Add packaged demo and skeleton assets required for native startup

kimodo/assets/demo/examples/kimodo-g1-rp/01_single_text_prompt/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "A person walking forward quickly stumbles but maintains their balance",
+  "duration": 5.0,
+  "num_samples": 1,
+  "seed": 43,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-g1-rp/01_single_text_prompt/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e2f558a95c538b9a0230a156a0644f9a5d063fb5314c74d269adaecea41c566
+size 246198

kimodo/assets/demo/examples/kimodo-g1-rp/02_multi_text_ee_constraint/constraints.json

@@ -0,0 +1,752 @@
+[
+  {
+    "type": "left-hand",
+    "frame_indices": [
+      40,
+      155
+    ],
+    "local_joints_rot": [
+      [
+        [
+          -0.20672118663787842,
+          0.0004979433142580092,
+          0.010066316463053226
+        ],
+        [
+          0.0789145976305008,
+          0.0008333905134350061,
+          -5.267082087812014e-05
+        ],
+        [
+          -0.1686924546957016,
+          -0.0027884345036000013,
+          0.0520743690431118
+        ],
+        [
+          0.000989485066384077,
+          0.1385614573955536,
+          0.0005803265958093107
+        ],
+        [
+          1.0274103879928589,
+          -0.0004089517460670322,
+          0.0007986496202647686
+        ],
+        [
+          -0.39034226536750793,
+          -0.001306047779507935,
+          -4.922552761854604e-05
+        ],
+        [
+          0.0023066187277436256,
+          -0.0007853881106711924,
+          -0.0062883589416742325
+        ],
+        [
+          4.49517356173601e-05,
+          0.0033443598076701164,
+          -0.0014551420463249087
+        ],
+        [
+          0.07268467545509338,
+          -0.0011258760932832956,
+          -3.953919076593593e-05
+        ],
+        [
+          -0.1719113141298294,
+          0.018712127581238747,
+          0.06082615628838539
+        ],
+        [
+          0.0011432868195697665,
+          0.02744375728070736,
+          0.0025501118507236242
+        ],
+        [
+          0.41685307025909424,
+          -0.002692570211365819,
+          -0.0006283970433287323
+        ],
+        [
+          -0.1283608227968216,
+          0.0030534265097230673,
+          0.00016949126438703388
+        ],
+        [
+          -0.005590266548097134,
+          0.0014076301595196128,
+          -0.038615260273218155
+        ],
+        [
+          -0.00013014793512411416,
+          0.001360177993774414,
+          6.41088408883661e-05
+        ],
+        [
+          0.00010043015936389565,
+          -0.01370090153068304,
+          -0.00014910128084011376
+        ],
+        [
+          0.00023336269077844918,
+          0.0025421029422432184,
+          0.04833226650953293
+        ],
+        [
+          0.056574925780296326,
+          0.0006874562823213637,
+          0.0004548647266346961
+        ],
+        [
+          -0.37481847405433655,
+          -0.054357241839170456,
+          0.2803272306919098
+        ],
+        [
+          0.0013725318713113666,
+          0.009074348025023937,
+          -0.0021504403557628393
+        ],
+        [
+          -0.0012184121878817677,
+          -0.4267229437828064,
+          0.011203057132661343
+        ],
+        [
+          1.255251407623291,
+          0.0009449978824704885,
+          0.0010158077348023653
+        ],
+        [
+          -0.003570390399545431,
+          -0.003947308287024498,
+          -0.5030224323272705
+        ],
+        [
+          0.1881941556930542,
+          -0.000495748536195606,
+          0.0016725400928407907
+        ],
+        [
+          -0.002223622752353549,
+          0.11821465194225311,
+          0.007546884939074516
+        ],
+        [
+          -0.00137770373839885,
+          -0.0031452146358788013,
+          -0.0015015294775366783
+        ],
+        [
+          -0.3751647472381592,
+          0.05314668267965317,
+          -0.28086331486701965
+        ],
+        [
+          -0.007756246719509363,
+          -0.016310883685946465,
+          -0.02847120724618435
+        ],
+        [
+          -0.0002517815155442804,
+          0.427451491355896,
+          3.640262002591044e-05
+        ],
+        [
+          1.2455408573150635,
+          -0.0014789876295253634,
+          0.0008519256953150034
+        ],
+        [
+          0.004311776254326105,
+          0.009671058505773544,
+          0.5968337655067444
+        ],
+        [
+          0.1335560381412506,
+          0.0011528844479471445,
+          -0.0008361327927559614
+        ],
+        [
+          0.001167859067209065,
+          -0.1551152616739273,
+          0.00019725598394870758
+        ],
+        [
+          -0.0014258474111557007,
+          0.0034801543224602938,
+          0.0009809854673221707
+        ]
+      ],
+      [
+        [
+          -0.047659896314144135,
+          -0.11130385845899582,
+          -0.0020901868119835854
+        ],
+        [
+          -1.5705475807189941,
+          -0.0014125468442216516,
+          -0.0008221857133321464
+        ],
+        [
+          -0.16147980093955994,
+          0.014729475602507591,
+          0.4458121657371521
+        ],
+        [
+          -0.00045561062870547175,
+          -0.1160486489534378,
+          -0.006125911604613066
+        ],
+        [
+          2.811251401901245,
+          0.0016747766640037298,
+          -0.005349006038159132
+        ],
+        [
+          -0.8591147065162659,
+          0.0037903853226453066,
+          0.00048354381578974426
+        ],
+        [
+          0.006445891689509153,
+          -0.0036706889513880014,
+          -0.03472399711608887
+        ],
+        [
+          -0.001481462037190795,
+          0.0015367366140708327,
+          -0.0015593112912029028
+        ],
+        [
+          -1.5751848220825195,
+          0.001112997648306191,
+          0.0009848373010754585
+        ],
+        [
+          -0.16862420737743378,
+          -0.016877643764019012,
+          -0.26229384541511536
+        ],
+        [
+          -9.055795817403123e-05,
+          0.09453120082616806,
+          -0.0134742371737957
+        ],
+        [
+          2.811314344406128,
+          0.003919574897736311,
+          0.005575981922447681
+        ],
+        [
+          -0.8299098014831543,
+          -0.003791244002059102,
+          0.0012802339624613523
+        ],
+        [
+          0.005852710455656052,
+          0.005849692039191723,
+          0.1632416546344757
+        ],
+        [
+          -0.0015579514438286424,
+          9.288851288147271e-05,
+          0.001196552417241037
+        ],
+        [
+          0.00043879495933651924,
+          0.04429133981466293,
+          0.0002551022043917328
+        ],
+        [
+          -0.0019886596128344536,
+          0.008745947852730751,
+          -0.00962099153548479
+        ],
+        [
+          0.5197923183441162,
+          -0.0010678194230422378,
+          0.0002590256044641137
+        ],
+        [
+          -0.9051622152328491,
+          -0.12138096988201141,
+          0.25749173760414124
+        ],
+        [
+          0.010689850896596909,
+          -0.01072163600474596,
+          0.20382197201251984
+        ],
+        [
+          -0.0009684870601631701,
+          -0.5894762873649597,
+          0.0032688004430383444
+        ],
+        [
+          1.30536949634552,
+          -0.002206705743446946,
+          -0.0020471925381571054
+        ],
+        [
+          0.0067055909894406796,
+          -0.015674468129873276,
+          -0.9086763262748718
+        ],
+        [
+          -0.26612186431884766,
+          -0.00016191616305150092,
+          0.002851327648386359
+        ],
+        [
+          0.003539646975696087,
+          0.20451955497264862,
+          -0.02575569413602352
+        ],
+        [
+          0.003367731347680092,
+          0.0018452388467267156,
+          -0.00026573429931886494
+        ],
+        [
+          -0.9464634656906128,
+          0.12737642228603363,
+          -0.2577688992023468
+        ],
+        [
+          0.00046661958913318813,
+          -0.008693858049809933,
+          -0.19606870412826538
+        ],
+        [
+          -0.0058177076280117035,
+          0.6349377036094666,
+          -0.0003108184027951211
+        ],
+        [
+          1.4694209098815918,
+          0.0046353572979569435,
+          0.002392316237092018
+        ],
+        [
+          0.022281549870967865,
+          0.006433307193219662,
+          1.1441218852996826
+        ],
+        [
+          -0.16217999160289764,
+          -0.0005673008854500949,
+          -0.0028868752997368574
+        ],
+        [
+          0.0011142585426568985,
+          0.036793302744627,
+          0.06873425096273422
+        ],
+        [
+          0.001964340452104807,
+          -0.004202086944133043,
+          0.0034294212237000465
+        ]
+      ]
+    ],
+    "root_positions": [
+      [
+        0.014979152008891106,
+        0.7896444201469421,
+        0.8725281357765198
+      ],
+      [
+        0.12546521425247192,
+        0.30551770329475403,
+        2.3331315517425537
+      ]
+    ],
+    "smooth_root_2d": [
+      [
+        0.014979152008891106,
+        0.8725281357765198
+      ],
+      [
+        0.12546521425247192,
+        2.3331315517425537
+      ]
+    ]
+  },
+  {
+    "type": "right-hand",
+    "frame_indices": [
+      40,
+      155
+    ],
+    "local_joints_rot": [
+      [
+        [
+          -0.20672118663787842,
+          0.0004979433142580092,
+          0.010066316463053226
+        ],
+        [
+          0.0789145976305008,
+          0.0008333905134350061,
+          -5.267082087812014e-05
+        ],
+        [
+          -0.1686924546957016,
+          -0.0027884345036000013,
+          0.0520743690431118
+        ],
+        [
+          0.000989485066384077,
+          0.1385614573955536,
+          0.0005803265958093107
+        ],
+        [
+          1.0274103879928589,
+          -0.0004089517460670322,
+          0.0007986496202647686
+        ],
+        [
+          -0.39034226536750793,
+          -0.001306047779507935,
+          -4.922552761854604e-05
+        ],
+        [
+          0.0023066187277436256,
+          -0.0007853881106711924,
+          -0.0062883589416742325
+        ],
+        [
+          4.49517356173601e-05,
+          0.0033443598076701164,
+          -0.0014551420463249087
+        ],
+        [
+          0.07268467545509338,
+          -0.0011258760932832956,
+          -3.953919076593593e-05
+        ],
+        [
+          -0.1719113141298294,
+          0.018712127581238747,
+          0.06082615628838539
+        ],
+        [
+          0.0011432868195697665,
+          0.02744375728070736,
+          0.0025501118507236242
+        ],
+        [
+          0.41685307025909424,
+          -0.002692570211365819,
+          -0.0006283970433287323
+        ],
+        [
+          -0.1283608227968216,
+          0.0030534265097230673,
+          0.00016949126438703388
+        ],
+        [
+          -0.005590266548097134,
+          0.0014076301595196128,
+          -0.038615260273218155
+        ],
+        [
+          -0.00013014793512411416,
+          0.001360177993774414,
+          6.41088408883661e-05
+        ],
+        [
+          0.00010043015936389565,
+          -0.01370090153068304,
+          -0.00014910128084011376
+        ],
+        [
+          0.00023336269077844918,
+          0.0025421029422432184,
+          0.04833226650953293
+        ],
+        [
+          0.056574925780296326,
+          0.0006874562823213637,
+          0.0004548647266346961
+        ],
+        [
+          -0.37481847405433655,
+          -0.054357241839170456,
+          0.2803272306919098
+        ],
+        [
+          0.0013725318713113666,
+          0.009074348025023937,
+          -0.0021504403557628393
+        ],
+        [
+          -0.0012184121878817677,
+          -0.4267229437828064,
+          0.011203057132661343
+        ],
+        [
+          1.255251407623291,
+          0.0009449978824704885,
+          0.0010158077348023653
+        ],
+        [
+          -0.003570390399545431,
+          -0.003947308287024498,
+          -0.5030224323272705
+        ],
+        [
+          0.1881941556930542,
+          -0.000495748536195606,
+          0.0016725400928407907
+        ],
+        [
+          -0.002223622752353549,
+          0.11821465194225311,
+          0.007546884939074516
+        ],
+        [
+          -0.00137770373839885,
+          -0.0031452146358788013,
+          -0.0015015294775366783
+        ],
+        [
+          -0.3751647472381592,
+          0.05314668267965317,
+          -0.28086331486701965
+        ],
+        [
+          -0.007756246719509363,
+          -0.016310883685946465,
+          -0.02847120724618435
+        ],
+        [
+          -0.0002517815155442804,
+          0.427451491355896,
+          3.640262002591044e-05
+        ],
+        [
+          1.2455408573150635,
+          -0.0014789876295253634,
+          0.0008519256953150034
+        ],
+        [
+          0.004311776254326105,
+          0.009671058505773544,
+          0.5968337655067444
+        ],
+        [
+          0.1335560381412506,
+          0.0011528844479471445,
+          -0.0008361327927559614
+        ],
+        [
+          0.001167859067209065,
+          -0.1551152616739273,
+          0.00019725598394870758
+        ],
+        [
+          -0.0014258474111557007,
+          0.0034801543224602938,
+          0.0009809854673221707
+        ]
+      ],
+      [
+        [
+          -0.047659896314144135,
+          -0.11130385845899582,
+          -0.0020901868119835854
+        ],
+        [
+          -1.5705475807189941,
+          -0.0014125468442216516,
+          -0.0008221857133321464
+        ],
+        [
+          -0.16147980093955994,
+          0.014729475602507591,
+          0.4458121657371521
+        ],
+        [
+          -0.00045561062870547175,
+          -0.1160486489534378,
+          -0.006125911604613066
+        ],
+        [
+          2.811251401901245,
+          0.0016747766640037298,
+          -0.005349006038159132
+        ],
+        [
+          -0.8591147065162659,
+          0.0037903853226453066,
+          0.00048354381578974426
+        ],
+        [
+          0.006445891689509153,
+          -0.0036706889513880014,
+          -0.03472399711608887
+        ],
+        [
+          -0.001481462037190795,
+          0.0015367366140708327,
+          -0.0015593112912029028
+        ],
+        [
+          -1.5751848220825195,
+          0.001112997648306191,
+          0.0009848373010754585
+        ],
+        [
+          -0.16862420737743378,
+          -0.016877643764019012,
+          -0.26229384541511536
+        ],
+        [
+          -9.055795817403123e-05,
+          0.09453120082616806,
+          -0.0134742371737957
+        ],
+        [
+          2.811314344406128,
+          0.003919574897736311,
+          0.005575981922447681
+        ],
+        [
+          -0.8299098014831543,
+          -0.003791244002059102,
+          0.0012802339624613523
+        ],
+        [
+          0.005852710455656052,
+          0.005849692039191723,
+          0.1632416546344757
+        ],
+        [
+          -0.0015579514438286424,
+          9.288851288147271e-05,
+          0.001196552417241037
+        ],
+        [
+          0.00043879495933651924,
+          0.04429133981466293,
+          0.0002551022043917328
+        ],
+        [
+          -0.0019886596128344536,
+          0.008745947852730751,
+          -0.00962099153548479
+        ],
+        [
+          0.5197923183441162,
+          -0.0010678194230422378,
+          0.0002590256044641137
+        ],
+        [
+          -0.9051622152328491,
+          -0.12138096988201141,
+          0.25749173760414124
+        ],
+        [
+          0.010689850896596909,
+          -0.01072163600474596,
+          0.20382197201251984
+        ],
+        [
+          -0.0009684870601631701,
+          -0.5894762873649597,
+          0.0032688004430383444
+        ],
+        [
+          1.30536949634552,
+          -0.002206705743446946,
+          -0.0020471925381571054
+        ],
+        [
+          0.0067055909894406796,
+          -0.015674468129873276,
+          -0.9086763262748718
+        ],
+        [
+          -0.26612186431884766,
+          -0.00016191616305150092,
+          0.002851327648386359
+        ],
+        [
+          0.003539646975696087,
+          0.20451955497264862,
+          -0.02575569413602352
+        ],
+        [
+          0.003367731347680092,
+          0.0018452388467267156,
+          -0.00026573429931886494
+        ],
+        [
+          -0.9464634656906128,
+          0.12737642228603363,
+          -0.2577688992023468
+        ],
+        [
+          0.00046661958913318813,
+          -0.008693858049809933,
+          -0.19606870412826538
+        ],
+        [
+          -0.0058177076280117035,
+          0.6349377036094666,
+          -0.0003108184027951211
+        ],
+        [
+          1.4694209098815918,
+          0.0046353572979569435,
+          0.002392316237092018
+        ],
+        [
+          0.022281549870967865,
+          0.006433307193219662,
+          1.1441218852996826
+        ],
+        [
+          -0.16217999160289764,
+          -0.0005673008854500949,
+          -0.0028868752997368574
+        ],
+        [
+          0.0011142585426568985,
+          0.036793302744627,
+          0.06873425096273422
+        ],
+        [
+          0.001964340452104807,
+          -0.004202086944133043,
+          0.0034294212237000465
+        ]
+      ]
+    ],
+    "root_positions": [
+      [
+        0.014979152008891106,
+        0.7896444201469421,
+        0.8725281357765198
+      ],
+      [
+        0.12546521425247192,
+        0.30551770329475403,
+        2.3331315517425537
+      ]
+    ],
+    "smooth_root_2d": [
+      [
+        0.014979152008891106,
+        0.8725281357765198
+      ],
+      [
+        0.12546521425247192,
+        2.3331315517425537
+      ]
+    ]
+  }
+]

kimodo/assets/demo/examples/kimodo-g1-rp/02_multi_text_ee_constraint/meta.json

@@ -0,0 +1,18 @@
+{
+  "texts": [
+    "A person walks forward while carrying a box",
+    "A person sets a box down onto the ground"
+  ],
+  "durations": [
+    3.533333333333333,
+    4.066666666666666
+  ],
+  "num_samples": 1,
+  "seed": 60,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 1.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-g1-rp/02_multi_text_ee_constraint/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b970313a829200e2d224e8e699b3509ac0a812d1c92aac57c818a0e310b0b13d
+size 373806

kimodo/assets/demo/examples/kimodo-g1-rp/03_full_body_keyframes/constraints.json

@@ -0,0 +1,559 @@
+[
+  {
+    "type": "fullbody",
+    "frame_indices": [
+      59,
+      106,
+      148
+    ],
+    "local_joints_rot": [
+      [
+        [
+          0.42420727014541626,
+          0.058721136301755905,
+          -0.1945635825395584
+        ],
+        [
+          -0.5268475413322449,
+          -0.0005157420528121293,
+          0.0004701620200648904
+        ],
+        [
+          -0.17267920076847076,
+          0.027239520102739334,
+          0.36560261249542236
+        ],
+        [
+          0.004160718061029911,
+          -0.22976335883140564,
+          0.010524176992475986
+        ],
+        [
+          1.5825881958007812,
+          -0.01814083196222782,
+          -0.00019598894868977368
+        ],
+        [
+          -0.8827329277992249,
+          0.009902671910822392,
+          -0.00021610780095215887
+        ],
+        [
+          0.0067768096923828125,
+          -0.013547217473387718,
+          -0.16673408448696136
+        ],
+        [
+          0.0006806282908655703,
+          0.004601094871759415,
+          -0.0043960982002317905
+        ],
+        [
+          -1.4894901514053345,
+          -0.003371267579495907,
+          -0.001970127457752824
+        ],
+        [
+          -0.17904962599277496,
+          0.004051337484270334,
+          0.19225701689720154
+        ],
+        [
+          -0.0033012183848768473,
+          -0.29656991362571716,
+          0.004984850063920021
+        ],
+        [
+          1.5931552648544312,
+          -0.007282367907464504,
+          -0.0052862209267914295
+        ],
+        [
+          -0.35364261269569397,
+          0.0049067274667322636,
+          0.0010333984391763806
+        ],
+        [
+          0.0023804877419024706,
+          -0.005421861540526152,
+          -0.19129839539527893
+        ],
+        [
+          0.0008946731686592102,
+          0.0049979668110609055,
+          -0.0008540445705875754
+        ],
+        [
+          -0.00037546976818703115,
+          -0.09826900064945221,
+          0.0006841858848929405
+        ],
+        [
+          0.004415650386363268,
+          0.0112489964812994,
+          0.025344429537653923
+        ],
+        [
+          0.5182019472122192,
+          0.002875699894502759,
+          0.002064053900539875
+        ],
+        [
+          -0.7899102568626404,
+          -0.11301380395889282,
+          0.261331170797348
+        ],
+        [
+          -0.004763631150126457,
+          0.003188431030139327,
+          0.191846564412117
+        ],
+        [
+          -0.0006821855786256492,
+          -0.24938665330410004,
+          0.0013275814708322287
+        ],
+        [
+          1.1367335319519043,
+          0.0038948820438236,
+          0.0009569167159497738
+        ],
+        [
+          0.006261332891881466,
+          0.020894864574074745,
+          -1.050469160079956
+        ],
+        [
+          0.06118401885032654,
+          0.0005131644429638982,
+          0.00042430072790011764
+        ],
+        [
+          0.0017778673209249973,
+          0.08777552843093872,
+          -0.044312309473752975
+        ],
+        [
+          -0.0006084830965846777,
+          0.0022449076641350985,
+          -0.001873409142717719
+        ],
+        [
+          0.33878403902053833,
+          -0.04740850627422333,
+          -0.2796333432197571
+        ],
+        [
+          0.02221747301518917,
+          0.013649695552885532,
+          -0.11847231537103653
+        ],
+        [
+          0.007714178413152695,
+          0.6182990074157715,
+          0.009067214094102383
+        ],
+        [
+          0.8923805952072144,
+          -0.00016622581460978836,
+          0.0021162345074117184
+        ],
+        [
+          0.0038995807990431786,
+          -0.006832453887909651,
+          0.3025287687778473
+        ],
+        [
+          0.03307999297976494,
+          0.0005516205565072596,
+          0.0009820020059123635
+        ],
+        [
+          0.0015379488468170166,
+          -0.08221427351236343,
+          -0.014401843771338463
+        ],
+        [
+          -0.00022057670867070556,
+          0.002010792726650834,
+          0.0012923656031489372
+        ]
+      ],
+      [
+        [
+          -0.08197958767414093,
+          0.10326994955539703,
+          -0.1510602980852127
+        ],
+        [
+          0.28157129883766174,
+          0.0011461800895631313,
+          0.000703590689226985
+        ],
+        [
+          -0.182321235537529,
+          0.05269569158554077,
+          0.2730983793735504
+        ],
+        [
+          -0.0003947282093577087,
+          0.09641454368829727,
+          0.0040251282043755054
+        ],
+        [
+          1.089223861694336,
+          -0.00700604822486639,
+          -0.002539312234148383
+        ],
+        [
+          -0.09248486906290054,
+          0.003849609522148967,
+          0.0016473153373226523
+        ],
+        [
+          -0.010541710071265697,
+          0.004344945307821035,
+          0.07663393765687943
+        ],
+        [
+          -0.00044715296826325357,
+          -0.004340745974332094,
+          0.007171581499278545
+        ],
+        [
+          -0.3379390239715576,
+          0.0015806800220161676,
+          -0.0003471111413091421
+        ],
+        [
+          -0.1781967729330063,
+          0.016616491600871086,
+          0.1652776598930359
+        ],
+        [
+          -0.002019439358264208,
+          -0.11581386625766754,
+          0.0009603232610970736
+        ],
+        [
+          0.6794841289520264,
+          -5.403390241554007e-05,
+          -0.0012657493352890015
+        ],
+        [
+          -0.09013757854700089,
+          0.0018549489323049784,
+          -0.000238976048422046
+        ],
+        [
+          -0.0009166855015791953,
+          -0.0007138565997593105,
+          -0.0742788091301918
+        ],
+        [
+          -0.0009655999601818621,
+          0.0029521933756768703,
+          -0.00039851426845416427
+        ],
+        [
+          -0.0006129079265519977,
+          -0.19495022296905518,
+          -0.0019512351136654615
+        ],
+        [
+          0.0019297772087156773,
+          -0.0025066917296499014,
+          0.1518552601337433
+        ],
+        [
+          0.18073193728923798,
+          -0.0008597049745731056,
+          0.00023304206843022257
+        ],
+        [
+          -0.19048453867435455,
+          -0.02173178642988205,
+          0.2785468101501465
+        ],
+        [
+          0.0032724339980632067,
+          0.001481848070397973,
+          0.00837984960526228
+        ],
+        [
+          0.0037242062389850616,
+          -0.19455766677856445,
+          0.009616612456738949
+        ],
+        [
+          -0.19767794013023376,
+          0.004192049615085125,
+          0.004219892434775829
+        ],
+        [
+          -0.018522148951888084,
+          0.01758752018213272,
+          -1.4997444152832031
+        ],
+        [
+          -0.07066819816827774,
+          -0.0006776255904696882,
+          0.00122307357378304
+        ],
+        [
+          0.007704276591539383,
+          0.14503517746925354,
+          0.0951184555888176
+        ],
+        [
+          0.004533262457698584,
+          -0.0066575342789292336,
+          -0.010643035173416138
+        ],
+        [
+          0.3773331642150879,
+          -0.05414784327149391,
+          -0.2780730128288269
+        ],
+        [
+          0.003753547091037035,
+          0.002539943205192685,
+          0.12321871519088745
+        ],
+        [
+          -0.004724413156509399,
+          0.46992960572242737,
+          0.001832474721595645
+        ],
+        [
+          1.2976007461547852,
+          0.0007234009681269526,
+          -0.001626322278752923
+        ],
+        [
+          -0.0016050372505560517,
+          -0.00880438182502985,
+          0.17947044968605042
+        ],
+        [
+          0.05334911122918129,
+          -0.00018671243742574006,
+          0.0010833276901394129
+        ],
+        [
+          -0.0015367609448730946,
+          -0.05425700917840004,
+          0.01668459363281727
+        ],
+        [
+          -0.00021225935779511929,
+          0.001713683595880866,
+          0.0009809889597818255
+        ]
+      ],
+      [
+        [
+          -0.21817633509635925,
+          -0.012708673253655434,
+          -0.029821090400218964
+        ],
+        [
+          0.3743710219860077,
+          0.0007941523799672723,
+          0.00032366320374421775
+        ],
+        [
+          -0.16750676929950714,
+          0.003018906805664301,
+          0.07928019016981125
+        ],
+        [
+          -0.0003895726113114506,
+          0.030501781031489372,
+          0.0013912678696215153
+        ],
+        [
+          0.2578306794166565,
+          -0.0026517061050981283,
+          -0.0001139347514254041
+        ],
+        [
+          -0.227533221244812,
+          0.0004564583650790155,
+          -0.0004175934591330588
+        ],
+        [
+          -0.0015815469669178128,
+          0.0026496825739741325,
+          -0.017801448702812195
+        ],
+        [
+          0.00024288007989525795,
+          0.000392801477573812,
+          -2.9845070457668044e-05
+        ],
+        [
+          0.31938642263412476,
+          -0.0006790655897930264,
+          -0.0004276619874872267
+        ],
+        [
+          -0.17199693620204926,
+          0.007707139942795038,
+          0.014987054280936718
+        ],
+        [
+          0.0012992072151973844,
+          0.003620905103161931,
+          -0.001210421440191567
+        ],
+        [
+          0.22853288054466248,
+          -0.0018797506345435977,
+          -0.0002660619793459773
+        ],
+        [
+          -0.1335543692111969,
+          0.0010313205420970917,
+          0.0001083972238120623
+        ],
+        [
+          0.003520265920087695,
+          0.0035283963661640882,
+          0.016698163002729416
+        ],
+        [
+          0.0001443400833522901,
+          -0.001745356246829033,
+          -2.3336755475611426e-05
+        ],
+        [
+          0.0003554633294697851,
+          -0.05629483610391617,
+          -0.0006463310564868152
+        ],
+        [
+          -0.00298635708168149,
+          0.0020182463340461254,
+          -0.03614736720919609
+        ],
+        [
+          0.21955031156539917,
+          0.0005465149879455566,
+          0.00011243963672313839
+        ],
+        [
+          -0.0715053528547287,
+          -0.010282701812684536,
+          0.28057143092155457
+        ],
+        [
+          0.0007245761225931346,
+          0.0019379559671506286,
+          -0.018530432134866714
+        ],
+        [
+          -0.0020012110471725464,
+          -0.5585712194442749,
+          0.0002525273594073951
+        ],
+        [
+          1.1451164484024048,
+          0.000756395107600838,
+          -0.00042264885269105434
+        ],
+        [
+          -0.004087591078132391,
+          -0.0022635578643530607,
+          -0.1811828911304474
+        ],
+        [
+          0.15393203496932983,
+          -0.00010327681229682639,
+          0.000951180059928447
+        ],
+        [
+          -0.0005707733216695487,
+          0.07005079090595245,
+          -0.0018504050094634295
+        ],
+        [
+          -0.0013123765820637345,
+          -0.0004375300486572087,
+          0.0002970081695821136
+        ],
+        [
+          -0.09115279465913773,
+          0.013008617796003819,
+          -0.2808595299720764
+        ],
+        [
+          0.0015214721206575632,
+          -0.007811791729182005,
+          0.031220799311995506
+        ],
+        [
+          -0.00048553026863373816,
+          0.5777612328529358,
+          0.0003351669874973595
+        ],
+        [
+          1.0913182497024536,
+          0.0011191898956894875,
+          -0.0027903772424906492
+        ],
+        [
+          0.000775794149376452,
+          0.00010774911061162129,
+          0.10287072509527206
+        ],
+        [
+          0.0997936949133873,
+          0.0003015398688148707,
+          -0.0006937433499842882
+        ],
+        [
+          0.0003619014751166105,
+          -0.18787385523319244,
+          -0.0010270585771650076
+        ],
+        [
+          -0.001584835583344102,
+          0.0037561857607215643,
+          -0.002414965769276023
+        ]
+      ]
+    ],
+    "root_positions": [
+      [
+        -0.17535515129566193,
+        0.5689253807067871,
+        0.9417929649353027
+      ],
+      [
+        -0.16934014856815338,
+        0.7382326722145081,
+        2.169330596923828
+      ],
+      [
+        -0.1823902279138565,
+        0.7819305658340454,
+        2.954490900039673
+      ]
+    ],
+    "smooth_root_2d": [
+      [
+        -0.17535515129566193,
+        0.9417929649353027
+      ],
+      [
+        -0.16934014856815338,
+        2.169330596923828
+      ],
+      [
+        -0.1823902279138565,
+        2.954490900039673
+      ]
+    ]
+  }
+]

kimodo/assets/demo/examples/kimodo-g1-rp/03_full_body_keyframes/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "A person walking forward picks up something off the ground",
+  "duration": 5.0,
+  "num_samples": 1,
+  "seed": 51,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 1.0
+  }
+}

kimodo/assets/demo/examples/kimodo-g1-rp/03_full_body_keyframes/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4714a70db9e5ec4b4875ae6163d4161192b778029be263e033bfb68e61dfbb56
+size 246198

kimodo/assets/demo/examples/kimodo-g1-rp/04_ee_constraint/constraints.json

@@ -0,0 +1,1320 @@
+[
+  {
+    "type": "right-hand",
+    "frame_indices": [
+      129,
+      93,
+      0
+    ],
+    "local_joints_rot": [
+      [
+        [
+          -0.11223886162042618,
+          0.20531758666038513,
+          0.13568778336048126
+        ],
+        [
+          0.1075688898563385,
+          0.0032202948350459337,
+          0.0006892754463478923
+        ],
+        [
+          -0.17058254778385162,
+          -0.011657492257654667,
+          -0.23103317618370056
+        ],
+        [
+          -0.02866872400045395,
+          0.4262913167476654,
+          -0.010209682397544384
+        ],
+        [
+          0.2924644649028778,
+          0.007188746705651283,
+          0.0005000674282200634
+        ],
+        [
+          -0.13080132007598877,
+          -0.0029640060383826494,
+          -0.0007075564353726804
+        ],
+        [
+          -0.005761375650763512,
+          -0.002191383158788085,
+          0.15397773683071136
+        ],
+        [
+          -0.00023041102394927293,
+          -0.0010889451950788498,
+          0.0007837787852622569
+        ],
+        [
+          -0.3537895977497101,
+          -0.0006238390924409032,
+          -0.0010272490326315165
+        ],
+        [
+          -0.16032733023166656,
+          -0.02506295032799244,
+          -0.22620464861392975
+        ],
+        [
+          0.0138308797031641,
+          0.21655774116516113,
+          0.0317748561501503
+        ],
+        [
+          1.5745534896850586,
+          0.003732866607606411,
+          0.0021063678432255983
+        ],
+        [
+          -0.17066748440265656,
+          -0.002285068854689598,
+          -0.0029538189992308617
+        ],
+        [
+          0.02313886024057865,
+          -0.07020875811576843,
+          -0.05658446252346039
+        ],
+        [
+          2.5580025976523757e-05,
+          0.004435115493834019,
+          -0.006514436099678278
+        ],
+        [
+          0.0015886364271864295,
+          -0.292732834815979,
+          -0.0014166575856506824
+        ],
+        [
+          -0.008558829315006733,
+          0.0066470191814005375,
+          -0.010221566073596478
+        ],
+        [
+          0.10141321271657944,
+          -0.0028386565390974283,
+          -0.0006978976307436824
+        ],
+        [
+          0.002506372518837452,
+          0.001101600006222725,
+          0.2779805362224579
+        ],
+        [
+          0.020367039367556572,
+          -0.028616085648536682,
+          0.0971180647611618
+        ],
+        [
+          -0.011572631075978279,
+          -0.5930124521255493,
+          -0.026975814253091812
+        ],
+        [
+          0.9286840558052063,
+          -0.00046807233593426645,
+          -0.00013331411173567176
+        ],
+        [
+          -0.031172338873147964,
+          -0.04484722763299942,
+          0.03643424063920975
+        ],
+        [
+          0.03150894120335579,
+          -0.00101278827060014,
+          0.0015338404336944222
+        ],
+        [
+          0.0005915925721637905,
+          0.0930531769990921,
+          -0.028835415840148926
+        ],
+        [
+          -0.001440802589058876,
+          0.0010614224011078477,
+          0.0006542576011270285
+        ],
+        [
+          -0.4149414598941803,
+          0.06656259298324585,
+          -0.2730332314968109
+        ],
+        [
+          -0.006371266208589077,
+          -0.02150307223200798,
+          -1.3590242862701416
+        ],
+        [
+          0.00956002902239561,
+          -0.17155548930168152,
+          0.026624836027622223
+        ],
+        [
+          0.8084958791732788,
+          -0.003991501871496439,
+          0.0007233448559418321
+        ],
+        [
+          -0.020737944170832634,
+          -0.011397535912692547,
+          0.14019189774990082
+        ],
+        [
+          -0.18261606991291046,
+          0.005134414881467819,
+          -0.001045998651534319
+        ],
+        [
+          -0.028427572920918465,
+          -0.6557883620262146,
+          0.038063470274209976
+        ],
+        [
+          0.005555277690291405,
+          0.012246276251971722,
+          0.004770371131598949
+        ]
+      ],
+      [
+        [
+          -0.06392758339643478,
+          0.3478183448314667,
+          0.1171446293592453
+        ],
+        [
+          0.12243298441171646,
+          0.003146131755784154,
+          0.00017438907525502145
+        ],
+        [
+          -0.17841783165931702,
+          -0.0256511103361845,
+          -0.2805330455303192
+        ],
+        [
+          -0.022625330835580826,
+          0.348234087228775,
+          -0.009928824380040169
+        ],
+        [
+          0.28284141421318054,
+          0.009495020844042301,
+          0.0010556986089795828
+        ],
+        [
+          -0.17478667199611664,
+          -0.004891794174909592,
+          -0.0013969563879072666
+        ],
+        [
+          -0.002641322324052453,
+          -0.005833400413393974,
+          0.20226475596427917
+        ],
+        [
+          -0.0009078677394427359,
+          -0.002073301700875163,
+          0.0012749496381729841
+        ],
+        [
+          -0.48070675134658813,
+          0.0005347213009372354,
+          -0.0004243548901285976
+        ],
+        [
+          -0.16694584488868713,
+          -0.03390314802527428,
+          -0.09055406600236893
+        ],
+        [
+          0.009182179346680641,
+          0.1743844896554947,
+          0.01932411640882492
+        ],
+        [
+          1.6481772661209106,
+          0.0002097517135553062,
+          0.0010239556431770325
+        ],
+        [
+          -0.17133140563964844,
+          0.0028362423181533813,
+          -0.004689408931881189
+        ],
+        [
+          0.025385459885001183,
+          -0.06771048158407211,
+          -0.011561849154531956
+        ],
+        [
+          -0.00012663791130762547,
+          0.001872184220701456,
+          -0.002834505634382367
+        ],
+        [
+          0.001523697399534285,
+          -0.48211750388145447,
+          -0.0005278618773445487
+        ],
+        [
+          -0.00822246354073286,
+          -0.00923906546086073,
+          -0.01643195189535618
+        ],
+        [
+          0.04035002365708351,
+          -0.004922393709421158,
+          -0.0005214703269302845
+        ],
+        [
+          -0.02120170183479786,
+          -0.000465662480564788,
+          0.27964550256729126
+        ],
+        [
+          0.042349521070718765,
+          -0.043123405426740646,
+          0.21025802195072174
+        ],
+        [
+          -0.01620035618543625,
+          -0.5838293433189392,
+          -0.03403719887137413
+        ],
+        [
+          1.1832103729248047,
+          0.0004754749243147671,
+          -0.0014872060855850577
+        ],
+        [
+          -0.040768858045339584,
+          -0.04618615657091141,
+          0.04847611486911774
+        ],
+        [
+          0.04482508823275566,
+          -0.0005392982857301831,
+          0.00035259113064967096
+        ],
+        [
+          0.00015537742001470178,
+          -0.024237608537077904,
+          -0.003044326091185212
+        ],
+        [
+          -0.0012453795643523335,
+          0.004743263591080904,
+          0.004625802394002676
+        ],
+        [
+          -0.14595142006874084,
+          0.0308919008821249,
+          -0.2779163420200348
+        ],
+        [
+          -0.03314027562737465,
+          -0.07205720245838165,
+          -1.3401029109954834
+        ],
+        [
+          0.02448190003633499,
+          -0.468079537153244,
+          0.018310735002160072
+        ],
+        [
+          0.9222347140312195,
+          -0.00624655419960618,
+          -0.0003706512216012925
+        ],
+        [
+          0.0311859343200922,
+          -0.01980999857187271,
+          -0.4311404228210449
+        ],
+        [
+          -0.05887744575738907,
+          0.009565972723066807,
+          0.0008855919586494565
+        ],
+        [
+          -0.0638674795627594,
+          -1.1882448196411133,
+          -0.07744041085243225
+        ],
+        [
+          0.002320833969861269,
+          0.014880148693919182,
+          0.00827236007899046
+        ]
+      ],
+      [
+        [
+          0.028708748519420624,
+          0.023731501772999763,
+          -0.05906220152974129
+        ],
+        [
+          0.36697518825531006,
+          0.0020822372753173113,
+          9.442192094866186e-06
+        ],
+        [
+          -0.17328320443630219,
+          -0.029694421216845512,
+          -0.2592017650604248
+        ],
+        [
+          -0.027558816596865654,
+          0.44522055983543396,
+          0.00263651879504323
+        ],
+        [
+          0.45747342705726624,
+          0.006375299766659737,
+          0.000838644162286073
+        ],
+        [
+          -0.29932498931884766,
+          -0.0034287264570593834,
+          -0.005712746176868677
+        ],
+        [
+          0.010242770425975323,
+          0.0686849057674408,
+          0.12300582230091095
+        ],
+        [
+          0.0019906593952327967,
+          -0.006487288512289524,
+          0.004740884527564049
+        ],
+        [
+          -0.417245090007782,
+          0.002172173699364066,
+          -0.000527464144397527
+        ],
+        [
+          -0.16229933500289917,
+          -0.015825729817152023,
+          0.26093363761901855
+        ],
+        [
+          -0.01547759398818016,
+          -0.4560239017009735,
+          -0.001296655391342938
+        ],
+        [
+          0.520811140537262,
+          -0.016100304201245308,
+          -0.0033653294667601585
+        ],
+        [
+          -0.061035193502902985,
+          0.013747301883995533,
+          0.0011975782690569758
+        ],
+        [
+          0.002211581217125058,
+          0.013100380077958107,
+          -0.41168421506881714
+        ],
+        [
+          0.000723487522918731,
+          -0.0009448538185097277,
+          -0.0023157261312007904
+        ],
+        [
+          -0.0008414603653363883,
+          -0.22904154658317566,
+          0.0037871438544243574
+        ],
+        [
+          -0.004434449132531881,
+          -0.0019493037834763527,
+          0.04349867254495621
+        ],
+        [
+          0.11113234609365463,
+          -0.001496539101935923,
+          -6.745033260813216e-06
+        ],
+        [
+          0.03568394109606743,
+          0.00850191805511713,
+          0.2815527021884918
+        ],
+        [
+          0.007574420887976885,
+          -0.005988026969134808,
+          -0.04585442319512367
+        ],
+        [
+          -0.014899174682796001,
+          -0.6360949277877808,
+          0.014495083130896091
+        ],
+        [
+          1.1318601369857788,
+          -0.0009174949955195189,
+          -0.008180576376616955
+        ],
+        [
+          -0.038145799189805984,
+          -0.05923198536038399,
+          -0.04122990742325783
+        ],
+        [
+          0.07719366252422333,
+          -0.0010574767366051674,
+          0.0009220906649716198
+        ],
+        [
+          -0.0010063578374683857,
+          0.12876589596271515,
+          -0.021289559081196785
+        ],
+        [
+          -0.0008511252817697823,
+          -0.0003541657351888716,
+          -0.0006832815706729889
+        ],
+        [
+          0.10374817997217178,
+          -0.014772959984838963,
+          -0.28235113620758057
+        ],
+        [
+          0.029763568192720413,
+          0.00017807059339247644,
+          0.007343007251620293
+        ],
+        [
+          -0.0064206854440271854,
+          0.3665950298309326,
+          -0.0003897137939929962
+        ],
+        [
+          1.0820642709732056,
+          -0.0005379249923862517,
+          -0.0039028781466186047
+        ],
+        [
+          -0.004170380067080259,
+          0.06480656564235687,
+          -0.10721305757761002
+        ],
+        [
+          -0.06350508332252502,
+          0.0011865347623825073,
+          -0.0005369586870074272
+        ],
+        [
+          -0.0021817537490278482,
+          -0.08756759762763977,
+          -0.008148521184921265
+        ],
+        [
+          0.00243115471675992,
+          -0.003949992824345827,
+          0.005949904676526785
+        ]
+      ]
+    ],
+    "root_positions": [
+      [
+        2.639763593673706,
+        0.767427384853363,
+        2.341259479522705
+      ],
+      [
+        1.9461809396743774,
+        0.7706995010375977,
+        1.7243560552597046
+      ],
+      [
+        0.003315839683637023,
+        0.7415399551391602,
+        -0.0012030001962557435
+      ]
+    ],
+    "smooth_root_2d": [
+      [
+        2.639763593673706,
+        2.341259479522705
+      ],
+      [
+        1.9461809396743774,
+        1.7243560552597046
+      ],
+      [
+        0.003315839683637023,
+        -0.0012030001962557435
+      ]
+    ]
+  },
+  {
+    "type": "left-foot",
+    "frame_indices": [
+      93,
+      0
+    ],
+    "local_joints_rot": [
+      [
+        [
+          -0.06392758339643478,
+          0.3478183448314667,
+          0.1171446293592453
+        ],
+        [
+          0.12243298441171646,
+          0.003146131755784154,
+          0.00017438907525502145
+        ],
+        [
+          -0.17841783165931702,
+          -0.0256511103361845,
+          -0.2805330455303192
+        ],
+        [
+          -0.022625330835580826,
+          0.348234087228775,
+          -0.009928824380040169
+        ],
+        [
+          0.28284141421318054,
+          0.009495020844042301,
+          0.0010556986089795828
+        ],
+        [
+          -0.17478667199611664,
+          -0.004891794174909592,
+          -0.0013969563879072666
+        ],
+        [
+          -0.002641322324052453,
+          -0.005833400413393974,
+          0.20226475596427917
+        ],
+        [
+          -0.0009078677394427359,
+          -0.002073301700875163,
+          0.0012749496381729841
+        ],
+        [
+          -0.48070675134658813,
+          0.0005347213009372354,
+          -0.0004243548901285976
+        ],
+        [
+          -0.16694584488868713,
+          -0.03390314802527428,
+          -0.09055406600236893
+        ],
+        [
+          0.009182179346680641,
+          0.1743844896554947,
+          0.01932411640882492
+        ],
+        [
+          1.6481772661209106,
+          0.0002097517135553062,
+          0.0010239556431770325
+        ],
+        [
+          -0.17133140563964844,
+          0.0028362423181533813,
+          -0.004689408931881189
+        ],
+        [
+          0.025385459885001183,
+          -0.06771048158407211,
+          -0.011561849154531956
+        ],
+        [
+          -0.00012663791130762547,
+          0.001872184220701456,
+          -0.002834505634382367
+        ],
+        [
+          0.001523697399534285,
+          -0.48211750388145447,
+          -0.0005278618773445487
+        ],
+        [
+          -0.00822246354073286,
+          -0.00923906546086073,
+          -0.01643195189535618
+        ],
+        [
+          0.04035002365708351,
+          -0.004922393709421158,
+          -0.0005214703269302845
+        ],
+        [
+          -0.02120170183479786,
+          -0.000465662480564788,
+          0.27964550256729126
+        ],
+        [
+          0.042349521070718765,
+          -0.043123405426740646,
+          0.21025802195072174
+        ],
+        [
+          -0.01620035618543625,
+          -0.5838293433189392,
+          -0.03403719887137413
+        ],
+        [
+          1.1832103729248047,
+          0.0004754749243147671,
+          -0.0014872060855850577
+        ],
+        [
+          -0.040768858045339584,
+          -0.04618615657091141,
+          0.04847611486911774
+        ],
+        [
+          0.04482508823275566,
+          -0.0005392982857301831,
+          0.00035259113064967096
+        ],
+        [
+          0.00015537742001470178,
+          -0.024237608537077904,
+          -0.003044326091185212
+        ],
+        [
+          -0.0012453795643523335,
+          0.004743263591080904,
+          0.004625802394002676
+        ],
+        [
+          -0.14595142006874084,
+          0.0308919008821249,
+          -0.2779163420200348
+        ],
+        [
+          -0.03314027562737465,
+          -0.07205720245838165,
+          -1.3401029109954834
+        ],
+        [
+          0.02448190003633499,
+          -0.468079537153244,
+          0.018310735002160072
+        ],
+        [
+          0.9222347140312195,
+          -0.00624655419960618,
+          -0.0003706512216012925
+        ],
+        [
+          0.0311859343200922,
+          -0.01980999857187271,
+          -0.4311404228210449
+        ],
+        [
+          -0.05887744575738907,
+          0.009565972723066807,
+          0.0008855919586494565
+        ],
+        [
+          -0.0638674795627594,
+          -1.1882448196411133,
+          -0.07744041085243225
+        ],
+        [
+          0.002320833969861269,
+          0.014880148693919182,
+          0.00827236007899046
+        ]
+      ],
+      [
+        [
+          0.028708748519420624,
+          0.023731501772999763,
+          -0.05906220152974129
+        ],
+        [
+          0.36697518825531006,
+          0.0020822372753173113,
+          9.442192094866186e-06
+        ],
+        [
+          -0.17328320443630219,
+          -0.029694421216845512,
+          -0.2592017650604248
+        ],
+        [
+          -0.027558816596865654,
+          0.44522055983543396,
+          0.00263651879504323
+        ],
+        [
+          0.45747342705726624,
+          0.006375299766659737,
+          0.000838644162286073
+        ],
+        [
+          -0.29932498931884766,
+          -0.0034287264570593834,
+          -0.005712746176868677
+        ],
+        [
+          0.010242770425975323,
+          0.0686849057674408,
+          0.12300582230091095
+        ],
+        [
+          0.0019906593952327967,
+          -0.006487288512289524,
+          0.004740884527564049
+        ],
+        [
+          -0.417245090007782,
+          0.002172173699364066,
+          -0.000527464144397527
+        ],
+        [
+          -0.16229933500289917,
+          -0.015825729817152023,
+          0.26093363761901855
+        ],
+        [
+          -0.01547759398818016,
+          -0.4560239017009735,
+          -0.001296655391342938
+        ],
+        [
+          0.520811140537262,
+          -0.016100304201245308,
+          -0.0033653294667601585
+        ],
+        [
+          -0.061035193502902985,
+          0.013747301883995533,
+          0.0011975782690569758
+        ],
+        [
+          0.002211581217125058,
+          0.013100380077958107,
+          -0.41168421506881714
+        ],
+        [
+          0.000723487522918731,
+          -0.0009448538185097277,
+          -0.0023157261312007904
+        ],
+        [
+          -0.0008414603653363883,
+          -0.22904154658317566,
+          0.0037871438544243574
+        ],
+        [
+          -0.004434449132531881,
+          -0.0019493037834763527,
+          0.04349867254495621
+        ],
+        [
+          0.11113234609365463,
+          -0.001496539101935923,
+          -6.745033260813216e-06
+        ],
+        [
+          0.03568394109606743,
+          0.00850191805511713,
+          0.2815527021884918
+        ],
+        [
+          0.007574420887976885,
+          -0.005988026969134808,
+          -0.04585442319512367
+        ],
+        [
+          -0.014899174682796001,
+          -0.6360949277877808,
+          0.014495083130896091
+        ],
+        [
+          1.1318601369857788,
+          -0.0009174949955195189,
+          -0.008180576376616955
+        ],
+        [
+          -0.038145799189805984,
+          -0.05923198536038399,
+          -0.04122990742325783
+        ],
+        [
+          0.07719366252422333,
+          -0.0010574767366051674,
+          0.0009220906649716198
+        ],
+        [
+          -0.0010063578374683857,
+          0.12876589596271515,
+          -0.021289559081196785
+        ],
+        [
+          -0.0008511252817697823,
+          -0.0003541657351888716,
+          -0.0006832815706729889
+        ],
+        [
+          0.10374817997217178,
+          -0.014772959984838963,
+          -0.28235113620758057
+        ],
+        [
+          0.029763568192720413,
+          0.00017807059339247644,
+          0.007343007251620293
+        ],
+        [
+          -0.0064206854440271854,
+          0.3665950298309326,
+          -0.0003897137939929962
+        ],
+        [
+          1.0820642709732056,
+          -0.0005379249923862517,
+          -0.0039028781466186047
+        ],
+        [
+          -0.004170380067080259,
+          0.06480656564235687,
+          -0.10721305757761002
+        ],
+        [
+          -0.06350508332252502,
+          0.0011865347623825073,
+          -0.0005369586870074272
+        ],
+        [
+          -0.0021817537490278482,
+          -0.08756759762763977,
+          -0.008148521184921265
+        ],
+        [
+          0.00243115471675992,
+          -0.003949992824345827,
+          0.005949904676526785
+        ]
+      ]
+    ],
+    "root_positions": [
+      [
+        1.9461809396743774,
+        0.7706995010375977,
+        1.7243560552597046
+      ],
+      [
+        0.003315839683637023,
+        0.7415399551391602,
+        -0.0012030001962557435
+      ]
+    ],
+    "smooth_root_2d": [
+      [
+        1.9461809396743774,
+        1.7243560552597046
+      ],
+      [
+        0.003315839683637023,
+        -0.0012030001962557435
+      ]
+    ]
+  },
+  {
+    "type": "right-foot",
+    "frame_indices": [
+      0
+    ],
+    "local_joints_rot": [
+      [
+        [
+          0.028708748519420624,
+          0.023731501772999763,
+          -0.05906220152974129
+        ],
+        [
+          0.36697518825531006,
+          0.0020822372753173113,
+          9.442192094866186e-06
+        ],
+        [
+          -0.17328320443630219,
+          -0.029694421216845512,
+          -0.2592017650604248
+        ],
+        [
+          -0.027558816596865654,
+          0.44522055983543396,
+          0.00263651879504323
+        ],
+        [
+          0.45747342705726624,
+          0.006375299766659737,
+          0.000838644162286073
+        ],
+        [
+          -0.29932498931884766,
+          -0.0034287264570593834,
+          -0.005712746176868677
+        ],
+        [
+          0.010242770425975323,
+          0.0686849057674408,
+          0.12300582230091095
+        ],
+        [
+          0.0019906593952327967,
+          -0.006487288512289524,
+          0.004740884527564049
+        ],
+        [
+          -0.417245090007782,
+          0.002172173699364066,
+          -0.000527464144397527
+        ],
+        [
+          -0.16229933500289917,
+          -0.015825729817152023,
+          0.26093363761901855
+        ],
+        [
+          -0.01547759398818016,
+          -0.4560239017009735,
+          -0.001296655391342938
+        ],
+        [
+          0.520811140537262,
+          -0.016100304201245308,
+          -0.0033653294667601585
+        ],
+        [
+          -0.061035193502902985,
+          0.013747301883995533,
+          0.0011975782690569758
+        ],
+        [
+          0.002211581217125058,
+          0.013100380077958107,
+          -0.41168421506881714
+        ],
+        [
+          0.000723487522918731,
+          -0.0009448538185097277,
+          -0.0023157261312007904
+        ],
+        [
+          -0.0008414603653363883,
+          -0.22904154658317566,
+          0.0037871438544243574
+        ],
+        [
+          -0.004434449132531881,
+          -0.0019493037834763527,
+          0.04349867254495621
+        ],
+        [
+          0.11113234609365463,
+          -0.001496539101935923,
+          -6.745033260813216e-06
+        ],
+        [
+          0.03568394109606743,
+          0.00850191805511713,
+          0.2815527021884918
+        ],
+        [
+          0.007574420887976885,
+          -0.005988026969134808,
+          -0.04585442319512367
+        ],
+        [
+          -0.014899174682796001,
+          -0.6360949277877808,
+          0.014495083130896091
+        ],
+        [
+          1.1318601369857788,
+          -0.0009174949955195189,
+          -0.008180576376616955
+        ],
+        [
+          -0.038145799189805984,
+          -0.05923198536038399,
+          -0.04122990742325783
+        ],
+        [
+          0.07719366252422333,
+          -0.0010574767366051674,
+          0.0009220906649716198
+        ],
+        [
+          -0.0010063578374683857,
+          0.12876589596271515,
+          -0.021289559081196785
+        ],
+        [
+          -0.0008511252817697823,
+          -0.0003541657351888716,
+          -0.0006832815706729889
+        ],
+        [
+          0.10374817997217178,
+          -0.014772959984838963,
+          -0.28235113620758057
+        ],
+        [
+          0.029763568192720413,
+          0.00017807059339247644,
+          0.007343007251620293
+        ],
+        [
+          -0.0064206854440271854,
+          0.3665950298309326,
+          -0.0003897137939929962
+        ],
+        [
+          1.0820642709732056,
+          -0.0005379249923862517,
+          -0.0039028781466186047
+        ],
+        [
+          -0.004170380067080259,
+          0.06480656564235687,
+          -0.10721305757761002
+        ],
+        [
+          -0.06350508332252502,
+          0.0011865347623825073,
+          -0.0005369586870074272
+        ],
+        [
+          -0.0021817537490278482,
+          -0.08756759762763977,
+          -0.008148521184921265
+        ],
+        [
+          0.00243115471675992,
+          -0.003949992824345827,
+          0.005949904676526785
+        ]
+      ]
+    ],
+    "root_positions": [
+      [
+        0.003315839683637023,
+        0.7415399551391602,
+        -0.0012030001962557435
+      ]
+    ],
+    "smooth_root_2d": [
+      [
+        0.003315839683637023,
+        -0.0012030001962557435
+      ]
+    ]
+  },
+  {
+    "type": "left-hand",
+    "frame_indices": [
+      0
+    ],
+    "local_joints_rot": [
+      [
+        [
+          0.028708748519420624,
+          0.023731501772999763,
+          -0.05906220152974129
+        ],
+        [
+          0.36697518825531006,
+          0.0020822372753173113,
+          9.442192094866186e-06
+        ],
+        [
+          -0.17328320443630219,
+          -0.029694421216845512,
+          -0.2592017650604248
+        ],
+        [
+          -0.027558816596865654,
+          0.44522055983543396,
+          0.00263651879504323
+        ],
+        [
+          0.45747342705726624,
+          0.006375299766659737,
+          0.000838644162286073
+        ],
+        [
+          -0.29932498931884766,
+          -0.0034287264570593834,
+          -0.005712746176868677
+        ],
+        [
+          0.010242770425975323,
+          0.0686849057674408,
+          0.12300582230091095
+        ],
+        [
+          0.0019906593952327967,
+          -0.006487288512289524,
+          0.004740884527564049
+        ],
+        [
+          -0.417245090007782,
+          0.002172173699364066,
+          -0.000527464144397527
+        ],
+        [
+          -0.16229933500289917,
+          -0.015825729817152023,
+          0.26093363761901855
+        ],
+        [
+          -0.01547759398818016,
+          -0.4560239017009735,
+          -0.001296655391342938
+        ],
+        [
+          0.520811140537262,
+          -0.016100304201245308,
+          -0.0033653294667601585
+        ],
+        [
+          -0.061035193502902985,
+          0.013747301883995533,
+          0.0011975782690569758
+        ],
+        [
+          0.002211581217125058,
+          0.013100380077958107,
+          -0.41168421506881714
+        ],
+        [
+          0.000723487522918731,
+          -0.0009448538185097277,
+          -0.0023157261312007904
+        ],
+        [
+          -0.0008414603653363883,
+          -0.22904154658317566,
+          0.0037871438544243574
+        ],
+        [
+          -0.004434449132531881,
+          -0.0019493037834763527,
+          0.04349867254495621
+        ],
+        [
+          0.11113234609365463,
+          -0.001496539101935923,
+          -6.745033260813216e-06
+        ],
+        [
+          0.03568394109606743,
+          0.00850191805511713,
+          0.2815527021884918
+        ],
+        [
+          0.007574420887976885,
+          -0.005988026969134808,
+          -0.04585442319512367
+        ],
+        [
+          -0.014899174682796001,
+          -0.6360949277877808,
+          0.014495083130896091
+        ],
+        [
+          1.1318601369857788,
+          -0.0009174949955195189,
+          -0.008180576376616955
+        ],
+        [
+          -0.038145799189805984,
+          -0.05923198536038399,
+          -0.04122990742325783
+        ],
+        [
+          0.07719366252422333,
+          -0.0010574767366051674,
+          0.0009220906649716198
+        ],
+        [
+          -0.0010063578374683857,
+          0.12876589596271515,
+          -0.021289559081196785
+        ],
+        [
+          -0.0008511252817697823,
+          -0.0003541657351888716,
+          -0.0006832815706729889
+        ],
+        [
+          0.10374817997217178,
+          -0.014772959984838963,
+          -0.28235113620758057
+        ],
+        [
+          0.029763568192720413,
+          0.00017807059339247644,
+          0.007343007251620293
+        ],
+        [
+          -0.0064206854440271854,
+          0.3665950298309326,
+          -0.0003897137939929962
+        ],
+        [
+          1.0820642709732056,
+          -0.0005379249923862517,
+          -0.0039028781466186047
+        ],
+        [
+          -0.004170380067080259,
+          0.06480656564235687,
+          -0.10721305757761002
+        ],
+        [
+          -0.06350508332252502,
+          0.0011865347623825073,
+          -0.0005369586870074272
+        ],
+        [
+          -0.0021817537490278482,
+          -0.08756759762763977,
+          -0.008148521184921265
+        ],
+        [
+          0.00243115471675992,
+          -0.003949992824345827,
+          0.005949904676526785
+        ]
+      ]
+    ],
+    "root_positions": [
+      [
+        0.003315839683637023,
+        0.7415399551391602,
+        -0.0012030001962557435
+      ]
+    ],
+    "smooth_root_2d": [
+      [
+        0.003315839683637023,
+        -0.0012030001962557435
+      ]
+    ]
+  }
+]

kimodo/assets/demo/examples/kimodo-g1-rp/04_ee_constraint/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "A person walks diagonally to the left and waves at someone on their right",
+  "duration": 4.966666666666667,
+  "num_samples": 1,
+  "seed": 44,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-g1-rp/04_ee_constraint/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cad86faf99cd4d951371622ab3eba097a6210fc18950dadd1da578dc1e7cd73
+size 244562

kimodo/assets/demo/examples/kimodo-g1-rp/05_root_path/constraints.json

@@ -0,0 +1,914 @@
+[
+  {
+    "type": "root2d",
+    "frame_indices": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      68,
+      69,
+      70,
+      71,
+      72,
+      73,
+      74,
+      75,
+      76,
+      77,
+      78,
+      79,
+      80,
+      81,
+      82,
+      83,
+      84,
+      85,
+      86,
+      87,
+      88,
+      89,
+      90,
+      91,
+      92,
+      93,
+      94,
+      95,
+      96,
+      97,
+      98,
+      99,
+      100,
+      101,
+      102,
+      103,
+      104,
+      105,
+      106,
+      107,
+      108,
+      109,
+      110,
+      111,
+      112,
+      113,
+      114,
+      115,
+      116,
+      117,
+      118,
+      119,
+      120,
+      121,
+      122,
+      123,
+      124,
+      125,
+      126,
+      127,
+      128,
+      129,
+      130,
+      131,
+      132,
+      133,
+      134,
+      135,
+      136,
+      137,
+      138,
+      139,
+      140,
+      141,
+      142,
+      143,
+      144,
+      145,
+      146,
+      147,
+      148,
+      149,
+      150,
+      151,
+      152,
+      153,
+      154,
+      155,
+      156,
+      157,
+      158,
+      159,
+      160,
+      161,
+      162,
+      163,
+      164,
+      165,
+      166,
+      167,
+      168,
+      169,
+      170,
+      171,
+      172,
+      173,
+      174,
+      175,
+      176,
+      177,
+      178,
+      179,
+      180
+    ],
+    "smooth_root_2d": [
+      [
+        -0.024789854884147644,
+        0.01764228567481041
+      ],
+      [
+        -0.019911596551537514,
+        0.03666473180055618
+      ],
+      [
+        -0.015032900497317314,
+        0.05568705126643181
+      ],
+      [
+        -0.010153300128877163,
+        0.07470902800559998
+      ],
+      [
+        -0.005272198934108019,
+        0.09373034536838531
+      ],
+      [
+        -0.00038888092967681587,
+        0.11275061219930649
+      ],
+      [
+        0.004497467540204525,
+        0.1317693293094635
+      ],
+      [
+        0.009387745521962643,
+        0.15078598260879517
+      ],
+      [
+        0.014282921329140663,
+        0.16979998350143433
+      ],
+      [
+        0.019184017553925514,
+        0.18881070613861084
+      ],
+      [
+        0.024092093110084534,
+        0.20781749486923218
+      ],
+      [
+        0.029008235782384872,
+        0.226819708943367
+      ],
+      [
+        0.033933546394109726,
+        0.24581670761108398
+      ],
+      [
+        0.038869116455316544,
+        0.2648078203201294
+      ],
+      [
+        0.04381602630019188,
+        0.2837924659252167
+      ],
+      [
+        0.048775337636470795,
+        0.30277004837989807
+      ],
+      [
+        0.05374806746840477,
+        0.321740061044693
+      ],
+      [
+        0.058735184371471405,
+        0.3407020568847656
+      ],
+      [
+        0.06373759359121323,
+        0.35965561866760254
+      ],
+      [
+        0.06875615566968918,
+        0.37860047817230225
+      ],
+      [
+        0.07379162311553955,
+        0.3975364565849304
+      ],
+      [
+        0.07884468138217926,
+        0.4164634943008423
+      ],
+      [
+        0.08391592651605606,
+        0.43538162112236023
+      ],
+      [
+        0.08900584280490875,
+        0.45429113507270813
+      ],
+      [
+        0.09411482512950897,
+        0.47319236397743225
+      ],
+      [
+        0.0992431491613388,
+        0.49208587408065796
+      ],
+      [
+        0.10439097136259079,
+        0.5109724998474121
+      ],
+      [
+        0.1095583438873291,
+        0.5298531651496887
+      ],
+      [
+        0.11474518477916718,
+        0.5487290620803833
+      ],
+      [
+        0.11995130032300949,
+        0.5676016807556152
+      ],
+      [
+        0.12517637014389038,
+        0.5864726901054382
+      ],
+      [
+        0.13041996955871582,
+        0.6053440570831299
+      ],
+      [
+        0.13568153977394104,
+        0.6242179274559021
+      ],
+      [
+        0.1409604400396347,
+        0.6430967450141907
+      ],
+      [
+        0.14625589549541473,
+        0.6619831919670105
+      ],
+      [
+        0.15156707167625427,
+        0.6808802485466003
+      ],
+      [
+        0.15689301490783691,
+        0.6997910141944885
+      ],
+      [
+        0.16223272681236267,
+        0.7187188267707825
+      ],
+      [
+        0.16759774088859558,
+        0.7376715540885925
+      ],
+      [
+        0.17303690314292908,
+        0.7566697001457214
+      ],
+      [
+        0.17862369120121002,
+        0.7757418751716614
+      ],
+      [
+        0.1844315379858017,
+        0.7949170470237732
+      ],
+      [
+        0.19053390622138977,
+        0.8142240643501282
+      ],
+      [
+        0.19700415432453156,
+        0.8336920142173767
+      ],
+      [
+        0.20391567051410675,
+        0.8533498644828796
+      ],
+      [
+        0.21134179830551147,
+        0.8732268214225769
+      ],
+      [
+        0.21935580670833588,
+        0.8933521509170532
+      ],
+      [
+        0.22803090512752533,
+        0.9137551784515381
+      ],
+      [
+        0.23744019865989685,
+        0.9344654083251953
+      ],
+      [
+        0.24765664339065552,
+        0.9555124640464783
+      ],
+      [
+        0.2587530016899109,
+        0.9769262671470642
+      ],
+      [
+        0.2708017826080322,
+        0.9987370371818542
+      ],
+      [
+        0.2838752567768097,
+        1.0209753513336182
+      ],
+      [
+        0.29804527759552,
+        1.0436722040176392
+      ],
+      [
+        0.3133833110332489,
+        1.0668591260910034
+      ],
+      [
+        0.32996034622192383,
+        1.0905684232711792
+      ],
+      [
+        0.3478468656539917,
+        1.1148326396942139
+      ],
+      [
+        0.36711281538009644,
+        1.1396855115890503
+      ],
+      [
+        0.3878275454044342,
+        1.1651611328125
+      ],
+      [
+        0.41000601649284363,
+        1.1912426948547363
+      ],
+      [
+        0.4336090087890625,
+        1.2178623676300049
+      ],
+      [
+        0.45859649777412415,
+        1.24495267868042
+      ],
+      [
+        0.4849279224872589,
+        1.272446632385254
+      ],
+      [
+        0.5125620365142822,
+        1.300277590751648
+      ],
+      [
+        0.5414570569992065,
+        1.3283785581588745
+      ],
+      [
+        0.571570634841919,
+        1.3566826581954956
+      ],
+      [
+        0.6028600931167603,
+        1.3851218223571777
+      ],
+      [
+        0.6352822780609131,
+        1.4136276245117188
+      ],
+      [
+        0.6687941551208496,
+        1.4421300888061523
+      ],
+      [
+        0.7033523917198181,
+        1.4705579280853271
+      ],
+      [
+        0.7389140725135803,
+        1.4988375902175903
+      ],
+      [
+        0.7754364013671875,
+        1.5268937349319458
+      ],
+      [
+        0.8128772974014282,
+        1.554648518562317
+      ],
+      [
+        0.8511953353881836,
+        1.5820214748382568
+      ],
+      [
+        0.8903500437736511,
+        1.6089295148849487
+      ],
+      [
+        0.930302083492279,
+        1.6352869272232056
+      ],
+      [
+        0.9710133075714111,
+        1.6610050201416016
+      ],
+      [
+        1.0124471187591553,
+        1.685992956161499
+      ],
+      [
+        1.0545682907104492,
+        1.7101572751998901
+      ],
+      [
+        1.0973432064056396,
+        1.7334026098251343
+      ],
+      [
+        1.1407400369644165,
+        1.755631923675537
+      ],
+      [
+        1.1847283840179443,
+        1.7767466306686401
+      ],
+      [
+        1.229279637336731,
+        1.7966474294662476
+      ],
+      [
+        1.2743664979934692,
+        1.8152343034744263
+      ],
+      [
+        1.3199630975723267,
+        1.8324071168899536
+      ],
+      [
+        1.3660447597503662,
+        1.848065733909607
+      ],
+      [
+        1.4125876426696777,
+        1.8621103763580322
+      ],
+      [
+        1.4595685005187988,
+        1.8744415044784546
+      ],
+      [
+        1.5069485902786255,
+        1.8850340843200684
+      ],
+      [
+        1.5546728372573853,
+        1.8939374685287476
+      ],
+      [
+        1.6026861667633057,
+        1.9012004137039185
+      ],
+      [
+        1.650932788848877,
+        1.9068700075149536
+      ],
+      [
+        1.6993565559387207,
+        1.9109913110733032
+      ],
+      [
+        1.7479000091552734,
+        1.9136062860488892
+      ],
+      [
+        1.7965046167373657,
+        1.9147534370422363
+      ],
+      [
+        1.8451100587844849,
+        1.9144660234451294
+      ],
+      [
+        1.893654465675354,
+        1.9127724170684814
+      ],
+      [
+        1.942073941230774,
+        1.9096946716308594
+      ],
+      [
+        1.990302324295044,
+        1.9052486419677734
+      ],
+      [
+        2.03827166557312,
+        1.8994430303573608
+      ],
+      [
+        2.0859110355377197,
+        1.8922799825668335
+      ],
+      [
+        2.133148193359375,
+        1.8837546110153198
+      ],
+      [
+        2.179908037185669,
+        1.8738549947738647
+      ],
+      [
+        2.2261133193969727,
+        1.862563133239746
+      ],
+      [
+        2.27168607711792,
+        1.8498553037643433
+      ],
+      [
+        2.316545248031616,
+        1.8357020616531372
+      ],
+      [
+        2.360609769821167,
+        1.8200697898864746
+      ],
+      [
+        2.403796911239624,
+        1.8029208183288574
+      ],
+      [
+        2.44602370262146,
+        1.7842146158218384
+      ],
+      [
+        2.4872069358825684,
+        1.7639081478118896
+      ],
+      [
+        2.5272626876831055,
+        1.7419570684432983
+      ],
+      [
+        2.566108465194702,
+        1.7183157205581665
+      ],
+      [
+        2.603734254837036,
+        1.693010687828064
+      ],
+      [
+        2.640204906463623,
+        1.6661417484283447
+      ],
+      [
+        2.6755847930908203,
+        1.6378077268600464
+      ],
+      [
+        2.7099392414093018,
+        1.6081076860427856
+      ],
+      [
+        2.743333101272583,
+        1.5771397352218628
+      ],
+      [
+        2.7758309841156006,
+        1.5450016260147095
+      ],
+      [
+        2.80749773979187,
+        1.5117899179458618
+      ],
+      [
+        2.8383967876434326,
+        1.477600336074829
+      ],
+      [
+        2.868591785430908,
+        1.4425268173217773
+      ],
+      [
+        2.8981447219848633,
+        1.4066622257232666
+      ],
+      [
+        2.9271178245544434,
+        1.3700973987579346
+      ],
+      [
+        2.9555718898773193,
+        1.3329222202301025
+      ],
+      [
+        2.983566999435425,
+        1.2952247858047485
+      ],
+      [
+        3.011162757873535,
+        1.2570923566818237
+      ],
+      [
+        3.038418769836426,
+        1.2186110019683838
+      ],
+      [
+        3.0653929710388184,
+        1.1798664331436157
+      ],
+      [
+        3.092144250869751,
+        1.1409443616867065
+      ],
+      [
+        3.118730306625366,
+        1.1019304990768433
+      ],
+      [
+        3.1451311111450195,
+        1.062860131263733
+      ],
+      [
+        3.171248197555542,
+        1.0237183570861816
+      ],
+      [
+        3.1969823837280273,
+        0.9844915866851807
+      ],
+      [
+        3.222233295440674,
+        0.945167064666748
+      ],
+      [
+        3.246898889541626,
+        0.905733585357666
+      ],
+      [
+        3.270875930786133,
+        0.8661811947822571
+      ],
+      [
+        3.294057846069336,
+        0.826501190662384
+      ],
+      [
+        3.3163373470306396,
+        0.7866860032081604
+      ],
+      [
+        3.3376033306121826,
+        0.7467291951179504
+      ],
+      [
+        3.357743263244629,
+        0.7066251039505005
+      ],
+      [
+        3.3766419887542725,
+        0.6663689613342285
+      ],
+      [
+        3.394181966781616,
+        0.6259563565254211
+      ],
+      [
+        3.4102442264556885,
+        0.5853835344314575
+      ],
+      [
+        3.424708127975464,
+        0.5446467995643616
+      ],
+      [
+        3.4374516010284424,
+        0.5037427544593811
+      ],
+      [
+        3.448352098464966,
+        0.46266797184944153
+      ],
+      [
+        3.457287073135376,
+        0.42141908407211304
+      ],
+      [
+        3.4641330242156982,
+        0.3799927234649658
+      ],
+      [
+        3.468876838684082,
+        0.33839157223701477
+      ],
+      [
+        3.471616506576538,
+        0.2966245114803314
+      ],
+      [
+        3.4724483489990234,
+        0.2547004222869873
+      ],
+      [
+        3.4714694023132324,
+        0.21262840926647186
+      ],
+      [
+        3.4687745571136475,
+        0.17041781544685364
+      ],
+      [
+        3.4644577503204346,
+        0.1280783712863922
+      ],
+      [
+        3.4586100578308105,
+        0.0856202244758606
+      ],
+      [
+        3.4513206481933594,
+        0.043054141104221344
+      ],
+      [
+        3.442674398422241,
+        0.0003915314737241715
+      ],
+      [
+        3.432753562927246,
+        -0.04235544055700302
+      ],
+      [
+        3.421635389328003,
+        -0.08517380803823471
+      ],
+      [
+        3.409393072128296,
+        -0.12804976105690002
+      ],
+      [
+        3.3960955142974854,
+        -0.17096871137619019
+      ],
+      [
+        3.3818066120147705,
+        -0.21391519904136658
+      ],
+      [
+        3.366586685180664,
+        -0.25687310099601746
+      ],
+      [
+        3.3504908084869385,
+        -0.29982560873031616
+      ],
+      [
+        3.333570718765259,
+        -0.34275543689727783
+      ],
+      [
+        3.315875291824341,
+        -0.3856448531150818
+      ],
+      [
+        3.297449827194214,
+        -0.42847591638565063
+      ],
+      [
+        3.278337240219116,
+        -0.47123050689697266
+      ],
+      [
+        3.2585792541503906,
+        -0.5138905048370361
+      ],
+      [
+        3.238215923309326,
+        -0.5564379692077637
+      ],
+      [
+        3.217292308807373,
+        -0.5988707542419434
+      ],
+      [
+        3.1958582401275635,
+        -0.6412028074264526
+      ],
+      [
+        3.1739635467529297,
+        -0.6834480166435242
+      ],
+      [
+        3.1516590118408203,
+        -0.7256200909614563
+      ],
+      [
+        3.1289961338043213,
+        -0.7677323818206787
+      ],
+      [
+        3.1060280799865723,
+        -0.8097975850105286
+      ],
+      [
+        3.082807779312134,
+        -0.8518276214599609
+      ],
+      [
+        3.0593905448913574,
+        -0.8938331604003906
+      ],
+      [
+        3.0358314514160156,
+        -0.9358235001564026
+      ],
+      [
+        3.0062689781188965,
+        -0.9883013367652893
+      ],
+      [
+        2.9885144233703613,
+        -1.0197867155075073
+      ]
+    ]
+  }
+]

kimodo/assets/demo/examples/kimodo-g1-rp/05_root_path/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "Initially standing still and calm, the person then starts jogging in a counterclockwise arc.",
+  "duration": 6.033333333333333,
+  "num_samples": 1,
+  "seed": 62,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-g1-rp/05_root_path/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0eaf2efd5d4120048ef56045c961af932ceb4f72f50034827182f310162164b
+size 296914

kimodo/assets/demo/examples/kimodo-g1-rp/06_root_waypoints/constraints.json

@@ -0,0 +1,29 @@
+[
+  {
+    "type": "root2d",
+    "frame_indices": [
+      0,
+      87,
+      169,
+      240
+    ],
+    "smooth_root_2d": [
+      [
+        0.037946805357933044,
+        -0.036908961832523346
+      ],
+      [
+        2.2506563663482666,
+        0.06945009529590607
+      ],
+      [
+        2.23332142829895,
+        -2.0749685764312744
+      ],
+      [
+        4.0815324783325195,
+        -2.273184061050415
+      ]
+    ]
+  }
+]

kimodo/assets/demo/examples/kimodo-g1-rp/06_root_waypoints/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "A person is walking while carrying a small object in their left hand",
+  "duration": 8.033333333333333,
+  "num_samples": 1,
+  "seed": 61,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-g1-rp/06_root_waypoints/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eda98d489984ac45289336207dafe3215757e7bc75b770a6a96239e093b4a0a9
+size 395074

kimodo/assets/demo/examples/kimodo-g1-rp/07_text_terrain/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "A person begins walking up the stairs",
+  "duration": 3.5,
+  "num_samples": 1,
+  "seed": 44,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-g1-rp/07_text_terrain/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1c2920338a8ecaa0f8c25a24f06bdca88db8b406c33a68930a459d64f6beda8
+size 172578

kimodo/assets/demo/examples/kimodo-g1-rp/08_text_object/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "A person picks up an object from low on their left side and places it up high",
+  "duration": 5.033333333333333,
+  "num_samples": 1,
+  "seed": 47,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-g1-rp/08_text_object/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23032acb7b0db2c194c5d967529ac76ac0dc63920903fb504375090b9b83aba1
+size 247834

kimodo/assets/demo/examples/kimodo-soma-rp/01_single_text_prompt/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "A person runs forward and then leaps over an obstacle in front of them.",
+  "duration": 5.0,
+  "num_samples": 1,
+  "seed": 42,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-soma-rp/01_single_text_prompt/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37b6f13ed9c9f55696a9f9c896e8770fbdbd622864b08cd075e4eaf3a6a21f95
+size 217398

kimodo/assets/demo/examples/kimodo-soma-rp/02_multi_text_prompt/meta.json

@@ -0,0 +1,18 @@
+{
+  "texts": [
+    "A person is walking forward casually.",
+    "A person turns to the right and starts sneakily moving forward"
+  ],
+  "durations": [
+    3.533333333333333,
+    4.033333333333333
+  ],
+  "num_samples": 1,
+  "seed": 42,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-soma-rp/02_multi_text_prompt/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c7731d7e84fb0944fb23a71bff2086e766f2f7884bd26e1b1ce36710ff84537
+size 328586

kimodo/assets/demo/examples/kimodo-soma-rp/03_full_body_keyframes/constraints.json

@@ -0,0 +1,337 @@
+[
+  {
+    "type": "fullbody",
+    "frame_indices": [
+      79,
+      134
+    ],
+    "local_joints_rot": [
+      [
+        [
+          0.2765098512172699,
+          0.3728594183921814,
+          -0.3292054831981659
+        ],
+        [
+          0.35604047775268555,
+          0.018222831189632416,
+          -0.054862238466739655
+        ],
+        [
+          0.12065527588129044,
+          -0.027457308024168015,
+          -0.06907646358013153
+        ],
+        [
+          0.6048485636711121,
+          -0.11472737789154053,
+          -0.19573566317558289
+        ],
+        [
+          -0.12398597598075867,
+          0.03840772435069084,
+          0.18822282552719116
+        ],
+        [
+          -0.06553511321544647,
+          0.13032270967960358,
+          0.04257704317569733
+        ],
+        [
+          -0.24969959259033203,
+          0.06990747153759003,
+          0.13426002860069275
+        ],
+        [
+          -0.002762501360848546,
+          0.0010064352536574006,
+          -0.0012083332985639572
+        ],
+        [
+          -0.18770116567611694,
+          -0.06528781354427338,
+          0.006136383395642042
+        ],
+        [
+          -0.18933561444282532,
+          0.06753389537334442,
+          -0.00862747710198164
+        ],
+        [
+          0.1765439361333847,
+          -0.5079103708267212,
+          0.11742556095123291
+        ],
+        [
+          -0.6833809614181519,
+          -0.36341744661331177,
+          -0.09875624626874924
+        ],
+        [
+          -0.004083660896867514,
+          -0.2955799102783203,
+          0.007416445296257734
+        ],
+        [
+          -0.46948903799057007,
+          0.0019703502766788006,
+          0.2218078076839447
+        ],
+        [
+          0.15589098632335663,
+          0.29247695207595825,
+          -0.2839103043079376
+        ],
+        [
+          -0.006183772347867489,
+          0.039787642657756805,
+          -1.0509610176086426
+        ],
+        [
+          0.28110796213150024,
+          -0.01673225313425064,
+          0.05465283617377281
+        ],
+        [
+          0.4582408368587494,
+          0.6058111786842346,
+          1.040449619293213
+        ],
+        [
+          -0.016165010631084442,
+          0.7843144536018372,
+          0.007565980777144432
+        ],
+        [
+          -0.21160456538200378,
+          0.009858175180852413,
+          0.022257711738348007
+        ],
+        [
+          0.08559019863605499,
+          -0.26941442489624023,
+          0.28404051065444946
+        ],
+        [
+          -0.0722564086318016,
+          -0.055347055196762085,
+          0.8767912983894348
+        ],
+        [
+          -0.9036330580711365,
+          -0.19308030605316162,
+          0.6912829875946045
+        ],
+        [
+          1.7018375396728516,
+          -0.052370231598615646,
+          0.0016176343197003007
+        ],
+        [
+          -0.6713079810142517,
+          -0.22423480451107025,
+          -0.17199599742889404
+        ],
+        [
+          -0.2397085577249527,
+          -0.04111046716570854,
+          0.02976534143090248
+        ],
+        [
+          -1.4084941148757935,
+          -0.42399686574935913,
+          0.23780424892902374
+        ],
+        [
+          1.488803744316101,
+          -0.006882219575345516,
+          0.005796314682811499
+        ],
+        [
+          -0.34890878200531006,
+          0.25402817130088806,
+          -0.10165958851575851
+        ],
+        [
+          -0.017090337350964546,
+          0.013983047567307949,
+          -0.02469288557767868
+        ]
+      ],
+      [
+        [
+          -0.10219376534223557,
+          0.15241079032421112,
+          -0.1140606626868248
+        ],
+        [
+          -0.07097288966178894,
+          -0.023205779492855072,
+          0.014893154613673687
+        ],
+        [
+          -0.11436910182237625,
+          -0.07182353734970093,
+          -0.024793410673737526
+        ],
+        [
+          0.32571300864219666,
+          -0.11312247067689896,
+          -0.017911700531840324
+        ],
+        [
+          0.036515623331069946,
+          -0.0007576555362902582,
+          0.14029929041862488
+        ],
+        [
+          -0.06553909182548523,
+          0.07225329428911209,
+          0.0065536051988601685
+        ],
+        [
+          -0.09946814924478531,
+          0.02283940091729164,
+          0.060293473303318024
+        ],
+        [
+          -0.0007363191107288003,
+          0.0019088855478912592,
+          0.00034123589284718037
+        ],
+        [
+          -0.18651022017002106,
+          -0.06423485279083252,
+          0.0069741918705403805
+        ],
+        [
+          -0.18586836755275726,
+          0.06800899654626846,
+          -0.0060585117898881435
+        ],
+        [
+          0.23363706469535828,
+          -0.20687633752822876,
+          -0.07240967452526093
+        ],
+        [
+          -0.3135974407196045,
+          -0.2623864710330963,
+          -1.0657873153686523
+        ],
+        [
+          -0.012310811318457127,
+          -1.6650079488754272,
+          -0.010509567335247993
+        ],
+        [
+          -0.8171713352203369,
+          -0.2551392912864685,
+          0.08705981075763702
+        ],
+        [
+          0.13723036646842957,
+          0.2864063084125519,
+          -0.2900709807872772
+        ],
+        [
+          -0.005930017679929733,
+          0.05293968319892883,
+          -1.0459250211715698
+        ],
+        [
+          0.24218180775642395,
+          0.02018338069319725,
+          0.1226770281791687
+        ],
+        [
+          0.3315959572792053,
+          0.3782292902469635,
+          1.2296319007873535
+        ],
+        [
+          -0.0014527677558362484,
+          0.3045952022075653,
+          -0.0014049106976017356
+        ],
+        [
+          -0.20010970532894135,
+          -0.07485076785087585,
+          0.0041703470051288605
+        ],
+        [
+          0.08470325917005539,
+          -0.3079097270965576,
+          0.29375413060188293
+        ],
+        [
+          -0.09725581854581833,
+          -0.055068179965019226,
+          0.8742175698280334
+        ],
+        [
+          0.4040503203868866,
+          -0.016711091622710228,
+          0.21672509610652924
+        ],
+        [
+          0.5082376599311829,
+          -0.013459251262247562,
+          0.004872385878115892
+        ],
+        [
+          0.1745426058769226,
+          -0.24501416087150574,
+          -0.003703102469444275
+        ],
+        [
+          -0.33402949571609497,
+          -0.035541169345378876,
+          0.032360970973968506
+        ],
+        [
+          -0.37681734561920166,
+          0.02067263424396515,
+          0.10783999413251877
+        ],
+        [
+          0.4257254898548126,
+          0.0016118268249556422,
+          0.0033562832977622747
+        ],
+        [
+          0.04139057174324989,
+          0.032555095851421356,
+          0.04008425772190094
+        ],
+        [
+          -0.03090120106935501,
+          0.01570875011384487,
+          -0.024774780496954918
+        ]
+      ]
+    ],
+    "root_positions": [
+      [
+        -0.18697306513786316,
+        0.7126776576042175,
+        1.1559109687805176
+      ],
+      [
+        -0.014062155969440937,
+        0.9611971974372864,
+        2.898127555847168
+      ]
+    ],
+    "smooth_root_2d": [
+      [
+        -0.18697306513786316,
+        1.1559109687805176
+      ],
+      [
+        -0.014062155969440937,
+        2.898127555847168
+      ]
+    ]
+  }
+]

kimodo/assets/demo/examples/kimodo-soma-rp/03_full_body_keyframes/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "A person walks forward and picks something up from the ground",
+  "duration": 5.0,
+  "num_samples": 1,
+  "seed": 43,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-soma-rp/03_full_body_keyframes/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4c7f89c9fd5394a8b635625815add45acfda0bf568d8ce41f42892034a99cd2
+size 217398

kimodo/assets/demo/examples/kimodo-soma-rp/04_ee_constraint/constraints.json

@@ -0,0 +1,1342 @@
+[
+  {
+    "type": "right-foot",
+    "frame_indices": [
+      28,
+      94
+    ],
+    "local_joints_rot": [
+      [
+        [
+          0.14788010716438293,
+          -0.010833931155502796,
+          -0.01388303842395544
+        ],
+        [
+          -0.03901153802871704,
+          0.0003969503741245717,
+          -0.00016447225061710924
+        ],
+        [
+          -0.09507032483816147,
+          0.008639314211905003,
+          -0.0073561337776482105
+        ],
+        [
+          0.21237806975841522,
+          -0.02139095962047577,
+          -0.01700877584517002
+        ],
+        [
+          -0.20991119742393494,
+          0.06551700085401535,
+          -0.05272415280342102
+        ],
+        [
+          -0.06337061524391174,
+          0.05204080045223236,
+          0.014292852953076363
+        ],
+        [
+          0.07047945261001587,
+          0.08330309391021729,
+          -0.002013514516875148
+        ],
+        [
+          -0.0019600456580519676,
+          -0.0013381227618083358,
+          -2.7628393581835553e-06
+        ],
+        [
+          -0.18709787726402283,
+          -0.06659803539514542,
+          0.0078862514346838
+        ],
+        [
+          -0.18698126077651978,
+          0.06395528465509415,
+          -0.008215037174522877
+        ],
+        [
+          0.08230585604906082,
+          -0.38376951217651367,
+          0.05542140454053879
+        ],
+        [
+          -0.7260366082191467,
+          -0.24878422915935516,
+          -0.35609468817710876
+        ],
+        [
+          0.004249485209584236,
+          -0.4476320147514343,
+          -0.018469776958227158
+        ],
+        [
+          -0.9212101697921753,
+          -0.1470143049955368,
+          0.5044775605201721
+        ],
+        [
+          0.14870156347751617,
+          0.2985619604587555,
+          -0.29298385977745056
+        ],
+        [
+          0.001955621177330613,
+          0.055549487471580505,
+          -1.0630463361740112
+        ],
+        [
+          0.11859050393104553,
+          0.46535199880599976,
+          -0.030845582485198975
+        ],
+        [
+          -0.7298654317855835,
+          0.5346517562866211,
+          0.2791443467140198
+        ],
+        [
+          0.008972911164164543,
+          0.48752307891845703,
+          0.01847967691719532
+        ],
+        [
+          -0.5805565118789673,
+          -0.08708631247282028,
+          -0.15088550746440887
+        ],
+        [
+          0.08582834899425507,
+          -0.2886488735675812,
+          0.2854447066783905
+        ],
+        [
+          -0.0898093581199646,
+          -0.05874425172805786,
+          0.8657776117324829
+        ],
+        [
+          -0.3135877549648285,
+          0.07464626431465149,
+          0.0517989918589592
+        ],
+        [
+          0.29447537660598755,
+          -0.003720453940331936,
+          0.0011728419922292233
+        ],
+        [
+          -0.12890003621578217,
+          0.0839272066950798,
+          -0.090343177318573
+        ],
+        [
+          0.008360159583389759,
+          -0.03457032889127731,
+          0.02827553078532219
+        ],
+        [
+          -0.3120643198490143,
+          -0.01133657619357109,
+          -0.03218594938516617
+        ],
+        [
+          0.2538771331310272,
+          0.0018040596041828394,
+          0.0009352069464512169
+        ],
+        [
+          -0.0887608677148819,
+          -0.03465384244918823,
+          0.07154331356287003
+        ],
+        [
+          0.01681467890739441,
+          0.01778421923518181,
+          -0.025033073499798775
+        ]
+      ],
+      [
+        [
+          0.21243979036808014,
+          1.0922467708587646,
+          -0.05739659443497658
+        ],
+        [
+          -0.04288899898529053,
+          0.019888481125235558,
+          -0.014078406617045403
+        ],
+        [
+          -0.09594971686601639,
+          0.10335114598274231,
+          -0.007776615675538778
+        ],
+        [
+          0.2422163188457489,
+          0.08445896953344345,
+          -0.05605608597397804
+        ],
+        [
+          -0.14986605942249298,
+          0.10279522091150284,
+          -0.19410337507724762
+        ],
+        [
+          -0.07278254628181458,
+          0.00021229058620519936,
+          -0.0064666238613426685
+        ],
+        [
+          -0.18101167678833008,
+          -0.047196485102176666,
+          0.09371022135019302
+        ],
+        [
+          -0.0013136633206158876,
+          -0.0020103836432099342,
+          -0.0002618256548885256
+        ],
+        [
+          -0.1867513209581375,
+          -0.0681525468826294,
+          0.0023792991414666176
+        ],
+        [
+          -0.18714284896850586,
+          0.06443598866462708,
+          -0.003183535533025861
+        ],
+        [
+          0.1040755957365036,
+          -0.1164601668715477,
+          -0.08953910320997238
+        ],
+        [
+          -0.7818892598152161,
+          -0.40082883834838867,
+          -0.40901198983192444
+        ],
+        [
+          0.0014971806667745113,
+          -0.7006690502166748,
+          -0.003588718129321933
+        ],
+        [
+          -0.7653300762176514,
+          -0.030549153685569763,
+          0.5779297947883606
+        ],
+        [
+          0.1444747895002365,
+          0.30648332834243774,
+          -0.2944350242614746
+        ],
+        [
+          0.00627485616132617,
+          0.05844533443450928,
+          -1.0504485368728638
+        ],
+        [
+          0.16790169477462769,
+          0.6803913116455078,
+          -0.0802350640296936
+        ],
+        [
+          -0.7650246620178223,
+          0.2571314871311188,
+          0.044474273920059204
+        ],
+        [
+          0.00177879654802382,
+          0.32478848099708557,
+          0.024663111194968224
+        ],
+        [
+          -1.1130585670471191,
+          0.06198093295097351,
+          -0.1499929279088974
+        ],
+        [
+          0.09419120848178864,
+          -0.28672322630882263,
+          0.2861841320991516
+        ],
+        [
+          -0.08110660314559937,
+          -0.06315471976995468,
+          0.8641197085380554
+        ],
+        [
+          -0.4702282249927521,
+          -0.2976788580417633,
+          -0.08966172486543655
+        ],
+        [
+          0.2188275307416916,
+          -0.010813144035637379,
+          -0.0024994502309709787
+        ],
+        [
+          0.12644176185131073,
+          -0.4933742582798004,
+          -0.23269610106945038
+        ],
+        [
+          -0.05216464772820473,
+          -0.03182952478528023,
+          0.026469329372048378
+        ],
+        [
+          -0.21055173873901367,
+          -0.5854666233062744,
+          -0.08316371589899063
+        ],
+        [
+          0.2703852653503418,
+          -0.0070351893082261086,
+          0.00034556735772639513
+        ],
+        [
+          -0.20080512762069702,
+          -0.5529999136924744,
+          0.08794122189283371
+        ],
+        [
+          -0.020619722083210945,
+          0.01961597241461277,
+          -0.02498687617480755
+        ]
+      ]
+    ],
+    "root_positions": [
+      [
+        0.006224155426025391,
+        1.0099574327468872,
+        0.0004121592501178384
+      ],
+      [
+        0.025673866271972656,
+        1.0039517879486084,
+        0.0002174415858462453
+      ]
+    ],
+    "smooth_root_2d": [
+      [
+        0.006224155426025391,
+        0.0004121592501178384
+      ],
+      [
+        0.025673866271972656,
+        0.0002174415858462453
+      ]
+    ]
+  },
+  {
+    "type": "left-foot",
+    "frame_indices": [
+      28,
+      94
+    ],
+    "local_joints_rot": [
+      [
+        [
+          0.14788010716438293,
+          -0.010833931155502796,
+          -0.01388303842395544
+        ],
+        [
+          -0.03901153802871704,
+          0.0003969503741245717,
+          -0.00016447225061710924
+        ],
+        [
+          -0.09507032483816147,
+          0.008639314211905003,
+          -0.0073561337776482105
+        ],
+        [
+          0.21237806975841522,
+          -0.02139095962047577,
+          -0.01700877584517002
+        ],
+        [
+          -0.20991119742393494,
+          0.06551700085401535,
+          -0.05272415280342102
+        ],
+        [
+          -0.06337061524391174,
+          0.05204080045223236,
+          0.014292852953076363
+        ],
+        [
+          0.07047945261001587,
+          0.08330309391021729,
+          -0.002013514516875148
+        ],
+        [
+          -0.0019600456580519676,
+          -0.0013381227618083358,
+          -2.7628393581835553e-06
+        ],
+        [
+          -0.18709787726402283,
+          -0.06659803539514542,
+          0.0078862514346838
+        ],
+        [
+          -0.18698126077651978,
+          0.06395528465509415,
+          -0.008215037174522877
+        ],
+        [
+          0.08230585604906082,
+          -0.38376951217651367,
+          0.05542140454053879
+        ],
+        [
+          -0.7260366082191467,
+          -0.24878422915935516,
+          -0.35609468817710876
+        ],
+        [
+          0.004249485209584236,
+          -0.4476320147514343,
+          -0.018469776958227158
+        ],
+        [
+          -0.9212101697921753,
+          -0.1470143049955368,
+          0.5044775605201721
+        ],
+        [
+          0.14870156347751617,
+          0.2985619604587555,
+          -0.29298385977745056
+        ],
+        [
+          0.001955621177330613,
+          0.055549487471580505,
+          -1.0630463361740112
+        ],
+        [
+          0.11859050393104553,
+          0.46535199880599976,
+          -0.030845582485198975
+        ],
+        [
+          -0.7298654317855835,
+          0.5346517562866211,
+          0.2791443467140198
+        ],
+        [
+          0.008972911164164543,
+          0.48752307891845703,
+          0.01847967691719532
+        ],
+        [
+          -0.5805565118789673,
+          -0.08708631247282028,
+          -0.15088550746440887
+        ],
+        [
+          0.08582834899425507,
+          -0.2886488735675812,
+          0.2854447066783905
+        ],
+        [
+          -0.0898093581199646,
+          -0.05874425172805786,
+          0.8657776117324829
+        ],
+        [
+          -0.3135877549648285,
+          0.07464626431465149,
+          0.0517989918589592
+        ],
+        [
+          0.29447537660598755,
+          -0.003720453940331936,
+          0.0011728419922292233
+        ],
+        [
+          -0.12890003621578217,
+          0.0839272066950798,
+          -0.090343177318573
+        ],
+        [
+          0.008360159583389759,
+          -0.03457032889127731,
+          0.02827553078532219
+        ],
+        [
+          -0.3120643198490143,
+          -0.01133657619357109,
+          -0.03218594938516617
+        ],
+        [
+          0.2538771331310272,
+          0.0018040596041828394,
+          0.0009352069464512169
+        ],
+        [
+          -0.0887608677148819,
+          -0.03465384244918823,
+          0.07154331356287003
+        ],
+        [
+          0.01681467890739441,
+          0.01778421923518181,
+          -0.025033073499798775
+        ]
+      ],
+      [
+        [
+          0.21243979036808014,
+          1.0922467708587646,
+          -0.05739659443497658
+        ],
+        [
+          -0.04288899898529053,
+          0.019888481125235558,
+          -0.014078406617045403
+        ],
+        [
+          -0.09594971686601639,
+          0.10335114598274231,
+          -0.007776615675538778
+        ],
+        [
+          0.2422163188457489,
+          0.08445896953344345,
+          -0.05605608597397804
+        ],
+        [
+          -0.14986605942249298,
+          0.10279522091150284,
+          -0.19410337507724762
+        ],
+        [
+          -0.07278254628181458,
+          0.00021229058620519936,
+          -0.0064666238613426685
+        ],
+        [
+          -0.18101167678833008,
+          -0.047196485102176666,
+          0.09371022135019302
+        ],
+        [
+          -0.0013136633206158876,
+          -0.0020103836432099342,
+          -0.0002618256548885256
+        ],
+        [
+          -0.1867513209581375,
+          -0.0681525468826294,
+          0.0023792991414666176
+        ],
+        [
+          -0.18714284896850586,
+          0.06443598866462708,
+          -0.003183535533025861
+        ],
+        [
+          0.1040755957365036,
+          -0.1164601668715477,
+          -0.08953910320997238
+        ],
+        [
+          -0.7818892598152161,
+          -0.40082883834838867,
+          -0.40901198983192444
+        ],
+        [
+          0.0014971806667745113,
+          -0.7006690502166748,
+          -0.003588718129321933
+        ],
+        [
+          -0.7653300762176514,
+          -0.030549153685569763,
+          0.5779297947883606
+        ],
+        [
+          0.1444747895002365,
+          0.30648332834243774,
+          -0.2944350242614746
+        ],
+        [
+          0.00627485616132617,
+          0.05844533443450928,
+          -1.0504485368728638
+        ],
+        [
+          0.16790169477462769,
+          0.6803913116455078,
+          -0.0802350640296936
+        ],
+        [
+          -0.7650246620178223,
+          0.2571314871311188,
+          0.044474273920059204
+        ],
+        [
+          0.00177879654802382,
+          0.32478848099708557,
+          0.024663111194968224
+        ],
+        [
+          -1.1130585670471191,
+          0.06198093295097351,
+          -0.1499929279088974
+        ],
+        [
+          0.09419120848178864,
+          -0.28672322630882263,
+          0.2861841320991516
+        ],
+        [
+          -0.08110660314559937,
+          -0.06315471976995468,
+          0.8641197085380554
+        ],
+        [
+          -0.4702282249927521,
+          -0.2976788580417633,
+          -0.08966172486543655
+        ],
+        [
+          0.2188275307416916,
+          -0.010813144035637379,
+          -0.0024994502309709787
+        ],
+        [
+          0.12644176185131073,
+          -0.4933742582798004,
+          -0.23269610106945038
+        ],
+        [
+          -0.05216464772820473,
+          -0.03182952478528023,
+          0.026469329372048378
+        ],
+        [
+          -0.21055173873901367,
+          -0.5854666233062744,
+          -0.08316371589899063
+        ],
+        [
+          0.2703852653503418,
+          -0.0070351893082261086,
+          0.00034556735772639513
+        ],
+        [
+          -0.20080512762069702,
+          -0.5529999136924744,
+          0.08794122189283371
+        ],
+        [
+          -0.020619722083210945,
+          0.01961597241461277,
+          -0.02498687617480755
+        ]
+      ]
+    ],
+    "root_positions": [
+      [
+        0.006224155426025391,
+        1.0099574327468872,
+        0.0004121592501178384
+      ],
+      [
+        0.025673866271972656,
+        1.0039517879486084,
+        0.0002174415858462453
+      ]
+    ],
+    "smooth_root_2d": [
+      [
+        0.006224155426025391,
+        0.0004121592501178384
+      ],
+      [
+        0.025673866271972656,
+        0.0002174415858462453
+      ]
+    ]
+  },
+  {
+    "type": "left-hand",
+    "frame_indices": [
+      28,
+      94
+    ],
+    "local_joints_rot": [
+      [
+        [
+          0.14788010716438293,
+          -0.010833931155502796,
+          -0.01388303842395544
+        ],
+        [
+          -0.03901153802871704,
+          0.0003969503741245717,
+          -0.00016447225061710924
+        ],
+        [
+          -0.09507032483816147,
+          0.008639314211905003,
+          -0.0073561337776482105
+        ],
+        [
+          0.21237806975841522,
+          -0.02139095962047577,
+          -0.01700877584517002
+        ],
+        [
+          -0.20991119742393494,
+          0.06551700085401535,
+          -0.05272415280342102
+        ],
+        [
+          -0.06337061524391174,
+          0.05204080045223236,
+          0.014292852953076363
+        ],
+        [
+          0.07047945261001587,
+          0.08330309391021729,
+          -0.002013514516875148
+        ],
+        [
+          -0.0019600456580519676,
+          -0.0013381227618083358,
+          -2.7628393581835553e-06
+        ],
+        [
+          -0.18709787726402283,
+          -0.06659803539514542,
+          0.0078862514346838
+        ],
+        [
+          -0.18698126077651978,
+          0.06395528465509415,
+          -0.008215037174522877
+        ],
+        [
+          0.08230585604906082,
+          -0.38376951217651367,
+          0.05542140454053879
+        ],
+        [
+          -0.7260366082191467,
+          -0.24878422915935516,
+          -0.35609468817710876
+        ],
+        [
+          0.004249485209584236,
+          -0.4476320147514343,
+          -0.018469776958227158
+        ],
+        [
+          -0.9212101697921753,
+          -0.1470143049955368,
+          0.5044775605201721
+        ],
+        [
+          0.14870156347751617,
+          0.2985619604587555,
+          -0.29298385977745056
+        ],
+        [
+          0.001955621177330613,
+          0.055549487471580505,
+          -1.0630463361740112
+        ],
+        [
+          0.11859050393104553,
+          0.46535199880599976,
+          -0.030845582485198975
+        ],
+        [
+          -0.7298654317855835,
+          0.5346517562866211,
+          0.2791443467140198
+        ],
+        [
+          0.008972911164164543,
+          0.48752307891845703,
+          0.01847967691719532
+        ],
+        [
+          -0.5805565118789673,
+          -0.08708631247282028,
+          -0.15088550746440887
+        ],
+        [
+          0.08582834899425507,
+          -0.2886488735675812,
+          0.2854447066783905
+        ],
+        [
+          -0.0898093581199646,
+          -0.05874425172805786,
+          0.8657776117324829
+        ],
+        [
+          -0.3135877549648285,
+          0.07464626431465149,
+          0.0517989918589592
+        ],
+        [
+          0.29447537660598755,
+          -0.003720453940331936,
+          0.0011728419922292233
+        ],
+        [
+          -0.12890003621578217,
+          0.0839272066950798,
+          -0.090343177318573
+        ],
+        [
+          0.008360159583389759,
+          -0.03457032889127731,
+          0.02827553078532219
+        ],
+        [
+          -0.3120643198490143,
+          -0.01133657619357109,
+          -0.03218594938516617
+        ],
+        [
+          0.2538771331310272,
+          0.0018040596041828394,
+          0.0009352069464512169
+        ],
+        [
+          -0.0887608677148819,
+          -0.03465384244918823,
+          0.07154331356287003
+        ],
+        [
+          0.01681467890739441,
+          0.01778421923518181,
+          -0.025033073499798775
+        ]
+      ],
+      [
+        [
+          0.21243979036808014,
+          1.0922467708587646,
+          -0.05739659443497658
+        ],
+        [
+          -0.04288899898529053,
+          0.019888481125235558,
+          -0.014078406617045403
+        ],
+        [
+          -0.09594971686601639,
+          0.10335114598274231,
+          -0.007776615675538778
+        ],
+        [
+          0.2422163188457489,
+          0.08445896953344345,
+          -0.05605608597397804
+        ],
+        [
+          -0.14986605942249298,
+          0.10279522091150284,
+          -0.19410337507724762
+        ],
+        [
+          -0.07278254628181458,
+          0.00021229058620519936,
+          -0.0064666238613426685
+        ],
+        [
+          -0.18101167678833008,
+          -0.047196485102176666,
+          0.09371022135019302
+        ],
+        [
+          -0.0013136633206158876,
+          -0.0020103836432099342,
+          -0.0002618256548885256
+        ],
+        [
+          -0.1867513209581375,
+          -0.0681525468826294,
+          0.0023792991414666176
+        ],
+        [
+          -0.18714284896850586,
+          0.06443598866462708,
+          -0.003183535533025861
+        ],
+        [
+          0.1040755957365036,
+          -0.1164601668715477,
+          -0.08953910320997238
+        ],
+        [
+          -0.7818892598152161,
+          -0.40082883834838867,
+          -0.40901198983192444
+        ],
+        [
+          0.0014971806667745113,
+          -0.7006690502166748,
+          -0.003588718129321933
+        ],
+        [
+          -0.7653300762176514,
+          -0.030549153685569763,
+          0.5779297947883606
+        ],
+        [
+          0.1444747895002365,
+          0.30648332834243774,
+          -0.2944350242614746
+        ],
+        [
+          0.00627485616132617,
+          0.05844533443450928,
+          -1.0504485368728638
+        ],
+        [
+          0.16790169477462769,
+          0.6803913116455078,
+          -0.0802350640296936
+        ],
+        [
+          -0.7650246620178223,
+          0.2571314871311188,
+          0.044474273920059204
+        ],
+        [
+          0.00177879654802382,
+          0.32478848099708557,
+          0.024663111194968224
+        ],
+        [
+          -1.1130585670471191,
+          0.06198093295097351,
+          -0.1499929279088974
+        ],
+        [
+          0.09419120848178864,
+          -0.28672322630882263,
+          0.2861841320991516
+        ],
+        [
+          -0.08110660314559937,
+          -0.06315471976995468,
+          0.8641197085380554
+        ],
+        [
+          -0.4702282249927521,
+          -0.2976788580417633,
+          -0.08966172486543655
+        ],
+        [
+          0.2188275307416916,
+          -0.010813144035637379,
+          -0.0024994502309709787
+        ],
+        [
+          0.12644176185131073,
+          -0.4933742582798004,
+          -0.23269610106945038
+        ],
+        [
+          -0.05216464772820473,
+          -0.03182952478528023,
+          0.026469329372048378
+        ],
+        [
+          -0.21055173873901367,
+          -0.5854666233062744,
+          -0.08316371589899063
+        ],
+        [
+          0.2703852653503418,
+          -0.0070351893082261086,
+          0.00034556735772639513
+        ],
+        [
+          -0.20080512762069702,
+          -0.5529999136924744,
+          0.08794122189283371
+        ],
+        [
+          -0.020619722083210945,
+          0.01961597241461277,
+          -0.02498687617480755
+        ]
+      ]
+    ],
+    "root_positions": [
+      [
+        0.006224155426025391,
+        1.0099574327468872,
+        0.0004121592501178384
+      ],
+      [
+        0.025673866271972656,
+        1.0039517879486084,
+        0.0002174415858462453
+      ]
+    ],
+    "smooth_root_2d": [
+      [
+        0.006224155426025391,
+        0.0004121592501178384
+      ],
+      [
+        0.025673866271972656,
+        0.0002174415858462453
+      ]
+    ]
+  },
+  {
+    "type": "right-hand",
+    "frame_indices": [
+      28,
+      94
+    ],
+    "local_joints_rot": [
+      [
+        [
+          0.14788010716438293,
+          -0.010833931155502796,
+          -0.01388303842395544
+        ],
+        [
+          -0.03901153802871704,
+          0.0003969503741245717,
+          -0.00016447225061710924
+        ],
+        [
+          -0.09507032483816147,
+          0.008639314211905003,
+          -0.0073561337776482105
+        ],
+        [
+          0.21237806975841522,
+          -0.02139095962047577,
+          -0.01700877584517002
+        ],
+        [
+          -0.20991119742393494,
+          0.06551700085401535,
+          -0.05272415280342102
+        ],
+        [
+          -0.06337061524391174,
+          0.05204080045223236,
+          0.014292852953076363
+        ],
+        [
+          0.07047945261001587,
+          0.08330309391021729,
+          -0.002013514516875148
+        ],
+        [
+          -0.0019600456580519676,
+          -0.0013381227618083358,
+          -2.7628393581835553e-06
+        ],
+        [
+          -0.18709787726402283,
+          -0.06659803539514542,
+          0.0078862514346838
+        ],
+        [
+          -0.18698126077651978,
+          0.06395528465509415,
+          -0.008215037174522877
+        ],
+        [
+          0.08230585604906082,
+          -0.38376951217651367,
+          0.05542140454053879
+        ],
+        [
+          -0.7260366082191467,
+          -0.24878422915935516,
+          -0.35609468817710876
+        ],
+        [
+          0.004249485209584236,
+          -0.4476320147514343,
+          -0.018469776958227158
+        ],
+        [
+          -0.9212101697921753,
+          -0.1470143049955368,
+          0.5044775605201721
+        ],
+        [
+          0.14870156347751617,
+          0.2985619604587555,
+          -0.29298385977745056
+        ],
+        [
+          0.001955621177330613,
+          0.055549487471580505,
+          -1.0630463361740112
+        ],
+        [
+          0.11859050393104553,
+          0.46535199880599976,
+          -0.030845582485198975
+        ],
+        [
+          -0.7298654317855835,
+          0.5346517562866211,
+          0.2791443467140198
+        ],
+        [
+          0.008972911164164543,
+          0.48752307891845703,
+          0.01847967691719532
+        ],
+        [
+          -0.5805565118789673,
+          -0.08708631247282028,
+          -0.15088550746440887
+        ],
+        [
+          0.08582834899425507,
+          -0.2886488735675812,
+          0.2854447066783905
+        ],
+        [
+          -0.0898093581199646,
+          -0.05874425172805786,
+          0.8657776117324829
+        ],
+        [
+          -0.3135877549648285,
+          0.07464626431465149,
+          0.0517989918589592
+        ],
+        [
+          0.29447537660598755,
+          -0.003720453940331936,
+          0.0011728419922292233
+        ],
+        [
+          -0.12890003621578217,
+          0.0839272066950798,
+          -0.090343177318573
+        ],
+        [
+          0.008360159583389759,
+          -0.03457032889127731,
+          0.02827553078532219
+        ],
+        [
+          -0.3120643198490143,
+          -0.01133657619357109,
+          -0.03218594938516617
+        ],
+        [
+          0.2538771331310272,
+          0.0018040596041828394,
+          0.0009352069464512169
+        ],
+        [
+          -0.0887608677148819,
+          -0.03465384244918823,
+          0.07154331356287003
+        ],
+        [
+          0.01681467890739441,
+          0.01778421923518181,
+          -0.025033073499798775
+        ]
+      ],
+      [
+        [
+          0.21243979036808014,
+          1.0922467708587646,
+          -0.05739659443497658
+        ],
+        [
+          -0.04288899898529053,
+          0.019888481125235558,
+          -0.014078406617045403
+        ],
+        [
+          -0.09594971686601639,
+          0.10335114598274231,
+          -0.007776615675538778
+        ],
+        [
+          0.2422163188457489,
+          0.08445896953344345,
+          -0.05605608597397804
+        ],
+        [
+          -0.14986605942249298,
+          0.10279522091150284,
+          -0.19410337507724762
+        ],
+        [
+          -0.07278254628181458,
+          0.00021229058620519936,
+          -0.0064666238613426685
+        ],
+        [
+          -0.18101167678833008,
+          -0.047196485102176666,
+          0.09371022135019302
+        ],
+        [
+          -0.0013136633206158876,
+          -0.0020103836432099342,
+          -0.0002618256548885256
+        ],
+        [
+          -0.1867513209581375,
+          -0.0681525468826294,
+          0.0023792991414666176
+        ],
+        [
+          -0.18714284896850586,
+          0.06443598866462708,
+          -0.003183535533025861
+        ],
+        [
+          0.1040755957365036,
+          -0.1164601668715477,
+          -0.08953910320997238
+        ],
+        [
+          -0.7818892598152161,
+          -0.40082883834838867,
+          -0.40901198983192444
+        ],
+        [
+          0.0014971806667745113,
+          -0.7006690502166748,
+          -0.003588718129321933
+        ],
+        [
+          -0.7653300762176514,
+          -0.030549153685569763,
+          0.5779297947883606
+        ],
+        [
+          0.1444747895002365,
+          0.30648332834243774,
+          -0.2944350242614746
+        ],
+        [
+          0.00627485616132617,
+          0.05844533443450928,
+          -1.0504485368728638
+        ],
+        [
+          0.16790169477462769,
+          0.6803913116455078,
+          -0.0802350640296936
+        ],
+        [
+          -0.7650246620178223,
+          0.2571314871311188,
+          0.044474273920059204
+        ],
+        [
+          0.00177879654802382,
+          0.32478848099708557,
+          0.024663111194968224
+        ],
+        [
+          -1.1130585670471191,
+          0.06198093295097351,
+          -0.1499929279088974
+        ],
+        [
+          0.09419120848178864,
+          -0.28672322630882263,
+          0.2861841320991516
+        ],
+        [
+          -0.08110660314559937,
+          -0.06315471976995468,
+          0.8641197085380554
+        ],
+        [
+          -0.4702282249927521,
+          -0.2976788580417633,
+          -0.08966172486543655
+        ],
+        [
+          0.2188275307416916,
+          -0.010813144035637379,
+          -0.0024994502309709787
+        ],
+        [
+          0.12644176185131073,
+          -0.4933742582798004,
+          -0.23269610106945038
+        ],
+        [
+          -0.05216464772820473,
+          -0.03182952478528023,
+          0.026469329372048378
+        ],
+        [
+          -0.21055173873901367,
+          -0.5854666233062744,
+          -0.08316371589899063
+        ],
+        [
+          0.2703852653503418,
+          -0.0070351893082261086,
+          0.00034556735772639513
+        ],
+        [
+          -0.20080512762069702,
+          -0.5529999136924744,
+          0.08794122189283371
+        ],
+        [
+          -0.020619722083210945,
+          0.01961597241461277,
+          -0.02498687617480755
+        ]
+      ]
+    ],
+    "root_positions": [
+      [
+        0.006224155426025391,
+        1.0099574327468872,
+        0.0004121592501178384
+      ],
+      [
+        0.025673866271972656,
+        1.0039517879486084,
+        0.0002174415858462453
+      ]
+    ],
+    "smooth_root_2d": [
+      [
+        0.006224155426025391,
+        0.0004121592501178384
+      ],
+      [
+        0.025673866271972656,
+        0.0002174415858462453
+      ]
+    ]
+  }
+]

kimodo/assets/demo/examples/kimodo-soma-rp/04_ee_constraint/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "A person picks up an object in front of them with two hands and places it to the left side",
+  "duration": 5.033333333333333,
+  "num_samples": 1,
+  "seed": 48,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-soma-rp/04_ee_constraint/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40633fe04ac88b96ce8ce202d95870fa4012135721d32777cbb3e198e590c114
+size 218842

kimodo/assets/demo/examples/kimodo-soma-rp/05_root_path/constraints.json

@@ -0,0 +1,1509 @@
+[
+  {
+    "type": "root2d",
+    "frame_indices": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      68,
+      69,
+      70,
+      71,
+      72,
+      73,
+      74,
+      75,
+      76,
+      77,
+      78,
+      79,
+      80,
+      81,
+      82,
+      83,
+      84,
+      85,
+      86,
+      87,
+      88,
+      89,
+      90,
+      91,
+      92,
+      93,
+      94,
+      95,
+      96,
+      97,
+      98,
+      99,
+      100,
+      101,
+      102,
+      103,
+      104,
+      105,
+      106,
+      107,
+      108,
+      109,
+      110,
+      111,
+      112,
+      113,
+      114,
+      115,
+      116,
+      117,
+      118,
+      119,
+      120,
+      121,
+      122,
+      123,
+      124,
+      125,
+      126,
+      127,
+      128,
+      129,
+      130,
+      131,
+      132,
+      133,
+      134,
+      135,
+      136,
+      137,
+      138,
+      139,
+      140,
+      141,
+      142,
+      143,
+      144,
+      145,
+      146,
+      147,
+      148,
+      149,
+      150,
+      151,
+      152,
+      153,
+      154,
+      155,
+      156,
+      157,
+      158,
+      159,
+      160,
+      161,
+      162,
+      163,
+      164,
+      165,
+      166,
+      167,
+      168,
+      169,
+      170,
+      171,
+      172,
+      173,
+      174,
+      175,
+      176,
+      177,
+      178,
+      179,
+      180,
+      181,
+      182,
+      183,
+      184,
+      185,
+      186,
+      187,
+      188,
+      189,
+      190,
+      191,
+      192,
+      193,
+      194,
+      195,
+      196,
+      197,
+      198,
+      199,
+      200,
+      201,
+      202,
+      203,
+      204,
+      205,
+      206,
+      207,
+      208,
+      209,
+      210,
+      211,
+      212,
+      213,
+      214,
+      215,
+      216,
+      217,
+      218,
+      219,
+      220,
+      221,
+      222,
+      223,
+      224,
+      225,
+      226,
+      227,
+      228,
+      229,
+      230,
+      231,
+      232,
+      233,
+      234,
+      235,
+      236,
+      237,
+      238,
+      239,
+      240,
+      241,
+      242,
+      243,
+      244,
+      245,
+      246,
+      247,
+      248,
+      249,
+      250,
+      251,
+      252,
+      253,
+      254,
+      255,
+      256,
+      257,
+      258,
+      259,
+      260,
+      261,
+      262,
+      263,
+      264,
+      265,
+      266,
+      267,
+      268,
+      269,
+      270,
+      271,
+      272,
+      273,
+      274,
+      275,
+      276,
+      277,
+      278,
+      279,
+      280,
+      281,
+      282,
+      283,
+      284,
+      285,
+      286,
+      287,
+      288,
+      289,
+      290,
+      291,
+      292,
+      293,
+      294,
+      295,
+      296,
+      297,
+      298,
+      299
+    ],
+    "smooth_root_2d": [
+      [
+        0.0720488652586937,
+        0.005473949480801821
+      ],
+      [
+        0.08682604879140854,
+        0.03799768537282944
+      ],
+      [
+        0.10160323977470398,
+        0.07052142173051834
+      ],
+      [
+        0.11638043075799942,
+        0.10304517298936844
+      ],
+      [
+        0.13115762174129486,
+        0.13556894659996033
+      ],
+      [
+        0.1459348350763321,
+        0.1680927276611328
+      ],
+      [
+        0.16071203351020813,
+        0.20061656832695007
+      ],
+      [
+        0.17548926174640656,
+        0.23314043879508972
+      ],
+      [
+        0.19026650488376617,
+        0.26566436886787415
+      ],
+      [
+        0.2050437480211258,
+        0.29818838834762573
+      ],
+      [
+        0.2198210209608078,
+        0.3307124972343445
+      ],
+      [
+        0.234598308801651,
+        0.3632366955280304
+      ],
+      [
+        0.2493756115436554,
+        0.39576101303100586
+      ],
+      [
+        0.2641529440879822,
+        0.42828547954559326
+      ],
+      [
+        0.27893027663230896,
+        0.4608100950717926
+      ],
+      [
+        0.29370763897895813,
+        0.4933348596096039
+      ],
+      [
+        0.3084850013256073,
+        0.5258598327636719
+      ],
+      [
+        0.32326239347457886,
+        0.5583849549293518
+      ],
+      [
+        0.3380397856235504,
+        0.5909103155136108
+      ],
+      [
+        0.352817177772522,
+        0.623435914516449
+      ],
+      [
+        0.36759456992149353,
+        0.6559617519378662
+      ],
+      [
+        0.3823719322681427,
+        0.6884878277778625
+      ],
+      [
+        0.39714932441711426,
+        0.721014142036438
+      ],
+      [
+        0.41192665696144104,
+        0.7535408139228821
+      ],
+      [
+        0.4267039895057678,
+        0.7860677242279053
+      ],
+      [
+        0.4414812922477722,
+        0.8185949325561523
+      ],
+      [
+        0.4562585949897766,
+        0.8511224389076233
+      ],
+      [
+        0.47103583812713623,
+        0.8836503028869629
+      ],
+      [
+        0.48581308126449585,
+        0.9161785244941711
+      ],
+      [
+        0.5005902647972107,
+        0.948707103729248
+      ],
+      [
+        0.5153675079345703,
+        0.9812359809875488
+      ],
+      [
+        0.5301446914672852,
+        1.0137652158737183
+      ],
+      [
+        0.5449219346046448,
+        1.046294927597046
+      ],
+      [
+        0.5596991777420044,
+        1.0788248777389526
+      ],
+      [
+        0.5744765400886536,
+        1.1113553047180176
+      ],
+      [
+        0.5892539024353027,
+        1.1438862085342407
+      ],
+      [
+        0.6040313243865967,
+        1.1764174699783325
+      ],
+      [
+        0.6188088655471802,
+        1.208949089050293
+      ],
+      [
+        0.6335865259170532,
+        1.2414813041687012
+      ],
+      [
+        0.648364245891571,
+        1.274013876914978
+      ],
+      [
+        0.6631421446800232,
+        1.3065470457077026
+      ],
+      [
+        0.6779201030731201,
+        1.3390806913375854
+      ],
+      [
+        0.6926981806755066,
+        1.371614933013916
+      ],
+      [
+        0.7074640989303589,
+        1.4041519165039062
+      ],
+      [
+        0.7221670746803284,
+        1.4367012977600098
+      ],
+      [
+        0.7367299199104309,
+        1.4692773818969727
+      ],
+      [
+        0.7510751485824585,
+        1.5018945932388306
+      ],
+      [
+        0.7651242613792419,
+        1.5345673561096191
+      ],
+      [
+        0.7787973880767822,
+        1.5673108100891113
+      ],
+      [
+        0.7920125126838684,
+        1.6001399755477905
+      ],
+      [
+        0.8046852350234985,
+        1.6330705881118774
+      ],
+      [
+        0.8167278170585632,
+        1.66611909866333
+      ],
+      [
+        0.8280492424964905,
+        1.6993021965026855
+      ],
+      [
+        0.8385547399520874,
+        1.7326377630233765
+      ],
+      [
+        0.8481456637382507,
+        1.766144037246704
+      ],
+      [
+        0.856719434261322,
+        1.7998400926589966
+      ],
+      [
+        0.8641700744628906,
+        1.8337457180023193
+      ],
+      [
+        0.8703880906105042,
+        1.8678812980651855
+      ],
+      [
+        0.875261127948761,
+        1.9022676944732666
+      ],
+      [
+        0.8786745071411133,
+        1.9369266033172607
+      ],
+      [
+        0.8805115222930908,
+        1.971879482269287
+      ],
+      [
+        0.8806543946266174,
+        2.0071487426757812
+      ],
+      [
+        0.8789843320846558,
+        2.0427565574645996
+      ],
+      [
+        0.8753821849822998,
+        2.0787250995635986
+      ],
+      [
+        0.869838297367096,
+        2.1150567531585693
+      ],
+      [
+        0.8624524474143982,
+        2.1517333984375
+      ],
+      [
+        0.8533244729042053,
+        2.1887366771698
+      ],
+      [
+        0.8425538539886475,
+        2.226048469543457
+      ],
+      [
+        0.8302397131919861,
+        2.263650894165039
+      ],
+      [
+        0.816480278968811,
+        2.301525831222534
+      ],
+      [
+        0.8013728260993958,
+        2.3396553993225098
+      ],
+      [
+        0.7850133180618286,
+        2.3780221939086914
+      ],
+      [
+        0.7674961686134338,
+        2.4166083335876465
+      ],
+      [
+        0.7489144802093506,
+        2.4553961753845215
+      ],
+      [
+        0.7293595671653748,
+        2.494368553161621
+      ],
+      [
+        0.7089214324951172,
+        2.533508062362671
+      ],
+      [
+        0.6876888871192932,
+        2.5727970600128174
+      ],
+      [
+        0.665749728679657,
+        2.6122183799743652
+      ],
+      [
+        0.6431912779808044,
+        2.651754379272461
+      ],
+      [
+        0.6200692653656006,
+        2.691394805908203
+      ],
+      [
+        0.5964087247848511,
+        2.731137275695801
+      ],
+      [
+        0.5722349882125854,
+        2.770979166030884
+      ],
+      [
+        0.5475742816925049,
+        2.810917615890503
+      ],
+      [
+        0.5224538445472717,
+        2.8509483337402344
+      ],
+      [
+        0.49690231680870056,
+        2.8910679817199707
+      ],
+      [
+        0.47094982862472534,
+        2.93127179145813
+      ],
+      [
+        0.44462811946868896,
+        2.971554756164551
+      ],
+      [
+        0.4179706573486328,
+        3.011911630630493
+      ],
+      [
+        0.3910125195980072,
+        3.0523364543914795
+      ],
+      [
+        0.3637904226779938,
+        3.0928235054016113
+      ],
+      [
+        0.336342453956604,
+        3.133366107940674
+      ],
+      [
+        0.3087080717086792,
+        3.173957586288452
+      ],
+      [
+        0.2809275984764099,
+        3.2145910263061523
+      ],
+      [
+        0.25304216146469116,
+        3.2552595138549805
+      ],
+      [
+        0.2250932902097702,
+        3.2959556579589844
+      ],
+      [
+        0.19712261855602264,
+        3.336672067642212
+      ],
+      [
+        0.16917157173156738,
+        3.3774020671844482
+      ],
+      [
+        0.14128103852272034,
+        3.418138027191162
+      ],
+      [
+        0.11349108070135117,
+        3.4588732719421387
+      ],
+      [
+        0.08584070205688477,
+        3.499600648880005
+      ],
+      [
+        0.05836760997772217,
+        3.540313243865967
+      ],
+      [
+        0.031108075752854347,
+        3.5810046195983887
+      ],
+      [
+        0.004096813499927521,
+        3.6216683387756348
+      ],
+      [
+        -0.022633060812950134,
+        3.6622982025146484
+      ],
+      [
+        -0.049050018191337585,
+        3.702888250350952
+      ],
+      [
+        -0.07512406259775162,
+        3.7434325218200684
+      ],
+      [
+        -0.10082659870386124,
+        3.7839250564575195
+      ],
+      [
+        -0.12613031268119812,
+        3.8243606090545654
+      ],
+      [
+        -0.1510089486837387,
+        3.8647332191467285
+      ],
+      [
+        -0.17543718218803406,
+        3.9050378799438477
+      ],
+      [
+        -0.19939035177230835,
+        3.9452688694000244
+      ],
+      [
+        -0.22284428775310516,
+        3.9854207038879395
+      ],
+      [
+        -0.24577516317367554,
+        4.025487899780273
+      ],
+      [
+        -0.26815930008888245,
+        4.065464496612549
+      ],
+      [
+        -0.28985288739204407,
+        4.1053338050842285
+      ],
+      [
+        -0.3105919361114502,
+        4.145066261291504
+      ],
+      [
+        -0.33011239767074585,
+        4.184632301330566
+      ],
+      [
+        -0.34815022349357605,
+        4.224003314971924
+      ],
+      [
+        -0.3644413650035858,
+        4.263148784637451
+      ],
+      [
+        -0.3787217438220978,
+        4.302039623260498
+      ],
+      [
+        -0.3907274007797241,
+        4.340645790100098
+      ],
+      [
+        -0.4001944959163666,
+        4.378937721252441
+      ],
+      [
+        -0.40685927867889404,
+        4.416884899139404
+      ],
+      [
+        -0.41045811772346497,
+        4.4544572830200195
+      ],
+      [
+        -0.41072750091552734,
+        4.491624355316162
+      ],
+      [
+        -0.40740400552749634,
+        4.528356552124023
+      ],
+      [
+        -0.4004855453968048,
+        4.564655303955078
+      ],
+      [
+        -0.3902314007282257,
+        4.600553512573242
+      ],
+      [
+        -0.37690070271492004,
+        4.636085033416748
+      ],
+      [
+        -0.3607523441314697,
+        4.67128324508667
+      ],
+      [
+        -0.3420449197292328,
+        4.706181049346924
+      ],
+      [
+        -0.32103657722473145,
+        4.740812301635742
+      ],
+      [
+        -0.2979850471019745,
+        4.775211334228516
+      ],
+      [
+        -0.2731475234031677,
+        4.809412002563477
+      ],
+      [
+        -0.24678070843219757,
+        4.843447685241699
+      ],
+      [
+        -0.21914079785346985,
+        4.877353668212891
+      ],
+      [
+        -0.19048355519771576,
+        4.911164283752441
+      ],
+      [
+        -0.16106447577476501,
+        4.944913864135742
+      ],
+      [
+        -0.13102509081363678,
+        4.978619575500488
+      ],
+      [
+        -0.10039319843053818,
+        5.0122785568237305
+      ],
+      [
+        -0.06919693201780319,
+        5.0458903312683105
+      ],
+      [
+        -0.03746507689356804,
+        5.079452991485596
+      ],
+      [
+        -0.005227350629866123,
+        5.1129655838012695
+      ],
+      [
+        0.027485284954309464,
+        5.146428108215332
+      ],
+      [
+        0.06064034625887871,
+        5.179840087890625
+      ],
+      [
+        0.09420355409383774,
+        5.213201522827148
+      ],
+      [
+        0.12813864648342133,
+        5.246513843536377
+      ],
+      [
+        0.16240715980529785,
+        5.279778003692627
+      ],
+      [
+        0.19696833193302155,
+        5.312995910644531
+      ],
+      [
+        0.2317790538072586,
+        5.3461689949035645
+      ],
+      [
+        0.266793817281723,
+        5.379299640655518
+      ],
+      [
+        0.30196475982666016,
+        5.412391662597656
+      ],
+      [
+        0.3372417688369751,
+        5.4454474449157715
+      ],
+      [
+        0.37257257103919983,
+        5.478470325469971
+      ],
+      [
+        0.40790289640426636,
+        5.511464595794678
+      ],
+      [
+        0.4431767165660858,
+        5.544434547424316
+      ],
+      [
+        0.478336364030838,
+        5.577383518218994
+      ],
+      [
+        0.5133227705955505,
+        5.610316753387451
+      ],
+      [
+        0.5480756759643555,
+        5.643238544464111
+      ],
+      [
+        0.5825338363647461,
+        5.676154136657715
+      ],
+      [
+        0.6166353225708008,
+        5.709067344665527
+      ],
+      [
+        0.6503174901008606,
+        5.741983413696289
+      ],
+      [
+        0.6835171580314636,
+        5.774907112121582
+      ],
+      [
+        0.7161709666252136,
+        5.8078436851501465
+      ],
+      [
+        0.7482153177261353,
+        5.840796947479248
+      ],
+      [
+        0.7795863747596741,
+        5.873773097991943
+      ],
+      [
+        0.8102203011512756,
+        5.906775951385498
+      ],
+      [
+        0.8400532603263855,
+        5.939810276031494
+      ],
+      [
+        0.8690049648284912,
+        5.9728803634643555
+      ],
+      [
+        0.8969439268112183,
+        6.005988121032715
+      ],
+      [
+        0.9237036108970642,
+        6.039134979248047
+      ],
+      [
+        0.9491175413131714,
+        6.072321891784668
+      ],
+      [
+        0.9730191230773926,
+        6.105550289154053
+      ],
+      [
+        0.9952419996261597,
+        6.138820171356201
+      ],
+      [
+        1.0156195163726807,
+        6.172133445739746
+      ],
+      [
+        1.0339852571487427,
+        6.205490589141846
+      ],
+      [
+        1.0501729249954224,
+        6.238892555236816
+      ],
+      [
+        1.0640157461166382,
+        6.272340774536133
+      ],
+      [
+        1.075347661972046,
+        6.305835723876953
+      ],
+      [
+        1.084001898765564,
+        6.339378356933594
+      ],
+      [
+        1.0898123979568481,
+        6.372969627380371
+      ],
+      [
+        1.0927863121032715,
+        6.406609058380127
+      ],
+      [
+        1.093105435371399,
+        6.440292835235596
+      ],
+      [
+        1.090950846672058,
+        6.474018096923828
+      ],
+      [
+        1.0865041017532349,
+        6.507782459259033
+      ],
+      [
+        1.079946517944336,
+        6.541581630706787
+      ],
+      [
+        1.0714592933654785,
+        6.575413227081299
+      ],
+      [
+        1.0612238645553589,
+        6.609274387359619
+      ],
+      [
+        1.0494211912155151,
+        6.643161773681641
+      ],
+      [
+        1.036232590675354,
+        6.677072525024414
+      ],
+      [
+        1.0218391418457031,
+        6.71100378036499
+      ],
+      [
+        1.006421685218811,
+        6.7449517250061035
+      ],
+      [
+        0.9901613593101501,
+        6.778914451599121
+      ],
+      [
+        0.9732388854026794,
+        6.812887668609619
+      ],
+      [
+        0.9558353424072266,
+        6.846869468688965
+      ],
+      [
+        0.9380521178245544,
+        6.880856990814209
+      ],
+      [
+        0.9199115633964539,
+        6.91485071182251
+      ],
+      [
+        0.9014359712600708,
+        6.948850154876709
+      ],
+      [
+        0.8826476335525513,
+        6.98285436630249
+      ],
+      [
+        0.8635689616203308,
+        7.016862869262695
+      ],
+      [
+        0.8442226052284241,
+        7.050876140594482
+      ],
+      [
+        0.8246312141418457,
+        7.084892749786377
+      ],
+      [
+        0.8048177361488342,
+        7.118912696838379
+      ],
+      [
+        0.7848052978515625,
+        7.15293550491333
+      ],
+      [
+        0.7646171450614929,
+        7.186960697174072
+      ],
+      [
+        0.7442769408226013,
+        7.220987796783447
+      ],
+      [
+        0.7238084673881531,
+        7.255016326904297
+      ],
+      [
+        0.703235924243927,
+        7.289045810699463
+      ],
+      [
+        0.682583749294281,
+        7.323075771331787
+      ],
+      [
+        0.6618766784667969,
+        7.357105731964111
+      ],
+      [
+        0.6411397457122803,
+        7.391135215759277
+      ],
+      [
+        0.6203982830047607,
+        7.425163269042969
+      ],
+      [
+        0.5996780395507812,
+        7.4591898918151855
+      ],
+      [
+        0.5790049433708191,
+        7.4932146072387695
+      ],
+      [
+        0.5584054589271545,
+        7.5272369384765625
+      ],
+      [
+        0.5379061102867126,
+        7.56125545501709
+      ],
+      [
+        0.5175339579582214,
+        7.595271110534668
+      ],
+      [
+        0.4973162114620209,
+        7.629281997680664
+      ],
+      [
+        0.4772806167602539,
+        7.663288116455078
+      ],
+      [
+        0.457455039024353,
+        7.697288990020752
+      ],
+      [
+        0.43786779046058655,
+        7.731284141540527
+      ],
+      [
+        0.41854748129844666,
+        7.765272617340088
+      ],
+      [
+        0.3995230197906494,
+        7.799253940582275
+      ],
+      [
+        0.38082367181777954,
+        7.833227634429932
+      ],
+      [
+        0.3624790608882904,
+        7.867193222045898
+      ],
+      [
+        0.34451907873153687,
+        7.901149749755859
+      ],
+      [
+        0.32697397470474243,
+        7.935096263885498
+      ],
+      [
+        0.3098742961883545,
+        7.969033241271973
+      ],
+      [
+        0.2932509779930115,
+        8.002959251403809
+      ],
+      [
+        0.2771351933479309,
+        8.036873817443848
+      ],
+      [
+        0.2615584135055542,
+        8.070775985717773
+      ],
+      [
+        0.24655242264270782,
+        8.10466480255127
+      ],
+      [
+        0.23214924335479736,
+        8.138541221618652
+      ],
+      [
+        0.21838118135929108,
+        8.172403335571289
+      ],
+      [
+        0.20528072118759155,
+        8.206250190734863
+      ],
+      [
+        0.19288058578968048,
+        8.240081787109375
+      ],
+      [
+        0.18121366202831268,
+        8.273897171020508
+      ],
+      [
+        0.17031297087669373,
+        8.307695388793945
+      ],
+      [
+        0.1602116823196411,
+        8.341476440429688
+      ],
+      [
+        0.15094305574893951,
+        8.375238418579102
+      ],
+      [
+        0.14254039525985718,
+        8.408982276916504
+      ],
+      [
+        0.13503706455230713,
+        8.442705154418945
+      ],
+      [
+        0.12846647202968597,
+        8.476408958435059
+      ],
+      [
+        0.12282804399728775,
+        8.510091781616211
+      ],
+      [
+        0.11808725446462631,
+        8.543754577636719
+      ],
+      [
+        0.11420957744121552,
+        8.577399253845215
+      ],
+      [
+        0.11116043478250504,
+        8.6110258102417
+      ],
+      [
+        0.10890527069568634,
+        8.644634246826172
+      ],
+      [
+        0.10740949213504791,
+        8.678226470947266
+      ],
+      [
+        0.10663850605487823,
+        8.711803436279297
+      ],
+      [
+        0.1065577045083046,
+        8.74536418914795
+      ],
+      [
+        0.10713250190019608,
+        8.778911590576172
+      ],
+      [
+        0.10832829773426056,
+        8.812445640563965
+      ],
+      [
+        0.11011053621768951,
+        8.845966339111328
+      ],
+      [
+        0.112444669008255,
+        8.879474639892578
+      ],
+      [
+        0.11529617011547089,
+        8.912972450256348
+      ],
+      [
+        0.11863056570291519,
+        8.946459770202637
+      ],
+      [
+        0.12241341173648834,
+        8.979937553405762
+      ],
+      [
+        0.12661030888557434,
+        9.013405799865723
+      ],
+      [
+        0.1311868578195572,
+        9.046866416931152
+      ],
+      [
+        0.13610877096652985,
+        9.080318450927734
+      ],
+      [
+        0.14134173095226288,
+        9.113764762878418
+      ],
+      [
+        0.14685149490833282,
+        9.147205352783203
+      ],
+      [
+        0.15260380506515503,
+        9.18064022064209
+      ],
+      [
+        0.158564493060112,
+        9.214071273803711
+      ],
+      [
+        0.16469934582710266,
+        9.24749755859375
+      ],
+      [
+        0.17097420990467072,
+        9.280921936035156
+      ],
+      [
+        0.17735493183135986,
+        9.314343452453613
+      ],
+      [
+        0.1838073432445526,
+        9.347764015197754
+      ],
+      [
+        0.19029729068279266,
+        9.381183624267578
+      ],
+      [
+        0.19679751992225647,
+        9.414603233337402
+      ],
+      [
+        0.20329780876636505,
+        9.448022842407227
+      ],
+      [
+        0.2097981721162796,
+        9.481443405151367
+      ],
+      [
+        0.21629860997200012,
+        9.514863014221191
+      ],
+      [
+        0.22279909253120422,
+        9.548283576965332
+      ],
+      [
+        0.2292996346950531,
+        9.581703186035156
+      ],
+      [
+        0.23580022156238556,
+        9.615123748779297
+      ],
+      [
+        0.2423008531332016,
+        9.648544311523438
+      ],
+      [
+        0.24880154430866241,
+        9.681964874267578
+      ],
+      [
+        0.2553022503852844,
+        9.715385437011719
+      ],
+      [
+        0.2618030309677124,
+        9.74880599975586
+      ],
+      [
+        0.2683038115501404,
+        9.7822265625
+      ],
+      [
+        0.27480462193489075,
+        9.815648078918457
+      ],
+      [
+        0.2813054919242859,
+        9.849068641662598
+      ],
+      [
+        0.28780636191368103,
+        9.882490158081055
+      ],
+      [
+        0.29430726170539856,
+        9.915910720825195
+      ],
+      [
+        0.3008081614971161,
+        9.949331283569336
+      ],
+      [
+        0.307309091091156,
+        9.982752799987793
+      ],
+      [
+        0.3138100206851959,
+        10.01617431640625
+      ],
+      [
+        0.3203109800815582,
+        10.04959487915039
+      ],
+      [
+        0.32681193947792053,
+        10.083016395568848
+      ],
+      [
+        0.33331289887428284,
+        10.116436958312988
+      ],
+      [
+        0.33981388807296753,
+        10.149858474731445
+      ],
+      [
+        0.34631484746932983,
+        10.183279991149902
+      ],
+      [
+        0.3528158366680145,
+        10.216700553894043
+      ],
+      [
+        0.3593168258666992,
+        10.2501220703125
+      ],
+      [
+        0.3658177852630615,
+        10.283543586730957
+      ],
+      [
+        0.3723187744617462,
+        10.316965103149414
+      ],
+      [
+        0.3804450035095215,
+        10.35874080657959
+      ],
+      [
+        0.3853207528591156,
+        10.383807182312012
+      ]
+    ]
+  }
+]

kimodo/assets/demo/examples/kimodo-soma-rp/05_root_path/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "A person is casually walking forward slowly",
+  "duration": 10.0,
+  "num_samples": 1,
+  "seed": 42,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-soma-rp/05_root_path/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5878d7958c62f19163d5fc95b4111e8b4180590291bfb1ad5f2fa9ece0930e6
+size 433998

kimodo/assets/demo/examples/kimodo-soma-rp/06_root_waypoints/constraints.json

@@ -0,0 +1,24 @@
+[
+  {
+    "type": "root2d",
+    "frame_indices": [
+      0,
+      90,
+      180
+    ],
+    "smooth_root_2d": [
+      [
+        0.0,
+        -0.013232914730906487
+      ],
+      [
+        -1.1690130233764648,
+        1.5332785844802856
+      ],
+      [
+        0.738669753074646,
+        1.4469488859176636
+      ]
+    ]
+  }
+]

kimodo/assets/demo/examples/kimodo-soma-rp/06_root_waypoints/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "A person is doing a hip hop dance while moving around",
+  "duration": 6.033333333333333,
+  "num_samples": 1,
+  "seed": 42,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-soma-rp/06_root_waypoints/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9612c98041e35317fb89ed8821bb977abe044e5bc04e2232d6ba587dbeccb20
+size 262162

kimodo/assets/demo/examples/kimodo-soma-rp/07_mixed_constraints/constraints.json

@@ -0,0 +1,942 @@
+[
+  {
+    "type": "fullbody",
+    "frame_indices": [
+      108
+    ],
+    "local_joints_rot": [
+      [
+        [
+          -0.035887543112039566,
+          -0.02776639349758625,
+          -0.005372282117605209
+        ],
+        [
+          0.06515975296497345,
+          -0.010784560814499855,
+          0.006556123960763216
+        ],
+        [
+          -0.06292378902435303,
+          -0.05156821012496948,
+          -0.009085050784051418
+        ],
+        [
+          0.11570766568183899,
+          -0.0793282613158226,
+          -0.03867234289646149
+        ],
+        [
+          0.09106606245040894,
+          0.06571822613477707,
+          0.002558206906542182
+        ],
+        [
+          -0.06086159870028496,
+          0.10295507311820984,
+          0.02592187374830246
+        ],
+        [
+          -0.15437740087509155,
+          0.16596992313861847,
+          0.009326435625553131
+        ],
+        [
+          -0.0005251984694041312,
+          0.0018051519291475415,
+          -9.946066711563617e-05
+        ],
+        [
+          -0.184775248169899,
+          -0.064349465072155,
+          0.00573313795030117
+        ],
+        [
+          -0.18454650044441223,
+          0.068090058863163,
+          -0.005659883841872215
+        ],
+        [
+          0.20501427352428436,
+          -0.14578332006931305,
+          -0.04773213341832161
+        ],
+        [
+          0.26504039764404297,
+          -0.16855353116989136,
+          -1.0829373598098755
+        ],
+        [
+          0.006512798834592104,
+          -0.6961542367935181,
+          -0.011537229642271996
+        ],
+        [
+          0.07062757760286331,
+          0.03925099968910217,
+          -0.027518808841705322
+        ],
+        [
+          0.14896969497203827,
+          0.29287680983543396,
+          -0.2919791340827942
+        ],
+        [
+          0.009383739903569221,
+          0.0508926659822464,
+          -1.056564450263977
+        ],
+        [
+          0.11172245442867279,
+          0.12029653787612915,
+          -0.12930497527122498
+        ],
+        [
+          -0.41130027174949646,
+          -0.5924108028411865,
+          -0.0006285393028520048
+        ],
+        [
+          0.006594705395400524,
+          0.4732210040092468,
+          -0.002528452081605792
+        ],
+        [
+          -0.32021215558052063,
+          -0.25638389587402344,
+          -0.3734903335571289
+        ],
+        [
+          0.09024477005004883,
+          -0.2926441431045532,
+          0.2660353481769562
+        ],
+        [
+          -0.09575983881950378,
+          -0.055268142372369766,
+          0.8844737410545349
+        ],
+        [
+          -0.0118059441447258,
+          0.07546520978212357,
+          0.0746397078037262
+        ],
+        [
+          0.8310757875442505,
+          -0.012923321686685085,
+          0.004925338551402092
+        ],
+        [
+          0.03474503755569458,
+          -0.23956389725208282,
+          -0.16712959110736847
+        ],
+        [
+          -0.09206951409578323,
+          -0.03187529370188713,
+          0.027407124638557434
+        ],
+        [
+          -0.2677958309650421,
+          0.11606352031230927,
+          0.036957308650016785
+        ],
+        [
+          0.394832044839859,
+          -0.0007178321247920394,
+          0.0004849981633014977
+        ],
+        [
+          -0.09032224863767624,
+          -0.14483025670051575,
+          -0.015989331528544426
+        ],
+        [
+          -0.0217722300440073,
+          0.01900928094983101,
+          -0.025495363399386406
+        ]
+      ]
+    ],
+    "root_positions": [
+      [
+        -0.09470777958631516,
+        0.9947724342346191,
+        -3.980208396911621
+      ]
+    ],
+    "smooth_root_2d": [
+      [
+        -0.09470777958631516,
+        -3.980208396911621
+      ]
+    ]
+  },
+  {
+    "type": "root2d",
+    "frame_indices": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      68,
+      69,
+      70,
+      71,
+      72,
+      73,
+      74,
+      75,
+      76,
+      77,
+      78,
+      79,
+      80,
+      81,
+      82,
+      83,
+      84,
+      85,
+      86,
+      87,
+      88,
+      89,
+      90,
+      91,
+      92,
+      93,
+      94,
+      95,
+      96,
+      97,
+      98,
+      99,
+      100,
+      101,
+      102,
+      103,
+      104,
+      105,
+      106,
+      107,
+      108,
+      109,
+      110,
+      111,
+      112,
+      113,
+      114,
+      115,
+      116,
+      117,
+      118,
+      119,
+      120,
+      121,
+      122,
+      123,
+      124,
+      125,
+      126,
+      127,
+      128,
+      129,
+      130,
+      131,
+      132,
+      133,
+      134,
+      135,
+      136,
+      137,
+      138,
+      139,
+      140,
+      141,
+      142,
+      143,
+      144,
+      145,
+      146,
+      147,
+      148,
+      149,
+      150,
+      151
+    ],
+    "smooth_root_2d": [
+      [
+        -0.022358937188982964,
+        0.03532936051487923
+      ],
+      [
+        -0.024468135088682175,
+        -0.0013195642968639731
+      ],
+      [
+        -0.02657654881477356,
+        -0.037969205528497696
+      ],
+      [
+        -0.028683679178357124,
+        -0.07462010532617569
+      ],
+      [
+        -0.030789025127887726,
+        -0.11127285659313202
+      ],
+      [
+        -0.032892078161239624,
+        -0.14792808890342712
+      ],
+      [
+        -0.03499194607138634,
+        -0.184586301445961
+      ],
+      [
+        -0.03708736225962639,
+        -0.2212478667497635
+      ],
+      [
+        -0.03917701542377472,
+        -0.25791314244270325
+      ],
+      [
+        -0.04125956818461418,
+        -0.2945826053619385
+      ],
+      [
+        -0.04333365708589554,
+        -0.3312567174434662
+      ],
+      [
+        -0.045397885143756866,
+        -0.3679359555244446
+      ],
+      [
+        -0.04745082929730415,
+        -0.4046209156513214
+      ],
+      [
+        -0.04949106276035309,
+        -0.44131216406822205
+      ],
+      [
+        -0.05151714012026787,
+        -0.4780103266239166
+      ],
+      [
+        -0.05352761223912239,
+        -0.5147159695625305
+      ],
+      [
+        -0.05552104488015175,
+        -0.551429808139801
+      ],
+      [
+        -0.05749599635601044,
+        -0.5881525278091431
+      ],
+      [
+        -0.059451062232255936,
+        -0.6248847842216492
+      ],
+      [
+        -0.061384834349155426,
+        -0.6616273522377014
+      ],
+      [
+        -0.06329593807458878,
+        -0.6983808875083923
+      ],
+      [
+        -0.06518300622701645,
+        -0.7351461052894592
+      ],
+      [
+        -0.06704472005367279,
+        -0.7719237804412842
+      ],
+      [
+        -0.06887973845005035,
+        -0.8087146878242493
+      ],
+      [
+        -0.07068677246570587,
+        -0.8455195426940918
+      ],
+      [
+        -0.07246451079845428,
+        -0.8823391795158386
+      ],
+      [
+        -0.07421167194843292,
+        -0.9191742539405823
+      ],
+      [
+        -0.07592695951461792,
+        -0.9560256004333496
+      ],
+      [
+        -0.07760907709598541,
+        -0.9928940534591675
+      ],
+      [
+        -0.07925672084093094,
+        -1.029780387878418
+      ],
+      [
+        -0.08086856454610825,
+        -1.0666853189468384
+      ],
+      [
+        -0.0824432522058487,
+        -1.1036096811294556
+      ],
+      [
+        -0.08397942036390305,
+        -1.1405543088912964
+      ],
+      [
+        -0.08547566086053848,
+        -1.1775201559066772
+      ],
+      [
+        -0.08693055063486099,
+        -1.2145079374313354
+      ],
+      [
+        -0.08834262937307358,
+        -1.2515183687210083
+      ],
+      [
+        -0.08971039950847626,
+        -1.2885526418685913
+      ],
+      [
+        -0.09103234112262726,
+        -1.3256113529205322
+      ],
+      [
+        -0.09230689704418182,
+        -1.362695574760437
+      ],
+      [
+        -0.0935325101017952,
+        -1.3998061418533325
+      ],
+      [
+        -0.09470757842063904,
+        -1.4369438886642456
+      ],
+      [
+        -0.09583047777414322,
+        -1.4741098880767822
+      ],
+      [
+        -0.0968996062874794,
+        -1.5113049745559692
+      ],
+      [
+        -0.09791331738233566,
+        -1.548530101776123
+      ],
+      [
+        -0.09886999428272247,
+        -1.58578622341156
+      ],
+      [
+        -0.0997680053114891,
+        -1.6230742931365967
+      ],
+      [
+        -0.10060573369264603,
+        -1.6603953838348389
+      ],
+      [
+        -0.1013815775513649,
+        -1.6977503299713135
+      ],
+      [
+        -0.10209395736455917,
+        -1.7351402044296265
+      ],
+      [
+        -0.1027413085103035,
+        -1.7725658416748047
+      ],
+      [
+        -0.10332208126783371,
+        -1.8100284337997437
+      ],
+      [
+        -0.10383477061986923,
+        -1.8475286960601807
+      ],
+      [
+        -0.10427788645029068,
+        -1.8850678205490112
+      ],
+      [
+        -0.10464996099472046,
+        -1.9226467609405518
+      ],
+      [
+        -0.10494954138994217,
+        -1.9602664709091187
+      ],
+      [
+        -0.10517755895853043,
+        -1.997925877571106
+      ],
+      [
+        -0.10533731430768967,
+        -2.0356218814849854
+      ],
+      [
+        -0.10543208569288254,
+        -2.0733516216278076
+      ],
+      [
+        -0.10546516627073288,
+        -2.111111879348755
+      ],
+      [
+        -0.10543984919786453,
+        -2.148899555206299
+      ],
+      [
+        -0.10535937547683716,
+        -2.1867120265960693
+      ],
+      [
+        -0.10522699356079102,
+        -2.224546194076538
+      ],
+      [
+        -0.10504589974880219,
+        -2.262399435043335
+      ],
+      [
+        -0.10481927543878555,
+        -2.3002686500549316
+      ],
+      [
+        -0.10455025732517242,
+        -2.338151216506958
+      ],
+      [
+        -0.10424194484949112,
+        -2.376044511795044
+      ],
+      [
+        -0.10389743000268936,
+        -2.4139459133148193
+      ],
+      [
+        -0.10351976752281189,
+        -2.451852560043335
+      ],
+      [
+        -0.10311200469732285,
+        -2.4897620677948
+      ],
+      [
+        -0.10267717391252518,
+        -2.5276718139648438
+      ],
+      [
+        -0.10221832990646362,
+        -2.5655791759490967
+      ],
+      [
+        -0.10173854231834412,
+        -2.6034812927246094
+      ],
+      [
+        -0.10124091058969498,
+        -2.64137601852417
+      ],
+      [
+        -0.10072856396436691,
+        -2.67926025390625
+      ],
+      [
+        -0.100204698741436,
+        -2.7171311378479004
+      ],
+      [
+        -0.09967257082462311,
+        -2.754986047744751
+      ],
+      [
+        -0.09913549572229385,
+        -2.7928221225738525
+      ],
+      [
+        -0.09859687089920044,
+        -2.8306362628936768
+      ],
+      [
+        -0.09806016832590103,
+        -2.8684253692626953
+      ],
+      [
+        -0.09752892702817917,
+        -2.906186103820801
+      ],
+      [
+        -0.09700676798820496,
+        -2.943915367126465
+      ],
+      [
+        -0.09649737179279327,
+        -2.98160982131958
+      ],
+      [
+        -0.09600447863340378,
+        -3.019265651702881
+      ],
+      [
+        -0.09553186595439911,
+        -3.056879758834839
+      ],
+      [
+        -0.09508336335420609,
+        -3.0944483280181885
+      ],
+      [
+        -0.09466280788183212,
+        -3.131967782974243
+      ],
+      [
+        -0.09427405893802643,
+        -3.1694345474243164
+      ],
+      [
+        -0.09392096847295761,
+        -3.2068448066711426
+      ],
+      [
+        -0.09360739588737488,
+        -3.244194984436035
+      ],
+      [
+        -0.09333716332912445,
+        -3.2814812660217285
+      ],
+      [
+        -0.09311125427484512,
+        -3.3187034130096436
+      ],
+      [
+        -0.09292776882648468,
+        -3.355863571166992
+      ],
+      [
+        -0.0927848145365715,
+        -3.3929643630981445
+      ],
+      [
+        -0.09268050640821457,
+        -3.4300084114074707
+      ],
+      [
+        -0.09261301904916763,
+        -3.4669981002807617
+      ],
+      [
+        -0.09258053451776505,
+        -3.5039358139038086
+      ],
+      [
+        -0.09258133918046951,
+        -3.5408236980438232
+      ],
+      [
+        -0.09261377900838852,
+        -3.5776638984680176
+      ],
+      [
+        -0.0926763191819191,
+        -3.6144583225250244
+      ],
+      [
+        -0.09276753664016724,
+        -3.6512088775634766
+      ],
+      [
+        -0.09288612008094788,
+        -3.687917470932007
+      ],
+      [
+        -0.0930309146642685,
+        -3.7245850563049316
+      ],
+      [
+        -0.09320087730884552,
+        -3.7612133026123047
+      ],
+      [
+        -0.09339512139558792,
+        -3.7978031635284424
+      ],
+      [
+        -0.09361287951469421,
+        -3.8343558311462402
+      ],
+      [
+        -0.09385351091623306,
+        -3.8708720207214355
+      ],
+      [
+        -0.09411647915840149,
+        -3.9073524475097656
+      ],
+      [
+        -0.09440135210752487,
+        -3.9437978267669678
+      ],
+      [
+        -0.09470777958631516,
+        -3.980208396911621
+      ],
+      [
+        -0.09503547102212906,
+        -4.016584873199463
+      ],
+      [
+        -0.09538418799638748,
+        -4.052927494049072
+      ],
+      [
+        -0.09575372189283371,
+        -4.089236736297607
+      ],
+      [
+        -0.09614387899637222,
+        -4.125512599945068
+      ],
+      [
+        -0.0965544655919075,
+        -4.1617560386657715
+      ],
+      [
+        -0.09698529541492462,
+        -4.197966575622559
+      ],
+      [
+        -0.09743614494800568,
+        -4.234145641326904
+      ],
+      [
+        -0.09790677577257156,
+        -4.27029275894165
+      ],
+      [
+        -0.09839694201946259,
+        -4.306408882141113
+      ],
+      [
+        -0.09890634566545486,
+        -4.342494487762451
+      ],
+      [
+        -0.09943470358848572,
+        -4.378549575805664
+      ],
+      [
+        -0.09998169541358948,
+        -4.41457462310791
+      ],
+      [
+        -0.10054702311754227,
+        -4.450570583343506
+      ],
+      [
+        -0.10113038867712021,
+        -4.486537456512451
+      ],
+      [
+        -0.10173150897026062,
+        -4.522475242614746
+      ],
+      [
+        -0.1023501306772232,
+        -4.558384895324707
+      ],
+      [
+        -0.10298605263233185,
+        -4.594265937805176
+      ],
+      [
+        -0.10363911837339401,
+        -4.6301188468933105
+      ],
+      [
+        -0.10430921614170074,
+        -4.665942668914795
+      ],
+      [
+        -0.10499630123376846,
+        -4.701738357543945
+      ],
+      [
+        -0.10570038110017776,
+        -4.737504482269287
+      ],
+      [
+        -0.10642150044441223,
+        -4.7732415199279785
+      ],
+      [
+        -0.10715975612401962,
+        -4.808948040008545
+      ],
+      [
+        -0.10791526734828949,
+        -4.844624042510986
+      ],
+      [
+        -0.10868816822767258,
+        -4.880269527435303
+      ],
+      [
+        -0.10947857797145844,
+        -4.915882587432861
+      ],
+      [
+        -0.11028657108545303,
+        -4.9514641761779785
+      ],
+      [
+        -0.11111218482255936,
+        -4.98701286315918
+      ],
+      [
+        -0.11195536702871323,
+        -5.022529602050781
+      ],
+      [
+        -0.1128159612417221,
+        -5.058013439178467
+      ],
+      [
+        -0.11369368433952332,
+        -5.093465328216553
+      ],
+      [
+        -0.11458808928728104,
+        -5.128885746002197
+      ],
+      [
+        -0.11549859493970871,
+        -5.164275646209717
+      ],
+      [
+        -0.11642441153526306,
+        -5.199635982513428
+      ],
+      [
+        -0.11736457794904709,
+        -5.234969615936279
+      ],
+      [
+        -0.11831795424222946,
+        -5.270277500152588
+      ],
+      [
+        -0.11928320676088333,
+        -5.305562496185303
+      ],
+      [
+        -0.12025882303714752,
+        -5.340827941894531
+      ],
+      [
+        -0.12124315649271011,
+        -5.3760762214660645
+      ],
+      [
+        -0.12223441153764725,
+        -5.41131067276001
+      ],
+      [
+        -0.12323068082332611,
+        -5.446536064147949
+      ],
+      [
+        -0.12448007613420486,
+        -5.4905595779418945
+      ],
+      [
+        -0.1252303272485733,
+        -5.516972541809082
+      ]
+    ]
+  }
+]

kimodo/assets/demo/examples/kimodo-soma-rp/07_mixed_constraints/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "A person walking backward points to the right side with their right hand",
+  "duration": 5.066666666666666,
+  "num_samples": 1,
+  "seed": 49,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-soma-rp/07_mixed_constraints/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c120ec0d66f529b0c0d4e182868a28100f6b3fca619e36010b0a436b1ba0d5b
+size 220286

kimodo/assets/demo/examples/kimodo-soma-rp/08_stylized_text/meta.json

@@ -0,0 +1,12 @@
+{
+  "text": "A zombie with their left arm extended forward walks with an uneven gait at a slow pace.",
+  "duration": 4.033333333333333,
+  "num_samples": 1,
+  "seed": 42,
+  "diffusion_steps": 100,
+  "cfg": {
+    "enabled": true,
+    "text_weight": 2.0,
+    "constraint_weight": 2.0
+  }
+}

kimodo/assets/demo/examples/kimodo-soma-rp/08_stylized_text/motion.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0687bf3f1dd49edf5530f8fe10c41a8df10b9dcdf6c3c3cd9d111bbb686ac355
+size 175522

kimodo/assets/skeletons/somaskel30/soma_base_fit_mhr_params.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61f0b96c8386a19d44823faf4399816642b7e20691ed5b398c7402921090096e
+size 1877

kimodo/assets/skeletons/somaskel77/relaxed_hands_rest_pose.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64a3828e0d1ef1f1de8228c74eba8040c0810d898169f1892d8997a213b2b64c
+size 2900

kimodo/assets/skeletons/somaskel77/skin_standard.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90ee2cdf50f168382a7dd7e9c88b118298aba0aca4b72022080c89c4bab0ceb2
+size 531434