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Twelve curated motion comparisons
Fast run, turning jog/jump, sideways jog, leash pull, backward walk, and obstacle kick/look-back. SOMA is a skeleton reference, not a video actor.
Curved-path walk, sideways jog, injured-torso walk, obstacle jump, lasso dance and forward walk.
Contents
26,111 generated motion clips, 50.723 hours, 30 Hz on Unitree H2.
Coordinates and reconstruction
Right-handed world coordinates; Y up, floor Y=0, XZ horizontal.
Root translations and sole heights are in centimetres; native angles in radians.
Rotation-6D stores the first two rotation-matrix columns concatenated, not Euler angles.
q has three parameter slots per skeletal node; unused slots are zero. Forty-three
nodes do not mean 43 independently actuated motors. Convert through the H2 native
descriptor's axes, rest rotations, limits and active-slot mapping before using a
simulator's motor order. Reconstruction requires the matching H2 MJCF descriptor;
joint names alone do not provide geometry. Robot meshes are not bundled here.
Random-sample numerical quality assessment
1,822/2,000 (91.10%) accepted under the current support-slip + whole-surface penetration screen. Exact 95% interval: 89.82%–92.26%. Estimated 23,786 acceptable unique motions out of 26,110; this is an estimate, not full per-motion certification.
Fixed-foot slip: 129 clips. Foot penetration: 57. Any visual-surface penetration, including hands/knees/hips: 58. Counts overlap. 372 clips without confirmed fixed-foot support are accepted by policy, not proven non-sliding. Non-foot support coverage is limited; unknown is accepted.
Thresholds: horizontal fixed-support material speed >15 cm/s, floor penetration
0.5 cm, each sustained ≥0.1 s. Uniform random sample without replacement, seed 20260912. These are local engineering thresholds, not a verified Marco Hutter / ETH RSL benchmark reproduction. The requested lab attribution and its verification status, complete evidence and limitations are in evaluation report. No dynamics/hardware success claim is made.
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