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| # Project Structure | |
| ```text | |
| kimodo/ | |
| ├── kimodo/ # Main Python package | |
| │ ├── model/ # Model architecture and loading | |
| │ │ ├── kimodo_model.py # Kimodo diffusion model wrapper | |
| │ │ ├── twostage_denoiser.py # Two-stage denoising architecture | |
| │ │ ├── backbone.py # Transformer encoder backbone | |
| │ │ ├── diffusion.py # Diffusion process | |
| │ │ ├── cfg.py # Classifier-free guidance | |
| │ │ ├── common.py # Shared model utilities | |
| │ │ ├── load_model.py # Model loading and registry lookup | |
| │ │ ├── loading.py # Checkpoint loading utilities | |
| │ │ ├── registry.py # Model registry (skeleton, checkpoint URLs) | |
| │ │ ├── text_encoder_api.py # Text encoder API client | |
| │ │ ├── tmr.py # TMR compatibility | |
| │ │ └── llm2vec/ # LLM-based text encoder | |
| │ ├── motion_rep/ # Motion representation | |
| │ │ ├── reps/ # Skeleton-specific motion reps | |
| │ │ │ ├── base.py # Base motion rep types | |
| │ │ │ ├── kimodo_motionrep.py | |
| │ │ │ └── tmr_motionrep.py | |
| │ │ ├── conditioning.py # Conditioning (text, constraints) | |
| │ │ ├── feature_utils.py # Feature extraction | |
| │ │ ├── feet.py # Foot contact / smoothing | |
| │ │ ├── smooth_root.py # Smooth root representation | |
| │ │ └── stats.py # Normalization statistics | |
| │ ├── skeleton/ # Skeleton definitions and kinematics | |
| │ │ ├── definitions.py # Skeleton topology (joints, chains) | |
| │ │ ├── registry.py # Skeleton registry | |
| │ │ ├── base.py # Base skeleton types | |
| │ │ ├── kinematics.py # Forward kinematics | |
| │ │ ├── transforms.py # Rotation/transform utilities | |
| │ │ └── bvh.py # BVH I/O | |
| │ ├── viz/ # Visualization | |
| │ │ ├── scene.py # 3D scene setup | |
| │ │ ├── playback.py # Timeline / motion playback | |
| │ │ ├── viser_utils.py # Viser 3D helpers | |
| │ │ ├── gui.py # Demo GUI components | |
| │ │ ├── constraint_ui.py # Constraint editing UI | |
| │ │ ├── coords.py # Coordinate frames | |
| │ │ ├── soma_skin.py # SOMA character skinning | |
| │ │ ├── soma_layer_skin.py # SOMA layer-based skinning | |
| │ │ ├── smplx_skin.py # SMPL-X skinning | |
| │ │ └── g1_rig.py # G1 robot rig | |
| │ ├── demo/ # Interactive web demo | |
| │ │ ├── app.py # Demo entry (Gradio / Viser) | |
| │ │ ├── config.py # Demo configuration | |
| │ │ ├── state.py # Application state | |
| │ │ ├── ui.py # UI layout and callbacks | |
| │ │ ├── generation.py # Generation pipeline for demo | |
| │ │ ├── embedding_cache.py # Cached text embeddings | |
| │ │ ├── queue_manager.py # Request queue for demo | |
| │ │ └── __main__.py # Demo run as module | |
| │ ├── exports/ # Motion I/O and format conversion | |
| │ │ ├── motion_io.py # Kimodo motion dict helpers (load, save, resample) | |
| │ │ ├── motion_convert_lib.py # Library API for format conversion | |
| │ │ ├── motion_formats.py # Format detection and FPS resolution | |
| │ │ ├── bvh.py # SOMA BVH read/write | |
| │ │ ├── mujoco.py # G1 MuJoCo qpos conversion | |
| │ │ └── smplx.py # AMASS / SMPL-X conversion | |
| │ ├── metrics/ # Evaluation metrics | |
| │ │ ├── base.py # Metric base classes | |
| │ │ ├── foot_skate.py # Foot skate metrics | |
| │ │ ├── constraints.py # Constraint metrics | |
| │ │ └── tmr.py # TMR-based metrics | |
| │ ├── scripts/ # CLI and helper scripts | |
| │ │ ├── generate.py # CLI for motion synthesis (kimodo_gen) | |
| │ │ ├── motion_convert.py # CLI for format conversion (kimodo_convert) | |
| │ │ ├── run_text_encoder_server.py # Text encoder server (kimodo_textencoder) | |
| │ │ ├── gradio_theme.py # Gradio theme for demo | |
| │ │ ├── lock_requirements.py # Dependency locking | |
| │ │ └── mujoco_load.py # MuJoCo g1 csv loading | |
| │ ├── assets/ # Package data (shipped with package) | |
| │ │ ├── demo/ # Demo examples and config | |
| │ │ └── skeletons/ # Skeleton assets | |
| │ ├── constraints.py # Constraint definitions and handling | |
| │ ├── geometry.py # Geometric utilities | |
| │ ├── postprocess.py # Post-processing (e.g. MotionCorrection) | |
| │ ├── meta.py # Motion metadata | |
| │ ├── sanitize.py # Input sanitization | |
| │ ├── assets.py # Asset path resolution | |
| │ └── tools.py # General utilities | |
| ├── benchmark/ # Evaluation pipeline scripts | |
| │ ├── create_benchmark.py # Step 1: Build test suite from SEED + metadata | |
| │ ├── generate_eval.py # Step 2: Generate motions for test suite | |
| │ ├── embed_folder.py # Step 3: Embed motions and text with TMR | |
| │ ├── evaluate_folder.py # Step 4: Compute metrics for test cases | |
| │ └── parse_folder.py # Step 5: Aggregate and display results | |
| ├── MotionCorrection/ # Optional C++/Python post-processing | |
| │ ├── python/motion_correction/ # Python bindings | |
| │ └── src/cpp/ # C++ implementation | |
| ├── docs/ # Documentation (Sphinx) | |
| │ └── source/ # RST/MD sources | |
| ├── assets/ # Repo-level assets (banner, screenshots) | |
| ├── pyproject.toml # Package config and entry points | |
| ├── setup.py # Setuptools entry (if needed) | |
| ├── Dockerfile # Container image for demo | |
| ├── docker-compose.yaml # Docker Compose for demo + text encoder | |
| └── README.md | |
| ``` | |
| Entry points (from `pyproject.toml`): | |
| - **`kimodo_gen`** — command-line motion synthesis (`kimodo.scripts.generate:main`) | |
| - **`kimodo_demo`** — interactive web demo (`kimodo.demo:main`) | |
| - **`kimodo_convert`** — motion format conversion (`kimodo.scripts.motion_convert:main`) | |
| - **`kimodo_textencoder`** — text encoder server (`kimodo.scripts.run_text_encoder_server:main`) | |