Document mixed G1 CSV release; data upload follows

README.md

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+---
+language:
+- en
+- zh
+tags:
+- robotics
+- motion
+- unitree-g1
+- motion-retargeting
+pretty_name: MotionMamba2.0 G1 Mixed Motion CSV
+size_categories:
+- 100K<n<1M
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: metadata/train.jsonl
+  - split: validation
+    path: metadata/val.jsonl
+  - split: test
+    path: metadata/test.jsonl
+---
+
+# MotionMamba2.0 G1 Mixed Motion CSV
+
+Accepted G1 motion exports from BONES Seed, HiPHI and HumanML3D. BONES uses
+official G1 CSV input; HiPHI and HumanML3D are retargeted to G1. All packaged
+motions are sampled at **25 FPS**. The package contains **179,648 motions**,
+**660.98 hours**, and their available text descriptions.
+
+| Split | Motions | Hours | Uncompressed CSV bytes |
+|---|---:|---:|---:|
+| Train | 156,819 | 588.922356 | 24,775,677,931 |
+| Validation | 9,998 | 41.175389 | 1,766,247,317 |
+| Test | 12,831 | 30.887122 | 1,274,131,579 |
+| Total | 179,648 | 660.984867 | 27,816,056,827 |
+
+## Files
+
+Files are stored directly in the repository root:
+
+- `data/{train,val,test}/{source}-NNNN.tar.gz`: sharded CSVs and original motion
+  JSON sidecars. Shards contain only one source and one split. Approximately
+  512 MiB of uncompressed CSV data is assigned to each full shard.
+- `metadata/{train,val,test}.jsonl`: portable sample metadata, captions, splits,
+  archive locations, extracted file locations, and original file SHA-256s.
+- `contracts/`: original CSV, robot, skeleton and feature schema references.
+- `dataset_info.json`: measured counts, sizes, source-manifest hashes and shard
+  checksums.
+
+Archive members retain readable source sample names, for example
+`motions/train/bones/Idle_Left_001__A017.csv`. Characters that cannot be used
+safely in file paths are percent-encoded. Each metadata row gives the corresponding `sample_id`,
+`archive_path`, `csv_path` and `sidecar_path`. Paths are relative to the release
+directory; metadata does not depend on the original server's directory layout.
+The original sidecars retain their historical provenance fields.
+
+The package does not include intermediate solver caches, videos, original
+BVH/SMPL inputs, `qpos.npy`, or the precomputed 414-dimensional `features.npy`.
+
+## Download and extract
+
+For this private repository, use an account/token with read permission.
+
+```python
+from huggingface_hub import snapshot_download
+
+snapshot_download(
+    repo_id="AIGeeksGroup/MotionMamba2.0",
+    repo_type="dataset",
+    local_dir="MotionMamba2.0",
+)
+```
+
+To download through HF-Mirror, set `HF_ENDPOINT=https://hf-mirror.com` before
+running the downloader. Uploads are made to the official Hugging Face endpoint.
+
+Extract shards inside the release directory so that their paths agree with the
+metadata:
+
+```bash
+cd MotionMamba2.0
+for shard in data/*/*.tar.gz; do tar -xzf "$shard"; done
+```
+
+## CSV representation
+
+Each CSV has **36 columns**: frame index, three root translations, three root
+Euler angles, and 29 joint angles. The ordered column names and conventions are
+specified in `contracts/bones_g1_csv.json`.
+
+- Frame indices start at zero; time is `Frame / 25` seconds.
+- Root translation is in **centimetres**; multiply by `0.01` for metres.
+- Root Euler angles and articulated joint angles are in **degrees**; convert
+  with `numpy.deg2rad` when a consumer expects radians.
+- Root Euler convention: SciPy lowercase extrinsic active `xyz`.
+- CSV root Euler coordinates are distinct from quaternion-based MuJoCo qpos.
+
+```python
+import json
+from pathlib import Path
+import numpy as np
+
+release = Path("MotionMamba2.0")
+with (release / "metadata/train.jsonl").open() as f:
+    sample = json.loads(next(f))
+
+motion = np.loadtxt(release / sample["csv_path"], delimiter=",", skiprows=1,
+                    ndmin=2)
+root_translation_m = motion[:, 1:4] * 0.01
+root_euler_xyz_rad = np.deg2rad(motion[:, 4:7])
+joint_angles_rad = np.deg2rad(motion[:, 7:])
+captions = sample["captions"]
+```
+
+## Splits and provenance
+
+These are the existing accepted release splits, not a new random split of the
+training subset. HumanML3D retains official split assignments. BONES uses the
+project's actor-disjoint protocol; HiPHI uses the existing project grouping.
+Mirror/crop/source-family constraints and existing exact-output duplicate
+quarantines are retained. Frozen calibration-heldout BONES entries are excluded
+from these default manifests.
+
+Every packaged CSV and original motion sidecar is checked against its hash in
+the accepted source manifest during packaging. The CSV bytes are not modified.
+Captions and source labels are copied from existing metadata without new
+annotation or inferred measurements.
+
+## Scope and source terms
+
+This is an **offline kinematic export**. Dynamics validation is recorded as
+`NOT_RUN`; this upload does not certify controller tracking or change any
+historical frozen acceptance result. The BONES official-pool geometry metrics
+remain diagnostic under the user-approved admission policy.
+
+The original BONES Seed, HiPHI and HumanML3D terms continue to apply to their
+respective contributions. This packaging does not assign a new license to
+third-party source data.