Open-Sourcing CoRe: Whole-Body Motion Retargeting Pipeline for 11 Humanoid Robots
rsasaki0109 · x · 2026-08-14
Developer rsasaki0109 released CoRe (Contact-aware whole-body motion retargeting), an open-source pipeline for humanoid robots. It features collision refinement and grounding, allowing a single motion source to be retargeted across 11 different humanoid robot models.
Users can switch robots with a single argument. The pipeline compiles C++ MuJoCo kernels for performance with a portable Python fallback. It includes 16 ready-to-run source motions and supports browser, CLI, and Python interfaces, along with Kimodo and GEM-X motion adapters.
Related event: Open-Source CoRe Project Enables Whole-Body Retargeting for 11 Humanoids(2 posts)→
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