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ARDY-SOMA-RP-30FPS-KimodoRep-Horizon60 was developed by NVIDIA as a part of the ARDY project. It was trained on Bones Rigplay 1 with the 30-joint [SOMA body model](https://github.com/NVlabs/SOMA-X) skeleton at 30 fps. Unlike the other ARDY models (whose root is the raw hip trajectory), this variant predicts the smooth-root motion representation used by the [Kimodo](https://github.com/nv-tlabs/kimodo) models, making its root constraints and outputs directly comparable with Kimodo. See [below](#model-versions) for other model variants. This model is ready for commercial or non-commercial use. 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