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.
Install via CLI (Recommended)
clawhub install openclaw/skills/skills/adisinghstudent/kimodo-motion-diffusionKimodo 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
# Clone the repository
git clone https://github.com/nv-tlabs/kimodo.git
cd kimodo
# Install with pip (creates kimodo_gen and kimodo_demo CLI commands)
pip install -e .
# Or with Docker (recommended for Windows or clean environments)
docker build -t kimodo .
docker run --gpus all -p 7860:7860 kimodo
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: kimodo_gen
Basic Text-to-Motion
# Generate a single motion with a text prompt (uses SOMA model by default)
kimodo_gen "a person walks forward at a moderate pace"
# Specify duration and number of samples
kimodo_gen "a person jogs in a circle" --duration 5.0 --num_samples 3
# Use the G1 robot model
kimodo_gen "a robot walks forward" --model Kimodo-G1-RP-v1 --duration 4.0
# Use SMPL-X model (for AMASS-compatible export)
kimodo_gen "a person waves their right hand" --model Kimodo-SMPLX-RP-v1
# Set a seed for reproducibility
kimodo_gen "a person sits down slowly" --seed 42
# Control diffusion steps (more = slower but higher quality)
kimodo_gen "a person does a jumping jack" --diffusion_steps 50
Output Formats
# Default: saves NPZ file compatible with web demo
kimodo_gen "a person walks" --output ./outputs/walk.npz
# G1 robot: save MuJoCo qpos CSV
kimodo_gen "robot walks forward" --model Kimodo-G1-RP-v1 --output ./outputs/walk.csv
# SMPL-X: saves AMASS-compatible NPZ (stem_amass.npz)
kimodo_gen "a person waves" --model Kimodo-SMPLX-RP-v1 --output ./outputs/wave.npz
# Also writes: ./outputs/wave_amass.npz
# Disable post-processing (foot skate correction, constraint cleanup)
kimodo_gen "a person walks" --no-postprocess
Multi-Prompt Sequences
# Sequence of text prompts for transitions
kimodo_gen "a person stands still" "a person walks forward" "a person stops and turns"
Metadata
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{
"plugins": {
"official-adisinghstudent-kimodo-motion-diffusion": {
"enabled": true,
"auto_update": true
}
}
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