Hugging Face's logo

Datasets:
amathislab
/
musclemimic-bimanual-retargeted

Tasks:
Robotics
Tags:
motion-retargeting
musclemimic
Bimanual
mujoco
amass
License:
Dataset card Files
xet
 Community

Agreement required before accessing this dataset

This dataset is derived from AMASS and is provided only for permitted non-commercial research uses.

By requesting access to this dataset, you acknowledge and agree that:

  1. This dataset is derived from AMASS data and is subject to restrictions consistent with the AMASS license.
  2. You will use this dataset only for non-commercial scientific research, non-commercial education, or non-commercial artistic projects.
  3. You will not copy, share, distribute, sublicense, transfer, or otherwise make this dataset available to any third party.
  4. You will not use this dataset, or any models/methods trained on it, for commercial purposes of any kind.
  5. You will not redistribute this dataset or derivative files generated from it unless you have obtained all necessary permissions from the relevant rights holders.
  6. You understand that access may be revoked if these conditions are violated.
  7. You agree to appropriately cite AMASS and our work in any resulting publications.

Log in or Sign Up to review the conditions and access this dataset content.

MuscleMimic GMR Retargeted Motions

Pre-retargeted motion capture data for the MyoBimanualArm musculoskeletal model, generated using General Motion Retargeting (GMR).

Dataset Groups

Group Motions Description
AMASS_BIMANUAL_TRAIN_MOTIONS 1770 AMASS upper limb training set
AMASS_BIMANUAL_TEST_MOTIONS 312 AMASS upper limb test set
ULTRA_MOCAP_BIMANUAL_TRAINING_SUBJECTS 160 ULTRA-MoCap subjects P01-P10
ULTRA_MOCAP_BIMANUAL_TESTING_SUBJECTS 48 ULTRA-MoCap subjects P11-P13
ULTRA_MOCAP_BIMANUAL_ALL 208 All ULTRA-MoCap subjects P01-P13

Usage 

# Auto-download (integrated into training pipeline)
# Just set retargeting_method: gmr in your config - caches download automatically.

# Manual download
uv run musclemimic-download-gmr-caches --dataset-group AMASS_BIMANUAL_TRAIN_MOTIONS --env-name MyoBimanualArm

# Python API
from musclemimic.utils.gmr_cache import download_gmr_dataset_group

downloaded_paths = download_gmr_dataset_group(
    dataset_group="AMASS_BIMANUAL_TRAIN_MOTIONS",
    env_name="BimanualMuscle",
)

File Format

Each .npz file contains retargeted motion data with arrays: qpos, qvel, xpos, xquat, cvel, subtree_com, site_xpos, site_xmat, plus metadata (joint_names, body_names, site_names, frequency, split_points).

Sources and licenses

AMASS subset

Files outside MyoBimanualArm/gmr/ULTRA_MOCAP/ are derived from the AMASS dataset. Please comply with the AMASS license terms when using those files.

ULTRA-MoCap subset

MyoBimanualArm/gmr/ULTRA_MOCAP/<subject>/<trial>.npz contains 208 MyoBimanualArm trajectories retargeted from ULTRA-MoCap subjects P01-P13. Each trajectory has an adjacent .metadata.json file recording its source SHA-256, fitting provenance, pose prior, and root-initialization validation.

The ULTRA-MoCap subset is derived from the official ULTRA-MoCap v1 dataset, released under CC BY 4.0. It is not derived from AMASS. Please cite the original release:

Fritsche, Oliver; Camacho, Steven; Hossain, Md Sanzid Bin; Halpenny, Tyler; Archniegas, Carlos; Dranetz, Joseph; et al. (2025). ULTRA-MoCap: A Multimodal IMU and sEMG Dataset for Upper Body Joint Kinematics Analysis. figshare. Dataset. https://doi.org/10.6084/m9.figshare.28751156.v1
Downloads last month
103
Total file size:
8.56 GB

Space using amathislab/musclemimic-bimanual-retargeted 1

Collection including amathislab/musclemimic-bimanual-retargeted