Index

_

__call__() (kimodo.model.kimodo_model.Kimodo method) (kimodo.model.text_encoder_api.TextEncoderAPI method) __init__() (kimodo.constraints.EndEffectorConstraintSet method) (kimodo.constraints.FullBodyConstraintSet method) (kimodo.constraints.LeftFootConstraintSet method) (kimodo.constraints.LeftHandConstraintSet method) (kimodo.constraints.RightFootConstraintSet method) (kimodo.constraints.RightHandConstraintSet method) (kimodo.constraints.Root2DConstraintSet method) (kimodo.exports.mujoco.MujocoQposConverter method) (kimodo.exports.smplx.AMASSConverter method) (kimodo.model.backbone.PositionalEncoding method) (kimodo.model.backbone.TimestepEmbedder method) (kimodo.model.backbone.TransformerEncoderBlock method) (kimodo.model.cfg.ClassifierFreeGuidedModel method) (kimodo.model.twostage_denoiser.TwostageDenoiser method) (kimodo.motion_rep.reps.base.MotionRepBase method) (kimodo.motion_rep.reps.kimodo_motionrep.KimodoMotionRep method) (kimodo.motion_rep.reps.tmr_motionrep.TMRMotionRep method) (kimodo.motion_rep.smooth_root.TrajectorySmoother method) (kimodo.motion_rep.stats.Stats method) (kimodo.skeleton.SkeletonBase method) (kimodo.viz.g1_rig.G1MeshRig method) (kimodo.viz.smplx_skin.SMPLXSkin method) (kimodo.viz.viser_utils.Character method) (kimodo.viz.viser_utils.CharacterMotion method) (kimodo.viz.viser_utils.ConstraintSet method) (kimodo.viz.viser_utils.EEJointsKeyframeSet method) (kimodo.viz.viser_utils.FullbodyKeyframeSet method) (kimodo.viz.viser_utils.GuiElements method) (kimodo.viz.viser_utils.RootKeyframe2DSet method) (kimodo.viz.viser_utils.SkeletonMesh method) (kimodo.viz.viser_utils.WaypointMesh method)

A

add_interval() (kimodo.viz.viser_utils.ConstraintSet method) (kimodo.viz.viser_utils.EEJointsKeyframeSet method) (kimodo.viz.viser_utils.FullbodyKeyframeSet method) (kimodo.viz.viser_utils.RootKeyframe2DSet method) add_joint_gizmos() (kimodo.viz.viser_utils.CharacterMotion method) add_keyframe() (kimodo.viz.viser_utils.ConstraintSet method) (kimodo.viz.viser_utils.EEJointsKeyframeSet method) (kimodo.viz.viser_utils.FullbodyKeyframeSet method) (kimodo.viz.viser_utils.RootKeyframe2DSet method)

add_root_translation_gizmo() (kimodo.viz.viser_utils.CharacterMotion method) AMASSConverter (class in kimodo.exports.smplx) angle_to_Y_rotation_matrix() (in module kimodo.geometry) apply_g1_real_robot_projection() (in module kimodo.exports.mujoco) axis_angle_to_matrix() (in module kimodo.geometry)

B

batch_rigid_transform() (in module kimodo.skeleton) (in module kimodo.skeleton.kinematics) bone_order_names_no_root (kimodo.skeleton.SkeletonBase attribute) bone_order_names_with_parents (kimodo.skeleton.G1Skeleton34 attribute) (kimodo.skeleton.SkeletonBase attribute) (kimodo.skeleton.SMPLXSkeleton22 attribute) (kimodo.skeleton.SOMASkeleton30 attribute) (kimodo.skeleton.SOMASkeleton77 attribute)

build_constraint_set_table_markdown() (in module kimodo.viz.viser_utils) build_skeleton() (in module kimodo.skeleton)

C

canonicalize() (kimodo.motion_rep.reps.base.MotionRepBase method) change_theme() (kimodo.viz.viser_utils.Character method) Character (class in kimodo.viz.viser_utils) CharacterMotion (class in kimodo.viz.viser_utils) ClassifierFreeGuidedModel (class in kimodo.model.cfg) clear() (kimodo.viz.g1_rig.G1MeshRig method) (kimodo.viz.viser_utils.Character method) (kimodo.viz.viser_utils.CharacterMotion method) (kimodo.viz.viser_utils.ConstraintSet method) (kimodo.viz.viser_utils.EEJointsKeyframeSet method) (kimodo.viz.viser_utils.FullbodyKeyframeSet method) (kimodo.viz.viser_utils.RootKeyframe2DSet method) (kimodo.viz.viser_utils.SkeletonMesh method) (kimodo.viz.viser_utils.WaypointMesh method) clear_all_gizmos() (kimodo.viz.viser_utils.CharacterMotion method)

compute_global_heading() (in module kimodo.constraints) compute_idx_levels() (in module kimodo.skeleton.kinematics) compute_single_pose() (kimodo.viz.viser_utils.SkeletonMesh method) ConstraintSet (class in kimodo.viz.viser_utils) cont6d_to_matrix() (in module kimodo.geometry) convert_save_npz() (kimodo.exports.smplx.AMASSConverter method) create_conditions() (kimodo.motion_rep.reps.kimodo_motionrep.KimodoMotionRep method) create_conditions_from_constraints() (kimodo.motion_rep.reps.base.MotionRepBase method) create_conditions_from_constraints_batched() (kimodo.motion_rep.reps.base.MotionRepBase method) create_pairs() (in module kimodo.constraints) create_scene_elements() (kimodo.viz.viser_utils.EEJointsKeyframeSet method) create_working_rig_from_skeleton() (in module kimodo.postprocess) crop_move() (kimodo.constraints.EndEffectorConstraintSet method) (kimodo.constraints.FullBodyConstraintSet method) (kimodo.constraints.Root2DConstraintSet method)

D

denoising_step() (kimodo.model.kimodo_model.Kimodo method)

device (kimodo.skeleton.SkeletonBase property) dict_to_qpos() (kimodo.exports.mujoco.MujocoQposConverter method)

E

EEJointsKeyframeSet (class in kimodo.viz.viser_utils) EndEffectorConstraintSet (class in kimodo.constraints) ensure_batched() (in module kimodo.tools)

eval() (kimodo.model.kimodo_model.Kimodo method) expand_joint_names() (kimodo.skeleton.SkeletonBase method) expand_joint_names_batched() (kimodo.skeleton.SkeletonBase method) extract_input_motion_from_constraints() (in module kimodo.postprocess)

F

fk() (in module kimodo.skeleton) (in module kimodo.skeleton.kinematics) (kimodo.skeleton.SkeletonBase method) foot_detect_from_pos_and_vel() (in module kimodo.motion_rep.feet) foot_joint_idx (kimodo.skeleton.SkeletonBase attribute) foot_joint_names (kimodo.skeleton.SkeletonBase attribute) forward() (kimodo.model.backbone.PositionalEncoding method) (kimodo.model.backbone.TimestepEmbedder method) (kimodo.model.backbone.TransformerEncoderBlock method) (kimodo.model.cfg.ClassifierFreeGuidedModel method) (kimodo.model.twostage_denoiser.TwostageDenoiser method)

from_dict() (kimodo.constraints.EndEffectorConstraintSet class method) (kimodo.constraints.FullBodyConstraintSet class method) (kimodo.constraints.Root2DConstraintSet class method) from_SOMASkeleton77() (kimodo.skeleton.SOMASkeleton30 method) from_standard_tpose() (kimodo.skeleton.SkeletonBase method) FullBodyConstraintSet (class in kimodo.constraints) FullbodyKeyframeSet (class in kimodo.viz.viser_utils)

G

G1MeshRig (class in kimodo.viz.g1_rig) G1Skeleton34 (class in kimodo.skeleton) get_amass_parameters() (in module kimodo.exports.smplx) get_constraint_info() (kimodo.viz.viser_utils.ConstraintSet method) (kimodo.viz.viser_utils.EEJointsKeyframeSet method) (kimodo.viz.viser_utils.FullbodyKeyframeSet method) (kimodo.viz.viser_utils.RootKeyframe2DSet method) get_current_joints_pos() (kimodo.viz.viser_utils.CharacterMotion method) get_current_joints_rot() (kimodo.viz.viser_utils.CharacterMotion method) get_current_projected_root_pos() (kimodo.viz.viser_utils.CharacterMotion method) get_dim() (kimodo.motion_rep.stats.Stats method) get_frame_idx() (kimodo.viz.viser_utils.ConstraintSet method) get_g1_joint_f2q_data() (in module kimodo.viz.g1_rig) get_joints_pos() (kimodo.viz.viser_utils.CharacterMotion method) get_joints_rot() (kimodo.viz.viser_utils.CharacterMotion method) get_pose() (kimodo.viz.viser_utils.Character method) (kimodo.viz.viser_utils.SkeletonMesh method) get_projected_root_pos() (kimodo.viz.viser_utils.CharacterMotion method) get_root_heading_angle() (kimodo.motion_rep.reps.base.MotionRepBase method) get_root_pos() (kimodo.motion_rep.reps.base.MotionRepBase method) get_save_info() (kimodo.constraints.EndEffectorConstraintSet method) (kimodo.constraints.FullBodyConstraintSet method) (kimodo.constraints.Root2DConstraintSet method) get_skel_slice() (kimodo.skeleton.SkeletonBase method) get_smooth_root_pos() (in module kimodo.motion_rep.smooth_root) global_root_to_local_root() (kimodo.motion_rep.reps.base.MotionRepBase method)

global_rots_to_local_rots() (in module kimodo.skeleton) (kimodo.skeleton.SkeletonBase method) gui_camera_fov_slider (kimodo.viz.viser_utils.GuiElements attribute) gui_cfg_checkbox (kimodo.viz.viser_utils.GuiElements attribute) gui_cfg_constraint_weight_slider (kimodo.viz.viser_utils.GuiElements attribute) gui_cfg_text_weight_slider (kimodo.viz.viser_utils.GuiElements attribute) gui_dark_mode_checkbox (kimodo.viz.viser_utils.GuiElements attribute) gui_diffusion_steps_slider (kimodo.viz.viser_utils.GuiElements attribute) gui_duration_slider (kimodo.viz.viser_utils.GuiElements attribute) gui_generate_button (kimodo.viz.viser_utils.GuiElements attribute) gui_model_fps (kimodo.viz.viser_utils.GuiElements attribute) gui_next_frame_button (kimodo.viz.viser_utils.GuiElements attribute) gui_num_samples_slider (kimodo.viz.viser_utils.GuiElements attribute) gui_play_pause_button (kimodo.viz.viser_utils.GuiElements attribute) gui_postprocess_checkbox (kimodo.viz.viser_utils.GuiElements attribute) gui_prev_frame_button (kimodo.viz.viser_utils.GuiElements attribute) gui_real_robot_rotations_checkbox (kimodo.viz.viser_utils.GuiElements attribute) gui_root_margin (kimodo.viz.viser_utils.GuiElements attribute) gui_seed (kimodo.viz.viser_utils.GuiElements attribute) gui_timeline (kimodo.viz.viser_utils.GuiElements attribute) gui_use_soma_layer_checkbox (kimodo.viz.viser_utils.GuiElements attribute) gui_viz_foot_contacts_checkbox (kimodo.viz.viser_utils.GuiElements attribute) gui_viz_skeleton_checkbox (kimodo.viz.viser_utils.GuiElements attribute) gui_viz_skinned_mesh_checkbox (kimodo.viz.viser_utils.GuiElements attribute) gui_viz_skinned_mesh_opacity_slider (kimodo.viz.viser_utils.GuiElements attribute) GuiElements (class in kimodo.viz.viser_utils)

H

hip_joint_idx (kimodo.skeleton.SkeletonBase attribute) hip_joint_names (kimodo.skeleton.G1Skeleton34 attribute) (kimodo.skeleton.SkeletonBase attribute) (kimodo.skeleton.SMPLXSkeleton22 attribute) (kimodo.skeleton.SOMASkeleton30 attribute) (kimodo.skeleton.SOMASkeleton77 attribute)

I

interpolate_path() (kimodo.viz.viser_utils.RootKeyframe2DSet method) inverse() (kimodo.motion_rep.reps.kimodo_motionrep.KimodoMotionRep method) (kimodo.motion_rep.reps.tmr_motionrep.TMRMotionRep method)

is_loaded() (kimodo.motion_rep.stats.Stats method)

J

joint_names (kimodo.constraints.LeftFootConstraintSet attribute) (kimodo.constraints.LeftHandConstraintSet attribute) (kimodo.constraints.RightFootConstraintSet attribute) (kimodo.constraints.RightHandConstraintSet attribute)

K

Kimodo (class in kimodo.model.kimodo_model) kimodo.constraints module kimodo.exports.bvh module kimodo.exports.mujoco module kimodo.exports.smplx module kimodo.geometry module kimodo.model.backbone module kimodo.model.cfg module kimodo.model.kimodo_model module kimodo.model.load_model module kimodo.model.text_encoder_api module kimodo.model.twostage_denoiser module kimodo.motion_rep.feet module kimodo.motion_rep.reps.base module

kimodo.motion_rep.reps.kimodo_motionrep module kimodo.motion_rep.reps.tmr_motionrep module kimodo.motion_rep.smooth_root module kimodo.motion_rep.stats module kimodo.postprocess module kimodo.sanitize module kimodo.skeleton module kimodo.skeleton.kinematics module kimodo.tools module kimodo.viz.g1_rig module kimodo.viz.smplx_skin module kimodo.viz.viser_utils module KimodoMotionRep (class in kimodo.motion_rep.reps.kimodo_motionrep)

L

lbs() (kimodo.viz.smplx_skin.SMPLXSkin method) left_foot_joint_names (kimodo.skeleton.G1Skeleton34 attribute) (kimodo.skeleton.SMPLXSkeleton22 attribute) (kimodo.skeleton.SOMASkeleton30 attribute) (kimodo.skeleton.SOMASkeleton77 attribute) left_hand_joint_names (kimodo.skeleton.G1Skeleton34 attribute) (kimodo.skeleton.SMPLXSkeleton22 attribute) (kimodo.skeleton.SOMASkeleton30 attribute) (kimodo.skeleton.SOMASkeleton77 attribute)

LeftFootConstraintSet (class in kimodo.constraints) LeftHandConstraintSet (class in kimodo.constraints) load() (kimodo.motion_rep.stats.Stats method) load_ckpt() (kimodo.model.twostage_denoiser.TwostageDenoiser method) load_constraints_lst() (in module kimodo.constraints) load_example_cases() (in module kimodo.viz.viser_utils) load_json() (in module kimodo.tools) load_model() (in module kimodo.model.load_model)

M

matrix_to_axis_angle() (in module kimodo.geometry) matrix_to_cont6d() (in module kimodo.geometry) matrix_to_quaternion() (in module kimodo.geometry) module kimodo.constraints kimodo.exports.bvh kimodo.exports.mujoco kimodo.exports.smplx kimodo.geometry kimodo.model.backbone kimodo.model.cfg kimodo.model.kimodo_model kimodo.model.load_model kimodo.model.text_encoder_api kimodo.model.twostage_denoiser kimodo.motion_rep.feet kimodo.motion_rep.reps.base kimodo.motion_rep.reps.kimodo_motionrep kimodo.motion_rep.reps.tmr_motionrep kimodo.motion_rep.smooth_root kimodo.motion_rep.stats kimodo.postprocess kimodo.sanitize kimodo.skeleton kimodo.skeleton.kinematics kimodo.tools kimodo.viz.g1_rig kimodo.viz.smplx_skin kimodo.viz.viser_utils

motion_to_bvh() (in module kimodo.exports.bvh) motion_to_bvh_bytes() (in module kimodo.exports.bvh) MotionRepBase (class in kimodo.motion_rep.reps.base) MujocoQposConverter (class in kimodo.exports.mujoco)

N

name (kimodo.constraints.EndEffectorConstraintSet attribute) (kimodo.constraints.FullBodyConstraintSet attribute) (kimodo.constraints.LeftFootConstraintSet attribute) (kimodo.constraints.LeftHandConstraintSet attribute) (kimodo.constraints.RightFootConstraintSet attribute) (kimodo.constraints.RightHandConstraintSet attribute) (kimodo.constraints.Root2DConstraintSet attribute) (kimodo.skeleton.G1Skeleton34 attribute) (kimodo.skeleton.SkeletonBase attribute) (kimodo.skeleton.SMPLXSkeleton22 attribute) (kimodo.skeleton.SOMASkeleton30 attribute) (kimodo.skeleton.SOMASkeleton77 attribute)

normalize() (kimodo.motion_rep.reps.base.MotionRepBase method) (kimodo.motion_rep.stats.Stats method)

O

output_skeleton (kimodo.model.kimodo_model.Kimodo property)

output_to_SOMASkeleton77() (kimodo.skeleton.SOMASkeleton30 method)

P

pad_x_and_mask_to_fixed_size() (in module kimodo.model.backbone) PositionalEncoding (class in kimodo.model.backbone) post_process_motion() (in module kimodo.postprocess)

precompute_mesh_info() (kimodo.viz.viser_utils.CharacterMotion method) (kimodo.viz.viser_utils.SkeletonMesh method) precompute_skinning() (kimodo.viz.viser_utils.Character method) project_to_real_robot_rotations() (kimodo.exports.mujoco.MujocoQposConverter method)

Q

quaternion_to_axis_angle() (in module kimodo.geometry)

quaternion_to_matrix() (in module kimodo.geometry)

R

randomize_first_heading() (kimodo.motion_rep.reps.base.MotionRepBase method) register_from_tensors() (kimodo.motion_rep.stats.Stats method) relaxed_hands_rest_pose (kimodo.skeleton.SOMASkeleton77 property) remove_interval() (kimodo.viz.viser_utils.ConstraintSet method) (kimodo.viz.viser_utils.EEJointsKeyframeSet method) (kimodo.viz.viser_utils.FullbodyKeyframeSet method) (kimodo.viz.viser_utils.RootKeyframe2DSet method) remove_keyframe() (kimodo.viz.viser_utils.ConstraintSet method) (kimodo.viz.viser_utils.EEJointsKeyframeSet method) (kimodo.viz.viser_utils.FullbodyKeyframeSet method) (kimodo.viz.viser_utils.RootKeyframe2DSet method) right_foot_joint_names (kimodo.skeleton.G1Skeleton34 attribute) (kimodo.skeleton.SMPLXSkeleton22 attribute) (kimodo.skeleton.SOMASkeleton30 attribute) (kimodo.skeleton.SOMASkeleton77 attribute)

right_hand_joint_names (kimodo.skeleton.G1Skeleton34 attribute) (kimodo.skeleton.SMPLXSkeleton22 attribute) (kimodo.skeleton.SOMASkeleton30 attribute) (kimodo.skeleton.SOMASkeleton77 attribute) RightFootConstraintSet (class in kimodo.constraints) RightHandConstraintSet (class in kimodo.constraints) Root2DConstraintSet (class in kimodo.constraints) root_idx (kimodo.skeleton.SkeletonBase attribute) RootKeyframe2DSet (class in kimodo.viz.viser_utils) rotate() (kimodo.motion_rep.reps.kimodo_motionrep.KimodoMotionRep method) (kimodo.motion_rep.reps.tmr_motionrep.TMRMotionRep method) rotate_to() (kimodo.motion_rep.reps.base.MotionRepBase method) rotate_to_zero() (kimodo.motion_rep.reps.base.MotionRepBase method)

S

sanitize_text() (in module kimodo.sanitize) sanitize_texts() (in module kimodo.sanitize) save() (kimodo.motion_rep.stats.Stats method) save_constraints_lst() (in module kimodo.constraints) save_csv() (kimodo.exports.mujoco.MujocoQposConverter method) save_json() (in module kimodo.tools) save_motion_bvh() (in module kimodo.exports.bvh) save_npz() (kimodo.exports.smplx.AMASSConverter method) seed_everything() (in module kimodo.tools) set_color() (kimodo.viz.g1_rig.G1MeshRig method) set_dense_path() (kimodo.viz.viser_utils.RootKeyframe2DSet method) set_frame() (kimodo.viz.viser_utils.CharacterMotion method) set_label_visibility() (kimodo.viz.viser_utils.ConstraintSet method) set_opacity() (kimodo.viz.g1_rig.G1MeshRig method) set_overlay_visibility() (kimodo.viz.viser_utils.ConstraintSet method) (kimodo.viz.viser_utils.EEJointsKeyframeSet method) (kimodo.viz.viser_utils.FullbodyKeyframeSet method) (kimodo.viz.viser_utils.RootKeyframe2DSet method) set_pose() (kimodo.viz.g1_rig.G1MeshRig method) (kimodo.viz.viser_utils.Character method) (kimodo.viz.viser_utils.SkeletonMesh method) set_projected_root_pos_path() (kimodo.viz.viser_utils.CharacterMotion method)

set_show_foot_contacts() (kimodo.viz.viser_utils.Character method) set_skeleton_visibility() (kimodo.viz.viser_utils.Character method) set_skinned_mesh_opacity() (kimodo.viz.viser_utils.Character method) set_skinned_mesh_visibility() (kimodo.viz.viser_utils.Character method) set_skinned_mesh_wireframe() (kimodo.viz.viser_utils.Character method) set_smooth_path() (kimodo.viz.viser_utils.RootKeyframe2DSet method) set_visibility() (kimodo.viz.g1_rig.G1MeshRig method) (kimodo.viz.viser_utils.SkeletonMesh method) set_visible() (kimodo.viz.viser_utils.WaypointMesh method) set_wireframe() (kimodo.viz.g1_rig.G1MeshRig method) SkeletonBase (class in kimodo.skeleton) SkeletonMesh (class in kimodo.viz.viser_utils) skin() (kimodo.viz.smplx_skin.SMPLXSkin method) sliced() (kimodo.motion_rep.stats.Stats method) smooth() (kimodo.motion_rep.smooth_root.TrajectorySmoother method) smooth_signal() (in module kimodo.motion_rep.smooth_root) SMPLXSkeleton22 (class in kimodo.skeleton) SMPLXSkin (class in kimodo.viz.smplx_skin) somaskel77 (kimodo.skeleton.SOMASkeleton30 property) SOMASkeleton30 (class in kimodo.skeleton) SOMASkeleton77 (class in kimodo.skeleton) Stats (class in kimodo.motion_rep.stats)

T

TextEncoderAPI (class in kimodo.model.text_encoder_api) TimestepEmbedder (class in kimodo.model.backbone) TMRMotionRep (class in kimodo.motion_rep.reps.tmr_motionrep) to() (kimodo.constraints.EndEffectorConstraintSet method) (kimodo.constraints.FullBodyConstraintSet method) (kimodo.constraints.Root2DConstraintSet method) (kimodo.model.text_encoder_api.TextEncoderAPI method) to_numpy() (in module kimodo.tools) to_qpos() (kimodo.exports.mujoco.MujocoQposConverter method) to_SOMASkeleton77() (kimodo.skeleton.SOMASkeleton30 method)

to_standard_tpose() (in module kimodo.skeleton) (kimodo.skeleton.SkeletonBase method) to_torch() (in module kimodo.tools) train() (kimodo.model.kimodo_model.Kimodo method) TrajectorySmoother (class in kimodo.motion_rep.smooth_root) TransformerEncoderBlock (class in kimodo.model.backbone) translate_2d() (kimodo.motion_rep.reps.kimodo_motionrep.KimodoMotionRep method) (kimodo.motion_rep.reps.tmr_motionrep.TMRMotionRep method) translate_2d_to() (kimodo.motion_rep.reps.base.MotionRepBase method) translate_2d_to_zero() (kimodo.motion_rep.reps.base.MotionRepBase method) TwostageDenoiser (class in kimodo.model.twostage_denoiser)

U

u_update() (kimodo.motion_rep.smooth_root.TrajectorySmoother method) unnormalize() (kimodo.motion_rep.reps.base.MotionRepBase method) (kimodo.motion_rep.stats.Stats method) update_constraints() (kimodo.constraints.EndEffectorConstraintSet method) (kimodo.constraints.FullBodyConstraintSet method) (kimodo.constraints.Root2DConstraintSet method)

update_interval() (in module kimodo.viz.viser_utils) update_line_segments() (kimodo.viz.viser_utils.RootKeyframe2DSet method) update_mesh_info_cache() (kimodo.viz.viser_utils.SkeletonMesh method) update_pose_at_frame() (kimodo.viz.viser_utils.CharacterMotion method) update_position() (kimodo.viz.viser_utils.WaypointMesh method) update_skinning_cache() (kimodo.viz.viser_utils.Character method)

V

validate() (in module kimodo.tools)

W

WaypointMesh (class in kimodo.viz.viser_utils)

X

x_update() (kimodo.motion_rep.smooth_root.TrajectorySmoother method)

Z

z_update() (kimodo.motion_rep.smooth_root.TrajectorySmoother method)