ComfyUI Kimodo

ComfyUI-Kimodo

A ComfyUI plugin that wraps [Kimodo](https://github.com/nv-tlabs/kimodo) — NVIDIA's kinematic motion diffusion model for generating high-quality 3D human and humanoid robot motions from text prompts with optional kinematic constraints.

[中文说明](README_CN.md)

Features

• Text-to-Motion Generation — Describe a motion in natural language, get 3D joint positions and rotations
• Multiple Skeleton Types — SOMA human body, SMPLX, and Unitree G1 humanoid robot
• Kinematic Constraints — Optional JSON constraints for pose keyframes, end-effector positions, 2D paths
• Multi-Prompt Segments — Chain multiple motion descriptions with smooth transitions
• Multiple Samples — Generate batch of motion variations from the same prompt
• NPZ Export — Save motion data (joint positions, rotations, foot contacts, trajectories)
• BVH Export — Export to BVH format for animation software (SOMA skeletons)
• FBX Export (Mixamo) — Retarget motion onto Mixamo-rigged FBX characters and export animated FBX
• 2D Preview — Skeleton stick-figure visualization as ComfyUI IMAGE output
• HuggingFace Auto-Download — Models download automatically on first use (~17GB VRAM)

Nodes

Modular Workflow (Recommended)

Node	Category	Description
Kimodo Load Model	Loaders	Load a Kimodo model variant (auto-downloads from HuggingFace)
Kimodo Text Encode	Conditioning	Encode text prompt → reusable conditioning (swap seeds without re-encoding)
Kimodo Sampler	Sampling	Diffusion sampling with conditioning + optional constraints → motion
Kimodo Post Process	Post-processing	Foot-skate cleanup (optional, requires motion_correction module)

Preview & Export

Node	Description
Kimodo Preview (2D)	Render 2D skeleton stick-figure for a specific frame
Kimodo Preview 3D	Interactive 3D skeleton visualization
**Kimodo Save NP