Do Human Reference motion need to be retargeted to g1_29dof_torsoBase_popsicle_with_shoe.urdf?

[LEECHOONGHO]

Hello. Thank you for sharing this wonderful repository.

Currently I'm Trying to record My human motion data by XRoboToolkit.
And It seems using g1_dual_arm.urdf asset. [1]

But Instinctlab's Parkour task uses different urdf file[2].

Do I need to change asset files in XRoboToolkit for recording G1 motion data?

Thank you.

### XRoboToolkit's urdf
 <link name="torso_link">
    <inertial>
      <origin xyz="0.002601 0.000257 0.153719" rpy="0 0 0"/>
      <mass value="8.562"/>
      <inertia ixx="0.065674966" ixy="-8.597E-05" ixz="-0.001737252" iyy="0.053535188" iyz="8.6899E-05" izz="0.030808125"/>


### InstinctLab Parkour Task's urdf
<link name="torso_link">
        <inertial>
            <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
            <mass value="6.78"/>
            <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="../../../assets/resources/unitree_g1/meshes/torso_link_rev_1_0.STL"/>

[1] https://github.com/XR-Robotics/XRoboToolkit-Teleop-Sample-Python/blob/main/assets/unitree/g1/g1_dual_arm.urdf
[2] https://github.com/project-instinct/InstinctLab/blob/main/source/instinctlab/instinctlab/tasks/parkour/urdf/g1_29dof_torsoBase_popsicle_with_shoe.urdf