chunk 6: emit SOMA-30 globalRotMats in motion envelopes

Chunk 5: emit 6-channel foot_contacts in envelope (toe-end copies toe-base)

Unregister probe_g1 endpoint (G1 work deferred); keep kimodo_motion + kimodo_motion_seq

Add probe_g1 endpoint to inspect G1 robot model availability

Add kimodo_motion_seq endpoint for multi-prompt chained sequences

Unregister admin probe + extract endpoints (work done; SOMA body model shipped to webapp)

Add extract_soma_skin endpoint to dump skin_standard.npz + viz module sources

Add aggressive SOMA body-model probe endpoint (path A)

Remove temp extract_soma_assets endpoint (kimodo has no body model; webapp synthesizes mesh)

Add extract_soma_assets endpoint for SkinnedMesh v1.1

fix: convert 77-joint output → 30-joint via from_SOMASkeleton77

fix: pass device as string (Hydra/OmegaConf rejects torch.device)

fix: drop show_api kwarg incompatible with Gradio 6 launch()

initial: Gradio API server (Kimodo-SOMA-RP-v1.1) + constraints schema