset

We are planning to extend our data collection from upper-body to whole-body motions. Currently, we provide a preview subset from our ongoing whole-body dataset initiative.