Agent skill · design visual · aradotso
kimodo-motion-diffusion
Generate high-quality 3D human and humanoid robot motions using Kimodo, a kinematic motion diffusion model controlled via text prompts and kinematic constraints.
Why this skill is useful
Adds executable commands for generating complex 3D human and robot motions based on text prompts, which the AI cannot generate without this specific tool.
What it needs
Requires docker, git, pip installed locally. About 7k tokens when loaded. Last updated 2026-07-09. 70 stars on the source repository.
What this skill does
Kimodo Motion Diffusion Skill by ara.so — Daily 2026 Skills collection. Kimodo is a kinematic motion diffusion model trained on 700 hours of commercially-friendly optical mocap data. It generates high-quality 3D human and humanoid robot motions controlled through text prompts and kinematic constraints (full-body keyframes, end-effector positions/rotations, 2D paths, 2D waypoints). Installation Requirements: ~17GB VRAM (GPU: RTX 3090/4090, A100 recommended) Linux (Windows supported via Docker) Models download automatically on first use from Hugging Face Available Models Model Skeleton Dataset Use Case ------- ---------- --------- ---------- Kimodo-SOMA-RP-v1 SOMA (human) Bones Rigplay 1 (700h) General human motion Kimodo-G1-RP-v1 Unitree G1 (robot) Bones Rigplay 1 (700h) Humanoid robot motion Kimodo-SOMA-SEED-v1 SOMA BONES-SEED (288h) Benchmarking Kimodo-G1-SEED-v1 Unitree G1 BONES-SEED (288h) Benchmarking Kimodo-SMPLX-RP-v1 SMPL-X Bones Rigplay 1 (700h) Retargeting/AMASS export CLI: kimodogen Basic Text-to-Motion Output Formats Multi-Prompt Sequences Constraint-Based Generation Interactive Demo The demo provides: Timeline editor for text prompts and constraints Full-body keyframe constraints 2D root path/waypoint editor End-effector position/rotation control Real-time 3D visualization with skeleton and skinned mesh Export of constraints as JSON and motions as NPZ Low-Level Python API Basic Model Inference Advanced API with Guidance and Constraints Working with Constraints Programmatically Loading and Using Saved Constraints Saving and Loading Generated Motions Robotics Integration MuJoCo Visualization (G1 Robot) ProtoMotions Integration GMR Retargeting (SMPL-X to Other Robots) NPZ Output Format Reference Key Shape Description ----- ------- ------------- posedjoints [T, J, 3] Global joint positions in meters globalrotmats [T, J, 3, 3] Global joint rotation matrices localrotmats [T, J, 3, 3] Parent-relative joint rotation matrices footcontacts [T, 4] Contact labels: [ …
How to use it
Reference it in AdaL, Claude Code, Cursor or any coding agent — nothing to install:
@skills aradotso/kimodo-motion-diffusion