cozyclay 1.2.0 → 1.3.0

package/tools/ardy/BRIDGE.md

@@ -158,8 +158,9 @@ ascending and are converted independently with the floor-aligned canonical
 CoreSkeleton27 reference. No user-selected motion supplies root height.
 `run-on-box.sh` passes every entry as a repeated
 `--pose-from <npz> 0 <frame>` constraint. The remote
-`FullBodyConstraintSet` pins joint positions, root X/Y/Z, and heading at that
-frame.
+the CozyClay full-body constraint pins joint positions, authored joint
+rotations, root X/Y/Z, and heading at that frame. The pose npz carries the
+authored rotation indices so identity-filled Core joints are not overconstrained.
 
 `segments` is optional. When present it must contain 2..64 contiguous,
 non-overlapping ranges covering frame 0 through `duration * 20`; each range

package/tools/ardy/README.md

@@ -107,7 +107,10 @@ per-joint local rotations, built from the CozyClay basis quaternions via
 armature-space rest rotation — see CozyClay `motion_retarget.py` /
 `motion_constraints.py`). The src-frame is range-checked against the npz by
 the generator remotely, so an out-of-range `--src-frame` dies on the box
-with a clear message rather than silently.
+with a clear message rather than silently. CozyClay-authored pose files also
+carry `rotation_constraint_indices`: only those rotations are observed by the
+model, while the identity-filled Core joints remain free. An ordinary motion
+npz without that member constrains every joint rotation.
 
 ## The generation grammar
 
@@ -117,10 +120,11 @@ The raw generator flag for a full-body pose constraint is:
 --pose-from <src-npz> <src-frame> <dst-frame>
 ```
 
-It copies **every joint's** pose from `<src-npz>` at `<src-frame>` and pins
-it at `<dst-frame>` of the new clip. It is repeatable, requires `--base`,
-and works for poses no end-effector constraint can express (sitting, lying,
-reaching). The clip is `int(duration * 20)` frames at ARDY's 20 fps, and
+It pins every joint position plus the selected joint rotations from
+`<src-npz>` at `<src-frame>` onto `<dst-frame>` of the new clip. It is
+repeatable and works for poses no end-effector constraint can express
+(sitting, lying, reaching). The clip is `int(duration * 20)` frames at
+ARDY's 20 fps, and
 `dst-frame` must satisfy `0 <= dst-frame < duration * 20`; the generator
 also rejects clips under 3 frames.
 

package/tools/ardy/bridge.mjs

@@ -43,6 +43,8 @@ import { decodeMotionNpz } from "../../src/ardy/npz.js";
 import { motionArraysToNpzMembers, replaceMotionSegment, writeNpz } from "./npz.mjs";
 import { globalChildren, killGroup, runStreaming, track } from "./runners/proc.mjs";
 import { createRunner } from "./runners/index.mjs";
+import { footagePath, handleFootage, serveFootage } from "./footage.mjs";
+import { handleExtract } from "./extract.mjs";
 const HERE = dirname(fileURLToPath(import.meta.url));
 const REPO = resolve(HERE, "../..");
 const OUT_DIR = join(HERE, "out");
@@ -187,6 +189,13 @@ function validateGenerate(body) {
 	if (body.prompt.length > PROMPT_MAX_CHARS) return `field 'prompt' is ${body.prompt.length} chars; the cap is ${PROMPT_MAX_CHARS}`;
 	if (typeof body.duration !== "number" || !Number.isFinite(body.duration)) return `field 'duration' must be a finite number`;
 	if (body.duration < DURATION_MIN || body.duration > DURATION_MAX) return `field 'duration' must be in ${DURATION_MIN}..${DURATION_MAX} seconds`;
+	// Optional post-processing knobs, forwarded to the box generators
+	// (ARDY defaults: root margin 0.04 m, contact threshold 0.5).
+	if (body.rootMargin !== undefined && (typeof body.rootMargin !== "number" || !Number.isFinite(body.rootMargin) || body.rootMargin < 0 || body.rootMargin > 1)) return `field 'rootMargin' must be a number in 0..1 (meters)`;
+	if (body.contactThreshold !== undefined && (typeof body.contactThreshold !== "number" || !Number.isFinite(body.contactThreshold) || body.contactThreshold < 0 || body.contactThreshold > 1)) return `field 'contactThreshold' must be a number in 0..1`;
+	// Optional history crop (per autoregressive step), forwarded to the box
+	// generators; the box enforces its own token-size multiple.
+	if (body.historyFrames !== undefined && (!Number.isInteger(body.historyFrames) || body.historyFrames <= 0 || body.historyFrames > 400)) return `field 'historyFrames' must be an integer in 1..400`;
 	const clipFrames = Math.floor(body.duration * FPS);
 	if (clipFrames < 3) return `field 'duration' yields fewer than 3 frames`;
 
@@ -772,6 +781,9 @@ async function handleGenerate(req, res) {
 				waypoints: body.waypoints,
 				seed: body.seed,
 				cpu: body.cpu,
+				rootMargin: body.rootMargin,
+				contactThreshold: body.contactThreshold,
+				historyFrames: body.historyFrames,
 				output: outNpzPath,
 			});
 			sendStatus(
@@ -838,6 +850,9 @@ async function handleGenerate(req, res) {
 				seed: body.seed,
 				cpu: body.cpu,
 				waypoints: body.waypoints,
+				rootMargin: body.rootMargin,
+				contactThreshold: body.contactThreshold,
+				historyFrames: body.historyFrames,
 				output: outputPath,
 			});
 			sendStatus(`[bridge] generating frames ${segment.startFrame}..${segment.endFrame - 1}`);
@@ -1084,11 +1099,52 @@ const server = createServer((req, res) => {
 		log(serveMotion(req, res, pathname));
 		return;
 	}
+	if (pathname === "/ardy/footage" && req.method === "POST") {
+		handleFootage(req, res, (request) => readBody(request, MAX_BODY_BYTES)).catch((err) => {
+			if (!res.headersSent) sendJson(res, 500, { ok: false, reason: `internal error: ${err.message}` });
+			else {
+				try {
+					res.end();
+				} catch {
+					/* socket gone */
+				}
+			}
+			console.error(`[bridge] ${req.method} ${pathname} threw: ${err.stack || err}`);
+			log(500);
+		});
+		return;
+	}
+	if (/^\/ardy\/footage\//.test(pathname) && req.method === "GET") {
+		log(serveFootage(req, res, pathname));
+		return;
+	}
+	if (pathname === "/ardy/extract" && req.method === "POST") {
+		handleExtract(req, res, {
+			readBody: (request) => readBody(request, MAX_BODY_BYTES),
+			footagePath,
+			registerMotion,
+		}).catch((err) => {
+			if (!res.headersSent) sendJson(res, 500, { ok: false, reason: `internal error: ${err.message}` });
+			else {
+				try {
+					res.end();
+				} catch {
+					/* socket gone */
+				}
+			}
+			console.error(`[bridge] ${req.method} ${pathname} threw: ${err.stack || err}`);
+			log(500);
+		});
+		return;
+	}
 	if (
 		pathname === "/ardy/health" ||
 		pathname === "/ardy/bases" ||
 		pathname === "/ardy/generate" ||
-		/^\/ardy\/motions\//.test(pathname)
+		pathname === "/ardy/footage" ||
+		pathname === "/ardy/extract" ||
+		/^\/ardy\/motions\//.test(pathname) ||
+		/^\/ardy\/footage\//.test(pathname)
 	) {
 		sendJson(res, 405, { ok: false, reason: `method ${req.method} not allowed on ${pathname}` });
 		log(405);