# Phone Pocket Data

This is the training and test data for the Phone Pocket Mode of WearMoCap. It contains ground truth arm poses from an optical motion capture system and the smartwatch sensor data. Subjects wore a smartwatch on their left arm, a phone in their pocket, and were free to move around. Data collection is described in detail in our technical report:

[__WearMoCap: multimodal pose tracking for ubiquitous robot control using a smartwatch__](https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2024.1478016/full)

## Data columns

* `gt_hand_orig_cal_x,y,z`: Ground truth hand position relative to the hip
* `gt_larm_6drr_cal_1,2,3,4,5,6`: Ground truth lower arm orientation relative to the hip. Denoted in the 6-dimensional rotation representation which takes the first two columns of th
e rotation matrix (details in our technical report).
* `gt_larm_orig_cal_x,y,z`: Ground truth lower arm origin (elbow) position relative to the
hip.
* `gt_uarm_6drr_cal_1,2,3,4,5,6`: Ground truth upper arm orientation relative to the hip.
* `gt_uarm_orig_cal_x,y,z`: Ground truth upper arm origin (shoulder) position relative to t
he hip.
* `gt_hips_yrot_cal_sin_cos`: Ground truth indicator of body orientation. These are the sine and cosine of the hip rotation around the y-axis (up).
* `sw_dt`: time since the previous smartwatch observation
* `sw_h, sw_m, sw_s, sw_ns`: time stamp of current smartwatch observation in h,m,s,ns
* `sw_gyro_x,y,z`: Smartwatch gyroscope measurements
* `sw_lvel_x,y,z`: Smartwatch linear acceleration multiplied by dt
* `sw_lacc_x,y,z`: Smartwatch linear acceleration measurements
* `sw_grav_x,y,z`: Smartwatch gravity sensor measurements
* `sw_6drr_cal_1,2,3,4,5,6` : Calibrated smartwatch orientation estimate in 6-d orientation representation
* `sw_pres_cal` : Calibrated smartwatch atmospheric pressure readings
* `ph_hips_yrot_cal_sin_cos`: Sine and cosine of the estimated phone rotation around the global y-axis (up) as a proxy for body orientation.