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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog.

[2026-04-13]

Added

  • Option --bvh_standard_tpose to use standard T-pose for BVH file saved from generate.py
  • Option to use standard T-pose for BVH file saved or downloaded from demo
  • Option to input/output BVH files that use standard T-pose with motion_convert.py
  • Added BVH file containing the standard Kimodo T-pose to kimodo/assets/skeletons/somaskel77/somaskel77_standard_tpose.bvh
  • Updated documentation with these new options

[2026-04-10]

Added

  • Kimodo-SOMA-RP-v1.1 and Kimodo-SOMA-SEED-v1.1 models and added support in the codebase. If not specified, the latest version of the models will be used automatically with the demo and CLI.
  • Kimodo Motion Generation Benchmark for standardized evaluation of motion generation models training on the BONES-SEED dataset.
  • Scripts to construct the full benchmark, generate motions for test cases, and compute evaluation metrics.
  • Documentation explaining the benchmark and how to use the evaluation pipeline.
  • TMR-SOMA-RP-v1 motion-text embedding model to be used for evaluation metrics.
  • Added option to load LLM2Vec text encoder in fp32 precision.

Fixed

  • Always use batch size 1 with LLM2Vec to avoid unexpected behavior of different embeddings based on batch size.
  • Load LLM2Vec directly onto the GPU, if available.
  • Updated documentation on constraints with more details.

[2026-04-01]

Fixed

  • Fix unnecessary text encoder reload when switching between models in the interactive demo (if not using the text encoder server API).

[2026-03-31]

Added

  • New kimodo_convert CLI tool for converting generated motions between formats (NPZ, BVH, MuJoCo CSV, AMASS NPZ).
  • Support for loading and saving BVH, CSV, and NPZ motion files in the interactive demo.

[2026-03-27]

Fixed

  • Bug fix for foot contact visualization in the interactive demo.
  • Patch bug with BVH export for SOMA models.

[2026-03-19]

Changed

  • Breaking: Model inputs/outputs now use the SOMA 77-joint skeleton (somaskel77). This affects saved motion formats and constraint files from previous versions.

Added

  • Released timeline annotations for the BONES-SEED dataset on HuggingFace.

[2026-03-16] - Initial Release

Added

  • Open-source release of Kimodo codebase under Apache-2.0 license.
  • Five model variants: Kimodo-SOMA-RP-v1, Kimodo-G1-RP-v1, Kimodo-SOMA-SEED-v1, Kimodo-G1-SEED-v1, Kimodo-SMPLX-RP-v1.
  • Command-line interface (kimodo_gen) for motion generation with text prompts and kinematic constraints.
  • Interactive web-based motion authoring demo (kimodo_demo) with timeline editor, constraint tracks, and 3D visualization.
  • Support for multiple output formats: default NPZ, MuJoCo qpos CSV (G1), AMASS NPZ (SMPL-X).
  • Documentation site with quick start guide, installation instructions, CLI reference, and API docs.
  • Compatibility with downstream tools: ProtoMotions (physics-based policy training) and GMR (motion retargeting).