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LICENSE

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+Kine2Go is a multi-license dataset. There is no single umbrella license; each
+clip ships under the license inherited from its upstream source. The
+authoritative per-clip license is recorded in `<clip_name>/clip.json` under the
+`license` field, and aggregate per-subset assignments are summarised below.
+
+| Subset (clip prefix)                           | Clips | License        | Full text                                |
+| ---------------------------------------------- | ----- | -------------- | ---------------------------------------- |
+| ai4_dog_* (excluding ai4_dog_synth_*)          |    15 | CC BY-NC 4.0   | LICENSES/AI4Animation_CC-BY-NC-4.0.txt   |
+| ai4_dog_synth_*                                |     7 | CC BY-NC 4.0   | LICENSES/AI4Animation_CC-BY-NC-4.0.txt   |
+| vhdc_horse1_*                                  |    12 | CC BY-SA 4.0   | LICENSES/VHDC_CC-BY-SA-4.0.txt           |
+| solo8_*                                        |     6 | BSD-3-Clause   | LICENSES/cassi_BSD-3-Clause.txt          |
+
+Notes:
+
+- The CC BY-NC 4.0 subsets prohibit commercial use of the data and any
+  derivative works.
+- The VHDC subset is licensed under CC BY-SA 4.0 (upgraded from the upstream's
+  CC BY-SA 3.0 Unported per the SA-4.0 compatibility clause). Derivatives must
+  be released under CC BY-SA 4.0 (or a later compatible version).
+- The cassi/Solo8 subset license is inherited by analogy with cassi's top-level
+  code grant; see LICENSES/cassi_BSD-3-Clause.txt for the binding text.
+
+The supporting documentation in this repository -- README.md, metadata.json,
+clip.json files, and the helper scripts under scripts/ -- are released under
+the most permissive license compatible with all subsets above (CC BY 4.0 for
+text, MIT for the helper scripts), unless stated otherwise in the respective
+file.

LICENSES/AI4Animation_CC-BY-NC-4.0.txt

@@ -0,0 +1,408 @@
+Attribution-NonCommercial 4.0 International
+
+=======================================================================
+
+Creative Commons Corporation ("Creative Commons") is not a law firm and
+does not provide legal services or legal advice. Distribution of
+Creative Commons public licenses does not create a lawyer-client or
+other relationship. Creative Commons makes its licenses and related
+information available on an "as-is" basis. Creative Commons gives no
+warranties regarding its licenses, any material licensed under their
+terms and conditions, or any related information. Creative Commons
+disclaims all liability for damages resulting from their use to the
+fullest extent possible.
+
+Using Creative Commons Public Licenses
+
+Creative Commons public licenses provide a standard set of terms and
+conditions that creators and other rights holders may use to share
+original works of authorship and other material subject to copyright
+and certain other rights specified in the public license below. The
+following considerations are for informational purposes only, are not
+exhaustive, and do not form part of our licenses.
+
+     Considerations for licensors: Our public licenses are
+     intended for use by those authorized to give the public
+     permission to use material in ways otherwise restricted by
+     copyright and certain other rights. Our licenses are
+     irrevocable. Licensors should read and understand the terms
+     and conditions of the license they choose before applying it.
+     Licensors should also secure all rights necessary before
+     applying our licenses so that the public can reuse the
+     material as expected. Licensors should clearly mark any
+     material not subject to the license. This includes other CC-
+     licensed material, or material used under an exception or
+     limitation to copyright. More considerations for licensors:
+    wiki.creativecommons.org/Considerations_for_licensors
+
+     Considerations for the public: By using one of our public
+     licenses, a licensor grants the public permission to use the
+     licensed material under specified terms and conditions. If
+     the licensor's permission is not necessary for any reason--for
+     example, because of any applicable exception or limitation to
+     copyright--then that use is not regulated by the license. Our
+     licenses grant only permissions under copyright and certain
+     other rights that a licensor has authority to grant. Use of
+     the licensed material may still be restricted for other
+     reasons, including because others have copyright or other
+     rights in the material. A licensor may make special requests,
+     such as asking that all changes be marked or described.
+     Although not required by our licenses, you are encouraged to
+     respect those requests where reasonable. More considerations
+     for the public:
+    wiki.creativecommons.org/Considerations_for_licensees
+
+=======================================================================
+
+Creative Commons Attribution-NonCommercial 4.0 International Public
+License
+
+By exercising the Licensed Rights (defined below), You accept and agree
+to be bound by the terms and conditions of this Creative Commons
+Attribution-NonCommercial 4.0 International Public License ("Public
+License"). To the extent this Public License may be interpreted as a
+contract, You are granted the Licensed Rights in consideration of Your
+acceptance of these terms and conditions, and the Licensor grants You
+such rights in consideration of benefits the Licensor receives from
+making the Licensed Material available under these terms and
+conditions.
+
+
+Section 1 -- Definitions.
+
+  a. Adapted Material means material subject to Copyright and Similar
+     Rights that is derived from or based upon the Licensed Material
+     and in which the Licensed Material is translated, altered,
+     arranged, transformed, or otherwise modified in a manner requiring
+     permission under the Copyright and Similar Rights held by the
+     Licensor. For purposes of this Public License, where the Licensed
+     Material is a musical work, performance, or sound recording,
+     Adapted Material is always produced where the Licensed Material is
+     synched in timed relation with a moving image.
+
+  b. Adapter's License means the license You apply to Your Copyright
+     and Similar Rights in Your contributions to Adapted Material in
+     accordance with the terms and conditions of this Public License.
+
+  c. Copyright and Similar Rights means copyright and/or similar rights
+     closely related to copyright including, without limitation,
+     performance, broadcast, sound recording, and Sui Generis Database
+     Rights, without regard to how the rights are labeled or
+     categorized. For purposes of this Public License, the rights
+     specified in Section 2(b)(1)-(2) are not Copyright and Similar
+     Rights.
+  d. Effective Technological Measures means those measures that, in the
+     absence of proper authority, may not be circumvented under laws
+     fulfilling obligations under Article 11 of the WIPO Copyright
+     Treaty adopted on December 20, 1996, and/or similar international
+     agreements.
+
+  e. Exceptions and Limitations means fair use, fair dealing, and/or
+     any other exception or limitation to Copyright and Similar Rights
+     that applies to Your use of the Licensed Material.
+
+  f. Licensed Material means the artistic or literary work, database,
+     or other material to which the Licensor applied this Public
+     License.
+
+  g. Licensed Rights means the rights granted to You subject to the
+     terms and conditions of this Public License, which are limited to
+     all Copyright and Similar Rights that apply to Your use of the
+     Licensed Material and that the Licensor has authority to license.
+
+  h. Licensor means the individual(s) or entity(ies) granting rights
+     under this Public License.
+
+  i. NonCommercial means not primarily intended for or directed towards
+     commercial advantage or monetary compensation. For purposes of
+     this Public License, the exchange of the Licensed Material for
+     other material subject to Copyright and Similar Rights by digital
+     file-sharing or similar means is NonCommercial provided there is
+     no payment of monetary compensation in connection with the
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+
+  j. Share means to provide material to the public by any means or
+     process that requires permission under the Licensed Rights, such
+     as reproduction, public display, public performance, distribution,
+     dissemination, communication, or importation, and to make material
+     available to the public including in ways that members of the
+     public may access the material from a place and at a time
+     individually chosen by them.
+
+  k. Sui Generis Database Rights means rights other than copyright
+     resulting from Directive 96/9/EC of the European Parliament and of
+     the Council of 11 March 1996 on the legal protection of databases,
+     as amended and/or succeeded, as well as other essentially
+     equivalent rights anywhere in the world.
+
+  l. You means the individual or entity exercising the Licensed Rights
+     under this Public License. Your has a corresponding meaning.
+
+
+Section 2 -- Scope.
+
+  a. License grant.
+
+       1. Subject to the terms and conditions of this Public License,
+          the Licensor hereby grants You a worldwide, royalty-free,
+          non-sublicensable, non-exclusive, irrevocable license to
+          exercise the Licensed Rights in the Licensed Material to:
+
+            a. reproduce and Share the Licensed Material, in whole or
+               in part, for NonCommercial purposes only; and
+
+            b. produce, reproduce, and Share Adapted Material for
+               NonCommercial purposes only.
+
+       2. Exceptions and Limitations. For the avoidance of doubt, where
+          Exceptions and Limitations apply to Your use, this Public
+          License does not apply, and You do not need to comply with
+          its terms and conditions.
+
+       3. Term. The term of this Public License is specified in Section
+          6(a).
+
+       4. Media and formats; technical modifications allowed. The
+          Licensor authorizes You to exercise the Licensed Rights in
+          all media and formats whether now known or hereafter created,
+          and to make technical modifications necessary to do so. The
+          Licensor waives and/or agrees not to assert any right or
+          authority to forbid You from making technical modifications
+          necessary to exercise the Licensed Rights, including
+          technical modifications necessary to circumvent Effective
+          Technological Measures. For purposes of this Public License,
+          simply making modifications authorized by this Section 2(a)
+          (4) never produces Adapted Material.
+
+       5. Downstream recipients.
+
+            a. Offer from the Licensor -- Licensed Material. Every
+               recipient of the Licensed Material automatically
+               receives an offer from the Licensor to exercise the
+               Licensed Rights under the terms and conditions of this
+               Public License.
+
+            b. No downstream restrictions. You may not offer or impose
+               any additional or different terms or conditions on, or
+               apply any Effective Technological Measures to, the
+               Licensed Material if doing so restricts exercise of the
+               Licensed Rights by any recipient of the Licensed
+               Material.
+
+       6. No endorsement. Nothing in this Public License constitutes or
+          may be construed as permission to assert or imply that You
+          are, or that Your use of the Licensed Material is, connected
+          with, or sponsored, endorsed, or granted official status by,
+          the Licensor or others designated to receive attribution as
+          provided in Section 3(a)(1)(A)(i).
+
+  b. Other rights.
+
+       1. Moral rights, such as the right of integrity, are not
+          licensed under this Public License, nor are publicity,
+          privacy, and/or other similar personality rights; however, to
+          the extent possible, the Licensor waives and/or agrees not to
+          assert any such rights held by the Licensor to the limited
+          extent necessary to allow You to exercise the Licensed
+          Rights, but not otherwise.
+
+       2. Patent and trademark rights are not licensed under this
+          Public License.
+
+       3. To the extent possible, the Licensor waives any right to
+          collect royalties from You for the exercise of the Licensed
+          Rights, whether directly or through a collecting society
+          under any voluntary or waivable statutory or compulsory
+          licensing scheme. In all other cases the Licensor expressly
+          reserves any right to collect such royalties, including when
+          the Licensed Material is used other than for NonCommercial
+          purposes.
+
+
+Section 3 -- License Conditions.
+
+Your exercise of the Licensed Rights is expressly made subject to the
+following conditions.
+
+  a. Attribution.
+
+       1. If You Share the Licensed Material (including in modified
+          form), You must:
+
+            a. retain the following if it is supplied by the Licensor
+               with the Licensed Material:
+
+                 i. identification of the creator(s) of the Licensed
+                    Material and any others designated to receive
+                    attribution, in any reasonable manner requested by
+                    the Licensor (including by pseudonym if
+                    designated);
+
+                ii. a copyright notice;
+
+               iii. a notice that refers to this Public License;
+
+                iv. a notice that refers to the disclaimer of
+                    warranties;
+
+                 v. a URI or hyperlink to the Licensed Material to the
+                    extent reasonably practicable;
+
+            b. indicate if You modified the Licensed Material and
+               retain an indication of any previous modifications; and
+
+            c. indicate the Licensed Material is licensed under this
+               Public License, and include the text of, or the URI or
+               hyperlink to, this Public License.
+
+       2. You may satisfy the conditions in Section 3(a)(1) in any
+          reasonable manner based on the medium, means, and context in
+          which You Share the Licensed Material. For example, it may be
+          reasonable to satisfy the conditions by providing a URI or
+          hyperlink to a resource that includes the required
+          information.
+
+       3. If requested by the Licensor, You must remove any of the
+          information required by Section 3(a)(1)(A) to the extent
+          reasonably practicable.
+
+       4. If You Share Adapted Material You produce, the Adapter's
+          License You apply must not prevent recipients of the Adapted
+          Material from complying with this Public License.
+
+
+Section 4 -- Sui Generis Database Rights.
+
+Where the Licensed Rights include Sui Generis Database Rights that
+apply to Your use of the Licensed Material:
+
+  a. for the avoidance of doubt, Section 2(a)(1) grants You the right
+     to extract, reuse, reproduce, and Share all or a substantial
+     portion of the contents of the database for NonCommercial purposes
+     only;
+
+  b. if You include all or a substantial portion of the database
+     contents in a database in which You have Sui Generis Database
+     Rights, then the database in which You have Sui Generis Database
+     Rights (but not its individual contents) is Adapted Material; and
+
+  c. You must comply with the conditions in Section 3(a) if You Share
+     all or a substantial portion of the contents of the database.
+
+For the avoidance of doubt, this Section 4 supplements and does not
+replace Your obligations under this Public License where the Licensed
+Rights include other Copyright and Similar Rights.
+
+
+Section 5 -- Disclaimer of Warranties and Limitation of Liability.
+
+  a. UNLESS OTHERWISE SEPARATELY UNDERTAKEN BY THE LICENSOR, TO THE
+     EXTENT POSSIBLE, THE LICENSOR OFFERS THE LICENSED MATERIAL AS-IS
+     AND AS-AVAILABLE, AND MAKES NO REPRESENTATIONS OR WARRANTIES OF
+     ANY KIND CONCERNING THE LICENSED MATERIAL, WHETHER EXPRESS,
+     IMPLIED, STATUTORY, OR OTHER. THIS INCLUDES, WITHOUT LIMITATION,
+     WARRANTIES OF TITLE, MERCHANTABILITY, FITNESS FOR A PARTICULAR
+     PURPOSE, NON-INFRINGEMENT, ABSENCE OF LATENT OR OTHER DEFECTS,
+     ACCURACY, OR THE PRESENCE OR ABSENCE OF ERRORS, WHETHER OR NOT
+     KNOWN OR DISCOVERABLE. WHERE DISCLAIMERS OF WARRANTIES ARE NOT
+     ALLOWED IN FULL OR IN PART, THIS DISCLAIMER MAY NOT APPLY TO YOU.
+
+  b. TO THE EXTENT POSSIBLE, IN NO EVENT WILL THE LICENSOR BE LIABLE
+     TO YOU ON ANY LEGAL THEORY (INCLUDING, WITHOUT LIMITATION,
+     NEGLIGENCE) OR OTHERWISE FOR ANY DIRECT, SPECIAL, INDIRECT,
+     INCIDENTAL, CONSEQUENTIAL, PUNITIVE, EXEMPLARY, OR OTHER LOSSES,
+     COSTS, EXPENSES, OR DAMAGES ARISING OUT OF THIS PUBLIC LICENSE OR
+     USE OF THE LICENSED MATERIAL, EVEN IF THE LICENSOR HAS BEEN
+     ADVISED OF THE POSSIBILITY OF SUCH LOSSES, COSTS, EXPENSES, OR
+     DAMAGES. WHERE A LIMITATION OF LIABILITY IS NOT ALLOWED IN FULL OR
+     IN PART, THIS LIMITATION MAY NOT APPLY TO YOU.
+
+  c. The disclaimer of warranties and limitation of liability provided
+     above shall be interpreted in a manner that, to the extent
+     possible, most closely approximates an absolute disclaimer and
+     waiver of all liability.
+
+
+Section 6 -- Term and Termination.
+
+  a. This Public License applies for the term of the Copyright and
+     Similar Rights licensed here. However, if You fail to comply with
+     this Public License, then Your rights under this Public License
+     terminate automatically.
+
+  b. Where Your right to use the Licensed Material has terminated under
+     Section 6(a), it reinstates:
+
+       1. automatically as of the date the violation is cured, provided
+          it is cured within 30 days of Your discovery of the
+          violation; or
+
+       2. upon express reinstatement by the Licensor.
+
+     For the avoidance of doubt, this Section 6(b) does not affect any
+     right the Licensor may have to seek remedies for Your violations
+     of this Public License.
+
+  c. For the avoidance of doubt, the Licensor may also offer the
+     Licensed Material under separate terms or conditions or stop
+     distributing the Licensed Material at any time; however, doing so
+     will not terminate this Public License.
+
+  d. Sections 1, 5, 6, 7, and 8 survive termination of this Public
+     License.
+
+
+Section 7 -- Other Terms and Conditions.
+
+  a. The Licensor shall not be bound by any additional or different
+     terms or conditions communicated by You unless expressly agreed.
+
+  b. Any arrangements, understandings, or agreements regarding the
+     Licensed Material not stated herein are separate from and
+     independent of the terms and conditions of this Public License.
+
+
+Section 8 -- Interpretation.
+
+  a. For the avoidance of doubt, this Public License does not, and
+     shall not be interpreted to, reduce, limit, restrict, or impose
+     conditions on any use of the Licensed Material that could lawfully
+     be made without permission under this Public License.
+
+  b. To the extent possible, if any provision of this Public License is
+     deemed unenforceable, it shall be automatically reformed to the
+     minimum extent necessary to make it enforceable. If the provision
+     cannot be reformed, it shall be severed from this Public License
+     without affecting the enforceability of the remaining terms and
+     conditions.
+
+  c. No term or condition of this Public License will be waived and no
+     failure to comply consented to unless expressly agreed to by the
+     Licensor.
+
+  d. Nothing in this Public License constitutes or may be interpreted
+     as a limitation upon, or waiver of, any privileges and immunities
+     that apply to the Licensor or You, including from the legal
+     processes of any jurisdiction or authority.
+
+=======================================================================
+
+Creative Commons is not a party to its public
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+public licenses.
+
+Creative Commons may be contacted at creativecommons.org.
+

LICENSES/VHDC_CC-BY-SA-4.0.txt

@@ -0,0 +1,428 @@
+Attribution-ShareAlike 4.0 International
+
+=======================================================================
+
+Creative Commons Corporation ("Creative Commons") is not a law firm and
+does not provide legal services or legal advice. Distribution of
+Creative Commons public licenses does not create a lawyer-client or
+other relationship. Creative Commons makes its licenses and related
+information available on an "as-is" basis. Creative Commons gives no
+warranties regarding its licenses, any material licensed under their
+terms and conditions, or any related information. Creative Commons
+disclaims all liability for damages resulting from their use to the
+fullest extent possible.
+
+Using Creative Commons Public Licenses
+
+Creative Commons public licenses provide a standard set of terms and
+conditions that creators and other rights holders may use to share
+original works of authorship and other material subject to copyright
+and certain other rights specified in the public license below. The
+following considerations are for informational purposes only, are not
+exhaustive, and do not form part of our licenses.
+
+     Considerations for licensors: Our public licenses are
+     intended for use by those authorized to give the public
+     permission to use material in ways otherwise restricted by
+     copyright and certain other rights. Our licenses are
+     irrevocable. Licensors should read and understand the terms
+     and conditions of the license they choose before applying it.
+     Licensors should also secure all rights necessary before
+     applying our licenses so that the public can reuse the
+     material as expected. Licensors should clearly mark any
+     material not subject to the license. This includes other CC-
+     licensed material, or material used under an exception or
+     limitation to copyright. More considerations for licensors:
+    wiki.creativecommons.org/Considerations_for_licensors
+
+     Considerations for the public: By using one of our public
+     licenses, a licensor grants the public permission to use the
+     licensed material under specified terms and conditions. If
+     the licensor's permission is not necessary for any reason--for
+     example, because of any applicable exception or limitation to
+     copyright--then that use is not regulated by the license. Our
+     licenses grant only permissions under copyright and certain
+     other rights that a licensor has authority to grant. Use of
+     the licensed material may still be restricted for other
+     reasons, including because others have copyright or other
+     rights in the material. A licensor may make special requests,
+     such as asking that all changes be marked or described.
+     Although not required by our licenses, you are encouraged to
+     respect those requests where reasonable. More considerations
+     for the public:
+    wiki.creativecommons.org/Considerations_for_licensees
+
+=======================================================================
+
+Creative Commons Attribution-ShareAlike 4.0 International Public
+License
+
+By exercising the Licensed Rights (defined below), You accept and agree
+to be bound by the terms and conditions of this Creative Commons
+Attribution-ShareAlike 4.0 International Public License ("Public
+License"). To the extent this Public License may be interpreted as a
+contract, You are granted the Licensed Rights in consideration of Your
+acceptance of these terms and conditions, and the Licensor grants You
+such rights in consideration of benefits the Licensor receives from
+making the Licensed Material available under these terms and
+conditions.
+
+
+Section 1 -- Definitions.
+
+  a. Adapted Material means material subject to Copyright and Similar
+     Rights that is derived from or based upon the Licensed Material
+     and in which the Licensed Material is translated, altered,
+     arranged, transformed, or otherwise modified in a manner requiring
+     permission under the Copyright and Similar Rights held by the
+     Licensor. For purposes of this Public License, where the Licensed
+     Material is a musical work, performance, or sound recording,
+     Adapted Material is always produced where the Licensed Material is
+     synched in timed relation with a moving image.
+
+  b. Adapter's License means the license You apply to Your Copyright
+     and Similar Rights in Your contributions to Adapted Material in
+     accordance with the terms and conditions of this Public License.
+
+  c. BY-SA Compatible License means a license listed at
+     creativecommons.org/compatiblelicenses, approved by Creative
+     Commons as essentially the equivalent of this Public License.
+
+  d. Copyright and Similar Rights means copyright and/or similar rights
+     closely related to copyright including, without limitation,
+     performance, broadcast, sound recording, and Sui Generis Database
+     Rights, without regard to how the rights are labeled or
+     categorized. For purposes of this Public License, the rights
+     specified in Section 2(b)(1)-(2) are not Copyright and Similar
+     Rights.
+
+  e. Effective Technological Measures means those measures that, in the
+     absence of proper authority, may not be circumvented under laws
+     fulfilling obligations under Article 11 of the WIPO Copyright
+     Treaty adopted on December 20, 1996, and/or similar international
+     agreements.
+
+  f. Exceptions and Limitations means fair use, fair dealing, and/or
+     any other exception or limitation to Copyright and Similar Rights
+     that applies to Your use of the Licensed Material.
+
+  g. License Elements means the license attributes listed in the name
+     of a Creative Commons Public License. The License Elements of this
+     Public License are Attribution and ShareAlike.
+
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+     or other material to which the Licensor applied this Public
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+
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+     terms and conditions of this Public License, which are limited to
+     all Copyright and Similar Rights that apply to Your use of the
+     Licensed Material and that the Licensor has authority to license.
+
+  j. Licensor means the individual(s) or entity(ies) granting rights
+     under this Public License.
+
+  k. Share means to provide material to the public by any means or
+     process that requires permission under the Licensed Rights, such
+     as reproduction, public display, public performance, distribution,
+     dissemination, communication, or importation, and to make material
+     available to the public including in ways that members of the
+     public may access the material from a place and at a time
+     individually chosen by them.
+
+  l. Sui Generis Database Rights means rights other than copyright
+     resulting from Directive 96/9/EC of the European Parliament and of
+     the Council of 11 March 1996 on the legal protection of databases,
+     as amended and/or succeeded, as well as other essentially
+     equivalent rights anywhere in the world.
+
+  m. You means the individual or entity exercising the Licensed Rights
+     under this Public License. Your has a corresponding meaning.
+
+
+Section 2 -- Scope.
+
+  a. License grant.
+
+       1. Subject to the terms and conditions of this Public License,
+          the Licensor hereby grants You a worldwide, royalty-free,
+          non-sublicensable, non-exclusive, irrevocable license to
+          exercise the Licensed Rights in the Licensed Material to:
+
+            a. reproduce and Share the Licensed Material, in whole or
+               in part; and
+
+            b. produce, reproduce, and Share Adapted Material.
+
+       2. Exceptions and Limitations. For the avoidance of doubt, where
+          Exceptions and Limitations apply to Your use, this Public
+          License does not apply, and You do not need to comply with
+          its terms and conditions.
+
+       3. Term. The term of this Public License is specified in Section
+          6(a).
+
+       4. Media and formats; technical modifications allowed. The
+          Licensor authorizes You to exercise the Licensed Rights in
+          all media and formats whether now known or hereafter created,
+          and to make technical modifications necessary to do so. The
+          Licensor waives and/or agrees not to assert any right or
+          authority to forbid You from making technical modifications
+          necessary to exercise the Licensed Rights, including
+          technical modifications necessary to circumvent Effective
+          Technological Measures. For purposes of this Public License,
+          simply making modifications authorized by this Section 2(a)
+          (4) never produces Adapted Material.
+
+       5. Downstream recipients.
+
+            a. Offer from the Licensor -- Licensed Material. Every
+               recipient of the Licensed Material automatically
+               receives an offer from the Licensor to exercise the
+               Licensed Rights under the terms and conditions of this
+               Public License.
+
+            b. Additional offer from the Licensor -- Adapted Material.
+               Every recipient of Adapted Material from You
+               automatically receives an offer from the Licensor to
+               exercise the Licensed Rights in the Adapted Material
+               under the conditions of the Adapter's License You apply.
+
+            c. No downstream restrictions. You may not offer or impose
+               any additional or different terms or conditions on, or
+               apply any Effective Technological Measures to, the
+               Licensed Material if doing so restricts exercise of the
+               Licensed Rights by any recipient of the Licensed
+               Material.
+
+       6. No endorsement. Nothing in this Public License constitutes or
+          may be construed as permission to assert or imply that You
+          are, or that Your use of the Licensed Material is, connected
+          with, or sponsored, endorsed, or granted official status by,
+          the Licensor or others designated to receive attribution as
+          provided in Section 3(a)(1)(A)(i).
+
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+

LICENSES/cassi_BSD-3-Clause.txt

@@ -0,0 +1,30 @@
+BSD 3-Clause License
+
+Copyright (c) 2021, ETH Zurich, NVIDIA Corporation
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software
+   without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+OF SUCH DAMAGE.

README.md

@@ -0,0 +1,176 @@
+---
+license: other
+license_name: multi-license-see-card
+license_link: LICENSE
+pretty_name: "Kine2Go: Kinematic Dataset for Unitree Go2 with Diverse Gaits and Motions"
+size_categories:
+  - n<1K
+task_categories:
+  - robotics
+  - reinforcement-learning
+tags:
+  - kine2go
+  - quadruped
+  - unitree-go2
+  - motion-retargeting
+  - imitation-learning
+  - kinematic-dataset
+  - mocap
+  - genesis-simulator
+  - ppo
+  - gait
+---
+
+# Kine2Go: Kinematic Dataset for Unitree Go2 with Diverse Gaits and Motions
+
+A kinematic motion dataset for the Unitree Go2 quadruped robot. Forty reference clips (dog, horse, and synthetic robot motions) are retargeted to the Go2 morphology and paired with a per-clip imitation-learning policy (PPO) and 20 perturbed rollouts with rendered video. Designed to support training and regularization of behavioral foundation models for legged locomotion (Meta-Motivo style), with secondary applicability to single-clip behavioral cloning and motion-retargeting evaluation.
+
+Paper and pipeline-code links are omitted during anonymous review.
+
+## At a glance
+
+| | |
+|---|---|
+| Robot | Unitree Go2 (12 actuated joints) |
+| Simulator | Genesis |
+| Clips | 40 |
+| Rollouts per clip | 20 |
+| Total rollouts | 800 |
+| Reference state dim | 61 (float32) |
+| Control / sim FPS | 60 Hz |
+
+## Quick start
+
+```python
+import sys; sys.path.insert(0, "scripts")
+from load_clip import Clip, list_clips
+
+for name in list_clips("."):
+    print(name)
+
+clip   = Clip(".", "ai4_dog_canter")
+motion = clip.motion          # np.ndarray (T, 61) float32
+config = clip.config          # env / obs / reward / command / policy configs
+meta   = clip.metadata        # source, license, fps, n_frames, ...
+frames = clip.rollout(0)      # list of per-step dicts (requires torch)
+policy = clip.policy_path     # path to the trained PPO checkpoint
+```
+
+Validate a downloaded copy:
+
+```bash
+python scripts/verify_schema.py
+```
+
+## Per-clip layout
+
+```
+<clip_name>/
+├── motion.npy           # (T, 61) float32 reference trajectory
+├── config.json          # env / obs / reward / command / policy configs
+├── cfgs.pkl             # same configs, pickle (for tooling)
+├── clip.json            # per-clip metadata (source, license, n_frames, ...)
+├── traj_NNNN/           # 20 perturbed PPO rollouts (NNNN = 0000..0019)
+│   ├── init_state.pkl
+│   ├── traj.pkl         # list of per-step frame dicts
+│   └── traj.mp4         # rendered video
+└── logs/
+    └── model.pt         # final PPO checkpoint
+```
+
+## Subsets and licensing
+
+Multi-license dataset. Each `clip.json` carries the authoritative per-clip license. Full license texts are in `LICENSES/`.
+
+| Subset | Clip prefix | Clips | Rollouts | License |
+|---|---|---|---|---|
+| AI4Animation - natural dog mocap | `ai4_dog_*` (excl. `synth`) | 15 | 300 | CC BY-NC 4.0 |
+| AI4Animation - synthetic via SIGGRAPH 2018 controller | `ai4_dog_synth_*` | 7 | 140 | CC BY-NC 4.0 |
+| Vienna Horse Data Collection (Horse 1, two sessions) | `vhdc_horse1_*` | 12 | 240 | CC BY-SA 4.0 |
+| cassi - Solo8 robot motions | `solo8_*` | 6 | 120 | BSD-3-Clause |
+
+## Schema
+
+### `motion.npy` (reference trajectory)
+
+Shape `(T, 61)` float32. Per-frame layout:
+
+| Slice | Field | Description |
+|---|---|---|
+| `[0:18]`  | `dofs_position` | 6 floating-base DOFs + 12 joint DOFs |
+| `[18:36]` | `dofs_velocity` | matching DOF order |
+| `[36:48]` | `feet_pos` | 4 feet × xyz, world frame |
+| `[48:51]` | `base_pos` | world-frame xyz |
+| `[51:55]` | `base_quat` | scalar-first quaternion (w, x, y, z) |
+| `[55:58]` | `base_lin_vel` | linear velocity |
+| `[58:61]` | `base_ang_vel` | angular velocity |
+
+### `traj_NNNN/traj.pkl` (rollouts)
+
+A `list` (one entry per simulator step). Each entry is a `dict[str, torch.Tensor]` with the following keys:
+
+| Key | Shape | dtype | Description |
+|---|---|---|---|
+| `dof_pos` | (1, 12) | float32 | joint angles |
+| `dof_vel` | (1, 12) | float32 | joint velocities |
+| `base_quat` | (1, 4) | float32 | base orientation, scalar-first quaternion |
+| `base_ang_vel` | (1, 3) | float32 | base angular velocity |
+| `actions` | (1, 12) | float32 | PPO policy output |
+| `frame` | (1,) | int32 | episode-relative simulator step counter |
+| `links_pos` | (17, 3) | float32 | world-frame xyz per link |
+| `links_rot` | (17, 6) | float32 | 6-d continuous rotation per link |
+
+### Conventions
+
+- Z-up coordinates (X forward, Y left, Z up).
+- Linear units: meters; angular units: radians; quaternions are scalar-first.
+- Joint order: `FR_hip, FR_thigh, FR_calf, FL_hip, FL_thigh, FL_calf, RR_hip, RR_thigh, RR_calf, RL_hip, RL_thigh, RL_calf`.
+- Feet order (in `motion.npy[36:48]`): `FL_foot, RL_foot, FR_foot, RR_foot`.
+
+The full machine-readable schema is in `metadata.json`.
+
+## Collection and preprocessing
+
+Source motions were retargeted to the Go2 12-DOF morphology and used to train per-clip imitation policies in the Genesis simulator:
+
+- **AI4Animation - natural** (Zhang et al., SIGGRAPH 2018): dog mocap data.
+- **AI4Animation - synthetic**: a custom trajectory collector was injected into the AI4Animation SIGGRAPH 2018 controller to drive the trained model along authored paths (circle, ellipse, figure-eight, square, strafes, and a half-flipping jump).
+- **Vienna Horse Data Collection**: biomechanical horse kinematics across two measurement sessions × {walk, trot} × 3 repetitions.
+- **cassi - Solo8** (Li et al., ICRA 2023): six trajectories from cassi's Solo8 motion bank (slow/fast crawl, scoot, walk, two jump variants).
+
+Each retargeted reference was used to train a PPO policy (`rsl_rl_lib`) in Genesis with hyperparameters captured in `config.json`. After training, 20 perturbed rollouts were recorded per clip.
+
+## Citations
+
+If you use this dataset, please cite the Kine2Go paper *and* the upstream sources for whichever subsets you use.
+
+```bibtex
+@inproceedings{kine2go2026,
+  title     = {Kine2Go: Kinematic Dataset for Unitree Go2 with Diverse Gaits and Motions},
+  author    = {<authors TBD>},
+  booktitle = {NeurIPS Datasets and Benchmarks Track},
+  year      = {2026}
+}
+
+% AI4Animation - applies to ai4_dog_* and ai4_dog_synth_*
+@article{zhang2018modeadaptive,
+  title   = {Mode-Adaptive Neural Networks for Quadruped Motion Control},
+  author  = {Zhang, He and Starke, Sebastian and Komura, Taku and Saito, Jun},
+  journal = {ACM Transactions on Graphics},
+  year    = {2018}
+}
+
+% Vienna Horse Data Collection - applies to vhdc_horse1_*
+@misc{vhdc,
+  title = {Vienna Horse Data Collection (VHDC)},
+  url   = {https://horse.cs.uni-bonn.de/vhdc-home.html}
+}
+
+% cassi - applies to solo8_*
+@inproceedings{li2023versatile,
+  title     = {Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions},
+  author    = {Li, Chenhao and Blaes, Sebastian and Kolev, Pavel and Vlastelica, Marin and Frey, Jonas and Martius, Georg},
+  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
+  year      = {2023}
+}
+```

data/ai4_dog_canter/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
+      "FL_hip_joint": 0.0,
+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
+      "joint": 1.5
+    },
+    "use_implicit_controller": false,
+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
+      0.0,
+      0.0,
+      0.42
+    ],
+    "base_init_quat": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "push_interval_s": -1,
+    "max_push_vel_xy": 1.0,
+    "episode_length_s": 20.0,
+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
+    "action_latency": 0.02,
+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
+    "randomize_motor_offset": true,
+    "motor_offset_range": [
+      -0.02,
+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
+      0.8,
+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
+      "ang_vel": 0.0,
+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
+      "joint_rot": 0.008333333333333333,
+      "joint_vel": 0.0008333333333333334,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "paper_canter",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 10000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3_redo",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      430,
+      459
+    ]
+  }
+}

data/ai4_dog_pace/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "ai4_dog_pace",
+  "source": "AI4Animation - natural dog mocap (SIGGRAPH 2018 release)",
+  "source_url": "https://github.com/sebastianstarke/AI4Animation/tree/master/AI4Animation/SIGGRAPH_2018",
+  "license": "CC BY-NC 4.0",
+  "attribution": "H. Zhang et al., 'Mode-Adaptive Neural Networks for Quadruped Motion Control', SIGGRAPH 2018",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "dog pace (AI4Animation paper eval set)",
+  "tags": [
+    "pace"
+  ]
+}

data/ai4_dog_pace/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
+      "FL_hip_joint": 0.0,
+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
+      "joint": 1.5
+    },
+    "use_implicit_controller": false,
+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
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+      0.0,
+      0.42
+    ],
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+      0.0,
+      0.0,
+      0.0
+    ],
+    "push_interval_s": -1,
+    "max_push_vel_xy": 1.0,
+    "episode_length_s": 20.0,
+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
+    "action_latency": 0.02,
+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
+    "randomize_motor_offset": true,
+    "motor_offset_range": [
+      -0.02,
+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
+      0.8,
+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
+      "ang_vel": 0.0,
+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
+      "joint_rot": 0.008333333333333333,
+      "joint_vel": 0.0008333333333333334,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "paper_pace",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 5000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      162,
+      201
+    ]
+  }
+}

data/ai4_dog_run_04/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "ai4_dog_run_04",
+  "source": "AI4Animation - natural dog mocap (SIGGRAPH 2018 release)",
+  "source_url": "https://github.com/sebastianstarke/AI4Animation/tree/master/AI4Animation/SIGGRAPH_2018",
+  "license": "CC BY-NC 4.0",
+  "attribution": "H. Zhang et al., 'Mode-Adaptive Neural Networks for Quadruped Motion Control', SIGGRAPH 2018",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "dog run, take 4",
+  "tags": [
+    "run"
+  ]
+}

data/ai4_dog_run_04/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
+      "FL_hip_joint": 0.0,
+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
+      "joint": 1.5
+    },
+    "use_implicit_controller": false,
+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
+      0.0,
+      0.0,
+      0.42
+    ],
+    "base_init_quat": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "push_interval_s": -1,
+    "max_push_vel_xy": 1.0,
+    "episode_length_s": 20.0,
+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
+    "action_latency": 0.02,
+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
+    "randomize_motor_offset": true,
+    "motor_offset_range": [
+      -0.02,
+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
+      0.8,
+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
+      "ang_vel": 0.0,
+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
+      "joint_rot": 0.008333333333333333,
+      "joint_vel": 0.0008333333333333334,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "run04",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 5000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      493,
+      716
+    ]
+  }
+}

data/ai4_dog_synth_circle_walk/clip.json

@@ -0,0 +1,15 @@
+{
+  "name": "ai4_dog_synth_circle_walk",
+  "source": "AI4Animation - synthetic, generated from the SIGGRAPH 2018 controller via a custom trajectory collector",
+  "source_url": "https://github.com/sebastianstarke/AI4Animation/tree/master/AI4Animation/SIGGRAPH_2018",
+  "license": "CC BY-NC 4.0",
+  "attribution": "H. Zhang et al., 'Mode-Adaptive Neural Networks for Quadruped Motion Control', SIGGRAPH 2018",
+  "fps": 60,
+  "n_frames": 1171,
+  "duration_s": 19.517,
+  "description": "walk along a circular path",
+  "tags": [
+    "walk",
+    "circle"
+  ]
+}

data/ai4_dog_synth_circle_walk/config.json

@@ -0,0 +1,246 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
+      "FL_hip_joint": 0.0,
+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
+      "joint": 1.5
+    },
+    "use_implicit_controller": false,
+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
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+      0.0,
+      0.42
+    ],
+    "base_init_quat": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "push_interval_s": -1,
+    "max_push_vel_xy": 1.0,
+    "episode_length_s": 20.0,
+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
+    "action_latency": 0.02,
+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
+    "randomize_motor_offset": true,
+    "motor_offset_range": [
+      -0.02,
+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
+      0.8,
+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "randomize_init_frame": false,
+    "start_synced_with_ref_motion": true,
+    "sync_full_pose": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
+      "ang_vel": 0.0,
+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
+      "joint_rot": 0.008333333333333333,
+      "joint_vel": 0.0008333333333333334,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
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+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "trajectory_0005_imitation",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 10000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 1000,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "wolf_imitation",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      446,
+      806
+    ]
+  }
+}

data/ai4_dog_synth_ellipse_walk/clip.json

@@ -0,0 +1,15 @@
+{
+  "name": "ai4_dog_synth_ellipse_walk",
+  "source": "AI4Animation - synthetic, generated from the SIGGRAPH 2018 controller via a custom trajectory collector",
+  "source_url": "https://github.com/sebastianstarke/AI4Animation/tree/master/AI4Animation/SIGGRAPH_2018",
+  "license": "CC BY-NC 4.0",
+  "attribution": "H. Zhang et al., 'Mode-Adaptive Neural Networks for Quadruped Motion Control', SIGGRAPH 2018",
+  "fps": 60,
+  "n_frames": 1171,
+  "duration_s": 19.517,
+  "description": "walk along an elliptical path",
+  "tags": [
+    "walk",
+    "ellipse"
+  ]
+}

data/ai4_dog_synth_ellipse_walk/config.json

@@ -0,0 +1,246 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
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+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
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+      "RR_thigh_joint": 1.0,
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+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
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+    },
+    "PD_damping": {
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+    },
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+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
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+      0.0,
+      0.42
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+      0.0,
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+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
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+    "decimation": 4,
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+    "randomize_base_yaw": true,
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+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
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+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
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+    "motor_offset_range": [
+      -0.02,
+      0.02
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+    "kp_scale_range": [
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+      1.2
+    ],
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+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.25,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "randomize_init_frame": true,
+    "start_synced_with_ref_motion": true,
+    "sync_full_pose": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
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+      "gravity": 0.0,
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+      "dof_vel": 0.0
+    },
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+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
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+      "joint_vel": 0.0008333333333333334,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
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+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "trajectory_0007_imitation_warmup_and_randomize",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 10000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 1000,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "wolf_imitation",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      116,
+      1165
+    ]
+  }
+}

data/ai4_dog_synth_wide_strafe/clip.json

@@ -0,0 +1,15 @@
+{
+  "name": "ai4_dog_synth_wide_strafe",
+  "source": "AI4Animation - synthetic, generated from the SIGGRAPH 2018 controller via a custom trajectory collector",
+  "source_url": "https://github.com/sebastianstarke/AI4Animation/tree/master/AI4Animation/SIGGRAPH_2018",
+  "license": "CC BY-NC 4.0",
+  "attribution": "H. Zhang et al., 'Mode-Adaptive Neural Networks for Quadruped Motion Control', SIGGRAPH 2018",
+  "fps": 60,
+  "n_frames": 960,
+  "duration_s": 16.0,
+  "description": "wide lateral strafing",
+  "tags": [
+    "strafe",
+    "lateral"
+  ]
+}

data/ai4_dog_synth_wide_strafe/config.json

@@ -0,0 +1,246 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
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+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
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+      "RR_thigh_joint": 1.0,
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+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
+      "joint": 1.5
+    },
+    "use_implicit_controller": false,
+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
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+      0.0,
+      0.42
+    ],
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+      0.0,
+      0.0,
+      0.0
+    ],
+    "push_interval_s": -1,
+    "max_push_vel_xy": 1.0,
+    "episode_length_s": 20.0,
+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
+    "action_latency": 0.02,
+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
+    "randomize_motor_offset": true,
+    "motor_offset_range": [
+      -0.02,
+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
+      0.8,
+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "randomize_init_frame": false,
+    "start_synced_with_ref_motion": true,
+    "sync_full_pose": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
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+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
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+      "joint_vel": 0.0008333333333333334,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "trajectory_0008_imitation",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 10000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 1000,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "wolf_imitation",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      12,
+      1080
+    ]
+  }
+}

data/ai4_dog_trot_00/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "ai4_dog_trot_00",
+  "source": "AI4Animation - natural dog mocap (SIGGRAPH 2018 release)",
+  "source_url": "https://github.com/sebastianstarke/AI4Animation/tree/master/AI4Animation/SIGGRAPH_2018",
+  "license": "CC BY-NC 4.0",
+  "attribution": "H. Zhang et al., 'Mode-Adaptive Neural Networks for Quadruped Motion Control', SIGGRAPH 2018",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "dog trot (AI4Animation paper eval set)",
+  "tags": [
+    "trot"
+  ]
+}

data/ai4_dog_trot_00/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
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+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
+      "joint": 1.5
+    },
+    "use_implicit_controller": false,
+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
+      0.0,
+      0.0,
+      0.42
+    ],
+    "base_init_quat": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "push_interval_s": -1,
+    "max_push_vel_xy": 1.0,
+    "episode_length_s": 20.0,
+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
+    "action_latency": 0.02,
+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
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+    "policy_steps_per_ref_motion_step": 1
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+      "dof_vel": 1.0
+    }
+  },
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+      1.0
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+      1.0
+    ]
+  },
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+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
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+        256,
+        128
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+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
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+      "experiment_name": "paper_trot",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 10000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
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+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3_redo",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      448,
+      481
+    ]
+  }
+}

data/ai4_dog_trot_01/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "ai4_dog_trot_01",
+  "source": "AI4Animation - natural dog mocap (SIGGRAPH 2018 release)",
+  "source_url": "https://github.com/sebastianstarke/AI4Animation/tree/master/AI4Animation/SIGGRAPH_2018",
+  "license": "CC BY-NC 4.0",
+  "attribution": "H. Zhang et al., 'Mode-Adaptive Neural Networks for Quadruped Motion Control', SIGGRAPH 2018",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "dog trot, variant (AI4Animation paper eval set)",
+  "tags": [
+    "trot"
+  ]
+}

data/ai4_dog_trot_01/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
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+      "FR_foot",
+      "RL_foot",
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+      "FR_thigh_joint",
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+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
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+      "RL_calf_joint"
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+    "termination_contact_link_names": [
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+      "foot"
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+    "terminate_rot_threshold": 1.5707963267948966,
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+    "policy_steps_per_ref_motion_step": 1
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+      "dof_vel": 1.0
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+  },
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+    }
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+      1.0
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+      1.0
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+      1.0
+    ]
+  },
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+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
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+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
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+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
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+      "experiment_name": "paper_trot2",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 10000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3_redo",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      630,
+      663
+    ]
+  }
+}

data/ai4_dog_walk_00/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "ai4_dog_walk_00",
+  "source": "AI4Animation - natural dog mocap (SIGGRAPH 2018 release)",
+  "source_url": "https://github.com/sebastianstarke/AI4Animation/tree/master/AI4Animation/SIGGRAPH_2018",
+  "license": "CC BY-NC 4.0",
+  "attribution": "H. Zhang et al., 'Mode-Adaptive Neural Networks for Quadruped Motion Control', SIGGRAPH 2018",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "dog walk, take 0",
+  "tags": [
+    "walk"
+  ]
+}

data/ai4_dog_walk_00/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
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+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
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+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
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+    },
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+      0.0,
+      0.42
+    ],
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+      0.0,
+      0.0
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+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
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+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
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+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
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+    "randomize_trajectory_heading": true,
+    "friction_range": [
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+    "added_mass_range": [
+      -1.0,
+      3.0
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+    "randomize_com_displacement": true,
+    "com_displacement_range": [
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+    "kd_scale_range": [
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+      1.2
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+    "coupling": false,
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+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
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+    "num_history_obs": 3,
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+      "dof_vel": 1.0
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+  },
+  "reward_cfg": {
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+    }
+  },
+  "command_cfg": {
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+    "lin_vel_x_range": [
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+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
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+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
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+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
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+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
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+    "policy": {
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+      "actor_hidden_dims": [
+        512,
+        256,
+        128
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+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "walk00",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 5000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      101,
+      580
+    ]
+  }
+}

data/ai4_dog_walk_01/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "ai4_dog_walk_01",
+  "source": "AI4Animation - natural dog mocap (SIGGRAPH 2018 release)",
+  "source_url": "https://github.com/sebastianstarke/AI4Animation/tree/master/AI4Animation/SIGGRAPH_2018",
+  "license": "CC BY-NC 4.0",
+  "attribution": "H. Zhang et al., 'Mode-Adaptive Neural Networks for Quadruped Motion Control', SIGGRAPH 2018",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "dog walk, take 1",
+  "tags": [
+    "walk"
+  ]
+}

data/ai4_dog_walk_01/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
+      "FL_hip_joint": 0.0,
+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
+      "joint": 1.5
+    },
+    "use_implicit_controller": false,
+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
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+      0.0,
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+      0.0,
+      0.0,
+      0.0
+    ],
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+    "max_push_vel_xy": 1.0,
+    "episode_length_s": 20.0,
+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
+    "action_latency": 0.02,
+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
+    "randomize_motor_offset": true,
+    "motor_offset_range": [
+      -0.02,
+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
+      0.8,
+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
+      "ang_vel": 0.0,
+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
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+      "joint_vel": 0.0008333333333333334,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "walk01",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 10000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3_redo",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      377,
+      1050
+    ]
+  }
+}

data/ai4_dog_walk_06/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "ai4_dog_walk_06",
+  "source": "AI4Animation - natural dog mocap (SIGGRAPH 2018 release)",
+  "source_url": "https://github.com/sebastianstarke/AI4Animation/tree/master/AI4Animation/SIGGRAPH_2018",
+  "license": "CC BY-NC 4.0",
+  "attribution": "H. Zhang et al., 'Mode-Adaptive Neural Networks for Quadruped Motion Control', SIGGRAPH 2018",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "dog walk, take 6",
+  "tags": [
+    "walk"
+  ]
+}

data/ai4_dog_walk_06/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
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+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
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+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
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+      0.0,
+      0.42
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+    "resampling_time_s": 4.0,
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+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
+    "randomize_motor_offset": true,
+    "motor_offset_range": [
+      -0.02,
+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
+      0.8,
+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
+      "ang_vel": 0.0,
+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
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+      "joint_vel": 0.0008333333333333334,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "walk06",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 5000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      200,
+      392
+    ]
+  }
+}

data/solo8_crawl_fast/clip.json

@@ -0,0 +1,15 @@
+{
+  "name": "solo8_crawl_fast",
+  "source": "cassi - Solo8 robot motion data",
+  "source_url": "https://github.com/martius-lab/cassi",
+  "license": "BSD-3-Clause",
+  "attribution": "C. Li et al., 'Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions', ICRA 2023",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "robot crawling fast forward",
+  "tags": [
+    "crawl",
+    "fast"
+  ]
+}

data/solo8_crawl_fast/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
+      "FL_hip_joint": 0.0,
+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
+      "joint": 1.5
+    },
+    "use_implicit_controller": false,
+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
+      0.0,
+      0.0,
+      0.42
+    ],
+    "base_init_quat": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "push_interval_s": -1,
+    "max_push_vel_xy": 1.0,
+    "episode_length_s": 20.0,
+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
+    "action_latency": 0.02,
+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
+    "randomize_motor_offset": true,
+    "motor_offset_range": [
+      -0.02,
+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
+      0.8,
+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
+      "ang_vel": 0.0,
+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
+      "joint_rot": 0.008333333333333333,
+      "joint_vel": 0.0008333333333333334,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "traj3_imitation",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 5000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 1000,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "solo8_imitation",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      77,
+      119
+    ]
+  }
+}

data/solo8_crawl_slow/clip.json

@@ -0,0 +1,15 @@
+{
+  "name": "solo8_crawl_slow",
+  "source": "cassi - Solo8 robot motion data",
+  "source_url": "https://github.com/martius-lab/cassi",
+  "license": "BSD-3-Clause",
+  "attribution": "C. Li et al., 'Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions', ICRA 2023",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "robot slowly crawling",
+  "tags": [
+    "crawl",
+    "slow"
+  ]
+}

data/solo8_crawl_slow/config.json

@@ -0,0 +1,242 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
+      "FL_hip_joint": 0.0,
+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
+      "joint": 1.5
+    },
+    "use_implicit_controller": false,
+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
+      0.0,
+      0.0,
+      0.42
+    ],
+    "base_init_quat": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "push_interval_s": -1,
+    "max_push_vel_xy": 1.0,
+    "episode_length_s": 20.0,
+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
+    "action_latency": 0.02,
+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
+    "randomize_motor_offset": true,
+    "motor_offset_range": [
+      -0.02,
+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
+      0.8,
+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
+      "ang_vel": 0.0,
+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
+      "joint_rot": 0.008333333333333333,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "smooth_actions": 0.005833333333333333
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "solo8_motion_data_traj0_imitation",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 10000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 1000,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "solo8_imitation",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      25,
+      -1
+    ]
+  }
+}

data/solo8_jump_forward_a/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "solo8_jump_forward_a",
+  "source": "cassi - Solo8 robot motion data",
+  "source_url": "https://github.com/martius-lab/cassi",
+  "license": "BSD-3-Clause",
+  "attribution": "C. Li et al., 'Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions', ICRA 2023",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "robot jumping forward, variant A",
+  "tags": [
+    "jump"
+  ]
+}

data/solo8_jump_forward_a/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
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+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
+      "joint": 1.5
+    },
+    "use_implicit_controller": false,
+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
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+      0.0,
+      0.42
+    ],
+    "base_init_quat": [
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+      0.0,
+      0.0,
+      0.0
+    ],
+    "push_interval_s": -1,
+    "max_push_vel_xy": 1.0,
+    "episode_length_s": 20.0,
+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
+    "action_latency": 0.02,
+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
+    "randomize_motor_offset": true,
+    "motor_offset_range": [
+      -0.02,
+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
+      0.8,
+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
+      "ang_vel": 0.0,
+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
+      "joint_rot": 0.008333333333333333,
+      "joint_vel": 0.0008333333333333334,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "traj23_imitation",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 5000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 1000,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "solo8_imitation",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      52,
+      114
+    ]
+  }
+}

data/vhdc_horse1_s1_trot_03/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "vhdc_horse1_s1_trot_03",
+  "source": "Vienna Horse Data Collection",
+  "source_url": "https://horse.cs.uni-bonn.de/vhdc-home.html",
+  "license": "CC BY-SA 4.0",
+  "attribution": "Vienna Horse Data Collection",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "Horse 1, session 1, trot repetition 3",
+  "tags": [
+    "trot"
+  ]
+}

data/vhdc_horse1_s1_trot_03/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
+      "FL_hip_joint": 0.0,
+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
+      "joint": 1.5
+    },
+    "use_implicit_controller": false,
+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
+      0.0,
+      0.0,
+      0.42
+    ],
+    "base_init_quat": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "push_interval_s": -1,
+    "max_push_vel_xy": 1.0,
+    "episode_length_s": 20.0,
+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
+    "action_latency": 0.02,
+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
+    "randomize_motor_offset": true,
+    "motor_offset_range": [
+      -0.02,
+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
+      0.8,
+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
+      "ang_vel": 0.0,
+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
+      "joint_rot": 0.008333333333333333,
+      "joint_vel": 0.0008333333333333334,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "h1m1_trot3",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 5000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      12,
+      567
+    ]
+  }
+}

data/vhdc_horse1_s1_walk_02/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "vhdc_horse1_s1_walk_02",
+  "source": "Vienna Horse Data Collection",
+  "source_url": "https://horse.cs.uni-bonn.de/vhdc-home.html",
+  "license": "CC BY-SA 4.0",
+  "attribution": "Vienna Horse Data Collection",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "Horse 1, session 1, walk repetition 2",
+  "tags": [
+    "walk"
+  ]
+}

data/vhdc_horse1_s1_walk_02/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
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+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
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+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
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+      0.0,
+      0.42
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+    "randomize_trajectory_heading": true,
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+      1.5
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+      3.0
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+      1.1
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+      1.2
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+    "kd_scale_range": [
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+      1.2
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+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
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+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
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+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "h1m1_walk2",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 5000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      4,
+      591
+    ]
+  }
+}

data/vhdc_horse1_s2_trot_01/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "vhdc_horse1_s2_trot_01",
+  "source": "Vienna Horse Data Collection",
+  "source_url": "https://horse.cs.uni-bonn.de/vhdc-home.html",
+  "license": "CC BY-SA 4.0",
+  "attribution": "Vienna Horse Data Collection",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "Horse 1, session 2, trot repetition 1",
+  "tags": [
+    "trot"
+  ]
+}

data/vhdc_horse1_s2_trot_01/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
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+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
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+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
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+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
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+    },
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+    },
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+    "termination_if_pitch_greater_than": 100,
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+      0.0,
+      0.42
+    ],
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+    "command_type": "ang_vel_yaw",
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+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
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+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
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+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
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+      0.01
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+    "randomize_motor_strength": false,
+    "motor_strength_range": [
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+      1.1
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+    "motor_offset_range": [
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+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
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+      1.2
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+    "kd_scale_range": [
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+      1.2
+    ],
+    "coupling": false,
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+    "terminate_dist_threshold": 1.0,
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+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
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+    "num_history_obs": 3,
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+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
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+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
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+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
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+      1.0
+    ],
+    "lin_vel_y_range": [
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+      1.0
+    ],
+    "ang_vel_range": [
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+      1.0
+    ]
+  },
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+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
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+      "num_learning_epochs": 5,
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+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
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+      "actor_hidden_dims": [
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+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "h1m2_trot1",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 5000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      7,
+      1144
+    ]
+  }
+}

data/vhdc_horse1_s2_trot_02/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "vhdc_horse1_s2_trot_02",
+  "source": "Vienna Horse Data Collection",
+  "source_url": "https://horse.cs.uni-bonn.de/vhdc-home.html",
+  "license": "CC BY-SA 4.0",
+  "attribution": "Vienna Horse Data Collection",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "Horse 1, session 2, trot repetition 2",
+  "tags": [
+    "trot"
+  ]
+}

data/vhdc_horse1_s2_trot_02/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
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+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
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+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
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+    },
+    "PD_damping": {
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+    },
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+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
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+      0.0,
+      0.42
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+      0.0,
+      0.0,
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+    "feet_geom_offset": 1,
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+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
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+      1.5
+    ],
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+    "added_mass_range": [
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+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
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+      0.01
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+    "randomize_motor_strength": false,
+    "motor_strength_range": [
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+      1.1
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+    "motor_offset_range": [
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+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
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+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
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+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
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+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
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+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
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+  },
+  "reward_cfg": {
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+  "command_cfg": {
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+    "lin_vel_x_range": [
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+      1.0
+    ],
+    "lin_vel_y_range": [
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+      1.0
+    ],
+    "ang_vel_range": [
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+      1.0
+    ]
+  },
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+      "value_loss_coef": 1.0
+    },
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+    "policy": {
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+      "actor_hidden_dims": [
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+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "h1m2_trot2",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 5000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      3,
+      1173
+    ]
+  }
+}

data/vhdc_horse1_s2_trot_03/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "vhdc_horse1_s2_trot_03",
+  "source": "Vienna Horse Data Collection",
+  "source_url": "https://horse.cs.uni-bonn.de/vhdc-home.html",
+  "license": "CC BY-SA 4.0",
+  "attribution": "Vienna Horse Data Collection",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "Horse 1, session 2, trot repetition 3",
+  "tags": [
+    "trot"
+  ]
+}

data/vhdc_horse1_s2_trot_03/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
+      "FL_hip_joint": 0.0,
+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
+      "joint": 1.5
+    },
+    "use_implicit_controller": false,
+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
+      0.0,
+      0.0,
+      0.42
+    ],
+    "base_init_quat": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "push_interval_s": -1,
+    "max_push_vel_xy": 1.0,
+    "episode_length_s": 20.0,
+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
+    "action_latency": 0.02,
+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
+    "randomize_motor_offset": true,
+    "motor_offset_range": [
+      -0.02,
+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
+      0.8,
+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
+      "ang_vel": 0.0,
+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
+      "joint_rot": 0.008333333333333333,
+      "joint_vel": 0.0008333333333333334,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "h1m2_trot3",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 5000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      10,
+      1194
+    ]
+  }
+}

data/vhdc_horse1_s2_walk_02/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "vhdc_horse1_s2_walk_02",
+  "source": "Vienna Horse Data Collection",
+  "source_url": "https://horse.cs.uni-bonn.de/vhdc-home.html",
+  "license": "CC BY-SA 4.0",
+  "attribution": "Vienna Horse Data Collection",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "Horse 1, session 2, walk repetition 2",
+  "tags": [
+    "walk"
+  ]
+}

data/vhdc_horse1_s2_walk_02/config.json

@@ -0,0 +1,243 @@
+{
+  "env_cfg": {
+    "urdf_path": "urdf/go2/urdf/go2.urdf",
+    "links_to_keep": [
+      "FL_foot",
+      "FR_foot",
+      "RL_foot",
+      "RR_foot"
+    ],
+    "num_actions": 12,
+    "num_dofs": 12,
+    "default_joint_angles": {
+      "FL_hip_joint": 0.0,
+      "FR_hip_joint": 0.0,
+      "RL_hip_joint": 0.0,
+      "RR_hip_joint": 0.0,
+      "FL_thigh_joint": 0.8,
+      "FR_thigh_joint": 0.8,
+      "RL_thigh_joint": 1.0,
+      "RR_thigh_joint": 1.0,
+      "FL_calf_joint": -1.5,
+      "FR_calf_joint": -1.5,
+      "RL_calf_joint": -1.5,
+      "RR_calf_joint": -1.5
+    },
+    "dof_names": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "termination_contact_link_names": [
+      "base"
+    ],
+    "penalized_contact_link_names": [
+      "base",
+      "thigh",
+      "calf"
+    ],
+    "feet_link_names": [
+      "foot"
+    ],
+    "base_link_name": [
+      "base"
+    ],
+    "PD_stiffness": {
+      "joint": 30.0
+    },
+    "PD_damping": {
+      "joint": 1.5
+    },
+    "use_implicit_controller": false,
+    "termination_if_roll_greater_than": 100,
+    "termination_if_pitch_greater_than": 100,
+    "termination_if_height_lower_than": 0.0,
+    "base_init_pos": [
+      0.0,
+      0.0,
+      0.42
+    ],
+    "base_init_quat": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "push_interval_s": -1,
+    "max_push_vel_xy": 1.0,
+    "episode_length_s": 20.0,
+    "resampling_time_s": 4.0,
+    "command_type": "ang_vel_yaw",
+    "action_scale": 0.25,
+    "action_latency": 0.02,
+    "clip_actions": 100.0,
+    "send_timeouts": true,
+    "control_freq": 60,
+    "decimation": 4,
+    "feet_geom_offset": 1,
+    "use_terrain": false,
+    "dofs_position_rand_range": 0.3,
+    "base_position_rand_range": 1.0,
+    "randomize_base_yaw": true,
+    "randomize_friction": false,
+    "randomize_trajectory_heading": true,
+    "friction_range": [
+      0.2,
+      1.5
+    ],
+    "randomize_base_mass": true,
+    "added_mass_range": [
+      -1.0,
+      3.0
+    ],
+    "randomize_com_displacement": true,
+    "com_displacement_range": [
+      -0.01,
+      0.01
+    ],
+    "randomize_motor_strength": false,
+    "motor_strength_range": [
+      0.9,
+      1.1
+    ],
+    "randomize_motor_offset": true,
+    "motor_offset_range": [
+      -0.02,
+      0.02
+    ],
+    "randomize_kp_scale": true,
+    "kp_scale_range": [
+      0.8,
+      1.2
+    ],
+    "randomize_kd_scale": true,
+    "kd_scale_range": [
+      0.8,
+      1.2
+    ],
+    "coupling": false,
+    "ref_state_init_prob": 0.9,
+    "warmup_time_s": 0.0,
+    "terminate_dist_threshold": 1.0,
+    "terminate_rot_threshold": 1.5707963267948966,
+    "perturb_init_state": true,
+    "policy_steps_per_ref_motion_step": 1
+  },
+  "obs_cfg": {
+    "num_obs": 31,
+    "num_history_obs": 3,
+    "obs_noise": {
+      "ang_vel": 0.0,
+      "gravity": 0.0,
+      "dof_pos": 0.0,
+      "dof_vel": 0.0
+    },
+    "obs_scales": {
+      "lin_vel": 1.0,
+      "ang_vel": 1.0,
+      "dof_pos": 1.0,
+      "dof_vel": 1.0
+    }
+  },
+  "reward_cfg": {
+    "tracking_sigma": 0.25,
+    "soft_dof_pos_limit": 0.9,
+    "base_height_target": 0.3,
+    "reward_scales": {
+      "joint_rot": 0.008333333333333333,
+      "joint_vel": 0.0008333333333333334,
+      "end_effector_pos": 0.0033333333333333335,
+      "root_pose": 0.0025,
+      "root_vel": 0.0016666666666666668
+    }
+  },
+  "command_cfg": {
+    "num_commands": 3,
+    "lin_vel_x_range": [
+      -1.0,
+      1.0
+    ],
+    "lin_vel_y_range": [
+      -1.0,
+      1.0
+    ],
+    "ang_vel_range": [
+      -1.0,
+      1.0
+    ]
+  },
+  "policy_cfg": {
+    "algorithm": {
+      "class_name": "PPO",
+      "clip_param": 0.2,
+      "desired_kl": 0.01,
+      "entropy_coef": 0.01,
+      "gamma": 0.99,
+      "lam": 0.95,
+      "learning_rate": 0.001,
+      "max_grad_norm": 1.0,
+      "num_learning_epochs": 5,
+      "num_mini_batches": 4,
+      "schedule": "adaptive",
+      "use_clipped_value_loss": true,
+      "value_loss_coef": 1.0
+    },
+    "init_member_classes": {},
+    "policy": {
+      "activation": "elu",
+      "actor_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "critic_hidden_dims": [
+        512,
+        256,
+        128
+      ],
+      "init_noise_std": 1.0,
+      "class_name": "ActorCritic"
+    },
+    "runner": {
+      "checkpoint": -1,
+      "experiment_name": "h1m2_walk2",
+      "load_run": -1,
+      "log_interval": 1,
+      "max_iterations": 5000,
+      "record_interval": -1,
+      "resume": false,
+      "resume_path": null
+    },
+    "runner_class_name": "OnPolicyRunner",
+    "num_steps_per_env": 24,
+    "save_interval": 100,
+    "empirical_normalization": null,
+    "seed": 1,
+    "logger": "wandb",
+    "wandb_mode": "online",
+    "project": "imitation_dataset_v3",
+    "entity": "quadruped-rl",
+    "group": null,
+    "obs_groups": {
+      "policy": [
+        "policy"
+      ],
+      "critic": [
+        "policy"
+      ]
+    },
+    "motion_range": [
+      27,
+      1153
+    ]
+  }
+}

data/vhdc_horse1_s2_walk_03/clip.json

@@ -0,0 +1,14 @@
+{
+  "name": "vhdc_horse1_s2_walk_03",
+  "source": "Vienna Horse Data Collection",
+  "source_url": "https://horse.cs.uni-bonn.de/vhdc-home.html",
+  "license": "CC BY-SA 4.0",
+  "attribution": "Vienna Horse Data Collection",
+  "fps": 60,
+  "n_frames": 571,
+  "duration_s": 9.517,
+  "description": "Horse 1, session 2, walk repetition 3",
+  "tags": [
+    "walk"
+  ]
+}

metadata.json

@@ -0,0 +1,187 @@
+{
+  "name": "Kine2Go",
+  "version": "0.1.0",
+  "description": "Kinematic dataset for the Unitree Go2 quadruped robot, containing reference motions retargeted from natural and synthetic quadruped sources, together with imitation-learning training artifacts (per-clip PPO policy and 20 perturbed rollouts with rendered video) for diverse gaits and motions.",
+  "robot": "Unitree Go2",
+  "fps": 60,
+  "n_clips": 40,
+  "rollouts_per_clip": 20,
+  "n_rollouts": 800,
+  "subsets": {
+    "ai4_dog": {
+      "n_clips": 15,
+      "n_rollouts": 300,
+      "license": "CC BY-NC 4.0"
+    },
+    "ai4_dog_synth": {
+      "n_clips": 7,
+      "n_rollouts": 140,
+      "license": "CC BY-NC 4.0"
+    },
+    "solo8": {
+      "n_clips": 6,
+      "n_rollouts": 120,
+      "license": "BSD-3-Clause"
+    },
+    "vhdc": {
+      "n_clips": 12,
+      "n_rollouts": 240,
+      "license": "CC BY-SA 4.0"
+    }
+  },
+  "reference_motion": {
+    "file": "motion.npy",
+    "shape": "(T_ref, 61)",
+    "dtype": "float32",
+    "field_layout": [
+      {
+        "slice": "[0:18]",
+        "name": "dofs_position",
+        "note": "6 floating-base DOFs followed by 12 joint DOFs in the order FR_hip, FR_thigh, FR_calf, FL_hip, FL_thigh, FL_calf, RR_hip, RR_thigh, RR_calf, RL_hip, RL_thigh, RL_calf"
+      },
+      {
+        "slice": "[18:36]",
+        "name": "dofs_velocity",
+        "note": "same DOF order as dofs_position"
+      },
+      {
+        "slice": "[36:48]",
+        "name": "feet_pos",
+        "note": "world-frame xyz for 4 feet, ordered FL_foot, RL_foot, FR_foot, RR_foot"
+      },
+      {
+        "slice": "[48:51]",
+        "name": "base_pos",
+        "note": "world-frame (x, y, z)"
+      },
+      {
+        "slice": "[51:55]",
+        "name": "base_quat",
+        "note": "scalar-first quaternion (w, x, y, z)"
+      },
+      {
+        "slice": "[55:58]",
+        "name": "base_lin_vel",
+        "note": "world-frame (x, y, z)"
+      },
+      {
+        "slice": "[58:61]",
+        "name": "base_ang_vel",
+        "note": "world-frame (x, y, z)"
+      }
+    ]
+  },
+  "rollouts": {
+    "trajectory_format": "list; each entry is one simulator step",
+    "init_state_file": "traj_NNNN/init_state.pkl",
+    "trajectory_file": "traj_NNNN/traj.pkl",
+    "video_file": "traj_NNNN/traj.mp4",
+    "frame_layout": [
+      {
+        "key": "dof_pos",
+        "shape": "(1, 12)",
+        "dtype": "float32",
+        "note": "joint angles, 12 DOFs in the order FR_hip, FR_thigh, FR_calf, FL_hip, FL_thigh, FL_calf, RR_hip, RR_thigh, RR_calf, RL_hip, RL_thigh, RL_calf"
+      },
+      {
+        "key": "dof_vel",
+        "shape": "(1, 12)",
+        "dtype": "float32",
+        "note": "joint velocities, same DOF order as dof_pos"
+      },
+      {
+        "key": "base_quat",
+        "shape": "(1, 4)",
+        "dtype": "float32",
+        "note": "base orientation, scalar-first quaternion (w, x, y, z)"
+      },
+      {
+        "key": "base_ang_vel",
+        "shape": "(1, 3)",
+        "dtype": "float32",
+        "note": "base angular velocity (x, y, z)"
+      },
+      {
+        "key": "actions",
+        "shape": "(1, 12)",
+        "dtype": "float32",
+        "note": "PPO policy output for the step (per-joint, same DOF order as dof_pos)"
+      },
+      {
+        "key": "frame",
+        "shape": "(1,)",
+        "dtype": "int32",
+        "note": "episode-relative simulator step counter"
+      },
+      {
+        "key": "links_pos",
+        "shape": "(17, 3)",
+        "dtype": "float32",
+        "note": "world-frame xyz per link"
+      },
+      {
+        "key": "links_rot",
+        "shape": "(17, 6)",
+        "dtype": "float32",
+        "note": "6-d continuous rotation representation per link"
+      }
+    ]
+  },
+  "policy": {
+    "file": "logs/model.pt",
+    "framework": "PPO via rsl_rl_lib (hyperparameters in config.json::policy_cfg)"
+  },
+  "conventions": {
+    "axes": "Z-up (X forward, Y left, Z up)",
+    "linear_units": "meters",
+    "angular_units": "radians",
+    "quaternion_order": "scalar-first (w, x, y, z)",
+    "joint_order": [
+      "FR_hip_joint",
+      "FR_thigh_joint",
+      "FR_calf_joint",
+      "FL_hip_joint",
+      "FL_thigh_joint",
+      "FL_calf_joint",
+      "RR_hip_joint",
+      "RR_thigh_joint",
+      "RR_calf_joint",
+      "RL_hip_joint",
+      "RL_thigh_joint",
+      "RL_calf_joint"
+    ],
+    "feet_order": [
+      "FL_foot",
+      "RL_foot",
+      "FR_foot",
+      "RR_foot"
+    ]
+  },
+  "citations": [
+    {
+      "key": "ai4animation",
+      "ref": "H. Zhang et al., 'Mode-Adaptive Neural Networks for Quadruped Motion Control', SIGGRAPH 2018",
+      "url": "https://github.com/sebastianstarke/AI4Animation/tree/master/AI4Animation/SIGGRAPH_2018",
+      "applies_to": [
+        "ai4_dog",
+        "ai4_dog_synth"
+      ]
+    },
+    {
+      "key": "vhdc",
+      "ref": "Vienna Horse Data Collection",
+      "url": "https://horse.cs.uni-bonn.de/vhdc-home.html",
+      "applies_to": [
+        "vhdc"
+      ]
+    },
+    {
+      "key": "cassi",
+      "ref": "C. Li et al., 'Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions', ICRA 2023",
+      "url": "https://github.com/martius-lab/cassi",
+      "applies_to": [
+        "solo8"
+      ]
+    }
+  ]
+}

scripts/load_clip.py

@@ -0,0 +1,162 @@
+"""Lightweight loader for the Kine2Go dataset.
+
+Repository layout:
+
+    <dataset_root>/
+    ├── README.md
+    ├── LICENSE
+    ├── LICENSES/
+    ├── metadata.json
+    ├── scripts/
+    └── data/
+        └── <clip_name>/
+            ├── motion.npy            (T, 61) float32 reference trajectory
+            ├── config.json           env / obs / reward / command / policy configs
+            ├── cfgs.pkl              same configs as a pickle (for tooling)
+            ├── clip.json             per-clip metadata (source, license, n_frames, ...)
+            ├── traj_NNNN/            20 perturbed PPO rollouts (NNNN = 0000..0019)
+            │   ├── init_state.pkl
+            │   ├── traj.pkl          list of per-step frame dicts
+            │   └── traj.mp4          rendered video
+            └── logs/
+                └── model.pt          final PPO checkpoint
+
+Quick usage:
+
+    from load_clip import Clip, list_clips
+
+    for name in list_clips("kine2go"):
+        clip = Clip("kine2go", name)
+        print(name, clip.motion.shape, clip.metadata["license"])
+
+    clip = Clip("kine2go", "ai4_dog_canter")
+    motion = clip.motion             # np.ndarray (T, 61) float32
+    cfg    = clip.config             # {env_cfg, obs_cfg, reward_cfg, command_cfg, policy_cfg}
+    meta   = clip.metadata           # {name, source, license, fps, n_frames, ...}
+    frames = clip.rollout(0)         # list of per-step dicts (requires torch)
+    policy = clip.policy_path        # Path to data/<clip>/logs/model.pt
+
+Run as a script to print clip summaries:
+
+    python scripts/load_clip.py                    # list every clip
+    python scripts/load_clip.py ai4_dog_canter     # summarize one clip
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+from dataclasses import dataclass
+from functools import cached_property
+from pathlib import Path
+
+import numpy as np
+
+
+def list_clips(root: Path | str) -> list[str]:
+    """Return clip directory names in alphabetical order."""
+    return sorted(p.name for p in (Path(root) / "data").iterdir() if p.is_dir())
+
+
+@dataclass
+class Clip:
+    """A single Kine2Go clip. Files are loaded lazily on first access."""
+
+    root: Path
+    name: str
+
+    def __post_init__(self) -> None:
+        self.root = Path(self.root)
+        if not self.dir.is_dir():
+            raise FileNotFoundError(f"clip directory not found: {self.dir}")
+
+    @property
+    def dir(self) -> Path:
+        return self.root / "data" / self.name
+
+    @cached_property
+    def metadata(self) -> dict:
+        return json.loads((self.dir / "clip.json").read_text())
+
+    @cached_property
+    def config(self) -> dict:
+        return json.loads((self.dir / "config.json").read_text())
+
+    @cached_property
+    def motion(self) -> np.ndarray:
+        return np.load(self.dir / "motion.npy")
+
+    @property
+    def n_rollouts(self) -> int:
+        return sum(
+            1 for p in self.dir.iterdir() if p.is_dir() and p.name.startswith("traj_")
+        )
+
+    def rollout_dir(self, idx: int) -> Path:
+        return self.dir / f"traj_{idx:04d}"
+
+    def rollout(self, idx: int) -> list[dict]:
+        """Load rollout ``idx`` as a list of per-step frame dicts. Requires ``torch``."""
+        try:
+            import torch
+        except ImportError as e:
+            raise ImportError(
+                "Loading rollouts requires `torch`. Install with: pip install torch"
+            ) from e
+        return torch.load(
+            self.rollout_dir(idx) / "traj.pkl", map_location="cpu", weights_only=False
+        )
+
+    def rollout_video(self, idx: int) -> Path:
+        return self.rollout_dir(idx) / "traj.mp4"
+
+    @property
+    def policy_path(self) -> Path:
+        """Path to the PPO checkpoint in logs/."""
+        path = self.dir / "logs" / "model.pt"
+        if not path.exists():
+            raise FileNotFoundError(f"checkpoint not found: {path}")
+        return path
+
+
+def _summary(clip: Clip) -> str:
+    m = clip.metadata
+    return (
+        f"{clip.name}\n"
+        f"  source     : {m['source']}\n"
+        f"  license    : {m['license']}\n"
+        f"  fps        : {m['fps']}\n"
+        f"  n_frames   : {m['n_frames']}\n"
+        f"  duration_s : {m['duration_s']}\n"
+        f"  motion     : shape {clip.motion.shape}, dtype {clip.motion.dtype}\n"
+        f"  rollouts   : {clip.n_rollouts}\n"
+        f"  policy     : {clip.policy_path.name}\n"
+    )
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description="Load and summarize Kine2Go clips.")
+    parser.add_argument(
+        "--root",
+        type=Path,
+        default=Path(__file__).resolve().parent.parent,
+        help="Dataset root directory (default: parent of this script).",
+    )
+    parser.add_argument(
+        "clip",
+        nargs="?",
+        help="Clip name to summarize. If omitted, lists every clip.",
+    )
+    args = parser.parse_args()
+
+    if args.clip:
+        print(_summary(Clip(args.root, args.clip)))
+    else:
+        names = list_clips(args.root)
+        print(f"{len(names)} clips in {args.root}:")
+        for n in names:
+            print(f"  {n}")
+
+
+if __name__ == "__main__":
+    main()

scripts/verify_schema.py

@@ -0,0 +1,194 @@
+"""Verify the on-disk Kine2Go dataset matches the schema documented in metadata.json.
+
+Usage:
+    python dataset/scripts/verify_schema.py
+    python dataset/scripts/verify_schema.py --dataset /path/to/kine2go
+
+Exits non-zero on any mismatch.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+from collections import Counter
+from pathlib import Path
+
+import numpy as np
+
+N_ROLLOUTS = 20
+MOTION_FEATURE_DIM = 61
+BASE_QUAT_SLICE = slice(51, 55)
+QUAT_NORM_TOLERANCE = 1e-2
+DURATION_TOLERANCE_S = 1e-2
+
+REQUIRED_CLIP_FILES = ("motion.npy", "cfgs.pkl", "config.json", "clip.json")
+REQUIRED_CLIP_JSON_KEYS = {
+    "name",
+    "source",
+    "source_url",
+    "license",
+    "attribution",
+    "fps",
+    "n_frames",
+    "duration_s",
+    "description",
+    "tags",
+}
+REQUIRED_CONFIG_JSON_KEYS = {
+    "env_cfg",
+    "obs_cfg",
+    "reward_cfg",
+    "command_cfg",
+    "policy_cfg",
+}
+
+
+def family_of(clip_name: str) -> str:
+    if clip_name.startswith("ai4_dog_synth_"):
+        return "ai4_dog_synth"
+    if clip_name.startswith("ai4_dog_"):
+        return "ai4_dog"
+    if clip_name.startswith("vhdc_"):
+        return "vhdc"
+    if clip_name.startswith("solo8_"):
+        return "solo8"
+    raise ValueError(f"unknown family for clip: {clip_name}")
+
+
+def check_clip(clip: Path) -> list[str]:
+    errors: list[str] = []
+
+    for fname in REQUIRED_CLIP_FILES:
+        if not (clip / fname).exists():
+            errors.append(f"missing {fname}")
+
+    motion_path = clip / "motion.npy"
+    if motion_path.exists():
+        motion = np.load(motion_path, mmap_mode="r")
+        if motion.ndim != 2 or motion.shape[1] != MOTION_FEATURE_DIM:
+            errors.append(
+                f"motion.npy shape {motion.shape}, expected (T, {MOTION_FEATURE_DIM})"
+            )
+        if motion.dtype != np.float32:
+            errors.append(f"motion.npy dtype {motion.dtype}, expected float32")
+        if motion.ndim == 2 and motion.shape[1] == MOTION_FEATURE_DIM:
+            quats = np.asarray(motion[:, BASE_QUAT_SLICE])
+            norms = np.linalg.norm(quats, axis=1)
+            if np.any(np.abs(norms - 1.0) > QUAT_NORM_TOLERANCE):
+                errors.append(
+                    f"motion.npy base_quat norms not unit (min={norms.min():.4f}, max={norms.max():.4f})",
+                )
+
+    clip_json_path = clip / "clip.json"
+    if clip_json_path.exists():
+        clip_meta = json.loads(clip_json_path.read_text())
+        missing = REQUIRED_CLIP_JSON_KEYS - clip_meta.keys()
+        if missing:
+            errors.append(f"clip.json missing keys: {sorted(missing)}")
+        if clip_meta.get("name") != clip.name:
+            errors.append(
+                f"clip.json name {clip_meta.get('name')!r} != dir name {clip.name!r}"
+            )
+        fps = clip_meta.get("fps")
+        n_frames = clip_meta.get("n_frames")
+        duration = clip_meta.get("duration_s")
+        if fps and n_frames and duration is not None:
+            expected = n_frames / fps
+            if abs(expected - duration) > DURATION_TOLERANCE_S:
+                errors.append(
+                    f"clip.json duration_s {duration} != n_frames/fps {expected:.3f}"
+                )
+
+    config_json_path = clip / "config.json"
+    if config_json_path.exists():
+        cfg_obj = json.loads(config_json_path.read_text())
+        missing_cfg = REQUIRED_CONFIG_JSON_KEYS - cfg_obj.keys()
+        if missing_cfg:
+            errors.append(f"config.json missing keys: {sorted(missing_cfg)}")
+
+    for i in range(N_ROLLOUTS):
+        traj_dir = clip / f"traj_{i:04d}"
+        if not traj_dir.is_dir():
+            errors.append(f"missing rollout dir traj_{i:04d}")
+            continue
+        for required in ("traj.pkl", "init_state.pkl", "traj.mp4"):
+            if not (traj_dir / required).exists():
+                errors.append(f"traj_{i:04d}/{required} missing")
+
+    logs_dir = clip / "logs"
+    if not logs_dir.is_dir():
+        errors.append("missing logs/ directory")
+    elif not (logs_dir / "model.pt").exists():
+        errors.append("logs/model.pt checkpoint missing")
+
+    return errors
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description="Verify Kine2Go dataset schema.")
+    parser.add_argument(
+        "--dataset",
+        type=Path,
+        default=Path(__file__).resolve().parent.parent,
+        help="Dataset root directory (default: parent of this script).",
+    )
+    args = parser.parse_args()
+    dataset: Path = args.dataset
+
+    if not dataset.is_dir():
+        sys.exit(f"dataset directory not found: {dataset}")
+
+    metadata_path = dataset / "metadata.json"
+    if not metadata_path.exists():
+        sys.exit(f"metadata.json not found at {metadata_path}")
+    metadata = json.loads(metadata_path.read_text())
+
+    data_dir = dataset / "data"
+    if not data_dir.is_dir():
+        sys.exit(f"data/ directory not found at {data_dir}")
+    clip_dirs = sorted(p for p in data_dir.iterdir() if p.is_dir())
+
+    top_errors: list[str] = []
+    if metadata.get("n_clips") != len(clip_dirs):
+        top_errors.append(
+            f"metadata.n_clips {metadata.get('n_clips')} != actual {len(clip_dirs)}"
+        )
+
+    actual_family_counts = Counter(family_of(c.name) for c in clip_dirs)
+    declared_subsets = metadata.get("subsets", {})
+    for fam, info in declared_subsets.items():
+        if info.get("n_clips") != actual_family_counts.get(fam, 0):
+            top_errors.append(
+                f"subset {fam!r}: metadata.n_clips={info.get('n_clips')} != actual={actual_family_counts.get(fam, 0)}",
+            )
+    unexpected = set(actual_family_counts) - set(declared_subsets)
+    if unexpected:
+        top_errors.append(
+            f"clips belong to families not in metadata.subsets: {sorted(unexpected)}"
+        )
+
+    n_failed = 0
+    for clip in clip_dirs:
+        clip_errors = check_clip(clip)
+        if clip_errors:
+            n_failed += 1
+            print(f"FAIL {clip.name}:")
+            for e in clip_errors:
+                print(f"  {e}")
+        else:
+            print(f"OK   {clip.name}")
+
+    if top_errors:
+        print("\nTOP-LEVEL ERRORS:")
+        for e in top_errors:
+            print(f"  {e}")
+
+    print(f"\n{len(clip_dirs) - n_failed}/{len(clip_dirs)} clips passed")
+    if n_failed or top_errors:
+        sys.exit(1)
+
+
+if __name__ == "__main__":
+    main()