01 · Capture

Pose Recorder

Connecting

Adjust a simulated posture and inspect the state reported back by MuJoCo. Left and right always mean the robot's own sides.

Source

Pose group

Waist Robot-left arm Robot-right arm

Mirror arm edit

Sagittal

Pose name

Notes

Allow replacing an existing pose with the same name

Joint inspector

17 joints

Joint	Target	Actual	Reset
Yaw waist		0.000
Roll waist		0.000
Pitch waist		0.000
Shoulder Pitch robot-left		0.000
Shoulder Roll robot-left		0.180
Shoulder Yaw robot-left		0.000
Elbow robot-left		1.400
Wrist Roll robot-left		0.000
Wrist Pitch robot-left		0.000
Wrist Yaw robot-left		0.000
Shoulder Pitch robot-right		0.000
Shoulder Roll robot-right		-0.180
Shoulder Yaw robot-right		0.000
Elbow robot-right		1.400
Wrist Roll robot-right		0.000
Wrist Pitch robot-right		0.000
Wrist Yaw robot-right		0.000

Values are radians. Target is your command; Actual is the latest MuJoCo state.

03 · Sequence

Action Composer

Build a timed motion from complete poses. Every action starts and returns to base/concierge_init.

Saved action

Action name

Notes

Add intermediate frame

Base or composed

Complete pose

Travel time · seconds

Hold time · seconds

Keyframe sequence

01

base/concierge_init

Fixed start

Origin
02

base/concierge_init

Fixed return

Travel · s

Trajectory frequency · Hz

Allow replacing existing action JSON or NPZ

3D trajectory playback

Simulation and Viser only

Idle

Compiled trajectory

Loop playback 0.00 / 0.00 s

Waiting

No trajectory loaded

Add at least one complete intermediate pose before saving or compiling.

04 · Playback

Action Player

Load a local motion file, normalize it to both G1 arms, and inspect it in the live Viser scene.

Arms

Action · 14

Waist

concierge_init

Lower body

Standing

Action format

Action file

Choose a compiled Action Recorder NPZ.

Display name

Source frequency · Hz

Used when Kimodo does not embed FPS.

No action loaded

—

File	—
Source joints	—
Playable joints	—
Samples	—
Frequency	—
Duration	—

Viser playback

Kinematic simulation only

Idle

Loop playback

Waiting No action loaded

Paused frame capture

Pause, select one exact sample, then save either arm.

Pause to select

Trajectory sample

Sample 0 / 0 0.000 s

Pose name

Notes

Allow replacing an existing pose with the same name

Choose an action format and load a local file.

Connecting 3D scene

unitree_g1_29dof_rev_1_0_fake_hand MuJoCo source

Robot-relative camera Mouse: orbit · pan · zoom