Publish 81 layer files from Lite-Motion-Retargeting

.gitattributes

@@ -138,3 +138,43 @@ reference/lafan1_walk3_subject3.rrd filter=lfs diff=lfs merge=lfs -text
 reference/lafan1_walk3_subject4.rrd filter=lfs diff=lfs merge=lfs -text
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+base/lafan1_dance1_subject1.rrd filter=lfs diff=lfs merge=lfs -text
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README.md

@@ -18,8 +18,9 @@ viewer: false
 
 # Lite LAFAN1 Dataset
 
-40 [LAFAN1][lafan1] clips at 30 Hz, retargeted from the Unitree G1 to the Berkeley Lite
-Pro humanoid by [Lite-Motion-Retargeting][retarget]. One motion is one
+40 [LAFAN1][lafan1] clips at 50 Hz, retargeted from the Unitree G1 to the Berkeley Lite
+Pro humanoid by [Lite-Motion-Retargeting][retarget], with the 30 Hz source kept beside
+them. One motion is one
 [Rerun](https://rerun.io) recording. [Open one in your browser][viewer], with no
 install. The [table below](#motions) links every motion.
 
@@ -41,19 +42,25 @@ opens any set of them as one recording.
 
 | Path | What it holds |
 |---|---|
-| `reference/<motion>.rrd` | The G1 bodies the retarget aims at: a world pose and velocity per body, and no joints. |
-| `lite_pro/<motion>.rrd` | What the retarget reached: joint positions and velocities, the same bodies, and the URDF geometry that draws them. |
+| `base/<motion>.rrd` | The source clip as published, at 30 Hz: the 29 G1 joints, and the world poses they put its bodies at. Provenance, so a motion can be derived again without the upstream dataset. |
+| `lite_pro/<motion>.rrd` | Everything the robot needs, at 50 Hz: the retargeted joints, the goal its bodies track, and the URDF geometry that draws it. |
 | `blueprints/lite_pro.rbl` | The viewer layout. |
 
-Both layers carry the pelvis, both feet, and both hands. The robot layer names them after
-the links of Lite, the reference layer after the links of the G1, and the
-`reference_body_names` property records the pairing. The gap between the two is the error
-of the retarget, frame by frame.
+The robot layer is self-contained. Its joints reset the robot, and `/lite_pro/goal/`
+holds what the robot tracks, in the frame convention of the Lite links, so a reward
+compares it against the robot directly. `source_body_names` records which G1 link each
+goal came from. The layer stores no reached pose, because that is the forward kinematics
+of the joints beside it, and the `/lite_pro/tf` chain already draws the robot there. The
+gap between the robot and its goal triads is the error of the retarget, frame by frame.
+
+Both layers carry the pelvis, both feet, and both hands: `/lite_pro/goal/` under the Lite
+link names, and `/base/body/` under the G1 ones.
 
 Every array is world frame, in metres and radians, and a rotation is `xyzw`. A velocity
-is the backward difference against the frame before it, so frame 0 holds zero.
-`scripts/store.py` of [Lite-Motion-Retargeting][retarget] lists every entity path and
-property.
+is the backward difference against the frame before it, so frame 0 holds zero. Every
+column carries a `frame` index and a `time` in seconds. The two layers run at different
+rates, so `time` is what lines them up. `scripts/store.py` of
+[Lite-Motion-Retargeting][retarget] lists every entity path and property.
 
 ## Motions
 
@@ -103,9 +110,9 @@ property.
 ## Source
 
 The G1 subset of [`lvhaidong/LAFAN1_Retargeting_Dataset`][lafan1] is LAFAN1 already
-retargeted to a 29-DoF Unitree G1. [Lite-Motion-Retargeting][retarget] takes it to Lite
-Pro with a per-joint remap and a per-frame IK, and documents both. The result depends on
-the Lite Pro asset, so a new version of
+retargeted to a 29-DoF Unitree G1, at 30 Hz. [Lite-Motion-Retargeting][retarget]
+resamples it to 50 Hz and takes it to Lite Pro with a per-joint remap and a per-frame IK,
+and documents both. The result depends on the Lite Pro asset, so a new version of
 [Lite-Description](https://github.com/Berkeley-Humanoids/Lite-Description) gives new
 motions.
 

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