| --- |
| license: cc-by-4.0 |
| task_categories: |
| - robotics |
| tags: |
| - motion-capture |
| - humanoid |
| - unitree-g1 |
| - retargeting |
| - motion-tracking |
| pretty_name: GhostTrial — spear throw into an uppercut, retargeted to a Unitree G1 |
| size_categories: |
| - n<1K |
| --- |
| |
| # GhostTrial motion data — a spear throw into an uppercut, on a Unitree G1 |
|
|
| The motion behind |
| [DaveRc/ghosttrial-g1-scorpion](https://huggingface.co/DaveRc/ghosttrial-g1-scorpion): |
| a two-part combat phrase — spear throw, pull back, crouch into a rising uppercut — |
| captured from a human performer and carried all the way to the G1's 29 degrees of |
| freedom. |
|
|
| Pipeline, tools and full write-up: |
| **https://github.com/SpiRaiL/GhostTrial-public** |
|
|
| ## Where it came from |
|
|
| A movement phrase written as a brief and filmed by a commissioned performer |
| (`docs/upwork_capture_brief.md` in the GitHub repo), across several camera angles |
| and two shoots. Monocular video → 3D human pose → human skeleton in BVH → |
| retargeted to the G1 → corrected for self-collision, foot contact and joint limits |
| → converted to the motion_lib format SONIC trains on. |
| |
| **The performer's video is not published**, only the motion derived from it. The |
| 1992 Mortal Kombat footage that inspired the move is style reference only; it never |
| entered training and is not distributed here. |
| |
| ## What is in it |
| |
| | folder | what it is | |
| |---|---| |
| | `data/motion_lib_capture/robot/` | the pickles SONIC trains on, one folder per take. **`t12/T12_beats.pkl` is the one that trained the published policy** | |
| | `data/gemx_g1_retimed/` | the G1 takes as CSV, 29 DoF plus root — retimed, the working format | |
| | `data/gemx_g1_raw/` | the same takes before retiming | |
| | `data/human_bvh/`, `data/human_bvh_edited/` | the performer's own skeleton, as solved and as hand-corrected | |
| | `data/gemx_output/` | per-take pose solve and the retarget straight out of it | |
| | `data/csv_frozen/` | frozen reference poses: standing, idle, a walking control, and the crouch seeds | |
| | `data/capture_analysis/`, `data/capture02_analysis/` | 2D keypoints and per-take rankings from reviewing both shoots | |
| | `data/g1_authored/` | one phrase authored by hand in G1 joint space, the legal fallback and the first thing that trained | |
|
|
| ## How the takes are named |
|
|
| Order of work, not quality: |
|
|
| - **A2–A11** — retarget revisions. A9 is the reference the diagnosis work is built |
| on; A10 is the take whose feet left the floor; A11 is faster and lower. |
| - **S1, B1, CTRL, CTRL2** — standing, idle and walking controls, used to check the |
| policy has not forgotten how to stand or walk. |
| - **T1–T12** — target rebuilds after the crouch turned out to be the problem. **T12** |
| is the final one: the phrase with a 0.5 s lean and a 0.5 s crouch hold feathered |
| in. |
|
|
| ## Known limits |
|
|
| - One performer, one phrase. This is a hackathon dataset, not a corpus. |
| - The target still asks for airborne frames the G1 cannot hold — the trained policy |
| plants instead (97% double support against the target's 58%). |
| - Solved from monocular video, so depth is inferred rather than measured. The |
| angle-45 takes are the most reliable. |
|
|
| ## Licence |
|
|
| CC BY 4.0. Derived from footage commissioned for this project, published with the |
| performer's work credited as the source of the motion. |
|
|
