@rig-c/pose 0.37.1 → 0.38.0

package/src/pose.ts

@@ -17,11 +17,30 @@
  * is: the unit is `picture-px` (a video frame is not a painting), and `at` may
  * lie outside the picture (a dancer's hand leaves the frame; a pose model
  * places it anyway, and its score says how much to believe it).
+ *
+ * The minor (rig-c/pose#288): `rig-pose-sequence/1.1` adds the pelvis track —
+ * a per-frame `pelvisTilt` and the sequence's `pelvisSource` (`rig-pose
+ * pelvis`). The writer writes the minor the content needs: a sequence with the
+ * track is "rig-pose-sequence/1.1", every other one "rig-pose-sequence/1", so
+ * a sequence without it stays readable by a reader of /1. The spec string is
+ * the version the file records of what wrote it: a file of a minor newer than
+ * this reader's is read, and each key it does not know is refused naming the
+ * minor the file says it was written as.
  */
 import { BODY18, COCO17, COCO17_TO_BODY18, isBody18, type Body18 } from './joints.ts';
-import { isObject, parseJson, Problems, refuseUnknownKeys, typeName } from './problems.ts';
+import { isObject, parseJson, Problems, refuseUnknownKeys, refuseUnknownKeys as refuseKeys, typeName } from './problems.ts';
 
 export const POSE_SPEC = 'rig-pose-sequence/1';
+/** The minor with the pelvis track (rig-c/pose#288), and the newest minor this reader reads. */
+export const POSE_SPEC_PELVIS = 'rig-pose-sequence/1.1';
+const POSE_MINOR = 1;
+/**
+ * Where a sequence's `pelvisTilt` came from (rig-c/pose#288): `silhouette` — the
+ * straight edge of the drawn figure across the hips; `waistband` — the top edge
+ * of a garment covering them; `keys` — a hand file (`--pelvis-keys`).
+ */
+export const PELVIS_SOURCES = ['silhouette', 'waistband', 'keys'] as const;
+export type PelvisSource = (typeof PELVIS_SOURCES)[number];
 export const POSE_SPACE = { units: 'picture-px', origin: 'top-left', y: 'down' } as const;
 /**
  * `inferred` (rig-c/pose#63): a position the detector supplied but did not see
@@ -44,6 +63,15 @@ export interface Person {
 export interface PoseFrame {
   t: number;
   people: Person[];
+  /**
+   * rig-c/pose#288, minor 1.1: the pelvis line on this frame, read off the picture —
+   * Spine degrees (counter-clockwise, y up) of the direction from the figure's
+   * right hip to its left hip, the angle `pictureAngle(r_hip, l_hip)` gives the
+   * hip keypoints (about 0 for a figure facing the camera, about ±180 facing
+   * away); null where the reading declined the frame. Present on every frame of
+   * a sequence with a `pelvisSource`, on none of one without.
+   */
+  pelvisTilt?: number | null;
 }
 /**
  * The picture's camera on one frame against frame 0's (rig-c/pose#63), as
@@ -175,6 +203,10 @@ export interface CleanUnheld {
   test: 'speed' | 'reach' | 'short' | 'span';
   value: number | null;
 }
+/** rig-c/pose#288: clean smoothed the sequence's `pelvisTilt` as its own track, over the legs' window (`loop` as the record's). */
+export interface PelvisParams {
+  window: number;
+}
 export interface CleanRecord {
   spec: typeof CLEAN_SPEC;
   /**
@@ -182,7 +214,7 @@ export interface CleanRecord {
    * `hold` (#91): the stillness hold's figures, or "off"; absent in a record
    * written before #91.
    */
-  params: { loop: boolean; legs: number; rest: number; hipsInferred?: HipsInferred; hold?: HoldParams | 'off' };
+  params: { loop: boolean; legs: number; rest: number; hipsInferred?: HipsInferred; hold?: HoldParams | 'off'; pelvis?: PelvisParams };
   /**
    * `found`: every joint the spike step replaced, by frame (index into `frames`)
    * and joint. `untested`: the frames the spike step did not test, because a
@@ -215,6 +247,8 @@ export interface PoseSequence {
    * by hand. Absent: the figure's travel in the picture is its travel.
    */
   travel?: Travel;
+  /** rig-c/pose#288, minor 1.1: where every frame's `pelvisTilt` came from; present exactly when the frames carry it. */
+  pelvisSource?: PelvisSource;
   frames: PoseFrame[];
 }
 
@@ -246,9 +280,17 @@ export function readPoseSequence(text: string, where: string): PoseSequence {
     throw new Error('unreachable');
   }
   const frames0 = doc.spec === POSE_SPEC_FRAMES0;
-  refuseUnknownKeys(p, 'POSE_KEYS', where, doc, frames0 ? [...TOP_KEYS, ...OPTIONAL_KEYS, 'fps'] : [...TOP_KEYS, ...OPTIONAL_KEYS]);
+  // rig-c/pose#288: the minor the file says it was written as; a newer one is read, and what it adds is refused naming it.
+  const minor = frames0 ? 0 : minorOf(doc.spec);
+  const note = minor !== null && minor > POSE_MINOR ? `; the file says it was written as ${JSON.stringify(doc.spec)}, a newer minor than this reader's "${POSE_SPEC_PELVIS}" — read it with a rig-pose that reads that minor` : '';
+  const pelvisKnown = minor !== null && minor >= 1;
+  /** A 1.1 key in a file that says /1 (or the older name): one line naming the minor, not an unknown key. */
+  const minorKey = (key: string, on: string) => p.add('POSE_SPEC', `${on} carries ${JSON.stringify(key)}, a key of "${POSE_SPEC_PELVIS}", and the file says ${JSON.stringify(doc.spec)}; a sequence carrying the pelvis track is written as "${POSE_SPEC_PELVIS}" (rig-pose pelvis)`);
+  const without = (o: Record<string, unknown>, key: string) => (pelvisKnown || !(key in o) ? o : Object.fromEntries(Object.entries(o).filter(([k]) => k !== key)));
+  if (!pelvisKnown && 'pelvisSource' in doc) minorKey('pelvisSource', where);
+  refuseUnknownKeys(p, 'POSE_KEYS', where, without(doc, 'pelvisSource'), frames0 ? [...TOP_KEYS, ...OPTIONAL_KEYS, 'fps'] : [...TOP_KEYS, ...OPTIONAL_KEYS, ...(pelvisKnown ? ['pelvisSource'] : [])], note);
   for (const k of TOP_KEYS) if (!(k in doc)) p.add('POSE_KEYS', `${where} has no "${k}"; a ${POSE_SPEC} document carries ${TOP_KEYS.join(', ')}`);
-  if ('spec' in doc && doc.spec !== POSE_SPEC && !frames0) p.add('POSE_SPEC', `${where} "spec" is ${typeName(doc.spec)}; this reader reads "${POSE_SPEC}" (and the older name "${POSE_SPEC_FRAMES0}")`);
+  if ('spec' in doc && minor === null) p.add('POSE_SPEC', `${where} "spec" is ${typeName(doc.spec)}; this reader reads "${POSE_SPEC}" and its minors ("${POSE_SPEC_PELVIS}"; a newer minor is read, and a key it adds is refused naming it), and the older name "${POSE_SPEC_FRAMES0}"`);
   const space = frames0 ? FRAMES0_SPACE : POSE_SPACE;
   if ('space' in doc && JSON.stringify(doc.space) !== JSON.stringify(space)) {
     p.add('POSE_SPACE', `${where} "space" is ${JSON.stringify(doc.space)}; for "${frames0 ? POSE_SPEC_FRAMES0 : POSE_SPEC}" it must be exactly ${JSON.stringify(space)}`);
@@ -264,13 +306,21 @@ export function readPoseSequence(text: string, where: string): PoseSequence {
       p.add('POSE_FRAMES', `${where} "frames" is ${typeName(doc.frames)}; it must be a non-empty array`);
     } else {
       let lastT = -Infinity;
+      const minorFrames: number[] = [];
       doc.frames.forEach((f: unknown, i: number) => {
         const fw = `${where} frames[${i}]`;
         if (!isObject(f)) {
           p.add('POSE_FRAME_SHAPE', `${fw} is ${typeName(f)}; a frame is { t, people }`);
           return;
         }
-        refuseUnknownKeys(p, 'POSE_KEYS', fw, f, ['t', 'people']);
+        if (!pelvisKnown && 'pelvisTilt' in f) minorFrames.push(i);
+        refuseUnknownKeys(p, 'POSE_KEYS', fw, without(f, 'pelvisTilt'), pelvisKnown ? ['t', 'people', 'pelvisTilt'] : ['t', 'people'], note);
+        let pelvisTilt: number | null | undefined;
+        if (pelvisKnown && 'pelvisTilt' in f) {
+          const v = f.pelvisTilt;
+          if (v === null || (typeof v === 'number' && Number.isFinite(v) && v > -180 && v <= 180)) pelvisTilt = v;
+          else p.add('POSE_PELVIS', `${fw} "pelvisTilt" is ${typeName(v)}; it must be Spine degrees in (-180, 180] (the direction r_hip → l_hip, counter-clockwise, y up), or null where the reading declined the frame`);
+        }
         const t = f.t;
         if (typeof t !== 'number' || !Number.isFinite(t) || t < 0) {
           p.add('POSE_TIME', `${fw} "t" is ${typeName(t)}; it must be a finite number of seconds ≥ 0`);
@@ -289,34 +339,73 @@ export function readPoseSequence(text: string, where: string): PoseSequence {
               p.add('POSE_PERSON_SHAPE', `${pw} is ${typeName(person)}; a person is { id, joints }`);
               return;
             }
-            refuseUnknownKeys(p, 'POSE_KEYS', pw, person, ['id', 'joints']);
+            refuseUnknownKeys(p, 'POSE_KEYS', pw, person, ['id', 'joints'], note);
             if (typeof person.id !== 'string' || person.id === '') {
               p.add('POSE_PERSON_ID', `${pw} "id" is ${typeName(person.id)}; it must be a non-empty string`);
               return;
             }
             if (ids.has(person.id)) p.add('POSE_PERSON_ID', `${pw} "id" "${person.id}" appears twice in frame ${i}`);
             ids.add(person.id);
-            people.push({ id: person.id, joints: readJoints(p, pw, person.joints) });
+            people.push({ id: person.id, joints: readJoints(p, pw, person.joints, note) });
           });
         }
-        frames.push({ t: typeof t === 'number' ? t : NaN, people });
+        frames.push({ t: typeof t === 'number' ? t : NaN, people, ...(pelvisTilt !== undefined ? { pelvisTilt } : {}) });
       });
+      if (minorFrames.length > 0) minorKey('pelvisTilt', `${where} ${minorFrames.length === 1 ? `frames[${minorFrames[0]}]` : `${minorFrames.length} frames (${minorFrames[0]}–${minorFrames[minorFrames.length - 1]})`}`);
+    }
+  }
+  let pelvisSource: PelvisSource | undefined;
+  if (pelvisKnown && 'pelvisSource' in doc) {
+    if (typeof doc.pelvisSource === 'string' && (PELVIS_SOURCES as readonly string[]).includes(doc.pelvisSource)) pelvisSource = doc.pelvisSource as PelvisSource;
+    else p.add('POSE_PELVIS', `${where} "pelvisSource" is ${typeName(doc.pelvisSource)}; it must be one of ${PELVIS_SOURCES.map((x) => `"${x}"`).join(', ')} (where every frame's "pelvisTilt" came from)`);
+  }
+  if (pelvisKnown && Array.isArray(doc.frames)) {
+    const carry = doc.frames.map((f: unknown) => isObject(f) && 'pelvisTilt' in f);
+    const lacking = carry.flatMap((c: boolean, i: number) => (c ? [] : [i]));
+    if ('pelvisSource' in doc && lacking.length > 0) p.add('POSE_PELVIS', `${where} has "pelvisSource" and frame(s) ${spansText(lacking)} carry no "pelvisTilt"; with a pelvis track every frame carries one (null where the reading declined it)`);
+    if (!('pelvisSource' in doc) && lacking.length < carry.length) p.add('POSE_PELVIS', `${where} has "pelvisTilt" on ${carry.length - lacking.length} frame(s) and no "pelvisSource"; a pelvis track says where it came from (${PELVIS_SOURCES.join(', ')})`);
+    if ('pelvisSource' in doc) {
+      const ids = [...new Set(frames.flatMap((f) => f.people.map((q) => q.id)))].sort();
+      if (ids.length > 1) p.add('POSE_PELVIS', `${where} carries a pelvis track and ${ids.length} people (${ids.join(', ')}); the track is one figure's, so the sequence holds one person (rig-pose pelvis --person writes only that one)`);
     }
   }
-  const camera = 'camera' in doc ? readCamera(p, where, doc.camera, Array.isArray(doc.frames) ? doc.frames.length : null) : undefined;
+  const camera = 'camera' in doc ? readCamera(p, where, doc.camera, Array.isArray(doc.frames) ? doc.frames.length : null, note) : undefined;
   if ('cameraSource' in doc) {
     if (typeof doc.cameraSource !== 'string' || doc.cameraSource.trim() === '') p.add('POSE_CAMERA_SOURCE', `${where} "cameraSource" is ${typeName(doc.cameraSource)}; it must be a non-empty string saying where the camera came from ("tracked", "hand-labelled, N keys")`);
     else if (!('camera' in doc)) p.add('POSE_CAMERA_SOURCE', `${where} has "cameraSource" ${JSON.stringify(doc.cameraSource)} and no "camera"; it states where a camera came from, so it needs one`);
   }
   if ('travel' in doc && doc.travel !== TRAVEL_IN_PLACE) p.add('POSE_TRAVEL', `${where} "travel" is ${typeName(doc.travel)}; the one value is "${TRAVEL_IN_PLACE}" (a gait filmed without the figure travelling), and without the key the picture's travel is the figure's`);
-  const cleaned = 'cleaned' in doc ? readCleaned(p, where, doc.cleaned, Array.isArray(doc.frames) ? doc.frames.length : null) : undefined;
+  const cleaned = 'cleaned' in doc ? readCleaned(p, where, doc.cleaned, Array.isArray(doc.frames) ? doc.frames.length : null, pelvisKnown, note) : undefined;
+  if (cleaned !== undefined && pelvisKnown) {
+    const hasPelvis = isObject(doc.cleaned) && isObject(doc.cleaned.params) && 'pelvis' in doc.cleaned.params;
+    if ('pelvisSource' in doc && !hasPelvis) p.add('POSE_PELVIS', `${where} carries a pelvis track and its "cleaned" record has no "params" "pelvis"; clean smooths the track and records it, so the track was added after clean — run rig-pose pelvis before rig-pose clean`);
+    if (!('pelvisSource' in doc) && hasPelvis) p.add('POSE_PELVIS', `${where} "cleaned" "params" has "pelvis" and the sequence no "pelvisSource"; the record says clean smoothed a pelvis track the frames do not carry`);
+  }
   p.throwIfAny();
   const cameraSource = typeof doc.cameraSource === 'string' ? doc.cameraSource : undefined;
-  return { spec: POSE_SPEC, space: POSE_SPACE, width: doc.width as number, height: doc.height as number, source: doc.source as string, ...(cameraSource !== undefined ? { cameraSource } : {}), ...(camera !== undefined ? { camera } : {}), ...(cleaned !== undefined ? { cleaned } : {}), ...(doc.travel === TRAVEL_IN_PLACE ? { travel: TRAVEL_IN_PLACE } : {}), frames };
+  return { spec: POSE_SPEC, space: POSE_SPACE, width: doc.width as number, height: doc.height as number, source: doc.source as string, ...(cameraSource !== undefined ? { cameraSource } : {}), ...(camera !== undefined ? { camera } : {}), ...(cleaned !== undefined ? { cleaned } : {}), ...(doc.travel === TRAVEL_IN_PLACE ? { travel: TRAVEL_IN_PLACE } : {}), ...(pelvisSource !== undefined ? { pelvisSource } : {}), frames };
+}
+
+/** The minor a sequence's spec names: 0 for "rig-pose-sequence/1", N for "rig-pose-sequence/1.N"; null for anything else. */
+function minorOf(spec: unknown): number | null {
+  if (spec === POSE_SPEC) return 0;
+  const m = typeof spec === 'string' ? /^rig-pose-sequence\/1\.([1-9]\d{0,5})$/.exec(spec) : null;
+  return m === null ? null : Number(m[1]);
+}
+
+/** Frame indices as runs: "3, 5–9". */
+function spansText(fs: readonly number[]): string {
+  const out: Array<[number, number]> = [];
+  for (const f of fs) {
+    const last = out[out.length - 1];
+    if (last !== undefined && f === last[1] + 1) last[1] = f;
+    else out.push([f, f]);
+  }
+  return out.map(([a, b]) => (a === b ? `${a}` : `${a}–${b}`)).join(', ');
 }
 
 /** `camera`: one `{ s > 0, tx, ty, inliers ≥ 0 }` per frame, as many as `frames`. */
-function readCamera(p: Problems, where: string, camera: unknown, frames: number | null): CameraFrame[] {
+function readCamera(p: Problems, where: string, camera: unknown, frames: number | null, note: string): CameraFrame[] {
   const out: CameraFrame[] = [];
   if (!Array.isArray(camera)) {
     p.add('POSE_CAMERA', `${where} "camera" is ${typeName(camera)}; it must be an array with one { s, tx, ty, inliers } per frame`);
@@ -329,7 +418,7 @@ function readCamera(p: Problems, where: string, camera: unknown, frames: number
       p.add('POSE_CAMERA', `${cw} is ${typeName(c)}; a camera entry is { s, tx, ty, inliers }`);
       return;
     }
-    refuseUnknownKeys(p, 'POSE_CAMERA', cw, c, CAMERA_KEYS);
+    refuseUnknownKeys(p, 'POSE_CAMERA', cw, c, CAMERA_KEYS, note);
     let ok = true;
     for (const k of CAMERA_KEYS) if (!(k in c)) {
       p.add('POSE_CAMERA', `${cw} has no "${k}"; a camera entry carries ${CAMERA_KEYS.join(', ')}`);
@@ -354,7 +443,8 @@ function readCamera(p: Problems, where: string, camera: unknown, frames: number
 }
 
 /** `cleaned`: { spec, params: { loop, legs, rest, hipsInferred?, hold? }, spikes: { found: [{ frame, joint }], untested: [frame] }, jitter: { before, after }, holds?, unheld?, seams? }. */
-function readCleaned(p: Problems, where: string, c: unknown, frames: number | null): CleanRecord | undefined {
+function readCleaned(p: Problems, where: string, c: unknown, frames: number | null, pelvisKnown: boolean, note: string): CleanRecord | undefined {
+  const refuseUnknownKeys = (q: Problems, code: string, w: string, o: Record<string, unknown>, known: readonly string[]) => refuseKeys(q, code, w, o, known, note);
   const cw = `${where} "cleaned"`;
   const shape = '{ spec, params: { loop, legs, rest, hipsInferred?, hold? }, spikes: { found: [{ frame, joint }], untested: [frame] }, jitter: { before, after }, holds?, unheld?, seams? }';
   if (!isObject(c)) {
@@ -370,7 +460,16 @@ function readCleaned(p: Problems, where: string, c: unknown, frames: number | nu
     const q = c.params;
     if (!isObject(q)) p.add('POSE_CLEANED', `${cw} "params" is ${typeName(q)}; it must be { loop, legs, rest, hipsInferred?, hold? }`);
     else {
-      refuseUnknownKeys(p, 'POSE_CLEANED', `${cw} "params"`, q, ['loop', 'legs', 'rest', 'hipsInferred', 'hold']);
+      refuseUnknownKeys(p, 'POSE_CLEANED', `${cw} "params"`, q, ['loop', 'legs', 'rest', 'hipsInferred', 'hold', ...(pelvisKnown ? ['pelvis'] : [])]);
+      if (pelvisKnown && 'pelvis' in q) {
+        const v = q.pelvis;
+        const vw = `${cw} "params" "pelvis"`;
+        if (!isObject(v)) p.add('POSE_CLEANED', `${vw} is ${typeName(v)}; it must be { window } (rig-c/pose#288: the window clean smoothed the pelvis track over)`);
+        else {
+          refuseUnknownKeys(p, 'POSE_CLEANED', vw, v, ['window']);
+          if (!window(v.window)) p.add('POSE_CLEANED', `${vw} "window" is ${typeName(v.window)}; it must be 1 (none) or an odd whole number ≥ 5`);
+        }
+      }
       if ('hold' in q) {
         const h = q.hold;
         const hw = `${cw} "params" "hold"`;
@@ -384,7 +483,7 @@ function readCleaned(p: Problems, where: string, c: unknown, frames: number | nu
           for (const k of ['holds', 'unheld', 'seams']) if (!(k in c)) p.add('POSE_CLEANED', `${cw} has "params" "hold" and no "${k}"; a record whose hold ran lists its holds, the joints it did not hold and its seams (an empty array when none)`);
         }
       } else for (const k of ['holds', 'unheld', 'seams']) if (k in c) p.add('POSE_CLEANED', `${cw} has "${k}" and no "params" "hold"; the holds' figures are recorded in "params" "hold"`);
-      if ('hipsInferred' in q) readHipsInferred(p, `${cw} "params" "hipsInferred"`, q.hipsInferred, frames);
+      if ('hipsInferred' in q) readHipsInferred(p, `${cw} "params" "hipsInferred"`, q.hipsInferred, frames, note);
       if (typeof q.loop !== 'boolean') p.add('POSE_CLEANED', `${cw} "params" "loop" is ${typeName(q.loop)}; it must be true or false`);
       for (const k of ['legs', 'rest'] as const) if (!window(q[k])) p.add('POSE_CLEANED', `${cw} "params" "${k}" is ${typeName(q[k])}; it must be 1 (none) or an odd whole number ≥ 5`);
     }
@@ -490,11 +589,11 @@ function readCleaned(p: Problems, where: string, c: unknown, frames: number | nu
     });
   }
   if (p.list.length > before) return undefined;
-  const q = c.params as { loop: boolean; legs: number; rest: number; hipsInferred?: HipsInferred; hold?: HoldParams | 'off' };
+  const q = c.params as { loop: boolean; legs: number; rest: number; hipsInferred?: HipsInferred; hold?: HoldParams | 'off'; pelvis?: PelvisParams };
   const j = c.jitter as { before: number | null; after: number | null };
   return {
     spec: CLEAN_SPEC,
-    params: { loop: q.loop, legs: q.legs, rest: q.rest, ...(q.hipsInferred !== undefined ? { hipsInferred: copyHipsInferred(q.hipsInferred) } : {}), ...(q.hold !== undefined ? { hold: holdParamsOf(q.hold) } : {}) },
+    params: { loop: q.loop, legs: q.legs, rest: q.rest, ...(q.hipsInferred !== undefined ? { hipsInferred: copyHipsInferred(q.hipsInferred) } : {}), ...(q.hold !== undefined ? { hold: holdParamsOf(q.hold) } : {}), ...(pelvisKnown && q.pelvis !== undefined ? { pelvis: { window: q.pelvis.window } } : {}) },
     spikes: {
       found: ((c.spikes as { found: Array<{ frame: number; joint: Body18 }> }).found).map((s) => ({ frame: s.frame, joint: s.joint })),
       untested: [...(c.spikes as { untested: number[] }).untested],
@@ -507,7 +606,8 @@ function readCleaned(p: Problems, where: string, c: unknown, frames: number | nu
 }
 
 /** `hipsInferred`: { by: "declared" } or the measured record (the shape at `HipsInferred`), refused by name otherwise. */
-function readHipsInferred(p: Problems, hw: string, h: unknown, frames: number | null): void {
+function readHipsInferred(p: Problems, hw: string, h: unknown, frames: number | null, note: string): void {
+  const refuseUnknownKeys = (q: Problems, code: string, w: string, o: Record<string, unknown>, known: readonly string[]) => refuseKeys(q, code, w, o, known, note);
   const measuredShape = '{ by: "measured", method, read, interpolated, held: [[first, last]], declined: [{ frames: [first, last], why }] }';
   if (!isObject(h)) {
     p.add('POSE_CLEANED', `${hw} is ${typeName(h)}; it must be { by: "declared" } or ${measuredShape}`);
@@ -652,7 +752,7 @@ const holdParamsOf = (h: HoldParams | 'off'): HoldParams | 'off' => (h === 'off'
 const copyHold = (h: CleanHold): CleanHold => ({ joint: h.joint, frames: [h.frames[0], h.frames[1]], ...(h.excursion !== undefined ? { excursion: [h.excursion[0], h.excursion[1]] as [number, number] } : {}), jitter: { before: h.jitter.before, after: h.jitter.after } });
 const copyUnheld = (u: CleanUnheld): CleanUnheld => ({ joint: u.joint, frames: [u.frames[0], u.frames[1]], test: u.test, value: u.value });
 
-function readJoints(p: Problems, pw: string, joints: unknown): Partial<Record<Body18, Joint>> {
+function readJoints(p: Problems, pw: string, joints: unknown, note: string): Partial<Record<Body18, Joint>> {
   const out: Partial<Record<Body18, Joint>> = {};
   if (!isObject(joints)) {
     p.add('POSE_JOINTS', `${pw} "joints" is ${typeName(joints)}; it must be an object keyed by body-18 joint names`);
@@ -668,7 +768,7 @@ function readJoints(p: Problems, pw: string, joints: unknown): Partial<Record<Bo
       p.add('POSE_JOINT_SHAPE', `${jw} is ${typeName(j)}; a joint is { state, at?, score? }`);
       continue;
     }
-    refuseUnknownKeys(p, 'POSE_KEYS', jw, j, ['state', 'at', 'score']);
+    refuseUnknownKeys(p, 'POSE_KEYS', jw, j, ['state', 'at', 'score'], note);
     const state = j.state;
     if (typeof state !== 'string' || !(STATES as readonly string[]).includes(state)) {
       p.add('POSE_JOINT_STATE', `${jw} "state" is ${typeName(state)}; it must be one of ${STATES.join(', ')}`);
@@ -821,6 +921,7 @@ export function writePoseSequence(seq: PoseSequence): string {
   const round = (v: number, d: number) => Number(v.toFixed(d));
   const frames = seq.frames.map((f) => ({
     t: f.t,
+    ...(f.pelvisTilt !== undefined ? { pelvisTilt: f.pelvisTilt === null ? null : round(f.pelvisTilt, 3) } : {}),
     people: f.people.map((q) => ({
       id: q.id,
       joints: Object.fromEntries(
@@ -840,12 +941,14 @@ export function writePoseSequence(seq: PoseSequence): string {
   const jit = (v: number | null) => (v === null ? null : round(v, 4));
   const cleaned = c === undefined ? undefined : {
     spec: c.spec,
-    params: { loop: c.params.loop, legs: c.params.legs, rest: c.params.rest, ...(c.params.hipsInferred !== undefined ? { hipsInferred: copyHipsInferred(c.params.hipsInferred) } : {}), ...(c.params.hold !== undefined ? { hold: holdParamsOf(c.params.hold) } : {}) },
+    params: { loop: c.params.loop, legs: c.params.legs, rest: c.params.rest, ...(c.params.hipsInferred !== undefined ? { hipsInferred: copyHipsInferred(c.params.hipsInferred) } : {}), ...(c.params.hold !== undefined ? { hold: holdParamsOf(c.params.hold) } : {}), ...(c.params.pelvis !== undefined ? { pelvis: { window: c.params.pelvis.window } } : {}) },
     spikes: { found: c.spikes.found.map((s) => ({ frame: s.frame, joint: s.joint })), untested: [...c.spikes.untested] },
     jitter: { before: jit(c.jitter.before), after: jit(c.jitter.after) },
     ...(c.holds !== undefined ? { holds: c.holds.map((h) => ({ joint: h.joint, frames: [h.frames[0], h.frames[1]], ...(h.excursion !== undefined ? { excursion: [h.excursion[0], h.excursion[1]] } : {}), jitter: { before: jit(h.jitter.before), after: jit(h.jitter.after) } })) } : {}),
     ...(c.seams !== undefined ? { seams: c.seams.map((x) => ({ joint: x.joint, frame: x.frame, step: round(x.step, 4), gap: x.gap })) } : {}),
     ...(c.unheld !== undefined ? { unheld: c.unheld.map((u) => ({ joint: u.joint, frames: [u.frames[0], u.frames[1]], test: u.test, value: u.value === null ? null : round(u.value, 4) })) } : {}),
   };
-  return `${JSON.stringify({ spec: seq.spec, space: seq.space, width: seq.width, height: seq.height, source: seq.source, ...(seq.cameraSource !== undefined ? { cameraSource: seq.cameraSource } : {}), ...(camera !== undefined ? { camera } : {}), ...(cleaned !== undefined ? { cleaned } : {}), ...(seq.travel !== undefined ? { travel: seq.travel } : {}), frames }, null, 2)}\n`;
+  // rig-c/pose#288: the minor the content needs — /1.1 with a pelvis track, /1 otherwise.
+  const spec = seq.pelvisSource !== undefined ? POSE_SPEC_PELVIS : seq.spec;
+  return `${JSON.stringify({ spec, space: seq.space, width: seq.width, height: seq.height, source: seq.source, ...(seq.cameraSource !== undefined ? { cameraSource: seq.cameraSource } : {}), ...(camera !== undefined ? { camera } : {}), ...(cleaned !== undefined ? { cleaned } : {}), ...(seq.travel !== undefined ? { travel: seq.travel } : {}), ...(seq.pelvisSource !== undefined ? { pelvisSource: seq.pelvisSource } : {}), frames }, null, 2)}\n`;
 }

package/src/problems.ts

@@ -59,10 +59,13 @@ export function isObject(v: unknown): v is Record<string, unknown> {
   return typeof v === 'object' && v !== null && !Array.isArray(v);
 }
 
-/** Refuse the keys of `obj` a reader does not know, by name, listing the ones it does. */
-export function refuseUnknownKeys(problems: Problems, code: string, where: string, obj: Record<string, unknown>, known: readonly string[]): void {
+/**
+ * Refuse the keys of `obj` a reader does not know, by name, listing the ones it does. `note`, when
+ * given, ends each line: a sequence written by a newer minor of its format says which (rig-c/pose#288).
+ */
+export function refuseUnknownKeys(problems: Problems, code: string, where: string, obj: Record<string, unknown>, known: readonly string[], note = ''): void {
   for (const k of Object.keys(obj)) {
-    if (!known.includes(k)) problems.add(code, `${where} has a key this reader does not know: ${JSON.stringify(k)}; the keys it reads are ${known.join(', ')}`);
+    if (!known.includes(k)) problems.add(code, `${where} has a key this reader does not know: ${JSON.stringify(k)}; the keys it reads are ${known.join(', ')}${note}`);
   }
 }
 

package/src/retarget.ts

@@ -80,7 +80,7 @@ import type { Joint, Travel } from './pose.ts';
 import { TRAVEL_IN_PLACE } from './pose.ts';
 import { Problems, Refusal } from './problems.ts';
 import type { ArtRange, AttachmentKey, ByHip, Raised, ReachShort, SlotTrack, Switch, SwitchOptions } from './switch.ts';
-import { clampArt, coveredChains, isRaised, measureArt, overflow, RAISED_WRIST_EYES, RANGE_SLACK, reachLimit, runsOf, selectSwitches, twoBone } from './switch.ts';
+import { clampArt, coveredChains, isRaised, measureArt, overflow, phaseGroupProblems, RAISED_WRIST_EYES, RANGE_SLACK, reachLimit, runsOf, selectSwitches, twoBone } from './switch.ts';
 import type { BlendHold, Closure, Feet, Floor, LegScale, LegSegmentRatio, PathPose, Posing, Side, Stance } from './legs.ts';
 import { figureScaleOf, freeAnkleShiftOf, holdBlend, isLegSegment, legScaleOf, legsOf, pathFrom, percentile, plantHip, posePath, rootOf, scaleSupport, shiftOver, SIDES, stanceOf, stanceRangeOf, STRAIGHT_PERCENTILE, supportsOf, tipOf, unshortenStanceShin } from './legs.ts';
 import type { BodyReading, FaceReading, YawSetSwitch } from './face.ts';
@@ -174,6 +174,33 @@ export interface RetargetOptions extends SwitchOptions {
   travel?: Travel;
   /** The sequence was cleaned with `--loop` (its `cleaned.params.loop`, rig-c/pose#241): the head nod's detrend window wraps, the last frame running into the first. */
   loop?: boolean;
+  /**
+   * rig-c/pose#288: the sequence's pelvis track (`pelvisTilt` per frame, null where
+   * declined, and its `pelvisSource`). The pelvis chain's bone (a chain whose
+   * joints are r_hip → l_hip) is keyed from it on every frame it reads, and from
+   * the hip line on the frames it does not; absent, from the hip line.
+   */
+  pelvis?: { source: string; tilt: ReadonlyArray<number | null> };
+}
+
+/**
+ * rig-c/pose#288: where the pelvis bone's rotation came from. `source` is the
+ * track's (`silhouette`, `waistband`, `keys`) or "hip line"; `bone`/`chain` the
+ * map's pelvis chain (null without one, when nothing is keyed); `swing` the
+ * peak-to-peak of its rotate keys, degrees (null when not keyed); `track` and
+ * `hipLine` how many frames each keyed; `trackSource` the track's source when the
+ * sequence carries one (also when it read no frame and the hip line was keyed).
+ */
+export interface PelvisReading {
+  source: string;
+  trackSource: string | null;
+  bone: string | null;
+  chain: string | null;
+  swing: number | null;
+  track: number;
+  hipLine: number;
+  /** The frames keyed from the hip line on a sequence that carries a track: the frames its reading declined. */
+  declined: Array<[number, number]>;
 }
 
 export interface Hold {
@@ -448,6 +475,8 @@ export interface Retarget {
   nodSkipped: NodSkipped | null;
   /** Each `reach` chain hanging below a bone the animation turns or translates (#236): its aim's departure from the pose pair's angle. */
   reach: ReachReading[];
+  /** rig-c/pose#288: the pelvis bone's source; null when the map has no pelvis chain and the sequence no track. */
+  pelvis: PelvisReading | null;
 }
 
 export interface FigureScaleFrame {
@@ -809,6 +838,10 @@ export function retarget(rest: Rest, map: JointMap, frames: ReadonlyArray<Partia
   // Each mapped bone's target world angle per frame, reaches last.
   const targets = new Map<string, number[]>();
   const restOf = new Map<string, number>();
+  // rig-c/pose#288: the pelvis chain (one bone, joints r_hip → l_hip either way) keyed from the track where it reads.
+  const pelvisChain = map.chains.find((c) => !c.reach && c.bones.length === 1 && ((c.joints[0] === 'r_hip' && c.joints[1] === 'l_hip') || (c.joints[0] === 'l_hip' && c.joints[1] === 'r_hip'))) ?? null;
+  const track = opts.pelvis !== undefined && opts.pelvis.tilt.length === n ? opts.pelvis.tilt : null;
+  const fromTrack = pelvisChain !== null && track !== null && track.some((v) => v !== null) ? pelvisChain.bones[0]! : null;
   for (const c of map.chains) {
     c.bones.forEach((b, k) => {
       restOf.set(b, restAngle(rest, b, c.aim[k]!));
@@ -817,6 +850,12 @@ export function retarget(rest: Rest, map: JointMap, frames: ReadonlyArray<Partia
       const to = series.get(c.joints[k + 1]!)!;
       const angles: number[] = [];
       for (let i = 0; i < n; i++) {
+        const v = b === fromTrack ? track![i] : null;
+        if (v !== null && v !== undefined) {
+          // The track is the r_hip → l_hip direction; a chain written l_hip → r_hip aims the other way.
+          angles.push(c.joints[0] === 'r_hip' ? v : wrap(v + 180));
+          continue;
+        }
         const d = Math.hypot(to[i]![0] - from[i]![0], to[i]![1] - from[i]![1]);
         angles.push(d > 1e-9 ? pictureAngle(from[i]!, to[i]!) : (angles[i - 1] ?? NaN));
       }
@@ -842,6 +881,8 @@ export function retarget(rest: Rest, map: JointMap, frames: ReadonlyArray<Partia
         const joints: [string, string] = [c.joints[k]!, c.joints[k + 1]!];
         const across = isAcross(joints[0], joints[1]);
         if (!across && opts.short === 'off') return;
+        // rig-c/pose#288: a pelvis keyed from its track is not read off the hip pair's length, so it is not held across it.
+        if (b === fromTrack) return;
         const from = series.get(joints[0])!;
         const to = series.get(joints[1])!;
         const lengths = from.map((f, i) => Math.hypot(to[i]![0] - f[0], to[i]![1] - f[1]));
@@ -1211,6 +1252,16 @@ export function retarget(rest: Rest, map: JointMap, frames: ReadonlyArray<Partia
   if (opts.stance !== undefined && opts.stance !== 'off' && !plantOn) p.add('STANCE', `--stance ${opts.stance} plants the free foot beside the supporting one that --plant-feet holds, and --plant-feet is not given`);
   if (opts.floor !== undefined && !plantOn) p.add('FLOOR', `--floor ${opts.floor} is the floor --plant-feet plants every support span on, and --plant-feet is not given`);
   if (opts.floor !== undefined && !Number.isFinite(opts.floor)) p.add('FLOOR', `--floor is ${opts.floor}; it must be a finite world y`);
+  // rig-c/pose#286: a set with a `phase` shows on the report's support spans, read with or without --plant-feet; a run that
+  // reads no feet has none to show it on, and a group of competing sets mixing phase and angle sets has no rule.
+  const phased = map.alternates.filter((a) => a.phase !== undefined);
+  if (phased.length > 0) {
+    if (feet === null) {
+      const why = legs !== null && 'problems' in legs ? legs.problems.join('; ') : `the feet are read from both hips and both ankles, and the map's chains use ${['r_hip', 'l_hip', 'r_ankle', 'l_ankle'].filter((j) => !series.has(j)).join(', ')} nowhere`;
+      p.add('PHASE_FEET', `set(s) ${phased.map((a) => `"${a.name}" ("phase": "${a.phase}")`).join(', ')} show by the supporting foot (left-step while the right foot supports), and this run reads no supports: ${why}`);
+    }
+    for (const x of phaseGroupProblems(map.alternates)) p.add('PHASE_GROUP', x);
+  }
   p.throwIfAny();
   const askedScales = new Map<string, number[]>();
   for (const ls of legScale) askedScales.set(ls.bone, ls.asked);
@@ -1485,7 +1536,7 @@ export function retarget(rest: Rest, map: JointMap, frames: ReadonlyArray<Partia
     }
   }
   const rawTargets = new Map<string, number[]>([...targets].map(([b, arr]) => [b, [...arr]]));
-  const sw = selectSwitches(map, targets, keyTimes, keyTimes[n - 1]!, slots, { ...opts, shortInfo, handOffsets });
+  const sw = selectSwitches(map, targets, keyTimes, keyTimes[n - 1]!, slots, { ...opts, shortInfo, handOffsets, ...(phased.length > 0 && feet !== null ? { phaseSupports: feet.supports } : {}) });
 
   // The range clamp, outside the spans of a set depicting the bone's chain. Parents
   // first, so a bone below takes its clamped parent into its key; a reach is aimed
@@ -3038,6 +3089,7 @@ export function retarget(rest: Rest, map: JointMap, frames: ReadonlyArray<Partia
   const reach = reachReadings(rest, map, tracks, reachAims, t?.bone ?? null);
 
   const pivot = pivotOf(rest, t?.bone ?? null, legs);
+  const pelvis = pelvisReadingOf(pelvisChain, opts.pelvis, track, fromTrack, tracks);
   const scaleFit = t === null || scale === null || origin === null ? null : scaleFitOf({
     joints: t.scale.pose, joint: t.joint, bone: t.bone, lengths: scaleLengths, factor: scale.factor,
     series, good, legLength: feet?.legLength ?? null, legStraight, rigLeg,
@@ -3048,10 +3100,53 @@ export function retarget(rest: Rest, map: JointMap, frames: ReadonlyArray<Partia
     animation: { duration: keyTimes[n - 1]!, tracks },
     times: keyTimes, targets, origin, holds, bends, short, endOn, flips, scale, scaleFit,
     switches: sw.switches, shown: sw.shown, distances: sw.distances, turns, turnsUnread, range, artRange,
-    legScale, segments, legStraight, rigLeg, scales, feet, planted: plantOn, stance, floor, blendHold, closure, openDrift, ankles, pivot, raised, byHip, face, body, figureScale, headNod: headNodReading, nodSkipped, reach,
+    legScale, segments, legStraight, rigLeg, scales, feet, planted: plantOn, stance, floor, blendHold, closure, openDrift, ankles, pivot, raised, byHip, face, body, figureScale, headNod: headNodReading, nodSkipped, reach, pelvis,
   };
 }
 
+/** rig-c/pose#288: the pelvis bone's source, from the chain, the track and the keys written. */
+function pelvisReadingOf(chain: Chain | null, given: RetargetOptions['pelvis'], track: ReadonlyArray<number | null> | null, fromTrack: string | null, tracks: ReadonlyArray<MotionTrack | SlotTrack>): PelvisReading | null {
+  if (chain === null && given === undefined) return null;
+  const bone = chain?.bones[0] ?? null;
+  const keys = bone === null ? null : tracks.find((tr): tr is MotionTrack => 'bone' in tr && tr.bone === bone && tr.property === 'rotate');
+  const vs = keys === null || keys === undefined ? [] : keys.keys.map((k) => k.v[0]!);
+  const swing = vs.length === 0 ? null : r3(Math.max(...vs) - Math.min(...vs));
+  const n = vs.length;
+  const declined: Array<[number, number]> = [];
+  (track ?? []).forEach((v, i) => {
+    if (v !== null) return;
+    const last = declined[declined.length - 1];
+    if (last !== undefined && last[1] === i - 1) last[1] = i;
+    else declined.push([i, i]);
+  });
+  const onTrack = fromTrack === null ? 0 : (track ?? []).filter((v) => v !== null).length;
+  return {
+    source: fromTrack !== null ? given!.source : 'hip line',
+    trackSource: given?.source ?? null,
+    bone,
+    chain: chain?.name ?? null,
+    swing,
+    track: onTrack,
+    hipLine: bone === null ? 0 : n - onTrack,
+    declined: given === undefined ? [] : declined,
+  };
+}
+
+/**
+ * The PELVIS line (rig-c/pose#288): where the pelvis bone's rotation came from and
+ * its swing — "from <source>, swing N°", or "from hip line (no track)".
+ */
+export function pelvisLine(r: PelvisReading, frames: number): string {
+  const spans = (rs: Array<[number, number]>) => rs.map(([a, b]) => (a === b ? `${a}` : `${a}–${b}`)).join(', ');
+  const where = r.bone === null ? '' : `bone "${r.bone}", chain "${r.chain}"`;
+  if (r.bone === null) return `PELVIS: not keyed — the sequence carries a ${r.trackSource} track (${frames - r.declined.reduce((s, [a, b]) => s + b - a + 1, 0)} of ${frames} frames read) and the map has no pelvis chain (one bone, joints r_hip → l_hip); no bone turns with the pelvis`;
+  const swing = r.swing === null ? '' : `, swing ${r.swing.toFixed(2)}°`;
+  if (r.trackSource === null) return `PELVIS: from hip line (no track)${swing} (${where}; every frame from r_hip → l_hip)`;
+  if (r.track === 0) return `PELVIS: from hip line (the ${r.trackSource} track read none of the ${frames} frames)${swing} (${where}; every frame from r_hip → l_hip)`;
+  const rest = r.hipLine === 0 ? `all ${frames} frames from the track` : `${r.track} of ${frames} frames from the track, the hip line on the ${r.hipLine} it declined (frames ${spans(r.declined)})`;
+  return `PELVIS: from ${r.source}${swing} (${where}; ${rest})`;
+}
+
 /** A reach bone's origin within this many world units of the anchor's, with nothing above it moved, is aimed along the pair: no REACH line. */
 export const REACH_OFFSET = 1e-6;
 

package/src/run.ts

@@ -13,10 +13,10 @@ import { cleanLine, cleanSummaryLine, inferredSource } from './clean.ts';
 import { convertCoco17, personTrack, readPoseSequence, TRAVEL_IN_PLACE, type CameraFrame } from './pose.ts';
 import { isObject, lineOf, parseJson, Problems, Refusal, type Problem } from './problems.ts';
 import { boneIdentity, droppedLine, keptOutLine, mergeProblems, readFragment, readIdle, targetOf, trackLabel, type IdleReading, type RigcTrack, type Target } from './idle.ts';
-import { bendGroupLine, bendGroups, bendLine, endOnLine, flipLine, holdLine, nodLine, rangeLine, reachCostLine, retarget, shortLine, turnLine, type MotionTrack, type RetargetOptions, type ScaleBand, type ScaleFit } from './retarget.ts';
+import { bendGroupLine, bendGroups, bendLine, endOnLine, flipLine, holdLine, nodLine, pelvisLine, rangeLine, reachCostLine, retarget, shortLine, turnLine, type MotionTrack, type RetargetOptions, type ScaleBand, type ScaleFit } from './retarget.ts';
 import { attachmentBones, baseMotionOf, buildInto, rigcVersion, folds, gate, readBuild, resolveRig, restOf, seamRender, slotsOf } from './rigc.ts';
 import { partsPath, projectSeams, readSeamDoc, readSeamPairs, seamLines, type SeamPair } from './seams.ts';
-import { artRangeLine, chainsMoving, raisedLine, RAISED_WITHIN, reachLine, switchLine, uncoveredFolds } from './switch.ts';
+import { artRangeLine, chainsMoving, phaseLines, raisedLine, RAISED_WITHIN, reachLine, switchLine, uncoveredFolds } from './switch.ts';
 import { jitterLine, landed, type FeetReading, type JitterRow, type Landing, measureFeet, measureJitter, measureLanding, measurePosture, measureShear, poseFrames, postureLines } from './verify.ts';
 import { legsOf, PLANT_SWITCH, STANCE_BOUNDS } from './legs.ts';
 import { M2_IDENTITY, mulM2, reduceKeys, reduceScale, reduceUnderScale, SCALE_REDUCE, setupLocal, smoothTrunk, type M2, type ReduceBone, type Reduced, type ReduceRow, type UnderBone } from './reduce.ts';
@@ -151,7 +151,7 @@ export function runRetarget(a: RetargetArgs, log: (line: string) => void): RunRe
     const slots = slotsOf(doc0);
     resolveMap(map, rest, a.map, slots, input.sets);
 
-    const r = retarget(rest, map, frames, times, { ...a, ...(seq.travel !== undefined ? { travel: seq.travel } : {}), ...(seq.cleaned!.params.loop ? { loop: true } : {}) }, slots, input.sets);
+    const r = retarget(rest, map, frames, times, { ...a, ...(seq.travel !== undefined ? { travel: seq.travel } : {}), ...(seq.cleaned!.params.loop ? { loop: true } : {}), ...(seq.pelvisSource !== undefined ? { pelvis: { source: seq.pelvisSource, tilt: seq.frames.map((f) => f.pelvisTilt ?? null) } } : {}) }, slots, input.sets);
     if (fragment.length > 0 && ((r.face?.sets?.length ?? 0) > 0 || (r.body?.sets?.length ?? 0) > 0)) {
       const known = knownSetsOf(map, input.sets);
       for (const s of [...(r.face?.sets ?? []), ...(r.body?.sets ?? [])]) {
@@ -196,6 +196,7 @@ export function runRetarget(a: RetargetArgs, log: (line: string) => void): RunRe
       if (r.switches.length === 0) say(`  SWITCH none — no set within ${a.switchTolerance}° of the pose for ${a.switchMin}s`);
       for (const s of r.switches) say(`  SWITCH ${switchLine(s, r.times)}`);
       for (const l of windowLines(map, r.switches, r.distances, r.times, a.switchTolerance)) say(`  FRAMES ${l}`);
+      for (const l of phaseLines(map, r.switches)) say(`  PHASE  ${l}`);
     }
     for (const e of r.range) say(`  RANGE  ${rangeLine(e, r.times)}`);
     if (a.raisedByHead === true && r.raised.length === 0) say(`  RAISED none — no set drawing an arm within ${RAISED_WITHIN}° of straight up showed; no key moved`);
@@ -208,6 +209,7 @@ export function runRetarget(a: RetargetArgs, log: (line: string) => void): RunRe
     for (const e of r.artRange) say(`  ART-RANGE ${artRangeLine(e, r.times)}`);
     for (const l of r.legScale) say(`  LEG-SCALE ${legScaleLine(l, r.times, r.feet?.legLength ?? null, r.rigLeg)}`);
     for (const l of r.legScale) for (const s of l.support ?? []) say(`  LEG-SCALE ${supportScaleLine(l, s, r.times)}`);
+    if (r.pelvis !== null) say(`  ${pelvisLine(r.pelvis, seq.frames.length)}`);
     if (r.pivot !== null) say(`  PIVOT  bone "${r.pivot.bone}"'s origin is ${r.pivot.distance.toFixed(2)} units (${r.pivot.hipWidths.toFixed(3)} hip widths) from its thigh roots' midpoint (${r.pivot.roots.join(' + ')}): dx ${r.pivot.offset[0].toFixed(2)}, dy ${r.pivot.offset[1].toFixed(2)}, at setup — the pivot every hip turn swings the legs about`);
     if (r.feet !== null) {
       const f = r.feet;
@@ -441,6 +443,7 @@ export function runRetarget(a: RetargetArgs, log: (line: string) => void): RunRe
             },
         legScale: r.legScale.map(({ scale: _scale, asked: _asked, picture: _picture, ...rest }) => rest),
         pivot: r.pivot,
+        pelvis: r.pelvis,
         stance: r.stance === null ? null : { tolerance: r.stance.tolerance, release: r.stance.release, minSeconds: r.stance.minSeconds, bounds: r.stance.bounds, ...(r.stance.range === undefined ? {} : { range: r.stance.range }), runs: r.stance.runs, over: r.stance.over },
         feet: r.feet === null ? null : { planted: r.planted, legLength: r.feet.legLength, straight: r.legStraight, rigLeg: r.rigLeg, segments: r.segments, supports: r.feet.supports, jumps: r.feet.jumps, steps: r.feet.steps, changes: r.feet.changes, ...(r.feet.lowered === undefined ? {} : { lowered: r.feet.lowered }), ...(r.feet.tracked === undefined ? {} : { tracked: r.feet.tracked }), floor: r.floor?.y ?? null, shifts: r.floor?.shifts ?? [], blend: r.blendHold === null ? null : { bounds: r.blendHold.bounds, ...(r.blendHold.range === undefined ? {} : { range: r.blendHold.range }), runs: r.blendHold.runs, over: r.blendHold.over }, reading: feetReading, closure: r.closure },
         shear,