Definition of reference motion angles from mocap

[XuanLin]

Definition of reference motion angles from mocap

[xbpeng]

each row corresponds to a keyframe. The first number is the duration of the frame, the first 7 numbers are the position (3) and rotation in quaternions (4) of the root. Then its the pose of every joint. The humanoid has spherical joints (specified as 4D quaternions), so they are not just 1D.

[XuanLin]

Thanks! That is exactly what I want to know!

[hwiedPro]

For which walking speed of the human where the motions recorded?
Do the human leg lengths (femur/crus) match the leg lengths of the robot?
What are the lengths?

[Neo-X]

The data in the motion files follows the same syntax as the state files https://github.com/xbpeng/DeepLoco/wiki/State-Files. The motions were based on data converted from http://mocap.cs.sfu.ca/, I think that walking speed for the mocap is between 1 and 1.3m/s. The simulated character used in DeepLoco is similar to the mocap character but not the same.