cozyclay 2.1.0 → 3.0.0

package/tools/ardy/cclay_motion_edit.py

@@ -1,510 +0,0 @@
-#!/usr/bin/env python3
-"""Context-aware sparse motion editing for CozyClay.
-
-The source motion stays authoritative. ARDY receives real pre-edit history,
-sparse per-joint constraints inside the editable interval, the existing root
-trajectory as a separate channel, and dense future context. Only the editable
-interval is committed back into the full source motion.
-"""
-
-import argparse
-import json
-import os
-
-
-TRACK_JOINTS = {
-    "leftHand": "LeftHand",
-    "rightHand": "RightHand",
-    "leftFoot": "LeftFoot",
-    "rightFoot": "RightFoot",
-    "leftElbow": "LeftForeArm",
-    "rightElbow": "RightForeArm",
-    "leftKnee": "LeftLeg",
-    "rightKnee": "RightLeg",
-    "spine": "Spine",
-    "chest": "Spine1",
-    "neck": "Neck",
-    "head": "Head",
-    "leftShoulder": "LeftShoulder",
-    "rightShoulder": "RightShoulder",
-}
-
-TRACK_COMMIT_CHAINS = {
-    "leftHand": ["LeftArm", "LeftForeArm", "LeftHand"],
-    "rightHand": ["RightArm", "RightForeArm", "RightHand"],
-    "leftFoot": ["LeftUpLeg", "LeftLeg", "LeftFoot"],
-    "rightFoot": ["RightUpLeg", "RightLeg", "RightFoot"],
-    "leftElbow": ["LeftForeArm"],
-    "rightElbow": ["RightForeArm"],
-    "leftKnee": ["LeftLeg"],
-    "rightKnee": ["RightLeg"],
-    "hips": ["Hips"],
-    "spine": ["Spine"],
-    "chest": ["Spine1"],
-    "neck": ["Neck"],
-    "head": ["Head"],
-    "leftShoulder": ["LeftShoulder"],
-    "rightShoulder": ["RightShoulder"],
-}
-
-
-def parse_args(argv=None):
-    parser = argparse.ArgumentParser(description="Context-aware sparse ARDY motion edit")
-    parser.add_argument("--source", required=True)
-    parser.add_argument("--manifest", required=True)
-    parser.add_argument("--output", required=True)
-    parser.add_argument("--prompt", required=True)
-    parser.add_argument("--context-before", type=int, default=40)
-    parser.add_argument("--context-after", type=int, default=20)
-    parser.add_argument("--seed", type=int)
-    return parser.parse_args(argv)
-
-
-class SparseJointConstraint:
-    """Constraint only the named joints; deliberately does not touch root."""
-
-    name = "cozyclay-sparse-joint"
-
-    def __init__(self, skeleton, frame_indices, positions, rotations, joint_names):
-        import torch
-
-        self.skeleton = skeleton
-        self.frame_indices = frame_indices
-        self.global_joints_positions = positions
-        self.global_joints_rots = rotations
-        self.joint_names = joint_names
-        self.rot_indices = torch.tensor(
-            [skeleton.bone_index[name] for name in joint_names],
-        )
-        self.pos_indices = torch.tensor(
-            sorted({skeleton.root_idx, *self.rot_indices.tolist()}),
-        )
-
-    def update_constraints(self, data_dict, index_dict):
-        import torch
-
-        crop_frames = torch.arange(len(self.frame_indices))
-        real = torch.cartesian_prod(self.frame_indices, self.pos_indices)
-        crop = torch.cartesian_prod(crop_frames, self.pos_indices)
-        data_dict["global_joints_positions"].append(
-            self.global_joints_positions[crop[:, 0], crop[:, 1]]
-        )
-        index_dict["global_joints_positions"].append(real)
-        real = torch.cartesian_prod(self.frame_indices, self.rot_indices)
-        crop = torch.cartesian_prod(crop_frames, self.rot_indices)
-        data_dict["global_joints_rots"].append(
-            self.global_joints_rots[crop[:, 0], crop[:, 1]]
-        )
-        index_dict["global_joints_rots"].append(real)
-
-
-class RootTrackConstraint:
-    """Root X/Y/Z and heading are a separate channel from body constraints."""
-
-    name = "cozyclay-root-track"
-
-    def __init__(self, skeleton, frame_indices, positions, headings):
-        self.skeleton = skeleton
-        self.frame_indices = frame_indices
-        self.positions = positions
-        self.headings = headings
-
-    def update_constraints(self, data_dict, index_dict):
-        data_dict["root_2d"].append(self.positions[:, [0, 2]])
-        index_dict["root_2d"].append(self.frame_indices)
-        data_dict["root_y_pos"].append(self.positions[:, 1])
-        index_dict["root_y_pos"].append(self.frame_indices)
-        data_dict["global_root_heading"].append(self.headings)
-        index_dict["global_root_heading"].append(self.frame_indices)
-
-
-def load_pose(path, skeleton, device):
-    import numpy as np
-    import torch
-
-    with np.load(path, allow_pickle=False) as data:
-        local = torch.from_numpy(np.asarray(data["local_rot_mats"])).float().to(device)
-        posed = torch.from_numpy(np.asarray(data["posed_joints"])).float().to(device)
-    root = posed[:1, skeleton.root_idx]
-    rotations, positions, _ = skeleton.fk(local[:1], root)
-    return positions[0], rotations[0], local[0]
-
-
-def heading_from_positions(positions, skeleton):
-    import torch
-    from ardy.motion_rep.tools import compute_heading_angle
-
-    angle = compute_heading_angle(positions[None], skeleton)[0]
-    return torch.stack([torch.cos(angle), torch.sin(angle)], dim=-1)
-
-
-def cclay_pick_device():
-    """cuda > mps > cpu, overridable with CCLAY_ARDY_DEVICE (cpu|mps|cuda[:N]).
-
-    The env override is how the local runner forces CPU (--cpu) without
-    relying on CUDA_VISIBLE_DEVICES, which cannot hide an Apple GPU.
-    """
-    import torch
-
-    forced = os.environ.get("CCLAY_ARDY_DEVICE", "").strip().lower()
-    if forced:
-        return forced
-    if torch.cuda.is_available():
-        return "cuda:0"
-    mps_backend = getattr(torch.backends, "mps", None)
-    if mps_backend is not None and mps_backend.is_available():
-        return "mps"
-    return "cpu"
-
-
-def cclay_mps_compat(device):
-    """Downcast float64 buffers to float32 at registration when running on MPS.
-
-    The MPS backend has no float64. ARDY's skeleton loads neutral_joints from
-    a float64 pickle and registers it as a buffer, which makes Ardy.__init__'s
-    .to("mps") fail; float32 is plenty for joint positions in meters. No-op on
-    cuda/cpu so remote-box behavior is untouched.
-    """
-    if not str(device).startswith("mps"):
-        return
-    import torch
-
-    original = torch.nn.Module.register_buffer
-    if getattr(original, "_cclay_f32", False):
-        return
-
-    def register_buffer_f32(self, name, tensor, persistent=True):
-        if tensor is not None and getattr(tensor, "dtype", None) == torch.float64:
-            tensor = tensor.float()
-        return original(self, name, tensor, persistent)
-
-    register_buffer_f32._cclay_f32 = True
-    torch.nn.Module.register_buffer = register_buffer_f32
-
-
-def cclay_progress(iterable):
-    """Print one line per sampling step so the bridge can stream progress.
-
-    The model calls this where it would call tqdm; every line lands in the
-    UI as a status event, which is the only liveness signal the operator has
-    during a minutes-long generation.
-    """
-    total = len(iterable) if hasattr(iterable, "__len__") else None
-    for index, item in enumerate(iterable):
-        if total:
-            print(f"sampling step {index + 1}/{total}", flush=True)
-        else:
-            print(f"sampling step {index + 1}", flush=True)
-        yield item
-
-
-def main(argv=None, preloaded_model=None):
-    args = parse_args(argv)
-    import numpy as np
-    import torch
-    from ardy.constraints import FullBodyConstraintSet
-    from ardy.geometry import axis_angle_to_matrix, matrix_to_axis_angle
-    from ardy.model import DEFAULT_MODEL, load_model
-    from ardy.model.loading import get_env_var
-    from ardy.model.registry import resolve_model_name
-    from ardy.motion_rep.tools import length_to_mask
-    from ardy.tools import seed_everything, to_numpy
-
-    device = cclay_pick_device()
-    cclay_mps_compat(device)
-    checkpoints_dir = get_env_var("CHECKPOINTS_DIR", None)
-    resolved_model = resolve_model_name(DEFAULT_MODEL, checkpoints_dir=checkpoints_dir)
-    model = (
-        preloaded_model
-        if preloaded_model is not None
-        else load_model(resolved_model, device=device, checkpoints_dir=checkpoints_dir)
-    )
-    model.eval()
-    skeleton = model.skeleton
-    fps = int(model.motion_rep.fps)
-
-    with open(args.manifest, "r", encoding="utf-8") as handle:
-        manifest = json.load(handle)
-    manifest_dir = os.path.dirname(os.path.abspath(args.manifest))
-    start = int(manifest["start_frame"])
-    end = int(manifest["end_frame"])
-    edits = manifest["edits"]
-
-    with np.load(args.source, allow_pickle=False) as data:
-        source_arrays = {key: np.asarray(data[key]).copy() for key in data.files}
-    source_local = np.asarray(source_arrays["local_rot_mats"], dtype=np.float32)
-    source_root = np.asarray(source_arrays["root_positions"], dtype=np.float32)
-    total_frames = source_local.shape[0]
-    if not 0 <= start < end <= total_frames:
-        raise ValueError(f"edit range {start}..{end} is outside source motion 0..{total_frames}")
-
-    history_start = max(0, start - args.context_before)
-    future_end = min(total_frames, end + args.context_after)
-    history_frames = start - history_start
-    edit_frames = end - start
-    generation_frames = future_end - start
-    model_frames = history_frames + generation_frames
-
-    local_tensor = torch.from_numpy(source_local).float().to(device)
-    root_tensor = torch.from_numpy(source_root).float().to(device)
-    history = None
-    if start > history_start:
-        history = model.motion_rep(
-            local_tensor[None, history_start:start],
-            root_tensor[None, history_start:start],
-            to_normalize=True,
-        )
-
-    gen_source_local = local_tensor[start:future_end]
-    gen_source_root = root_tensor[start:future_end]
-    source_global_rots, source_positions, _ = skeleton.fk(
-        gen_source_local,
-        gen_source_root,
-    )
-
-    constraints = []
-    exact_keys = []
-    root_positions = gen_source_root.clone()
-    root_headings = heading_from_positions(source_positions, skeleton).clone()
-    root_edit_anchors = []
-    for edit in edits:
-        local_frame = int(edit["frame"]) - start
-        if not 0 <= local_frame < edit_frames:
-            raise ValueError(f"edit frame {edit['frame']} is outside {start}..{end}")
-        pose_path = edit["pose_path"]
-        if not os.path.isabs(pose_path):
-            pose_path = os.path.join(manifest_dir, pose_path)
-        positions, rotations, local_rotations = load_pose(pose_path, skeleton, device)
-        # ARDY's global-position representation requires a pelvis observation
-        # alongside every sparse body point. Use the unchanged source pelvis;
-        # this is an anchor, not permission for a hand/foot edit to move root.
-        positions[skeleton.root_idx] = source_positions[local_frame, skeleton.root_idx]
-        body_joints = sorted({
-            TRACK_JOINTS[track]
-            for track in edit["tracks"]
-            if track in TRACK_JOINTS
-        })
-        if body_joints:
-            constraints.append(
-                SparseJointConstraint(
-                    skeleton,
-                    torch.tensor([history_frames + local_frame]),
-                    positions[None],
-                    rotations[None],
-                    body_joints,
-                )
-            )
-        if "hips" in edit["tracks"]:
-            authored_root = torch.tensor(
-                edit.get("root", positions[skeleton.root_idx].tolist()),
-                device=device,
-                dtype=torch.float32,
-            )
-            root_edit_anchors.append(
-                (local_frame, authored_root, heading_from_positions(positions, skeleton))
-            )
-        exact_keys.append({
-            "frame": local_frame,
-            "tracks": edit["tracks"],
-            "local_rotations": local_rotations,
-            "root_position": torch.tensor(
-                edit.get("root", positions[skeleton.root_idx].tolist()),
-                device=device,
-                dtype=torch.float32,
-            ),
-        })
-
-    # Root stays on the source trajectory unless the user explicitly edits
-    # hips. Hips edits become smooth offset anchors; body edits never move root.
-    if root_edit_anchors:
-        anchors = [(0, torch.zeros(3, device=device), torch.zeros(2, device=device))]
-        for frame, position, heading in root_edit_anchors:
-            anchors.append(
-                (
-                    frame,
-                    position - gen_source_root[frame],
-                    heading - root_headings[frame],
-                )
-            )
-        anchors.append(
-            (
-                edit_frames - 1,
-                torch.zeros(3, device=device),
-                torch.zeros(2, device=device),
-            )
-        )
-        anchors.sort(key=lambda item: item[0])
-        for left, right in zip(anchors, anchors[1:]):
-            f0, p0, h0 = left
-            f1, p1, h1 = right
-            span = max(1, f1 - f0)
-            for frame in range(f0, f1 + 1):
-                alpha = (frame - f0) / span
-                root_positions[frame] += torch.lerp(p0, p1, alpha)
-                root_headings[frame] += torch.lerp(h0, h1, alpha)
-
-    all_generation_frames = torch.arange(history_frames, model_frames)
-    constraints.append(
-        RootTrackConstraint(
-            skeleton,
-            all_generation_frames,
-            root_positions,
-            root_headings,
-        )
-    )
-
-    # Future context is observed, not regenerated. It closes the edit against
-    # the following source motion while history conditions the left side.
-    if future_end > end:
-        future_indices = torch.arange(
-            history_frames + edit_frames,
-            model_frames,
-        )
-        constraints.append(
-            FullBodyConstraintSet(
-                skeleton,
-                future_indices,
-                source_positions[edit_frames:],
-                source_global_rots[edit_frames:],
-            )
-        )
-
-    lengths = torch.tensor([model_frames], device=device)
-    observed_motion, motion_mask = model.motion_rep.create_conditions_from_constraints_batched(
-        constraints,
-        lengths,
-        to_normalize=True,
-        device=device,
-    )
-    if args.seed is not None:
-        seed_everything(args.seed)
-    with torch.no_grad():
-        motion = model(
-            [args.prompt],
-            model_frames,
-            num_denoising_steps=int(model.diffusion.num_base_steps),
-            pad_mask=length_to_mask(lengths),
-            first_heading_angle=(
-                None
-                if history is not None
-                else torch.atan2(root_headings[:1, 1], root_headings[:1, 0])
-            ),
-            motion_mask=motion_mask,
-            observed_motion=observed_motion,
-            cfg_weight=2.0,
-            progress_bar=cclay_progress,
-            init_history_sequence=history,
-        )
-        generated_motion = motion[:, history_frames:history_frames + generation_frames]
-        sampled = to_numpy(model.motion_rep.inverse(generated_motion, is_normalized=True))
-
-    has_root_edits = any("hips" in edit["tracks"] for edit in edits)
-    has_foot_edits = any(
-        track in {"leftFoot", "rightFoot", "leftKnee", "rightKnee"}
-        for edit in edits
-        for track in edit["tracks"]
-    )
-    sampled = {
-        key: (np.asarray(value)[0] if np.asarray(value).ndim > 0 and np.asarray(value).shape[0] == 1 else np.asarray(value))
-        for key, value in sampled.items()
-    }
-    # ARDY owns the in-between frames, but authored keys are exact animation
-    # frames rather than soft diffusion suggestions. Commit only the joints in
-    # each edited chain, and commit root position only for explicit hips edits.
-    committed_local = torch.from_numpy(sampled["local_rot_mats"]).float().to(device)
-    committed_root = torch.from_numpy(sampled["root_positions"]).float().to(device)
-    if has_root_edits:
-        committed_root[:edit_frames] = root_positions[:edit_frames]
-    for key in exact_keys:
-        frame = key["frame"]
-        joint_names = {
-            joint_name
-            for track in key["tracks"]
-            for joint_name in TRACK_COMMIT_CHAINS.get(track, [])
-        }
-        for joint_name in joint_names:
-            joint = skeleton.bone_index[joint_name]
-            generated_at_key = committed_local[frame, joint].clone()
-            correction = key["local_rotations"][joint] @ generated_at_key.transpose(-1, -2)
-            correction_axis_angle = matrix_to_axis_angle(correction)
-            radius = 6
-            for tween_frame in range(
-                max(0, frame - radius),
-                min(edit_frames, frame + radius + 1),
-            ):
-                weight = 1.0 - abs(tween_frame - frame) / (radius + 1)
-                tween_correction = axis_angle_to_matrix(correction_axis_angle * weight)
-                committed_local[tween_frame, joint] = (
-                    tween_correction @ committed_local[tween_frame, joint]
-                )
-            committed_local[frame, joint] = key["local_rotations"][joint]
-        if "hips" in key["tracks"]:
-            committed_root[frame] = key["root_position"]
-    committed_global_rots, committed_positions, _ = skeleton.fk(
-        committed_local,
-        committed_root,
-    )
-    commit_verified = True
-    for key in exact_keys:
-        frame = key["frame"]
-        for track in key["tracks"]:
-            for joint_name in TRACK_COMMIT_CHAINS.get(track, []):
-                joint = skeleton.bone_index[joint_name]
-                commit_verified = commit_verified and torch.allclose(
-                    committed_local[frame, joint],
-                    key["local_rotations"][joint],
-                    atol=1e-6,
-                    rtol=0,
-                )
-        if "hips" in key["tracks"]:
-            commit_verified = commit_verified and torch.allclose(
-                committed_root[frame],
-                key["root_position"],
-                atol=1e-6,
-                rtol=0,
-            )
-    if not commit_verified:
-        raise RuntimeError("authored IK key commit verification failed")
-    sampled["local_rot_mats"] = to_numpy(committed_local)
-    sampled["root_positions"] = to_numpy(committed_root)
-    sampled["posed_joints"] = to_numpy(committed_positions)
-    if "global_rot_mats" in sampled:
-        sampled["global_rot_mats"] = to_numpy(committed_global_rots)
-
-    if not has_root_edits and "root_positions" in sampled:
-        generated_root = sampled["root_positions"][:edit_frames].copy()
-        source_edit_root = source_root[start:end]
-        if "posed_joints" in sampled:
-            sampled["posed_joints"][:edit_frames] += (
-                source_edit_root - generated_root
-            )[:, None, :]
-        sampled["root_positions"][:edit_frames] = source_edit_root
-
-    for key, value in sampled.items():
-        if not has_foot_edits and "contact" in key:
-            continue
-        if key in source_arrays and value.ndim > 0 and source_arrays[key].shape[0] == total_frames:
-            source_arrays[key][start:end] = value[:edit_frames]
-    source_arrays["fps"] = np.asarray(fps)
-    source_arrays["text"] = np.asarray(args.prompt)
-    output = args.output if args.output.endswith(".npz") else f"{args.output}.npz"
-    os.makedirs(os.path.dirname(output) or ".", exist_ok=True)
-    np.savez(output, **source_arrays)
-    print(json.dumps({
-        "frames": total_frames,
-        "fps": fps,
-        "edit_range": [start, end],
-        "history_range": [history_start, start],
-        "future_range": [end, future_end],
-        "sparse_constraints": sum(
-            len([track for track in edit["tracks"] if track in TRACK_JOINTS])
-            for edit in edits
-        ),
-        "root_edits": sum("hips" in edit["tracks"] for edit in edits),
-        "committed_keys": [start + key["frame"] for key in exact_keys],
-        "commit_verified": commit_verified,
-    }))
-
-
-if __name__ == "__main__":
-    main()