CoRe v0.1.0

CoRe v0.1.0 is the first official public release of contact-aware SOMA human-motion retargeting for eleven humanoid robots.

Highlights

• Retargets Kimodo .npz and GEM-X .pt SOMA motions through one Python API and CLI.
• Supports eleven targets from Unitree Robotics, ROBOTIS, Apptronik, LimX Dynamics, Fourier Intelligence, PNDbotics, Booster Robotics, and ENGINEAI.
• Exports versioned, pickle-free robot-motion .npz files and optional MP4/PNG previews.
• Includes eight Kimodo and eight GEM-X ready-to-run example motions with licensing and source provenance.
• Presents 22 visually reviewed result videos for two representative motions across all eleven robots: Stand, walk, run, stop from Kimodo and Rapid Stepping from GEM-X.
• Provides a public browser demo backed by the compiled C++ MuJoCo backend.
• Supports Python 3.10 through 3.13 on macOS and Ubuntu Linux.

Demo

Try CoRe in the public Hugging Face Space.

Validation

• 371 tests and 348 subtests passed on macOS.
• Ubuntu CI passed for Python 3.10, 3.11, 3.12, and 3.13.
• Native backend, formatting, linting, strict typing, asset hashes, all eleven robot models, headless rendering, Docker deployment, and Space health checks passed.

See the changelog and README for details.