Context
I'm using HOLOSOMA to retarget sign-language motions from monocular video (DGS dataset → SMPLest-X → SMPL-X body+hand joints → HOLOSOMA) onto a Unitree G1 humanoid with BrainCo dexterous hands. The signers are seated; lower body is not visible and irrelevant to the task. Hand pose is driven separately by dex-retargeting (MANO → BrainCo fingers), and those 22 finger qpos indices are frozen via q_a_freeze_indices so HOLOSOMA only optimises the arms/wrists while the fingers carry externally retargeted values.
What I'm trying to achieve
Arms + wrists + fingers should track the source; legs + waist + base should stay at a fixed upright rest pose (they contribute nothing to signing). Ideally no cost terms should apply to the lower body at all — I want the Interaction Mesh Laplacian to drive the arms cleanly without the solver juggling leg-related constraints or Laplacian residuals from frozen lower body vertices.
Questions
Is there a recommended way to run HOLOSOMA in "upper-body only" mode so that the lower body is frozen at a canonical rest pose, and the cost on lower-body vertices doesn't influence the arms?
Thanks for any guidance!
Context
I'm using HOLOSOMA to retarget sign-language motions from monocular video (DGS dataset → SMPLest-X → SMPL-X body+hand joints → HOLOSOMA) onto a Unitree G1 humanoid with BrainCo dexterous hands. The signers are seated; lower body is not visible and irrelevant to the task. Hand pose is driven separately by dex-retargeting (MANO → BrainCo fingers), and those 22 finger qpos indices are frozen via
q_a_freeze_indicesso HOLOSOMA only optimises the arms/wrists while the fingers carry externally retargeted values.What I'm trying to achieve
Arms + wrists + fingers should track the source; legs + waist + base should stay at a fixed upright rest pose (they contribute nothing to signing). Ideally no cost terms should apply to the lower body at all — I want the Interaction Mesh Laplacian to drive the arms cleanly without the solver juggling leg-related constraints or Laplacian residuals from frozen lower body vertices.
Questions
Is there a recommended way to run HOLOSOMA in "upper-body only" mode so that the lower body is frozen at a canonical rest pose, and the cost on lower-body vertices doesn't influence the arms?
Thanks for any guidance!