Add FF Master motion references (PHC format): jogging + highjump

.gitattributes

@@ -1,60 +1 @@
-*.7z filter=lfs diff=lfs merge=lfs -text
-*.arrow filter=lfs diff=lfs merge=lfs -text
-*.avro filter=lfs diff=lfs merge=lfs -text
-*.bin filter=lfs diff=lfs merge=lfs -text
-*.bz2 filter=lfs diff=lfs merge=lfs -text
-*.ckpt filter=lfs diff=lfs merge=lfs -text
-*.ftz filter=lfs diff=lfs merge=lfs -text
-*.gz filter=lfs diff=lfs merge=lfs -text
-*.h5 filter=lfs diff=lfs merge=lfs -text
-*.joblib filter=lfs diff=lfs merge=lfs -text
-*.lfs.* filter=lfs diff=lfs merge=lfs -text
-*.lz4 filter=lfs diff=lfs merge=lfs -text
-*.mds filter=lfs diff=lfs merge=lfs -text
-*.mlmodel filter=lfs diff=lfs merge=lfs -text
-*.model filter=lfs diff=lfs merge=lfs -text
-*.msgpack filter=lfs diff=lfs merge=lfs -text
-*.npy filter=lfs diff=lfs merge=lfs -text
-*.npz filter=lfs diff=lfs merge=lfs -text
-*.onnx filter=lfs diff=lfs merge=lfs -text
-*.ot filter=lfs diff=lfs merge=lfs -text
-*.parquet filter=lfs diff=lfs merge=lfs -text
-*.pb filter=lfs diff=lfs merge=lfs -text
-*.pickle filter=lfs diff=lfs merge=lfs -text
 *.pkl filter=lfs diff=lfs merge=lfs -text
-*.pt filter=lfs diff=lfs merge=lfs -text
-*.pth filter=lfs diff=lfs merge=lfs -text
-*.rar filter=lfs diff=lfs merge=lfs -text
-*.safetensors filter=lfs diff=lfs merge=lfs -text
-saved_model/**/* filter=lfs diff=lfs merge=lfs -text
-*.tar.* filter=lfs diff=lfs merge=lfs -text
-*.tar filter=lfs diff=lfs merge=lfs -text
-*.tflite filter=lfs diff=lfs merge=lfs -text
-*.tgz filter=lfs diff=lfs merge=lfs -text
-*.wasm filter=lfs diff=lfs merge=lfs -text
-*.xz filter=lfs diff=lfs merge=lfs -text
-*.zip filter=lfs diff=lfs merge=lfs -text
-*.zst filter=lfs diff=lfs merge=lfs -text
-*tfevents* filter=lfs diff=lfs merge=lfs -text
-# Audio files - uncompressed
-*.pcm filter=lfs diff=lfs merge=lfs -text
-*.sam filter=lfs diff=lfs merge=lfs -text
-*.raw filter=lfs diff=lfs merge=lfs -text
-# Audio files - compressed
-*.aac filter=lfs diff=lfs merge=lfs -text
-*.flac filter=lfs diff=lfs merge=lfs -text
-*.mp3 filter=lfs diff=lfs merge=lfs -text
-*.ogg filter=lfs diff=lfs merge=lfs -text
-*.wav filter=lfs diff=lfs merge=lfs -text
-# Image files - uncompressed
-*.bmp filter=lfs diff=lfs merge=lfs -text
-*.gif filter=lfs diff=lfs merge=lfs -text
-*.png filter=lfs diff=lfs merge=lfs -text
-*.tiff filter=lfs diff=lfs merge=lfs -text
-# Image files - compressed
-*.jpg filter=lfs diff=lfs merge=lfs -text
-*.jpeg filter=lfs diff=lfs merge=lfs -text
-*.webp filter=lfs diff=lfs merge=lfs -text
-# Video files - compressed
-*.mp4 filter=lfs diff=lfs merge=lfs -text
-*.webm filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,120 @@
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- humanoid
+- motion-tracking
+- locomotion
+- ff-master
+- phc
+viewer: false
+---
+
+# motionSample — FF Master motion references
+
+Joint-space motion references for the **FF Master** humanoid (31 DoF), stored in the
+**PHC-style pickle** format used by the humanoid motion-tracking codebase family
+(PHC / H2O / OmniH2O / ASAP / HumanoidVerse).
+
+Interactive viewer: **[Master Motion Sample Space](https://huggingface.co/spaces/faradayfuture/MotionSampleViewer)**
+
+| | |
+|---|---|
+| Clips | 2 (one file each) |
+| Frames | 6563 total |
+| FPS | 120 (inferred — see below) |
+| DoF | 31 |
+| Robot | FF Master (URDF `x2_ultra`) |
+
+**One file per clip** — they are not bundled together.
+
+| file | clip key | frames | duration | size |
+|---|---|---|---|---|
+| `jogging.pkl` | `jogging` | 1824 | 15.2 s | 1.3 MB |
+| `highjump.pkl` | `highjump` | 4739 | 39.5 s | 3.3 MB |
+
+## Loading
+
+Each file holds a `{clip_name: {...}}` dict with a single entry, so PHC-family loaders that
+expect a dict-of-motions read a single file without any code change.
+
+```python
+import pickle
+d = pickle.load(open("highjump.pkl", "rb"))
+list(d)                            # ['highjump']
+
+m = d["highjump"]
+m["dof"].shape                     # (4739, 31)   joint angles, rad
+m["root_trans_offset"].shape       # (4739, 3)    base position, m
+m["root_rot"].shape                # (4739, 4)    base orientation, xyzw
+m["fps"]                           # 120
+```
+
+To use both at once, merge them:
+
+```python
+import glob, pickle
+d = {}
+for f in sorted(glob.glob("*.pkl")):
+    d.update(pickle.load(open(f, "rb")))
+list(d)                            # ['highjump', 'jogging']
+```
+
+## Keys
+
+Key names are the **union** of what the PHC family reads. Each framework picks up the
+subset it knows; the extras are inert.
+
+| key | shape | read by |
+|---|---|---|
+| `root_trans_offset` | (T, 3) | all |
+| `root_rot` | (T, 4) **xyzw** | all |
+| `pose_aa` | (T, 1+31, 3) | PHC / H2O / OmniH2O |
+| `dof` | (T, 31) | all |
+| `fps` | int = 120 | all |
+| `dof_pos` | (T, 31), same array as `dof` | ASAP / HumanoidVerse |
+| `dof_vel` | (T, 31) | ASAP / HumanoidVerse |
+| `root_lin_vel` / `root_ang_vel` | (T, 3) | ASAP / HumanoidVerse |
+| `contacts` | (T, 2) left / right foot | — |
+| `com_pos` | (T, 3) whole-body centre of mass, world frame | — |
+| `total_mass` | float = 42.0 kg (from the URDF) | — |
+| `dof_names` / `body_names` | list | — |
+| `dof_axes` | (31, 3) | — |
+| `quat_order` | `"xyzw"` | — |
+
+### `pose_aa`
+
+Per-body local rotation in axis-angle form, root first. For a 1-DoF revolute joint the
+local rotation is a turn of `q` about the URDF `axis`, so the axis-angle vector is just
+`axis * q`:
+
+```
+pose_aa[t, 0]     = axis-angle of root_rot
+pose_aa[t, 1 + j] = dof_axes[j] * dof[t, j]
+```
+
+`dof_axes` ships with the file, so `pose_aa` can be rebuilt or cross-checked without the URDF.
+
+### Conventions
+
+- **Quaternions are xyzw** (PHC / Isaac). MuJoCo and USD use wxyz — reorder when crossing over.
+- **z up, soles at z = 0.** Ground alignment uses the *stance-phase median* height, not a
+  per-frame clamp (a per-frame clamp would flatten the high jump's flight phase). After
+  alignment the stance-phase foot height IQR is within ±0.5 cm.
+- **Velocities are stored**, low-passed at 20 Hz zero-phase. Most loaders finite-difference
+  them at load time instead, which yields noisier values than these — pick one and be consistent.
+
+## ⚠️ Kinematic reference, not dynamically validated
+
+These clips come from human motion capture retargeted onto the Master kinematics. No physics
+engine was involved, and they are **not dynamically feasible for the robot as-is**.
+
+
+## Validation
+
+```bash
+python3 validate.py    # keys, shapes, quaternion norms, pose_aa round-trip, contact phases,
+                       # and flight-phase gravity computed from the shipped com_pos
+```
+

highjump.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:969cb65a4f4859dcc35620b1e34a1ccd9e92239bb96b3225e93aac5cab2a95c0
+size 3338868

jogging.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c99776d4237190236225bb1b1b256af68fedc51e58f83a19047a3792c398fadf
+size 1286689

validate.py

@@ -0,0 +1,101 @@
+"""motionSample 的自洽性检查: python3 validate.py
+
+检查键、形状、四元数模长、pose_aa 能否零误差还原 dof、接触相位, 以及用随文件发布的
+com_pos 拟合腾空相重力。只依赖 numpy。
+"""
+import pickle
+import sys
+from pathlib import Path
+
+import numpy as np
+
+HERE = Path(__file__).resolve().parent
+REQUIRED = {"root_trans_offset": 3, "root_rot": 4, "dof": None, "dof_pos": None,
+            "dof_vel": None, "root_lin_vel": 3, "root_ang_vel": 3, "contacts": 2,
+            "com_pos": 3}
+G = 9.80665
+fail = []
+
+
+def chk(name, ok, detail=""):
+    print(("  OK   " if ok else "  FAIL ") + name + (f" — {detail}" if detail else ""))
+    if not ok:
+        fail.append(name)
+
+
+def air_runs(mask):
+    m = np.concatenate([[0], mask.astype(int), [0]])
+    d = np.diff(m)
+    return list(zip(np.where(d == 1)[0], np.where(d == -1)[0]))
+
+
+def main():
+    files = sorted(HERE.glob("*.pkl"))
+    if not files:
+        print("目录下没有 .pkl")
+        return 1
+    d = {}
+    for f in files:
+        one = pickle.load(open(f, "rb"))
+        print(f"── {f.name}  {len(one)} 条: {list(one)}")
+        for k in one:
+            chk(f"{f.name}: 文件名与内部键一致", k == f.stem, f"键 {k}")
+        d.update(one)
+    for k, m in d.items():
+        print(f"── 结构 ── {k}")
+        T, D = m["dof"].shape
+        chk(f"{k}: 必需键齐全", not (set(REQUIRED) - set(m)),
+            str(set(REQUIRED) - set(m)) or f"T={T} D={D}")
+        bad = [c for c, w in REQUIRED.items() if w and m[c].shape != (T, w)]
+        chk(f"{k}: 各键形状一致", not bad, ", ".join(bad))
+        chk(f"{k}: dof_names / dof_axes 长度 == D",
+            len(m["dof_names"]) == D and m["dof_axes"].shape == (D, 3))
+        chk(f"{k}: quat_order 标注为 xyzw", m.get("quat_order") == "xyzw")
+        chk(f"{k}: fps 是正整数", isinstance(m["fps"], int) and m["fps"] > 0, str(m["fps"]))
+
+        print(f"── 数值 ── {k}")
+        chk(f"{k}: 无 NaN/Inf",
+            all(np.isfinite(m[c]).all() for c in REQUIRED if c in m))
+        n = np.linalg.norm(m["root_rot"], axis=1)
+        chk(f"{k}: |root_rot| == 1", np.allclose(n, 1, atol=1e-5), f"{n.min():.6f}~{n.max():.6f}")
+        chk(f"{k}: dof 与 dof_pos 是同一份", np.array_equal(m["dof"], m["dof_pos"]))
+        rec = np.einsum("tjc,jc->tj", m["pose_aa"][:, 1:], m["dof_axes"])
+        e = np.abs(rec - m["dof"]).max()
+        chk(f"{k}: pose_aa 沿关节轴投影可还原 dof", e < 1e-5, f"最大误差 {e:.2e} rad")
+
+        c, fps = m["contacts"], m["fps"]
+        air = c.max(1) == 0
+        runs = [(a, b) for a, b in air_runs(air) if (b - a) / fps > 0.15]
+        n2 = (c.sum(1) == 2).mean() * 100
+        dur = np.array([(b - a) / fps for a, b in runs])
+        print(f"       双支撑 {n2:.1f}% | 腾空 {air.mean()*100:.1f}%"
+              + (f" | 腾空段 >150ms 共 {len(runs)} 次, 中位 {np.median(dur)*1000:.0f} ms"
+                 if len(runs) else " | 无 >150ms 的腾空段"))
+        if not runs:
+            print("       注: 没有 >150ms 的腾空段, 接触模式偏走路而非跑步(见 README)")
+
+        # 腾空相重力: 取每段中间 2/3 拟合抛物线, 避开起落瞬间的接触判定误差
+        if runs:
+            acc = []
+            for a, b in runs:
+                w = (b - a) // 6
+                a2, b2 = a + w, b - w
+                if b2 - a2 < 8:
+                    continue
+                t = np.arange(b2 - a2) / fps
+                acc.append(2 * np.polyfit(t, m["com_pos"][a2:b2, 2], 2)[0])
+            if acc:
+                acc = np.array(acc)
+                r = abs(acc.mean()) / G
+                print(f"       腾空相重力 {acc.mean():+.3f} ± {acc.std():.3f} m/s²"
+                      f" = {r:.3f} g  ({len(acc)} 段)")
+                if abs(r - 1) > 0.05:
+                    print(f"       注: 偏离 -9.807 达 {abs(r-1)*100:.0f}%,"
+                          f" 动力学不自洽(见 README 的 Froude 说明)")
+    print()
+    print(f"失败 {len(fail)} 项: " + ", ".join(fail) if fail else "全部通过")
+    return 1 if fail else 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())