API Reference

This section contains the API documentation for Kimodo, organized by domain.

Core Modules

• Model
  • Kimodo Model
  • Denoiser and Backbone
  • Classifier-Free Guidance
  • Model Loading
  • Text Encoder
• Motion Representation
  • Skeleton
  • Forward Kinematics
  • Motion Representations
  • Utilities
• Constraints
  • create_pairs()
  • compute_global_heading()
  • Root2DConstraintSet
  • FullBodyConstraintSet
  • EndEffectorConstraintSet
  • LeftHandConstraintSet
  • RightHandConstraintSet
  • LeftFootConstraintSet
  • RightFootConstraintSet
  • load_constraints_lst()
  • save_constraints_lst()
• Exports
  • motion_to_bvh()
  • motion_to_bvh_bytes()
  • save_motion_bvh()
  • read_bvh_frame_time_seconds()
  • bvh_to_kimodo_motion()
  • MujocoQposConverter
  • apply_g1_real_robot_projection()
  • kimodo_y_up_to_amass_coord_rotation_matrix()
  • get_amass_parameters()
  • amass_arrays_to_kimodo_motion()
  • amass_npz_to_kimodo_motion()
  • AMASSConverter
• Visualization
  • get_g1_joint_f2q_data()
  • G1MeshRig
  • SMPLXSkin
  • Character
  • CharacterMotion
  • ConstraintSet
  • EEJointsKeyframeSet
  • FullbodyKeyframeSet
  • GuiElements
  • RootKeyframe2DSet
  • SkeletonMesh
  • WaypointMesh
  • build_constraint_set_table_markdown()
  • load_example_cases()
  • update_interval()
• Utilities
  • validate()
  • ensure_batched()
  • to_numpy()
  • to_torch()
  • seed_everything()
  • load_json()
  • save_json()
  • angle_to_Y_rotation_matrix()
  • matrix_to_cont6d()
  • cont6d_to_matrix()
  • axis_angle_to_matrix()
  • matrix_to_axis_angle()
  • quaternion_to_axis_angle()
  • matrix_to_quaternion()
  • quaternion_to_matrix()
  • sanitize_text()
  • sanitize_texts()
• Post-Processing Bindings
  • extract_input_motion_from_constraints()
  • create_working_rig_from_skeleton()
  • post_process_motion()