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UFO Motion Data
Robot-specific LaFAN motions for UFO, ready for its mjlab training and inference commands.
| Robot | Full motions | Training data | Format |
|---|---|---|---|
| G1, 29 controlled joints | g1/lafan_29dof.pkl (40 motions) |
g1/lafan_29dof_10s-clipped.pkl |
UFO motion PKL |
| RP1.3, 24 controlled joints | rp1/rp1_24dof_lafan_v7.pkl (55 motions) |
rp1/rp1_24dof_lafan_v7_10s-clipped.pkl (1,166 clips) |
UFO motion PKL, 50 Hz |
The RP1 full-motion file has 569,512 frames. Training clips are at most 10 seconds, including shorter final clips. Use full motions for motion IDs and goal frame indices; clipping changes the IDs. The RP1 release includes all 55 motions, not only the 40-motion subset used in some comparison experiments. G1 and RP1 motions are not interchangeable.
Download
From the root of the current UFO checkout:
uv sync --locked
bash scripts/download_data.sh g1_lafan
bash scripts/download_data.sh rp1_lafan
Each command downloads both files for its robot into ufo/data/, checks SHA256, and skips files already verified. SHA256SUMS lists all four file hashes.
./run_train.sh --robot rp1 --agent fb --gpu-ids all
./run_train.sh --robot g1 --agent fb --gpu-ids all
For manual downloads, use hf download xuewang/UFO-MotionData --repo-type dataset --local-dir motion_data, then copy the desired robot's PKL files into UFO/ufo/data/.
RP1 format
Each file is a dictionary keyed by motion name (or name__clipNNN). RP1 motions contain root translation, XYZW root quaternion, joint position and velocity, axis-angle body pose, joint/body names and provenance metadata. Root translation is Z-up, joint positions are radians, and body linear/angular velocities are in world coordinates. Imported COM velocities have been converted to link-origin velocities. Use configs/robots/rp1_3.yaml and its matching XML; metadata paths record the original conversion location and are not installation requirements.
Source and terms
The original motions are from Ubisoft La Forge Animation Dataset (LAFAN1). RP1 motions were retargeted for RoboParty RP1.3 and converted from the RP1 LaFAN v7 data used by the IsaacLab implementation; conversion preserves joint velocities and verifies joint order and kinematics.
The source dataset is provided under CC BY-NC-ND 4.0. Its source rights and restrictions remain applicable; this repository does not grant additional rights to the underlying motions. Credit: Félix G. Harvey, Mike Yurick, Derek Nowrouzezahrai and Christopher Pal, Robust Motion In-Betweening, ACM Transactions on Graphics, 2020.
For RP1 UFO deployment, see Roboparty/roboparty_deploy.
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