lvhaidong/LAFAN1_Retargeting_Dataset

LAFAN1 Retargeting Dataset To make the motion of humanoid robots more natural, we retargeted LAFAN1 motion capture data to Unitree's humanoid robots, supporting three models: H1, H1_2, and G1. This retargeting was achieved through numerical optimization based on Interaction Mesh 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 retargeting only accounted for kinematic…