cozyclay 2.1.0 → 3.0.0

package/tools/ardy/footage.mjs

@@ -1,467 +0,0 @@
-/**
- * footage.mjs — the bridge's footage-fetch side: platform pages (YouTube,
- * Vimeo, …) serve a player, not a file, and block cross-origin reads, so the
- * BROWSER can never ingest them. This process can: yt-dlp downloads the
- * video stream, ffmpeg locks it to a constant rate (platform video is often
- * VFR — frame numbers would drift against seconds) no higher than extraction
- * can use, and the result is served back over loopback where the ordinary
- * ingest takes over.
- *
- * Same safety posture as motion delivery: served paths come only from an
- * allowlist this process populated, a client disconnect kills the child
- * process group, and every failure is a NAMED reason the UI can act on.
- */
-
-import { spawn } from "node:child_process";
-import { randomBytes } from "node:crypto";
-import { createReadStream, existsSync, readdirSync, rmSync, statSync } from "node:fs";
-import { dirname, join, sep } from "node:path";
-import { fileURLToPath } from "node:url";
-import { killGroup, track } from "./runners/proc.mjs";
-import { createPrivateArtifactDir, removePrivateArtifactDir } from "./artifacts.mjs";
-
-const HERE = dirname(fileURLToPath(import.meta.url));
-const FOOTAGE_DIR = join(HERE, "out", "footage");
-// Normalisation locks the clip to a CONSTANT rate and keeps the source's own
-// rate up to the extraction ceiling below: platform video is often VFR (frame
-// numbers drift against seconds), but resampling 30 → 24 would drop every 5th
-// frame and turn smooth motion into a 4-step-1-jump judder that extraction
-// reads as real velocity. The take is retimed to the 24 fps timeline AFTER
-// extraction, in rotation space.
-const FOOTAGE_FPS_FALLBACK = 30;
-const FOOTAGE_FPS_MIN = 10;
-const FOOTAGE_FPS_MAX = 60;
-// The ceiling extraction is allowed to see. SAM-3D-Body solves every frame
-// INDEPENDENTLY and errs a little each time, so twice the rate feeds twice the
-// estimation noise per second while the smoothing windows behind it are
-// counted in FRAMES and therefore span half as much time. Measured on two
-// takes of the same session: a 60 fps / 1632-frame extract trembled 3.36 and
-// 3.54 cm at the feet, a 30 fps / 270-frame one 0.60 and 0.72 cm — five times
-// the wobble, plus double the GPU cost, for frames a 24 fps timeline can
-// never show. Both intake paths clamp here; this is the single edit that
-// moves the ceiling.
-export const EXTRACT_FPS_MAX = 30;
-const FOOTAGE_MAX_S = 900; // 15 min: previs reference, not an archive mirror
-const FOOTAGE_MAX_HEIGHT = 1080;
-const FOOTAGE_ALLOWLIST_MAX = 16; // newest downloads only; evicted ids 404
-const FOOTAGE_ID = /^[0-9]+-[0-9a-f]{6}$/;
-// Prefer the Homebrew binaries over whatever shadows them on PATH: a stale
-// pip-installed yt-dlp is the classic cause of "The page needs to be
-// reloaded" refusals from YouTube, and it sorts FIRST in a default PATH.
-function firstExisting(override, candidates, fallback) {
-	if (override) return override;
-	for (const candidate of candidates) if (existsSync(candidate)) return candidate;
-	return fallback;
-}
-const YTDLP = firstExisting(process.env.CCLAY_YTDLP, ["/opt/homebrew/bin/yt-dlp", "/usr/local/bin/yt-dlp"], "yt-dlp");
-const FFMPEG = firstExisting(process.env.CCLAY_FFMPEG, ["/opt/homebrew/bin/ffmpeg", "/usr/local/bin/ffmpeg"], "ffmpeg");
-const FFPROBE = firstExisting(process.env.CCLAY_FFPROBE, ["/opt/homebrew/bin/ffprobe", "/usr/local/bin/ffprobe"], "ffprobe");
-// The default (web) client serves full resolution but hits YouTube's
-// "confirm you're not a bot" wall on music/mix content; the android client
-// always passes but is capped around 360p. So every yt-dlp call goes web
-// first and falls back to android ONLY on that specific refusal — quality
-// when possible, availability when not.
-const YTDLP_BASE = ["--no-playlist", "--no-warnings"];
-const YTDLP_BOTFIX = ["--extractor-args", "youtube:player_client=android"];
-// Two ways YouTube refuses the web client: the bot wall up front, or a 403
-// on the media URLs partway through a download. Both mean "switch client".
-const WEB_CLIENT_REFUSED = /confirm you.re not a bot|HTTP Error 403/i;
-
-const footageAllowlist = new Map(); // id -> absolute mp4 path under FOOTAGE_DIR
-
-/** `[download]  42.3% of ...` -> 0.423; null for any other line. */
-export function parseDownloadRatio(line) {
-	const match = /\[download\]\s+([\d.]+)%/.exec(line);
-	if (!match) return null;
-	const percent = Number(match[1]);
-	if (!Number.isFinite(percent)) return null;
-	return Math.min(1, Math.max(0, percent / 100));
-}
-
-/** ffmpeg's `... time=00:00:12.34 ...` against the clip length -> 0..1. */
-export function parseEncodeRatio(line, durationS) {
-	if (!(durationS > 0)) return null;
-	const match = /time=(\d+):(\d\d):(\d\d(?:\.\d+)?)/.exec(line);
-	if (!match) return null;
-	const seconds = Number(match[1]) * 3600 + Number(match[2]) * 60 + Number(match[3]);
-	if (!Number.isFinite(seconds)) return null;
-	return Math.min(1, Math.max(0, seconds / durationS));
-}
-
-/** yt-dlp's probe line `"123.45\t29.97\tSome title"` -> { durationS, fps,
- *  title }. A missing/absurd rate falls back to 30 and is clamped to a sane
- *  band — the ffmpeg pass hard-locks whatever rate is returned here. */
-export function parseProbeLine(line) {
-	const parts = line.split("\t");
-	if (parts.length < 3) return null;
-	const durationS = Number(parts[0]);
-	const rawFps = Number(parts[1]);
-	const title = parts.slice(2).join("\t").trim();
-	if (!Number.isFinite(durationS) || durationS <= 0) return null;
-	const fps = Number.isFinite(rawFps) && rawFps > 0
-		? Math.min(FOOTAGE_FPS_MAX, Math.max(FOOTAGE_FPS_MIN, Math.round(rawFps)))
-		: FOOTAGE_FPS_FALLBACK;
-	return { durationS, fps, title };
-}
-
-/**
- * The rate a source of `sourceFps` may be fed to extraction at. Never
- * upsamples — 24 stays 24, 25 stays 25 — because inventing frames invents
- * motion. Above the ceiling it prefers an INTEGER divisor of the source
- * (60→30, 50→25, 48→24, 120→30): dropping every n-th frame keeps the
- * surviving frames exactly as they were shot, while landing on a foreign
- * rate has to duplicate frames at uneven intervals and reads as judder. A
- * rate with no divisor that lands in range (35, 45, …) takes the ceiling
- * itself, and an unreadable rate takes it too — the ceiling is the safe
- * answer, never the source's word.
- */
-export function capExtractFps(sourceFps) {
-	const fps = Math.round(Number(sourceFps));
-	if (!Number.isFinite(fps) || fps <= 0) return EXTRACT_FPS_MAX;
-	if (fps <= EXTRACT_FPS_MAX) return fps;
-	const divisor = Math.ceil(fps / EXTRACT_FPS_MAX);
-	return fps % divisor === 0 ? fps / divisor : EXTRACT_FPS_MAX;
-}
-
-/**
- * The one ffmpeg pass both intake paths use: a CONSTANT `fps`, no audio, a
- * faststart mp4. Nothing here touches presentation timestamps as a whole —
- * `fps=N` only drops or repeats frames, so the clip comes out the same
- * length and the same speed it went in.
- */
-export function normalizeArgs(inputPath, outputPath, fps) {
-	return [
-		"-y", "-i", inputPath,
-		"-vf", `fps=${fps}`,
-		"-an",
-		"-c:v", "libx264", "-preset", "veryfast", "-crf", "20",
-		"-movflags", "+faststart",
-		outputPath,
-	];
-}
-
-/** ffprobe's `key=num/den` block -> { fps, durationS }, either field null when
- *  the file would not say. avg_frame_rate is frames ÷ length over the whole
- *  stream, which is what extraction actually meets; r_frame_rate is only the
- *  container's base tick and reads as 90000 on some VFR muxes, so it is the
- *  fallback, not the answer. */
-export function parseProbeStreamInfo(text) {
-	const source = typeof text === "string" ? text : "";
-	const ratio = (key) => {
-		const match = new RegExp(`^${key}=([\\d.]+)(?:/([\\d.]+))?$`, "m").exec(source);
-		if (!match) return null;
-		const value = match[2] === undefined ? Number(match[1]) : Number(match[1]) / Number(match[2]);
-		return Number.isFinite(value) && value > 0 ? value : null;
-	};
-	return { fps: ratio("avg_frame_rate") ?? ratio("r_frame_rate"), durationS: ratio("duration") };
-}
-
-function runCollect(command, args, { children, timeoutMs, onLine }) {
-	return new Promise((resolvePromise, reject) => {
-		const child = spawn(command, args, { detached: true, stdio: ["ignore", "pipe", "pipe"] });
-		children.add(child);
-		track(child);
-		let out = "";
-		let err = "";
-		let buffered = "";
-		const timer = timeoutMs
-			? setTimeout(() => {
-				killGroup(child);
-				reject(new Error("footage-timeout"));
-			}, timeoutMs)
-			: null;
-		const feed = (text) => {
-			buffered += text;
-			// yt-dlp redraws progress with \r, ffmpeg logs stats to stderr the
-			// same way; both count as line breaks for the progress parsers.
-			const lines = buffered.split(/[\r\n]/);
-			buffered = lines.pop() ?? "";
-			for (const line of lines) if (line) onLine?.(line);
-		};
-		child.stdout.on("data", (chunk) => {
-			out += chunk;
-			feed(String(chunk));
-		});
-		child.stderr.on("data", (chunk) => {
-			err += chunk;
-			feed(String(chunk));
-		});
-		child.on("error", (error) => {
-			if (timer) clearTimeout(timer);
-			children.delete(child);
-			reject(new Error(`spawn ${command}: ${error.message}`));
-		});
-		child.on("close", (code) => {
-			if (timer) clearTimeout(timer);
-			children.delete(child);
-			if (buffered) onLine?.(buffered);
-			if (code === 0) resolvePromise({ out, err });
-			else reject(new Error(err.split("\n").filter(Boolean).pop() || `${command} exited ${code}`));
-		});
-	});
-}
-
-/** yt-dlp with the web client, retried via the android client only when
- *  YouTube's bot wall is the stated reason for the failure. */
-async function runYtdlp(args, options) {
-	try {
-		return await runCollect(YTDLP, [...YTDLP_BASE, ...args], options);
-	} catch (error) {
-		if (!WEB_CLIENT_REFUSED.test(error?.message ?? "")) throw error;
-		console.error("[bridge] youtube refused the web client; retrying with the android client (≤360p)");
-		return runCollect(YTDLP, [...YTDLP_BASE, ...YTDLP_BOTFIX, ...args], options);
-	}
-}
-
-function cleanup(paths) {
-	for (const path of paths) {
-		try {
-			rmSync(path, { force: true });
-		} catch {
-			/* best effort */
-		}
-	}
-}
-
-/**
- * Bring a local video down to EXTRACT_FPS_MAX, if it is over it. Resolves to
- * `{ path, fps, capped }`: `path` is the INPUT untouched whenever the source
- * is already at or under the ceiling, so a bridge download — normalized at
- * this same ceiling on the way in — is never re-encoded a second time for
- * nothing. `fps` is what the file at `path` now runs at, i.e. what extraction
- * will see; it is null only when ffprobe would not name a rate, in which case
- * the clip goes through as it is rather than be refused over a probe hiccup.
- * The ffmpeg failure itself throws, for the caller to name.
- */
-export async function conformToExtractFps(inputPath, outputPath, { children = new Set(), timeoutMs = 600000, onCap, onProgress } = {}) {
-	let probed = { fps: null, durationS: null };
-	try {
-		const { out } = await runCollect(
-			FFPROBE,
-			[
-				"-v", "error", "-select_streams", "v:0",
-				"-show_entries", "stream=avg_frame_rate,r_frame_rate",
-				"-show_entries", "format=duration",
-				"-of", "default=noprint_wrappers=1",
-				inputPath,
-			],
-			{ children, timeoutMs: 60000 }
-		);
-		probed = parseProbeStreamInfo(out);
-	} catch (err) {
-		console.error(`[bridge] fps probe failed for ${inputPath}: ${err.message}`);
-	}
-	if (probed.fps === null) return { path: inputPath, fps: null, capped: false };
-	const targetFps = capExtractFps(probed.fps);
-	if (targetFps >= Math.round(probed.fps)) return { path: inputPath, fps: targetFps, capped: false };
-	onCap?.(targetFps);
-	await runCollect(FFMPEG, normalizeArgs(inputPath, outputPath, targetFps), {
-		children,
-		timeoutMs,
-		onLine: (line) => {
-			const ratio = parseEncodeRatio(line, probed.durationS ?? 0);
-			if (ratio !== null) onProgress?.(ratio);
-		},
-	});
-	return { path: outputPath, fps: targetFps, capped: true };
-}
-
-/**
- * POST /ardy/footage — body {url}, answer ndjson:
- *   {event:"status", message}         stage announcements
- *   {event:"progress", stage, ratio}  download / normalize movement
- *   {event:"done", url, title, durationS, fps}
- *   {event:"error", message}          message is a NAMED reason
- */
-export async function handleFootage(req, res, readBody) {
-	let body;
-	try {
-		body = JSON.parse(await readBody(req));
-	} catch (err) {
-		res.writeHead(400, { "Content-Type": "application/json" });
-		res.end(`${JSON.stringify({ ok: false, reason: err.message })}\n`);
-		return;
-	}
-	const url = typeof body?.url === "string" ? body.url.trim() : "";
-	if (!/^https?:\/\/\S{1,2000}$/.test(url)) {
-		res.writeHead(400, { "Content-Type": "application/json" });
-		res.end(`${JSON.stringify({ ok: false, reason: "footage-url-invalid" })}\n`);
-		return;
-	}
-
-	res.writeHead(200, { "Content-Type": "application/x-ndjson", "Cache-Control": "no-store" });
-	const send = (obj) => {
-		if (res.writableEnded) return;
-		try {
-			res.write(`${JSON.stringify(obj)}\n`);
-		} catch {
-			/* socket gone */
-		}
-	};
-	let cleanupArtifacts = () => {};
-	const fail = (message) => {
-		send({ event: "error", message });
-		res.end();
-		cleanupArtifacts();
-	};
-
-	const children = new Set();
-	res.on("close", () => {
-		if (!res.writableEnded) {
-			console.error(`[bridge] client disconnected mid-footage; killing ${children.size} child group(s)`);
-			for (const child of children) killGroup(child);
-			children.clear();
-			cleanupArtifacts();
-		}
-	});
-
-	const stamp = `${Date.now()}-${randomBytes(3).toString("hex")}`;
-	const artifactDir = createPrivateArtifactDir(FOOTAGE_DIR, "footage");
-	const rawPrefix = "raw";
-	const outPath = join(artifactDir, "normalized.mp4");
-	cleanupArtifacts = () => removePrivateArtifactDir(artifactDir);
-
-	// 1) probe: refuse lives (no duration) and long videos before any bytes.
-	send({ event: "status", message: "probing" });
-	let probe;
-	try {
-		const { out } = await runYtdlp(
-			["--print", "%(duration)s\t%(fps)s\t%(title)s", url],
-			{ children, timeoutMs: 60000 }
-		);
-		probe = parseProbeLine(out.split("\n").find((line) => line.includes("\t")) ?? "");
-	} catch (err) {
-		console.error(`[bridge] footage probe failed: ${err.message}`);
-		fail("footage-probe-failed");
-		return;
-	}
-	if (!probe) {
-		fail("footage-live-unsupported");
-		return;
-	}
-	if (probe.durationS > FOOTAGE_MAX_S) {
-		fail("footage-too-long");
-		return;
-	}
-
-	// 2) download the video stream only (audio never reaches the ingest).
-	send({ event: "status", message: "downloading" });
-	try {
-		await runYtdlp(
-			[
-				"--newline",
-				"-f", `bv*[height<=${FOOTAGE_MAX_HEIGHT}]/b[height<=${FOOTAGE_MAX_HEIGHT}]/b`,
-				"-o", join(artifactDir, `${rawPrefix}.%(ext)s`),
-				url,
-			],
-			{
-				children,
-				timeoutMs: 10 * 60 * 1000,
-				onLine: (line) => {
-					const ratio = parseDownloadRatio(line);
-					if (ratio !== null) send({ event: "progress", stage: "download", ratio });
-				},
-			}
-		);
-	} catch (err) {
-		console.error(`[bridge] footage download failed: ${err.message}`);
-		cleanupArtifacts();
-		fail("footage-download-failed");
-		return;
-	}
-	const rawName = readdirSync(artifactDir).find((f) => f.startsWith(rawPrefix));
-	if (!rawName) {
-		fail("footage-download-failed");
-		return;
-	}
-	const rawPath = join(artifactDir, rawName);
-
-	// 3) lock to a CONSTANT rate at the source's own fps, capped at the rate
-	// extraction can use: VFR platform video would otherwise make "frame 385"
-	// a different instant than the timeline believes, and resampling to a
-	// foreign rate would judder the motion. Everything downstream — the done
-	// event below, the browser probe, the retime — is told THIS number, so the
-	// clip's declared rate is the rate SAM will actually meet.
-	const targetFps = capExtractFps(probe.fps);
-	send({ event: "status", message: "normalizing" });
-	try {
-		await runCollect(
-			FFMPEG,
-			normalizeArgs(rawPath, outPath, targetFps),
-			{
-				children,
-				timeoutMs: 10 * 60 * 1000,
-				onLine: (line) => {
-					const ratio = parseEncodeRatio(line, probe.durationS);
-					if (ratio !== null) send({ event: "progress", stage: "normalize", ratio });
-				},
-			}
-		);
-	} catch (err) {
-		console.error(`[bridge] footage normalize failed: ${err.message}`);
-		cleanupArtifacts();
-		fail("footage-normalize-failed");
-		return;
-	}
-	cleanup([rawPath]);
-
-	footageAllowlist.set(stamp, outPath);
-	if (footageAllowlist.size > FOOTAGE_ALLOWLIST_MAX) {
-		const oldest = footageAllowlist.keys().next().value;
-		removePrivateArtifactDir(dirname(footageAllowlist.get(oldest)));
-		footageAllowlist.delete(oldest);
-	}
-	send({
-		event: "done",
-		url: `/ardy/footage/${stamp}.mp4`,
-		footage: stamp,
-		title: probe.title,
-		durationS: probe.durationS,
-		fps: targetFps,
-	});
-	res.end();
-}
-
-/** Absolute path for an allowlisted footage id, or null — the extract route
- *  reuses a bridge-downloaded clip without a second trip through the browser. */
-export function footagePath(id) {
-	if (typeof id !== "string" || !FOOTAGE_ID.test(id)) return null;
-	return footageAllowlist.get(id) ?? null;
-}
-
-/** GET /ardy/footage/<id>.mp4 — allowlist only, exactly like motion delivery. */
-export function serveFootage(req, res, pathname) {
-	const sendJson = (status, obj) => {
-		res.writeHead(status, { "Content-Type": "application/json", "Cache-Control": "no-store" });
-		res.end(`${JSON.stringify(obj)}\n`);
-	};
-	const match = /^\/ardy\/footage\/([^/]+)\.mp4$/.exec(pathname);
-	if (!match || !FOOTAGE_ID.test(match[1]) || !footageAllowlist.has(match[1])) {
-		sendJson(404, { ok: false, reason: `unknown or expired footage "${match?.[1] ?? pathname}"` });
-		return 404;
-	}
-	const absPath = footageAllowlist.get(match[1]);
-	if (!absPath.startsWith(`${FOOTAGE_DIR}${sep}`)) {
-		sendJson(404, { ok: false, reason: "footage path is outside the footage directory" });
-		return 404;
-	}
-	let size;
-	try {
-		size = statSync(absPath).size;
-	} catch {
-		sendJson(404, { ok: false, reason: "footage is no longer on disk" });
-		return 404;
-	}
-	res.writeHead(200, {
-		"Content-Type": "video/mp4",
-		"Content-Length": size,
-		"Cache-Control": "no-store",
-	});
-	createReadStream(absPath)
-		.on("error", (err) => {
-			console.error(`[bridge] error streaming ${absPath}: ${err.message}`);
-			res.destroy();
-		})
-		.pipe(res);
-	return 200;
-}

package/tools/ardy/gvhmr-floor.mjs

@@ -1,102 +0,0 @@
-/** Root-only floor safety for an accepted GVHMR descent correction.
- * Measures both shipped character skins with the same playback transforms
- * as Studio. It never runs AutoPhysics, writes IK keys or changes rotations.
- */
-import { existsSync, readFileSync } from "node:fs";
-import { fileURLToPath } from "node:url";
-import { FBXLoader } from "three/examples/jsm/loaders/FBXLoader.js";
-import { applyMotionFrame } from "../../src/ardy/playback.js";
-import { createSurfaceSampler } from "../../src/ardy/physics-surface.js";
-
-const SITES = [
-	{ id: "leftFoot", bone: "LeftFoot", kind: "foot", match: /Left(Foot|Toe)/ },
-	{ id: "rightFoot", bone: "RightFoot", kind: "foot", match: /Right(Foot|Toe)/ },
-	{ id: "leftHand", bone: "LeftHand", kind: "hand", match: /LeftHand/ },
-	{ id: "rightHand", bone: "RightHand", kind: "hand", match: /RightHand/ },
-];
-function shiftFrame(motion, f, delta) {
-	motion.rootPos[f * 3 + 1] += delta;
-	for (let j = 0; j < 27; j++) motion.posedJoints[(f * 27 + j) * 3 + 1] += delta;
-}
-function loadRig(model) {
-	const path = ["public", "dist"].map(dir => fileURLToPath(new URL(`../../${dir}/models/${model}.fbx`, import.meta.url))).find(existsSync);
-	if (!path) throw new Error(`extract-trajectory-floor-model-missing: ${model}`);
-	const bytes = readFileSync(path);
-	const rig = new FBXLoader().parse(bytes.buffer.slice(bytes.byteOffset, bytes.byteOffset + bytes.byteLength), "");
-	rig.scale.setScalar(.01); rig.updateMatrixWorld(true);
-	return rig;
-}
-
-export function guardTrajectoryFloor(motion, events = []) {
-	if (!events.length) return { motion, diagnostics: { status: "not-needed", changedFrames: 0 } };
-	const began = performance.now();
-	// Export/retarget grounding uses skeletal foot points, not skin thickness.
-	// Once this pass owns a corrected take, protect its whole surface timeline
-	// (including the initial standing frames), not only the final descent.
-	const start = 0;
-	const descentStart = Math.max(0, Math.min(...events.map(e => e.start)));
-	const lifts = new Float64Array(motion.frames);
-	const models = ["x-bot-tpose", "y-bot-tpose"];
-	const measurements = [];
-	for (const model of models) {
-		const rig = loadRig(model), sample = createSurfaceSampler(rig, SITES);
-		applyMotionFrame(rig, motion, start);
-		const y = sample().pelvis.position.y;
-		const probe = { ...motion, rootPos: motion.rootPos.slice(), posedJoints: motion.posedJoints.slice() };
-		shiftFrame(probe, start, 1); applyMotionFrame(rig, probe, start);
-		const scale = sample().pelvis.position.y - y;
-		if (!(scale > .5 && scale < 2)) throw new Error("extract-trajectory-floor-invalid-scale");
-		const floor = new Float64Array(motion.frames);
-		for (let f = start; f < motion.frames; f++) {
-			applyMotionFrame(rig, motion, f);
-			floor[f] = Math.min(...Object.values(sample()).map(p => p.floor));
-			lifts[f] = Math.max(lifts[f], (0.002 - floor[f]) / scale, 0);
-		}
-		measurements.push({ model, scale, floor });
-		// These are private measurement rigs, not cached live user characters.
-		rig.traverse(o => { o.geometry?.dispose(); if (Array.isArray(o.material)) o.material.forEach(m => m.dispose()); else o.material?.dispose(); });
-	}
-	// A camera-scaled endpoint is not yet calibrated to the target skin.
-	// Adjust its landing datum from measured contact clearance, distributing
-	// that change over the observed descent instead of abruptly lifting the
-	// body at impact. Only raise an endpoint that penetrates; never assume a
-	// stationary landing on an elevated object must be lowered to the floor.
-	const datum = new Float64Array(motion.frames);
-	const median = values => { const a = [...values].sort((x, y) => x - y); return a[Math.floor(a.length / 2)]; };
-	for (const event of events) {
-		if (event.endpointSource !== "observed-plateau") continue;
-		const { start: from, landing, anchor } = event;
-		const lift = median(lifts.slice(landing, anchor + 1));
-		if (lift > .5) throw new Error("extract-trajectory-endpoint-clearance-too-large");
-		const firstY = motion.rootPos[from * 3 + 1];
-		const lastY = median(Array.from({ length: anchor - landing + 1 }, (_, i) => motion.rootPos[(landing + i) * 3 + 1]));
-		for (let f = from; f < motion.frames; f++) {
-			const progress = f >= landing ? 1 : Math.max(0, Math.min(1, (firstY - motion.rootPos[f * 3 + 1]) / Math.max(.01, firstY - lastY)));
-			datum[f] = Math.max(datum[f], lift * progress);
-		}
-	}
-	const residual = lifts.map((v, f) => Math.max(0, v - datum[f]));
-	if (Math.max(...residual) > .25) throw new Error("extract-trajectory-floor-correction-too-large");
-	// A conservative smooth upper envelope cannot reintroduce penetration.
-	const radius = Math.max(1, Math.round(motion.fps * .1));
-	// Once landed, use each pose's actual clearance instead of keeping the
-	// median datum as a permanent cushion (which can itself leave a hover).
-	const desired = lifts.slice();
-	for (const event of events) if (event.endpointSource === "observed-plateau") {
-		for (let f = event.start; f < event.landing; f++) desired[f] = Math.max(desired[f], datum[f]);
-	}
-	const safe = desired.slice();
-	for (let f = start; f < motion.frames; f++) for (let j = Math.max(start, f - radius); j <= Math.min(motion.frames - 1, f + radius); j++) {
-		const t = Math.abs(f - j) / (radius + 1), fade = 1 - t * t * (3 - 2 * t);
-		safe[f] = Math.max(safe[f], desired[j] * fade);
-	}
-	const corrected = { ...motion, rootPos: motion.rootPos.slice(), posedJoints: motion.posedJoints.slice() };
-	for (let f = start; f < motion.frames; f++) if (safe[f]) shiftFrame(corrected, f, safe[f]);
-	const diagnostics = { status: "verified", start, descentStart, changedFrames: [...safe].filter(v => v > 1e-6).length,
-		maxLiftM: Math.max(...safe), endpointDatumLiftM: Math.max(...datum), seconds: (performance.now() - began) / 1000,
-		models: measurements.map(({ model, scale, floor }) => ({ model,
-			minimumBeforeM: Math.min(...floor.slice(start)),
-			minimumAfterM: Math.min(...floor.slice(start).map((v, i) => v + safe[start + i] * scale)),
-		})), };
-	return { motion: corrected, diagnostics };
-}

package/tools/ardy/gvhmr-to-cskel27.mjs

@@ -1,21 +0,0 @@
-#!/usr/bin/env node
-import { readNpz } from "../kimodo/read-npz.mjs";
-import { motionArraysToNpzMembers, writeNpz } from "./npz.mjs";
-import { smplToCskel27Motion } from "./smpl-cskel27.mjs";
-
-const args = process.argv.slice(2);
-const input = args[0], output = args[1];
-let boneScale = "derive";
-for (let i = 2; i < args.length; i += 1) {
-	if (args[i] !== "--bone-scale" || i + 1 >= args.length) { console.error("usage: node tools/ardy/gvhmr-to-cskel27.mjs <gvhmr.npz> <motion.npz> [--bone-scale derive|number]"); process.exit(2); }
-	const value = args[++i];
-	if (value !== "derive") { boneScale = Number(value); if (!(Number.isFinite(boneScale) && boneScale > 0)) { console.error("--bone-scale must be derive or a positive number"); process.exit(2); } }
-}
-if (!input || !output) {
-	console.error("usage: node tools/ardy/gvhmr-to-cskel27.mjs <gvhmr.npz> <motion.npz> [--bone-scale derive|number]");
-	process.exit(2);
-}
-
-const motion = smplToCskel27Motion(readNpz(input), { boneScale });
-writeNpz(output, motionArraysToNpzMembers(motion));
-console.log(JSON.stringify({ output, frames: motion.frames, fps: motion.fps, boneScale }));