Kyry10/k1-moves

K1 Moves

Emotes and dances for the Booster K1, trackable by SONIC-K1 out of the box. No per-motion training needed.

The collection has 58 clips (14 min) of dances, emotes (waves, bows, gestures), styled walks and karate. They come from four open motion-capture datasets, credited below, and are retargeted to the 22-DoF Booster K1. The original source files are included unchanged. Every clip is tracked by a single policy, SONIC-K1. To add a new move, you add a file. You don't train a new model.

Each clip ships with:

• the K1 retarget, ready to play (k1/*.npz) or to train on (k1_motionlib/*.pkl);
• the original human motion it came from (original/);
• a SONIC-K1 MuJoCo rollout video (sim/);
• its source, license and tracking metrics (clips.csv).

We use these motions for our K1 demos at lab visits and events. The set will grow, so check the changelog.

Play a motion (MuJoCo, no GPU)

Set up the SONIC-K1 quick start, then:

hf download Kyry10/k1-moves --repo-type dataset --include "k1/*" --local-dir k1-moves
python gear_sonic/scripts/play_k1.py --motion k1-moves/k1/dad_dance.npz      # one clip
python gear_sonic/scripts/play_k1.py --motion k1-moves/k1 --loop             # all of them

import numpy as np
z = np.load("k1/dad_dance.npz")
qpos, fps = z["qpos"], float(z["fps"])  # (T, 29): root xyz, root quat wxyz, 22 joints in K1 MuJoCo (k1.xml) order; 60 fps

What's inside

Source	Clips	License
G1 Moves by Experiential Technologies (performers Jasmine Coro, Mitch Chaiet, Mike Gassaway)	17	CC BY 4.0
AIST++ (Google), street-dance basic loops; motion annotations only, no music or video	5	CC BY 4.0
CMU Graphics Lab Motion Capture Database, via the cgspeed BVH conversion	1	free to use, attribution requested
Bandai Namco Research Motiondataset-1, styled bows, waves, gestures and walks	35	CC BY-NC 4.0

clips.csv                 one row per clip: title, category, length, source file, license, metrics
k1/<name>.npz             K1 reference motion: qpos (T,29) + fps (60). Input of SONIC-K1's play_k1.py
k1_motionlib/<name>.pkl   the same motion in SONIC motion_lib format (joblib), for training / Isaac Lab eval
k1_motionlib_all.pkl      all clips in one motion_lib file
original/<name>.bvh|.pkl  the source human motion (BVH; AIST++ clips are SMPL .pkl). G1 Moves originals are
                          copies of the exptech/g1-moves BVHs
sim/<name>.mp4            SONIC-K1 (it50000) tracking the clip in MuJoCo
media/teaser.mp4|.gif     the grid above
LICENSES/                 third-party license texts

.pkl files are pickles, so load them only if you trust this repo. The .npz files hold plain arrays.

How the clips were made and checked

1. Retargeting. Human motion (BVH or SMPL) is retargeted to K1 with UMR using the Booster K1 config (k1_official), at 60 fps.
2. Tracking eval. SONIC-K1 it50000 (the public checkpoint) tracks every clip in MuJoCo. All 58 clips pass the paper's success rule, and 56/58 also pass the stricter SONIC rule. The per-clip MPJPE-L and max body deviation are in clips.csv. Every clip also plays without a fall in SONIC-K1's public play_k1.py (ONNX policy, MuJoCo).
3. Safety gate. Before a clip gets near the real robot, it goes through our MuJoCo gate. The gate uses Booster deploy torque caps, 20 ms latency, and fall, tilt and joint-speed guards. It ran with our internal fine-tuned SONIC-K1 checkpoint, and all 58 clips pass. Clips that failed the gate are not in this release.
4. Curation. We picked the clips we liked most from a 194-clip pool.

Every check here ran in simulation. We have played several of these clips on our physical K1, but the hardware testing is not systematic. If you run them on a real robot, keep an e-stop in reach.

License

The dataset as a whole is CC BY-NC 4.0, because 35 clips derive from the non-commercial Bandai Namco dataset. The other 23 clips (commercial_ok = true in clips.csv) derive from CC BY 4.0 / CMU sources. You may use those clips, both the K1 retargets and the originals, under CC BY 4.0, with the source credits below.

Changes made: the files in k1/ and k1_motionlib/ are adaptations of the source motions (retargeted to K1 with UMR, resampled to 60 fps). The files in original/ are unmodified copies of the source files. The motion capture was recorded by the source datasets' authors, not by us; all rights in the source data stay with them under their licenses.

Credits

• G1 Moves: Experiential Technologies. https://huggingface.co/datasets/exptech/g1-moves (CC BY 4.0).
• CMU: "The data used in this project was obtained from mocap.cs.cmu.edu. The database was created with funding from NSF EIA-0196217."
• AIST++: R. Li, S. Yang, D. A. Ross, A. Kanazawa. AI Choreographer: Music Conditioned 3D Dance Generation with AIST++, ICCV 2021. S. Tsuchida, S. Fukayama, M. Hamasaki, M. Goto. AIST Dance Video Database, ISMIR 2019.
• Bandai Namco Research Motiondataset-1: Bandai Namco Research Inc. (CC BY-NC 4.0, text in LICENSES/).
• Retargeting: UMR.
• Tracker: SONIC-K1, a K1 port of NVIDIA's SONIC.

Citation

If you use this dataset, please cite it, along with the source dataset(s) of the clips you use (see Credits; clips.csv lists the source of every clip).

@misc{kolesnichenko2026k1moves,
  title  = {K1 Moves: Emotes and Dances for the Booster K1, Tracked by SONIC-K1},
  author = {Kolesnichenko, Kyrylo},
  year   = {2026},
  howpublished = {\url{https://huggingface.co/datasets/Kyry10/k1-moves}}
}

@misc{g1moves2026,
  title  = {G1 Moves: Motion Capture Dataset for the Unitree G1 Humanoid Robot},
  author = {Chaiet, Mitch},
  year   = {2026},
  howpublished = {\url{https://huggingface.co/datasets/exptech/g1-moves}}
}

@misc{kolesnichenko2026sonick1,
  title  = {SONIC-K1: Whole-Body Motion Tracking for the Booster K1 Humanoid},
  author = {Kolesnichenko, Kyrylo},
  year   = {2026},
  howpublished = {\url{https://huggingface.co/Kyry10/sonic-k1}}
}

Clips

Name	Title	Category	Seconds	Source	MPJPE-L (mm)	Commercial
bow_karate	Bow Karate	Karate	37.6	G1 Moves	30.0	✓
dad_dance	Dad Dance	Dance	41.8	G1 Moves	20.4	✓
hands_up	Hands Up	Bonus	7.4	G1 Moves	21.2	✓
long_dance	Long Dance	Dance	60.0	G1 Moves	31.2	✓
wiggle_dance	Wiggle Dance	Dance	37.3	G1 Moves	19.2	✓
dance_12_lush_life	Dance 12_Lush Life	Dance	35.6	G1 Moves	25.0	✓
dance_19_lets_go	Dance 19_Lets GO	Dance	24.9	G1 Moves	31.0	✓
dance_22_thrilling	Dance 22_Thrilling	Dance	27.0	G1 Moves	33.0	✓
dance_3_woah	Dance 3_Woah	Dance	30.0	G1 Moves	30.9	✓
dance_4_broadway	Dance 4_Broadway	Dance	27.9	G1 Moves	28.9	✓
dance_5_hype	Dance 5_Hype	Dance	31.6	G1 Moves	49.5	✓
dance_6_sassy	Dance 6_Sassy	Dance	31.9	G1 Moves	30.5	✓
dance_8_west_coast	Dance 8_West Coast	Dance	39.9	G1 Moves	41.6	✓
dance_9_peace_maker	Dance 9_Peace Maker	Dance	58.4	G1 Moves	31.1	✓
short_dance_13_single_ladies	Short Dance 13_Single Ladies	Dance	14.0	G1 Moves	24.2	✓
short_dance_16_jazz_walk	Short Dance 16_Jazz Walk	Dance	10.6	G1 Moves	30.3	✓
short_move_13	Short Move 13	Karate	9.0	G1 Moves	32.2	✓
lambada	Lambada dance	Social	18.2	CMU	36.7	✓
break_basic_loop	Break · Basic loop	Break	12.0	AIST++	41.5	✓
pop_basic_loop	Pop · Basic loop	Pop	12.0	AIST++	19.0	✓
lock_basic_loop	Lock · Basic loop	Lock	12.0	AIST++	19.3	✓
la_hip_hop_basic_loop	La Hip-Hop · Basic loop	La Hip-Hop	12.0	AIST++	21.2	✓
house_basic_loop	House · Basic loop	House	8.7	AIST++	22.6	✓
bow_active_001	Bow · Active	Bow	4.2	Bandai Namco	22.8	NC
bow_childish_001	Bow · Childish	Bow	3.2	Bandai Namco	17.5	NC
bow_feminine_001	Bow · Feminine	Bow	7.2	Bandai Namco	17.3	NC
bow_masculinity_001	Bow · Masculinity	Bow	2.3	Bandai Namco	11.1	NC
bow_musical_001	Bow · Musical	Bow	5.2	Bandai Namco	31.1	NC
bow_normal_001	Bow · Normal	Bow	4.6	Bandai Namco	13.4	NC
bye_active_001	Bye · Active	Bye	6.1	Bandai Namco	42.7	NC
bye_masculinity_001	Bye · Masculinity	Bye	7.0	Bandai Namco	40.1	NC
bye_musical_001	Bye · Musical	Bye	6.2	Bandai Namco	37.9	NC
bye_old_001	Bye · Old	Bye	4.7	Bandai Namco	44.4	NC
bye_sad_001	Bye · Sad	Bye	8.4	Bandai Namco	13.7	NC
bye_tired_001	Bye · Tired	Bye	7.0	Bandai Namco	36.6	NC
byebye_active_001	Byebye · Active	Byebye	7.6	Bandai Namco	29.9	NC
byebye_chimpira_001	Byebye · Chimpira	Byebye	4.9	Bandai Namco	24.7	NC
byebye_giant_001	Byebye · Giant	Byebye	7.8	Bandai Namco	20.4	NC
call_normal_001	Call · Normal	Call	5.7	Bandai Namco	14.3	NC
guide_active_001	Guide · Active	Guide	4.6	Bandai Namco	18.6	NC
guide_giant_001	Guide · Giant	Guide	5.4	Bandai Namco	32.9	NC
guide_normal_001	Guide · Normal	Guide	2.8	Bandai Namco	12.7	NC
punch_normal_002	Punch · Normal	Punch	9.4	Bandai Namco	46.4	NC
walk_childish_001	Walk · Childish	Walk	7.8	Bandai Namco	20.1	NC
walk_childish_002	Walk · Childish	Walk	7.5	Bandai Namco	19.0	NC
walk_chimpira_001	Walk · Chimpira	Walk	5.6	Bandai Namco	28.4	NC
walk_chimpira_002	Walk · Chimpira	Walk	6.1	Bandai Namco	22.6	NC
walk_feminine_001	Walk · Feminine	Walk	9.2	Bandai Namco	20.6	NC
walk_feminine_002	Walk · Feminine	Walk	7.0	Bandai Namco	33.5	NC
walk_giant_001	Walk · Giant	Walk	6.4	Bandai Namco	24.4	NC
walk_giant_002	Walk · Giant	Walk	7.4	Bandai Namco	26.6	NC
walk_happy_001	Walk · Happy	Walk	7.1	Bandai Namco	25.5	NC
walk_happy_002	Walk · Happy	Walk	4.5	Bandai Namco	41.4	NC
walk_masculinity_001	Walk · Masculinity	Walk	5.5	Bandai Namco	20.8	NC
walk_masculinity_002	Walk · Masculinity	Walk	6.2	Bandai Namco	18.4	NC
walk_normal_001	Walk · Normal	Walk	6.5	Bandai Namco	20.7	NC
walk_normal_002	Walk · Normal	Walk	1.0	Bandai Namco	28.5	NC
walk_proud_001	Walk · Proud	Walk	11.0	Bandai Namco	24.1	NC

Changelog

• v0.1 (2026-10-29): first release, 58 clips.