DaveRc/ghosttrial-g1-scorpion-motion

GhostTrial motion data — a spear throw into an uppercut, on a Unitree G1

The motion behind 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.