Upload human motion capture data in AMASS format (.npz), and get Unitree G1 humanoid robot motion in BeyondMimic format.
Input: AMASS NPZ with fields trans/root_orient/pose_body (or transl/global_orient/body_pose), optionally mocap_frame_rate.
Output: bmimic NPZ (50 FPS) with joint_pos, joint_vel, body_pos_w, body_quat_w, body_lin_vel_w, body_ang_vel_w.