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README.md

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+---
+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.