动作捕捉需求 · 多种方式搬箱子Mocap Brief · Carrying a Box in Many Ways

给人形机器人学习用。一位演员、一个箱子、一块空地。For humanoid-robot learning. One performer, one box, an empty floor.

约 75 条~75 takes每条 10–25 秒，约 2 小时拍完(含重置);第 5 节另有可选的 42 条短片段10–25 s each, about 2 h incl. resets; section 5 adds 42 optional short takes

同一个箱子One box25 × 15 × 20 cm,约 1 kg,贴刚体标记点25 × 15 × 20 cm, about 1 kg, rigid-body markers

箱子从地上起，放回地上Floor to floorA 点拿起，直走 3 m,B 点放下;不用桌子Pick up at A, walk 3 m straight, put down at B; no tables

交付Deliver人体骨架 FBX/BVH + 箱子 6D 位姿，同一坐标、同一时钟Body skeleton FBX/BVH + box 6-DoF pose, same frame and clock

01场地、箱子、演员Floor, box, performer

地上用胶带标出 START、A、B 三处;箱子长边(25 cm)与行走方向垂直，A、B 两处朝向一样。Tape START, A and B on the floor. The box's long side (25 cm) faces the performer, perpendicular to the walk, same at A and B.

箱子:25 × 15 × 20 cm(宽 × 深 × 高)硬纸箱，内加配重到约 1 kg;六个面都贴标记点(抱着时也能看到),做成一个刚体。
Box: 25 × 15 × 20 cm (W × D × H) cardboard, weighted to about 1 kg; markers on all six faces so it stays tracked when hugged; one rigid body.
演员:一位，身高 1.60–1.80 m;紧身动捕服、平底鞋。
Performer: one person, 1.60–1.80 m tall, tight suit, flat shoes.
每次开拍前:录一条 T 姿态校准，并记下身高、肩宽、臂长、腿长。
Each session: one T-pose calibration take; note height, shoulder width, arm and leg length.
采样率:120 Hz 最好，不低于 60 Hz;手指可选。
Rate: 120 Hz preferred, at least 60 Hz; fingers optional.

02一条完整录制长什么样What one full take looks like

开头、结尾都是同一个自然站姿(双脚与肩同宽、手臂自然下垂、面朝 B),各站稳至少 1 秒。
Start and end in the same neutral stand (feet shoulder-width, arms down, facing B) and hold it at least 1 s.
箱子一开始放在地上的 A 点，最后放回地上的 B 点;全程不用桌子、架子。
The box starts on the floor at A and ends on the floor at B; no tables or stands at any point.
朝着 B 直线走，身体朝前，不中途转身;速度自然。
Walk straight to B facing forward, no turning on the way, natural speed.
走路时手不换位置、不调整抓法;箱子只靠手(或肩、手臂)带动，不要在身上滑。
Keep the same grip while walking; the box moves only with the hands (or shoulder/arms), no sliding on the body.
失误(箱子掉、碰到人、走歪)就重拍这一条，不用剪。
If something goes wrong (drop, bump, drift off line), just redo the take; no editing needed.

03每种方式拍三种片段Three take types per style

片段	Type	内容	Content	条数
完整	full	站 → A 点拿起 → 直走 3 m → B 点放下 → 站	stand → pick up at A → walk 3 m → put down at B → stand	2
只拿起	pickup	站 → A 点拿起 → 原地站着抱住，静止 3 秒	stand → pick up at A → hold the carry pose in place, still, 3 s	1
只放下	putdown	原地抱着静止 3 秒 → 放到脚前地上 → 站	hold the carry pose still 3 s → put down in front → stand	1

「只拿起」「只放下」两段的静止时刻，是我们之后接上不同行走路线的地方，所以静止要真静止。转弯、别的终点不用拍，我们自己生成。The still holds in pickup/putdown are where we attach generated walks, so please keep them truly still. Turns and other destinations are not needed; we generate those.

04想要的搬法与风格Styles we want

#	搬法	Style	要点	How	优先	Priority
A1	双手托底端在身前	Front carry	双手在箱底，箱子在腰前	both hands under the box, box at waist in front	A	A
A2	抱在胸前	Hug to chest	两臂环抱，箱子贴胸	arms wrapped around, box against the chest	A	A
A3	右腋下夹	Under right arm	箱子夹在右臂与身体之间	box clamped between right arm and torso	A	A
A4	左腋下夹	Under left arm	同上，左边	same, left side	A	A
A5	扛在右肩	On right shoulder	箱子放肩上，右手扶	box on the shoulder, right hand steadies it	A	A
A6	扛在左肩	On left shoulder	同上，左边	same, left side	A	A
A7	掌心向上平托	Palms-up tray	两前臂平伸，箱子放在掌心/前臂上	forearms level, box resting on palms/forearms	A	A
A8	背在身后	Behind the back	双手在身后托住箱子	both hands hold the box behind the back	A	A
A9	双手侧面夹	Side squeeze	双手按住箱子左右两侧，手臂伸直在身前	palms press the two sides, arms straight in front	A	A
A10	顶在头上	On the head	箱子放头顶，双手扶	box on top of the head, both hands steady it	A	A
A11	举过头顶	Overhead	双臂伸直把箱子举在头上方	arms straight, box held above the head	A	A
A12	垂手低提	Low in front	手臂向下伸直，箱子在大腿前	arms hanging straight, box in front of the thighs	A	A
B1	拿起：深蹲直背	Pick up: squat	屈膝下蹲、背挺直	knees bent, back straight	B	B
B2	拿起：弯腰	Pick up: stoop	腿较直、弯腰	legs fairly straight, bend at the waist	B	B
B3	拿起：单膝跪	Pick up: kneel	单膝跪地拿起再站起	one knee down, lift, stand up	B	B
B4	放下：轻放	Put down: gentle	慢慢放稳	slow and careful	B	B
B5	放下：快放	Put down: quick	离地约 20 cm 内松手(安全前提下)	release from ≤20 cm above the floor (only if safe)	B	B
B6	放下：单膝跪放	Put down: kneel	单膝跪地放下	one knee down to place it	B	B
C1	像很重	As if very heavy	像箱子有 15 kg:弯腰发力、步子慢	as if it weighed 15 kg: effort, slow steps	C	C
C2	像很易碎	As if fragile	像装着玻璃：轻拿轻放、走得稳	as if full of glass: gentle, smooth	C	C
C3	像很烫	As if hot	像箱子烫手：离身体远、手指尖托着	as if too hot: held away, fingertips	C	C
C4	像很脏	As if dirty	像很脏很臭：伸直手臂、头偏开	as if dirty/smelly: arms out, head turned away	C	C
C5	像装满水	As if full of liquid	像一满盆水：保持水平、小步	as if a full basin: keep it level, small steps	C	C
C6	急匆匆	Hurried	快步，像赶时间	quick steps, in a rush	C	C

A 每种拍 4 条(完整 2、只拿起 1、只放下 1)。B 只拍完整 2 条，用 A1 的抓法。C 完整 2 条，分别用 A1 和 A2 的抓法。A 4 takes each (full 2, pickup 1, putdown 1). B full ×2 only, with the A1 grip. C full ×2, once with the A1 grip and once with A2.

我们已有的样例(A1–A8)Examples we already have (A1–A8)

下面是机器人上的参考动作，由我们已有的数据重定向而来，帮你看清每种搬法长什么样。它们多数来自视频重建，质量不够，所以 A1–A8 也请用真人动捕重拍;A9–A12 我们还没有，是这次最想要的。Reference motions on the robot, retargeted from data we already have, so you can see what each style looks like. Most come from video reconstruction and are not clean enough, so please re-capture A1–A8 with real mocap; A9–A12 we do not have yet and want most.

A1 双手托底端在身前Front carry

A2 抱在胸前Hug to chest

A3 右腋下夹Under right arm

A4 左腋下夹Under left arm

A5 扛在右肩On right shoulder

A6 扛在左肩On left shoulder

A7 掌心向上平托Palms-up tray

A8 背在身后Behind the back

05可选：脚下格子步法与身体打击乐(有时间再拍)Optional: floor-grid footwork and body percussion (if time allows)

用胶带贴一条 6 格的「绳梯」,每格 45 × 45 cm。听节拍器(90 和 120 拍/分钟)踩;不跳、不单脚跳。Tape a 6-square ladder, 45 × 45 cm each. Step to a metronome (90 and 120 bpm); no jumps or hops.

每条:站稳 1 秒 → 跟着节拍做约 8 拍 × 2 → 站稳 1 秒。
Each take: stand 1 s → about 8 beats × 2 of the pattern → stand 1 s.
步法每种 4 条:两种速度 × 左脚先 / 右脚先。打击乐每种 2 条:两种速度。
Footwork: 4 takes each (two tempos × left/right lead). Percussion: 2 takes each (two tempos).
同时录下节拍器声音，或记下节拍器开始的时间。
Record the metronome audio, or note when it starts.

#	图案	Pattern	做法	How
F1	每格两步	Two feet per square	向前，每格左右脚各踩一次	forward, both feet touch every square
F2	进进出出	In-in-out-out	侧身，两脚进格、两脚出格，逐格前移	sideways: two feet in, two feet out, move one square
F3	Ickey 步	Ickey shuffle	进、进、出到一侧，左右交替	in, in, out to the side, alternating sides
F4	横向滑步	Lateral shuffle	面朝侧面横移，每格两步	face sideways, two steps per square
F5	交叉步	Crossover	向前，每步跨过身体中线	forward, each step crosses the midline
F6	之字步	Zig-zag	一脚在格内、一脚在格外，交替前进	one foot in, one foot out, alternating
F7	方块步	Box step	原地在一格里走出 4 拍的方形	in place, a 4-count square in one square
F8	藤步	Grapevine	沿绳梯侧移，后插步与前插步交替	sideways along the ladder, behind/in-front cross steps
P1	拍手	Claps	原地站，按节拍拍手	standing, clap on the beat
P2	拍腿拍手	Thigh–clap	双手拍大腿、再拍手，交替	slap both thighs, then clap, alternating
P3	跺跺拍	Stomp–stomp–clap	左脚跺、右脚跺、拍手	stomp left, stomp right, clap
P4	胸腿手	Chest–thigh–clap	拍胸、拍腿、拍手循环	chest pat, thigh slap, clap, repeat
P5	踏步拍腿	March and slap	原地踏步，抬哪条腿拍哪条腿	march in place, slap the lifted thigh

共 42 条短片段(步法 8 × 4 + 打击乐 5 × 2),每条约 8–10 秒。42 short takes in total (footwork 8 × 4 + percussion 5 × 2), about 8–10 s each.

06交付格式Delivery

人体:每条一个 FBX 或 BVH(带骨架层级与关节旋转),单位米，写明哪个轴朝上;地面高度 = 0。
Body: one FBX or BVH per take (skeleton hierarchy + joint rotations), meters, state the up axis; floor at height 0.
箱子:同一 FBX 里的一个刚体节点，或每条一个 CSV:time, x, y, z, qx, qy, qz, qw;与人体同一坐标系、同一时钟。
Box: a rigid-body node in the same FBX, or one CSV per take: time, x, y, z, qx, qy, qz, qw; same coordinate frame and clock as the body.
文件名:编号_搬法_片段_第几条,例如 A01_front-carry_full_t1.fbx。
File name: id_style_type_take, e.g. A01_front-carry_full_t1.fbx.
一张表格:文件名、搬法、片段类型、备注(哪条有问题)。手机参考视频可选，有更好。
One spreadsheet: file, style, type, notes (any issues). A phone reference video per take is optional but helpful.

07现场检查单On-set checklist

START、A、B 三处胶带已贴，A→B 3.0 m 直线
START, A, B taped; A→B is 3.0 m straight
箱子六面有标记点，刚体能稳定识别(抱住时也不丢)
Box markers on all faces; rigid body stays tracked even when hugged
T 姿态校准已录，演员身体尺寸已记
T-pose calibration recorded; performer measurements noted
每条开头、结尾都站稳 ≥1 秒
Every take starts and ends with ≥1 s neutral stand
箱子从地上起，放回地上，没有桌子
Box floor to floor, no tables
拿起/放下片段里的静止段 ≥3 秒
Pickup/putdown takes include a ≥3 s still hold