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sequences/exo-standing_s1_xhall_01/aria/multi_slam/0/vrs_health_check_slam.json

@@ -0,0 +1,5 @@
+{
+  "errors": [],
+  "warnings": [],
+  "infos": []
+}

sequences/exo-standing_s1_xhall_01/aria/multi_slam/1/vrs_health_check.json

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sequences/exo-standing_s1_xhall_01/aria/multi_slam/1/vrs_health_check_slam.json

@@ -0,0 +1,5 @@
+{
+  "errors": [],
+  "warnings": [],
+  "infos": []
+}

sequences/exo-standing_s1_xhall_01/aria/multi_slam/vrs_to_multi_slam.json

@@ -0,0 +1,4 @@
+{
+  "/home/brandesa/mt/human_terrain_generation/data/sequences/exo-standing_s1_xhall_01/aria/exo-standing_s1_xhall_01.vrs": "0",
+  "/home/brandesa/mt/human_terrain_generation/data/sequences/exo-standing_s1_xhall_01/aria/exo-standing_s1_xhall_01_2nd.vrs": "1"
+}

sequences/exo-standing_s1_xhall_01/config.yaml

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+evaluator_config: null
+generator_config:
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+  eyes2device:
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+    joint: Eyes
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+  head2device:
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+    height_trans: 0.05
+    joint: Head
+    rot_euler_global:
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+    learning_rate: 0.001
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+    opt_vars:
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+      - knees
+      - feet
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+      jaw_pose: false
+    optimizer: adam
+    weights:
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+  ik_config:
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+    opt_vars:
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+      - feet
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+      eye_pose: false
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+      jaw_pose: false
+    optimizer: adam
+    weights:
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+      pose_prior: 10.0
+      smooth: 0.0
+retargeter_config:
+  robot_assets: g1_29dof_spherehand
+  robot_type: g1
+smplx_config:
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+  - 0.03760572522878647
+  gender: male
+visualizer_config:
+  fps: 30
+  grcp_port: 9001
+  web_port: 9091

sequences/exo-standing_s1_xhall_01/egomc/exo-standing_s1_xhall_01.csv

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sequences/exo-standing_s1_xhall_01/retarget/g1_29dof_spherehand_w_multi_boxes.xml

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+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
+    <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
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+    <mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
+    <mesh name="logo_link" file="logo_link.STL"/>
+    <mesh name="head_link" file="head_link.STL"/>
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
+    <mesh name="left_elbow_link" file="left_elbow_link.STL"/>
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+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
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+    <mesh name="right_elbow_link" file="right_elbow_link.STL"/>
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
+    <mesh name="left_hand_palm_link" file="left_hand_palm_link.STL"/>
+
+    <mesh name="left_rubber_hand_link" file="left_rubber_hand.STL"/>
+
+    <mesh name="right_hand_palm_link" file="right_hand_palm_link.STL"/>
+    <mesh name="right_rubber_hand_link" file="right_rubber_hand.STL"/>
+
+    <mesh name="half_sphere" file="../../../robot_models/g1/assets/half_sphere.obj"/>
+
+
+    <include file="box_assets.xml"/>
+  </asset>
+
+
+
+  <worldbody>
+  <!-- <geom name="ground" type="plane" size="10 10 0.1" pos="0 0 0"/> -->
+    <body name="pelvis" pos="0 0 0.793">
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
+      <freejoint/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
+      <geom name="pelvis" type="mesh" contype="1" conaffinity="1" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
+      <body name="pelvis_contour_link"><inertial pos="0 0 0" mass="0.001" diaginertia="1e-07 1e-07 1e-07" /></body>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88" armature="0.0103"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
+        <geom name="left_hip_pitch_link" contype="1" conaffinity="1" type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139" armature="0.0251"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
+          <geom name="left_hip_roll_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88" armature="0.0103"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
+            <geom name="left_hip_yaw_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139" armature="0.0251"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
+              <geom name="left_knee_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
+
+              <!-- ===== left_ankle_intermediate_1_link (fixed) ===== -->
+              <body name="left_ankle_intermediate_1_link" pos="0 0 -0.28" quat="1 0 0 0">
+                <inertial pos="0 0 0" quat="1 0 0 0"
+                            mass="0.01"
+                            diaginertia="1e-6 1e-6 1e-6"/>
+                <geom name="left_ankle_intermediate_1_link"
+                        type="sphere" size="0.01"
+                        rgba="0.7 0.7 0.7 1"
+                        contype="1" conaffinity="1"/>
+              </body>
+
+                <!-- ===== left_ankle_pitch_link (hinge joint about Y) ===== -->
+              <body name="left_ankle_pitch_link" pos="0 -0.000094445 -0.30001" quat="1 0 0 0">
+                <inertial pos="-0.007269 0 0.011137"
+                            mass="0.074"
+                            fullinertia="8.4e-06 1.89e-05 1.26e-05 0 -2.9e-06 0"/>
+                <geom name="left_ankle_pitch_link"
+                        type="mesh" mesh="left_ankle_pitch_link"
+                        rgba="0.7 0.7 0.7 1"
+                        contype="1" conaffinity="1"/>
+                <joint name="left_ankle_pitch_joint" type="hinge"
+                        pos="0 0 0" axis="0 1 0"
+                        range="-0.87267 0.5236"/>
+
+                <!-- ===== left_ankle_roll_link (hinge joint about X) ===== -->
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558" quat="1 0 0 0">
+                    <inertial pos="0.026505 0 -0.016425"
+                            mass="0.608"
+                            fullinertia="0.0002231 0.0016161 0.0016667 2e-07 8.91e-05 -1e-07"/>
+                    <geom name="left_ankle_roll_link"
+                        type="mesh" mesh="left_ankle_roll_link"
+                        rgba="0.2 0.2 0.2 1"
+                        contype="1" conaffinity="1"/>
+                    <joint name="left_ankle_roll_joint" type="hinge"
+                        pos="0 0 0" axis="1 0 0"
+                        range="-0.2618 0.2618"/>
+
+                    <!-- ===== ankle small spheres (fixed children) ===== -->
+                    <body name="left_ankle_roll_sphere_3_link" pos="0.12 0.03 -0.03" quat="1 0 0 0">
+                        <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
+                        <geom name="left_ankle_roll_sphere_3_link"
+                                type="sphere" size="0.005"
+                                rgba="0.2 0.2 0.2 1"
+                                contype="1" conaffinity="1"/>
+                    </body>
+
+                    <body name="left_ankle_roll_sphere_4_link" pos="0.12 -0.03 -0.03" quat="1 0 0 0">
+                        <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
+                        <geom name="left_ankle_roll_sphere_4_link"
+                                type="sphere" size="0.005"
+                                rgba="0.2 0.2 0.2 1"
+                                contype="1" conaffinity="1"/>
+                    </body>
+
+                    <body name="left_ankle_roll_sphere_5_link" pos="0.14 0 -0.03" quat="1 0 0 0">
+                        <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
+                        <geom name="left_ankle_roll_sphere_5_link"
+                                type="sphere" size="0.005"
+                                rgba="0.2 0.2 0.2 1"
+                                contype="1" conaffinity="1"/>
+                    </body>
+
+                    <body name="left_ankle_roll_sphere_1_link" pos="-0.05 0.025 -0.03" quat="1 0 0 0">
+                        <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
+                        <geom name="left_ankle_roll_sphere_1_link"
+                                type="sphere" size="0.005"
+                                rgba="0.2 0.2 0.2 1"
+                                contype="1" conaffinity="1"/>
+                    </body>
+
+                    <body name="left_ankle_roll_sphere_2_link" pos="-0.05 -0.025 -0.03" quat="1 0 0 0">
+                        <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
+                        <geom name="left_ankle_roll_sphere_2_link"
+                                type="sphere" size="0.005"
+                                rgba="0.2 0.2 0.2 1"
+                                contype="1" conaffinity="1"/>
+                    </body>
+
+                </body>
+
+              </body>
+
+            </body>
+
+          </body>
+        </body>
+      </body>
+
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88" armature="0.0103"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
+        <geom name="right_hip_pitch_link" contype="1" conaffinity="1" type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139" armature="0.0251"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
+          <geom name="right_hip_roll_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88" armature="0.0103"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
+            <geom name="right_hip_yaw_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139" armature="0.0251"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
+              <geom name="right_knee_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
+
+                 <!-- ===== right_ankle_intermediate_1_link (fixed) ===== -->
+              <body name="right_ankle_intermediate_1_link" pos="0 0 -0.28" quat="1 0 0 0">
+                <inertial pos="0 0 0" quat="1 0 0 0"
+                        mass="0.01"
+                        diaginertia="1e-6 1e-6 1e-6"/>
+                <geom name="right_ankle_intermediate_1_link"
+                    type="sphere" size="0.01"
+                    rgba="0.7 0.7 0.7 1"
+                    contype="1" conaffinity="1"/>
+              </body>
+
+              <!-- ===== right_ankle_pitch_link (revolute about Y) ===== -->
+              <body name="right_ankle_pitch_link" pos="0 0.000094445 -0.30001" quat="1 0 0 0">
+                <inertial pos="-0.007269 0 0.011137"
+                        mass="0.074"
+                        fullinertia="8.4e-06 1.89e-05 1.26e-05 0 -2.9e-06 0"/>
+                <geom name="right_ankle_pitch_link"
+                    type="mesh" mesh="right_ankle_pitch_link"
+                    rgba="0.7 0.7 0.7 1"
+                    contype="1" conaffinity="1"/>
+                <joint name="right_ankle_pitch_joint" type="hinge"
+                    pos="0 0 0" axis="0 1 0"
+                    range="-0.87267 0.5236"/>
+
+                <!-- ===== right_ankle_roll_link (revolute about X) ===== -->
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558" quat="1 0 0 0">
+                    <inertial pos="0.026505 0 -0.016425"
+                                mass="0.608"
+                                fullinertia="0.0002231 0.0016161 0.0016667 -2e-07 8.91e-05 1e-07"/>
+                    <geom name="right_ankle_roll_link"
+                            type="mesh" mesh="right_ankle_roll_link"
+                            rgba="0.2 0.2 0.2 1"
+                            contype="1" conaffinity="1"/>
+                    <joint name="right_ankle_roll_joint" type="hinge"
+                            pos="0 0 0" axis="1 0 0"
+                            range="-0.2618 0.2618"/>
+
+                     <!-- ===== ankle small spheres (fixed children) ===== -->
+                    <body name="right_ankle_roll_sphere_3_link" pos="0.12 0.03 -0.03" quat="1 0 0 0">
+                        <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
+                        <geom name="right_ankle_roll_sphere_3_link" type="sphere" size="0.005"
+                            pos="0 0 0" rgba="0.2 0.2 0.2 1" density="0"
+                            contype="1" conaffinity="1"/>
+                    </body>
+
+                    <body name="right_ankle_roll_sphere_4_link" pos="0.12 -0.03 -0.03" quat="1 0 0 0">
+                        <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
+                         <geom name="right_ankle_roll_sphere_4_link" type="sphere" size="0.005"
+                            pos="0 0 0" rgba="0.2 0.2 0.2 1" density="0"
+                            contype="1" conaffinity="1"/>
+
+                    </body>
+
+                    <body name="right_ankle_roll_sphere_5_link" pos="0.14 0 -0.03" quat="1 0 0 0">
+                        <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
+                        <geom name="right_ankle_roll_sphere_5_link" type="sphere" size="0.005"
+                            pos="0 0 0" rgba="0.2 0.2 0.2 1" density="0"
+                            contype="1" conaffinity="1"/>
+                    </body>
+
+                    <body name="right_ankle_roll_sphere_1_link" pos="-0.05 0.025 -0.03" quat="1 0 0 0">
+                        <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
+                        <geom name="right_ankle_roll_sphere_1_link" type="sphere" size="0.005"
+                            pos="0 0 0" rgba="0.2 0.2 0.2 1" density="0"
+                            contype="1" conaffinity="1"/>
+                    </body>
+
+                    <body name="right_ankle_roll_sphere_2_link" pos="-0.05 -0.025 -0.03" quat="1 0 0 0">
+                        <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
+                        <geom name="right_ankle_roll_sphere_2_link" type="sphere" size="0.005"
+                            pos="0 0 0" rgba="0.2 0.2 0.2 1" density="0"
+                            contype="1" conaffinity="1"/>
+                    </body>
+
+
+                </body>
+
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205"/>
+        <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88" armature="0.0103"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
+        <geom name="waist_yaw_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
+          <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50" armature="0.0103"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
+          <geom name="waist_roll_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
+          <body name="torso_link">
+            <inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
+            <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
+            <geom name="torso_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
+            <!-- <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/> -->
+            <body name="head_link" pos="0.0039635 0 -0.044">
+              <inertial pos="0.005267 0.000299 0.449869" quat="0.698214 0.0103452 0.0112083 0.715727" mass="1.036" diaginertia="0.00418528 0.00408711 0.00180579" />
+            </body>
+            <body name="head_mocap" pos="0.0000 0.0000 0.4000"></body>
+            <geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
+            <geom name="head_link" contype="1" conaffinity="1" pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
+            <body name="imu_in_torso" pos="-0.03959 -0.00224 0.14792"></body>
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25" armature="0.003597"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
+              <geom name="left_shoulder_pitch_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
+              <!-- <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/> -->
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25" armature="0.003597"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
+                <geom name="left_shoulder_roll_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
+                <!-- <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/> -->
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" armature="0.003597"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
+                  <geom name="left_shoulder_yaw_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" armature="0.003597"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
+                    <geom name="left_elbow_link" contype="1" conaffinity="1"  type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
+                      <geom name="left_wrist_roll_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
+                        <geom name="left_wrist_pitch_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
+                          <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
+                          <geom name="left_wrist_yaw_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
+
+
+
+                          <!-- left_sphere_hand_link -->
+                          <body name="left_sphere_hand_link" pos="0.029 -0.003 0" quat="0.70710678 0 0.70710678 0">
+                            <!-- inertial -->
+                            <inertial
+                            pos="0 0 0" quat="1 0 0 0"
+                            mass="0.124"
+                            diaginertia="0.0000446 0.0000446 0.0000446"/>
+                            <!-- visual+collision mesh -->
+                            <geom name="left_sphere_hand_link"
+                                type="mesh" mesh="half_sphere"
+                                rgba="0.7 0.7 0.7 1"
+                                contype="1" conaffinity="1"/>
+
+                            <!-- child body from fixed joint: left_sphere_hand_tip_joint
+                                URDF origin xyz="0.03 0 0" rpy="0 0 0" -->
+                            <body name="left_sphere_hand_tip_link" pos="0.03 0 0" quat="1 0 0 0">
+                                <!-- small sphere geom (visual+collision) -->
+                                <geom name="left_sphere_hand_tip_link"
+                                        type="sphere" size="0.001"
+                                        rgba="0.7 0.7 0.7 1"
+                                        contype="1" conaffinity="1"/>
+                            </body>
+
+                          </body>
+
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25" armature="0.003597"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
+              <!-- <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/> -->
+              <geom name="right_shoulder_pitch_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25" armature="0.003597"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
+                <!-- <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/> -->
+                <geom name="right_shoulder_roll_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" armature="0.003597"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
+                  <geom name="right_shoulder_yaw_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" armature="0.003597"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
+                    <geom name="right_elbow_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
+                      <geom name="right_wrist_roll_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
+                        <geom name="right_wrist_pitch_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
+                          <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
+                          <geom name="right_wrist_yaw_link" contype="1" conaffinity="1" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
+
+
+
+                          <body name="right_sphere_hand_link" pos="0.029 -0.003 0" quat="0.70710678 0 0.70710678 0">
+                            <!-- inertial -->
+                            <inertial
+                            pos="0 0 0" quat="1 0 0 0"
+                            mass="0.124"
+                            diaginertia="0.0000446 0.0000446 0.0000446"/>
+                            <!-- visual+collision mesh -->
+                            <geom name="right_sphere_hand_link"
+                                type="mesh" mesh="half_sphere"
+                                rgba="0.7 0.7 0.7 1"
+                                contype="1" conaffinity="1"/>
+
+                            <!-- child body from fixed joint: left_sphere_hand_tip_joint
+                                URDF origin xyz="0.03 0 0" rpy="0 0 0" -->
+                            <body name="right_sphere_hand_tip_link" pos="0.03 0 0" quat="1 0 0 0">
+                                <!-- small sphere geom (visual+collision) -->
+                                <geom name="right_sphere_hand_tip_link"
+                                        type="sphere" size="0.001"
+                                        rgba="0.7 0.7 0.7 1"
+                                        contype="1" conaffinity="1"/>
+                            </body>
+
+                          </body>
+
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <include file="box_body.xml"/>
+
+  </worldbody>
+
+  <actuator>
+    <motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_hip_roll_joint" joint="left_hip_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_knee_joint" joint="left_knee_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_hip_roll_joint" joint="right_hip_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_knee_joint" joint="right_knee_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="waist_yaw_joint" joint="waist_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="waist_roll_joint" joint="waist_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="waist_pitch_joint" joint="waist_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_elbow_joint" joint="left_elbow_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_elbow_joint" joint="right_elbow_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+
+    <!-- <motor name="left_hand_thumb_0_joint" joint="left_hand_thumb_0_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_hand_thumb_1_joint" joint="left_hand_thumb_1_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_hand_thumb_2_joint" joint="left_hand_thumb_2_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_hand_middle_0_joint" joint="left_hand_middle_0_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_hand_middle_1_joint" joint="left_hand_middle_1_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_hand_index_0_joint" joint="left_hand_index_0_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="left_hand_index_1_joint" joint="left_hand_index_1_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_hand_thumb_0_joint" joint="right_hand_thumb_0_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_hand_thumb_1_joint" joint="right_hand_thumb_1_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_hand_thumb_2_joint" joint="right_hand_thumb_2_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_hand_index_0_joint" joint="right_hand_index_0_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_hand_index_1_joint" joint="right_hand_index_1_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_hand_middle_0_joint" joint="right_hand_middle_0_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
+    <motor name="right_hand_middle_1_joint" joint="right_hand_middle_1_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>  -->
+
+
+  </actuator>
+
+  <sensor>
+    <framequat name='orientation' objtype='site' noise='0.001' objname='imu_in_pelvis'/>
+    <framepos name='position' objtype='site' noise='0.001' objname='imu_in_pelvis'/>
+    <gyro name='angular-velocity' cutoff='34.9' noise='0.005' site='imu_in_pelvis'/>
+  </sensor>
+
+  <!-- setup scene -->
+  <statistic center="1.0 0.7 1.0" extent="0.8"/>
+  <visual>
+    <headlight diffuse=".8 .8 .8" ambient=".2 .2 .2" specular="1 1 1"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-140" elevation="-20"/>
+  </visual>
+
+
+
+
+  <keyframe>
+    <key name="home"
+      qpos="0 0 1.0 1 0 0 0
+      -0.2 0 0 0.4 -0.2 0
+      -0.2 0 0 0.4 -0.2 0
+      0 0 0
+      0 0.2 0 1.2
+      0 0 0
+      0 -0.2 0 1.2
+      0 0 0" />
+  </keyframe>
+</mujoco>

sequences/exo-standing_s1_xhall_01/retarget/multi_boxes.urdf

@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+  <link name="world"/>
+ 
+  <!-- boxes -->
+  <link name="boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="multi_boxes.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="boxes_material">
+        <color rgba="0.5 0.5 0.5 0.5"/>
+      </material>
+    </visual>
+
+    <collision name="boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="multi_boxes.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for boxes -->
+  <joint name="world_to_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

sequences/exo-standing_s1_xhall_01/scene/exo-standing_s1_xhall_01.e57

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a15867e54ab9e0fe83e3ec7ccb831718b5a8ea9223dea32877be8c47c78b075
+size 437224448

sequences/exo-standing_s1_xhall_01/scene/exo-standing_s1_xhall_01.mtl

@@ -0,0 +1,3 @@
+newmtl Scan_137_0
+map_Ka ./8497e7ba-7f03-c712-3560-d46bae28b9ea_0.jpg
+map_Kd ./8497e7ba-7f03-c712-3560-d46bae28b9ea_0.jpg

sequences/exo-standing_s1_xhall_01/scene/exo-standing_s1_xhall_01.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39a1516fc8a64dbe4100c83e647b94dea6e1a5d89c5cd522f05a737cec56ce30
+size 124858002