AI Sapiens Motion Toolchain (GEM-X / soma-retargeter / kimodo)

ROBOTIS's three-repo motion pipeline for the K1: GEM-X (forked from NVlabs) recovers SOMA-format human motion from monocular video, kimodo (forked from nv-tlabs) generates motion from text, and soma-retargeter converts SOMA/BVH motion into K1 joint trajectories using the published robot description and meshes.

All 3 repos verified 200 on github.com/ROBOTIS-GIT 2026-08-21.