The Robo-One fanatics (SAOTOME & YUMI) at majinga.dyndns.org have developed a simulator that incorporates a GUI similar to HeartToHeart. You can actually program your virtual KHR-1 to perform movement sequences and save them to a file which can then be read by HeartToHeart and executed by the real robot. To use the simulator, you first have to download a cool browser plugin called XVL3D Player Then you can progress to download the KHR-1 Simulator from the (nostalgic) Majinga web site
3-Apr-2005: The GUI itself has also been translated to English.
0
When right-clicking on the XVL 3D visualization window there's a pull-down menu with various 3D preference parameters. You should be able to figure out what these parameters do. Sometimes, they appear in the form if a toolbar on the top of the viewport.
1
The left button turns on/off Transparency mode for the robot. The center button turns on/off the Gravity objects -- red ball indicates the Center-of-Mass and green pyramid is it's projection onto the floor. The right button changes the color of the floor tiles.
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The DATA ID is the enumerator for the current robot position. You can shape the robot any way you want (see 9) and then save the current positions of the servos under the given DATA ID. Consecutive DATA ID robot positions compose a robot's movement. The DATA NAME is the name of the current movement set. SPEED is the transition speed to a given DATA-ID position. 7 is slowest 0 is fastest. Replace DATA ID line with current robot position Insert new line Delete current line Play sequence Open file (same format as HeartToHeart) Save file (same format as HeartToHeart)
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Each line represent the 17 servo positions
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If you created a cool movement, you can send it to the folk at Majinga to get their judgment. Put in a message and press the button above it.
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Sets the increment angle when pressing +/- buttons of 9
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Defines how the robot limbs moves (while editing) when changing servo value. There are three options (radio buttons): Left selection - Torso remains static Middle selection - Right leg remains static Right selection - Left leg remains static
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This flag works in conjunction with 10. If set, then the body is kept in place when pressing +/- in the 10 zone.
8
Left button - Attach surface of left foot to floor Right button - Attach surface of right foot to floor
9
+/- adds and subtracts angles from individual servos. Any numbers appearing in red means you have exceeded the valid values. Line 1 - Right arm Line 2 - Left arm Line 3 - Right leg Line 4 - Left leg
10
Pushes the waist and feet in various directions effecting multiple servos at the same time. Line 1 - Waist Line 2 - Right Foot Line 3 - Left Foot
KHR-1 
When right-clicking on the XVL 3D visualization window there's a pull-down menu with various 3D preference parameters. You should be able to figure out what these parameters do. Sometimes, they appear in the form if a toolbar on the top of the viewport.
Replace DATA ID line with current robot position
Insert new line
Delete current line
Play sequence
Open file (same format as HeartToHeart)
Save file (same format as HeartToHeart)