# kimodo-motion-diffusion

A skill that wires the Kimodo kinematic diffusion model into your agent for 3D human and humanoid robot motion from text prompts and constraints. Expect roughly 17GB of VRAM.

- skill · `type=skill` · Claude Code, Codex, Cursor, GitHub Copilot, Gemini CLI, OpenCode · 1300 installs · ★ 88
- Author: reason-machines
- License: not stated · policy=link-only · description only; the file stays with the author
- Source: https://github.com/reason-machines/trending-skills/tree/HEAD/skills/kimodo-motion-diffusion/SKILL.md
- Updated: 2026-10-09
- HTML: https://affpapa.org/en/nevibecode/skills/kimodo-motion-diffusion

## What it does

This skill gives the agent Kimodo, a kinematic motion diffusion model trained on mocap data. You drive it with text and kinematic constraints: full-body keyframes, end-effector position and rotation, 2D root paths and waypoints. Model weights pull from Hugging Face the first time you run something.

Two CLI tools ship with it. `kimodo_gen` generates motion from the command line; `kimodo_demo` opens a web demo at `http://127.0.0.1:7860` with a timeline editor, path and waypoint editing, and 3D visualization. A Python API is there too — `Kimodo`, `ConstraintSet`, `FullBodyKeyframe`, `EndEffectorConstraint`. Output lands as NPZ, as a qpos CSV for the G1 robot in MuJoCo, or as an AMASS-compatible NPZ for SMPL-X.

Linux is the supported host; on Windows you go through Docker. Without a GPU of about 17GB VRAM nothing generates — the authors point at RTX 3090, 4090 or A100. Install into a clean environment: `pip install -e .` inside a clone of the repo, or build the Docker image.

## Install

### Claude Code (native platform)

1. **Skills CLI (Vercel)**
```bash
npx skills add reason-machines/trending-skills --skill kimodo-motion-diffusion -a claude-code
```

2. **Manually: put the files in place**
- File: `~/.claude/skills/kimodo-motion-diffusion/SKILL.md` — Copy the whole skill folder; for one project use .claude/skills/kimodo-motion-diffusion/

### Codex

1. **Skills CLI (Vercel)**
```bash
npx skills add reason-machines/trending-skills --skill kimodo-motion-diffusion -a codex
```

2. **Manually: put the files in place**
- File: `.agents/skills/kimodo-motion-diffusion/SKILL.md` — For all projects use ~/.agents/skills/

### Cursor

1. **Skills CLI (Vercel)**
```bash
npx skills add reason-machines/trending-skills --skill kimodo-motion-diffusion -a cursor
```

2. **Manually: put the files in place**
- File: `.cursor/skills/kimodo-motion-diffusion/SKILL.md` — Cursor also reads .agents/skills/ and .claude/skills/

### GitHub Copilot

1. **GitHub CLI**
```bash
gh skill install reason-machines/trending-skills kimodo-motion-diffusion
```

2. **Manually: put the files in place**
- File: `.github/skills/kimodo-motion-diffusion/SKILL.md`

### Gemini CLI

1. **Skills CLI (Vercel)**
```bash
npx skills add reason-machines/trending-skills --skill kimodo-motion-diffusion -a gemini-cli
```

2. **Platform CLI**
```bash
gemini skills install https://github.com/reason-machines/trending-skills --path skills/kimodo-motion-diffusion
```

### Windsurf (Devin Desktop)

**Manually: put the files in place**
- File: `.devin/skills/kimodo-motion-diffusion/SKILL.md` — The legacy .windsurf/skills/ path still works

### OpenCode

**Skills CLI (Vercel)**
```bash
npx skills add reason-machines/trending-skills --skill kimodo-motion-diffusion -a opencode
```

### Claude.ai

**Claude.ai**
- Zip the folder and upload it in Settings → Capabilities → Skills

Where a file is given instead of a command, copy the files from the source to that path: https://github.com/reason-machines/trending-skills/tree/HEAD/skills/kimodo-motion-diffusion/SKILL.md

## When to use it
- generate a 3D human motion from a text description
- produce a walking animation for a Unitree G1 robot
- pin keyframes and a hand position inside a motion
- export motion to AMASS or qpos formats
- chain several prompts into one transition sequence

## Example prompts
- Generate a human motion for the prompt "a person walks forward at a moderate pace", 4 seconds long
- Make the G1 robot walk and save qpos to `./outputs/walk.csv`
- Launch the Kimodo interactive demo so I can place keyframes

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From the same set: [reason-machines/trending-skills](https://affpapa.org/en/nevibecode/by/reason-machines/trending-skills.md) — 199 cards

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