cozyclay 2.1.0 → 3.0.0

package/tools/ardy/mocap-metrics.mjs

@@ -1,200 +0,0 @@
-#!/usr/bin/env node
-/**
- * mocap-metrics.mjs — compare cskel27 motion npz takes on the three defects a
- * bad 2D observation produces, so an estimator change (e.g. #180's palette
- * keypoints against ViTPose) is judged by numbers instead of by eye:
- *
- *   foot slide      the planted foot's horizontal speed while it is planted.
- *                   A supporting foot should read ~0 cm/s; skate is the single
- *                   most visible mocap artefact (SAM's single-image lift
- *                   measured 250 cm/s on locomotion). "Planted" is decided
- *                   per side from the take itself: the frames whose ankle is
- *                   in the lower PLANT_HEIGHT_PERCENTILE of that side's ankle
- *                   heights AND whose horizontal speed is below the side's
- *                   median — that is the stance phase, without needing the
- *                   contact logits (a converted take has dropped them).
- *   jitter          mean |second difference| of posed_joints.  The raw
- *                   mm/frame^2 value is retained for diagnostics and the
- *                   fps-normalised mm/s^2 value is used for cross-rate gates.
- *   below floor     frames whose lowest foot joint sits under Y=0. The
- *                   converter grounds the clip on its 10th percentile, so a
- *                   few frames are expected; many mean the legs are wrong.
- *
- * usage: node tools/ardy/mocap-metrics.mjs <a.npz> [<b.npz> ...]
- */
-import { readNpz } from "../kimodo/read-npz.mjs";
-import { CSKEL27_JOINTS } from "../../src/ardy/cskel27.js";
-import { pathToFileURL } from "node:url";
-
-const JOINT = Object.fromEntries(CSKEL27_JOINTS.map((name, index) => [name, index]));
-const JOINTS = CSKEL27_JOINTS.length;
-const FEET = ["RightFoot", "RightToeBase", "LeftFoot", "LeftToeBase"].map((name) => JOINT[name]);
-const ANKLES = { right: JOINT.RightFoot, left: JOINT.LeftFoot };
-// The stance phase of a step: the foot is both low and slow. Deriving it from
-// the take's own distribution keeps the measure comparable across clips with
-// different step heights, and needs no contact channel.
-const PLANT_HEIGHT_PERCENTILE = 0.35;
-const FLOOR_TOLERANCE_M = 0.005; // 5 mm: float32 round-trip, not penetration
-
-function member(members, name, path) {
-	const value = members[name];
-	if (!value?.data) throw new Error(`${path}: missing or unreadable member ${name}`);
-	return value;
-}
-
-function percentile(values, fraction) {
-	if (!values.length) return NaN;
-	const sorted = [...values].sort((a, b) => a - b);
-	const at = (sorted.length - 1) * fraction;
-	const low = Math.floor(at);
-	return sorted[low] * (1 - (at - low)) + (sorted[Math.min(low + 1, sorted.length - 1)] ?? sorted[low]) * (at - low);
-}
-
-const median = (values) => percentile(values, 0.5);
-
-function read(path) {
-	const members = readNpz(path);
-	const joints = member(members, "posed_joints", path);
-	if (joints.shape.length !== 3 || joints.shape[1] !== JOINTS || joints.shape[2] !== 3) {
-		throw new Error(`${path}: posed_joints must be (F, ${JOINTS}, 3), got (${joints.shape.join(", ")})`);
-	}
-	const fpsMember = member(members, "fps", path);
-	const fps = fpsMember.data[0];
-	if (!(fps > 0)) throw new Error(`${path}: invalid fps ${fps}`);
-	const frames = joints.shape[0];
-	const root = members.root_positions?.data ?? null;
-	return { path, frames, fps, joints: joints.data, root };
-}
-
-/** Build metrics from a converted motion already held in memory. */
-export function mocapMetricsFromMotion(motion, { path = "<memory>" } = {}) {
-	if (!motion || !Number.isInteger(motion.frames) || motion.frames < 1) {
-		throw new Error(`${path}: motion.frames must be a positive integer`);
-	}
-	const fps = Number(motion.fps);
-	if (!(fps > 0)) throw new Error(`${path}: invalid fps ${motion.fps}`);
-	const joints = motion.posedJoints ?? motion.joints;
-	const expectedJoints = motion.frames * JOINTS * 3;
-	if (!joints || joints.length !== expectedJoints) {
-		throw new Error(`${path}: posedJoints must contain ${expectedJoints} values`);
-	}
-	const root = motion.rootPos ?? motion.root ?? null;
-	if (root !== null && root.length !== motion.frames * 3) {
-		throw new Error(`${path}: rootPos must contain ${motion.frames * 3} values`);
-	}
-	const take = { path, frames: motion.frames, fps, joints, root };
-	const floor = belowFloor(take);
-	const jitterMmPerFrame2 = jitter(take);
-	return {
-		path,
-		frames: take.frames,
-		fps: take.fps,
-		footSlideCmPerS: footSlide(take),
-		// Keep the raw frame-space value for backwards-compatible diagnostics,
-		// but also expose a time-normalised acceleration.  A second difference
-		// scales with dt², so the raw value alone would make the same physical
-		// shake look 4x smaller when a 30fps take is sampled at 60fps.
-		jitterMmPerFrame2,
-		jitterMmPerS2: jitterMmPerFrame2 * take.fps * take.fps,
-		framesBelowFloor: floor.count,
-		deepestBelowFloorCm: floor.deepestCm,
-		rootTravelM: travel(take),
-	};
-}
-
-/** Median horizontal speed (cm/s) of each ankle over its own stance frames. */
-function footSlide({ frames, fps, joints }) {
-	const speeds = [];
-	for (const ankle of Object.values(ANKLES)) {
-		const at = (frame, axis) => joints[(frame * JOINTS + ankle) * 3 + axis];
-		const step = [];
-		for (let frame = 1; frame < frames; frame += 1) {
-			step.push({
-				speed: Math.hypot(at(frame, 0) - at(frame - 1, 0), at(frame, 2) - at(frame - 1, 2)) * fps * 100,
-				height: Math.min(at(frame, 1), at(frame - 1, 1)),
-			});
-		}
-		if (!step.length) continue;
-		const lowEnough = percentile(step.map((s) => s.height), PLANT_HEIGHT_PERCENTILE);
-		const slowEnough = median(step.map((s) => s.speed));
-		const planted = step.filter((s) => s.height <= lowEnough && s.speed <= slowEnough);
-		speeds.push(median((planted.length ? planted : step).map((s) => s.speed)));
-	}
-	return median(speeds);
-}
-
-/** Mean |second difference| over every joint, in mm per frame^2. */
-function jitter({ frames, joints }) {
-	if (frames < 3) return NaN;
-	let total = 0;
-	let count = 0;
-	for (let frame = 1; frame < frames - 1; frame += 1) {
-		for (let joint = 0; joint < JOINTS; joint += 1) {
-			const base = (frame * JOINTS + joint) * 3;
-			const before = ((frame - 1) * JOINTS + joint) * 3;
-			const after = ((frame + 1) * JOINTS + joint) * 3;
-			total += Math.hypot(
-				joints[after] - 2 * joints[base] + joints[before],
-				joints[after + 1] - 2 * joints[base + 1] + joints[before + 1],
-				joints[after + 2] - 2 * joints[base + 2] + joints[before + 2],
-			) * 1000;
-			count += 1;
-		}
-	}
-	return total / count;
-}
-
-/** Frames whose lowest foot joint is under the floor, and how deep it goes. */
-function belowFloor({ frames, joints }) {
-	let count = 0;
-	let deepest = 0;
-	for (let frame = 0; frame < frames; frame += 1) {
-		let lowest = Infinity;
-		for (const foot of FEET) lowest = Math.min(lowest, joints[(frame * JOINTS + foot) * 3 + 1]);
-		if (lowest < -FLOOR_TOLERANCE_M) {
-			count += 1;
-			deepest = Math.min(deepest, lowest);
-		}
-	}
-	return { count, deepestCm: -deepest * 100 };
-}
-
-/** Straight-line XZ travel of the root, for context on the slide number. */
-function travel({ frames, joints, root }) {
-	const source = root ?? joints;
-	const stride = root ? 3 : JOINTS * 3;
-	const last = (frames - 1) * stride;
-	return Math.hypot(source[last] - source[0], source[last + 2] - source[2]);
-}
-
-/** Accept an NPZ path (legacy CLI/API) or a converted motion object. */
-export function mocapMetrics(input) {
-	if (typeof input === "string") {
-		const take = read(input);
-		return mocapMetricsFromMotion(take, { path: input });
-	}
-	return mocapMetricsFromMotion(input);
-}
-
-if (process.argv[1] && import.meta.url === pathToFileURL(process.argv[1]).href) {
-	const paths = process.argv.slice(2);
-	if (!paths.length) {
-	console.error("usage: node tools/ardy/mocap-metrics.mjs <a.npz> [<b.npz> ...]");
-		process.exit(2);
-	}
-	const rows = paths.map(mocapMetrics);
-	const columns = [
-		["take", (row) => row.path.replace(/^.*\//, ""), 26],
-		["frames", (row) => String(row.frames), 6],
-		["fps", (row) => String(row.fps), 3],
-		["foot slide cm/s", (row) => row.footSlideCmPerS.toFixed(2), 15],
-		["jitter mm/f^2", (row) => row.jitterMmPerFrame2.toFixed(3), 13],
-		["jitter mm/s^2", (row) => row.jitterMmPerS2.toFixed(1), 13],
-		["below floor", (row) => `${row.framesBelowFloor} (${row.deepestBelowFloorCm.toFixed(1)} cm)`, 16],
-		["root travel m", (row) => row.rootTravelM.toFixed(2), 13],
-	];
-	const line = (cells) => cells.map((cell, index) => cell.padEnd(columns[index][2])).join("  ").trimEnd();
-	console.log(line(columns.map(([title]) => title)));
-	console.log(line(columns.map(([, , width]) => "-".repeat(width))));
-	for (const row of rows) console.log(line(columns.map(([, value]) => value(row))));
-}

package/tools/ardy/mocap-quality-gate.mjs

@@ -1,110 +0,0 @@
-#!/usr/bin/env node
-/**
- * Acceptance gate for a converted CSKEL27 mocap take.
- *
- * The report in mocap-metrics.mjs is intentionally descriptive.  This gate
- * turns the values into an explicit, reviewable decision so a visibly shaky
- * clip cannot be shipped by accident.  Thresholds are defaults for ordinary
- * 24–60 fps footage and can be overridden per footage class with flags.
- */
-import { mocapMetrics } from "./mocap-metrics.mjs";
-import { pathToFileURL } from "node:url";
-
-export const DEFAULT_LIMITS = Object.freeze({
-	maxFootSlideCmPerS: 3,
-	maxJitterMmPerFrame2: 6,
-	// 6 mm/frame² at the 30fps reference rate.  The gate prefers the
-	// time-normalised metric when the extractor provides it, so a 60fps clip
-	// cannot pass merely because its frame interval is shorter.
-	maxJitterMmPerS2: 5400,
-	maxBelowFloorFraction: 0.02,
-	maxDeepestBelowFloorCm: 1.5,
-	maxVerticalContactErrorCm: 2,
-	maxCameraDriftPx: 2,
-	maxBackgroundDriftP95: 8,
-});
-
-/** Return a structured decision; pure so CI and browser QA can reuse it. */
-export function evaluateQuality(metrics, limits = DEFAULT_LIMITS) {
-	const fps = Number(metrics?.fps);
-	const jitterIsNormalised = Number.isFinite(metrics?.jitterMmPerS2);
-	const jitterValue = jitterIsNormalised ? metrics.jitterMmPerS2 : metrics?.jitterMmPerFrame2;
-	// Preserve callers that override the legacy frame-space limit.  Its
-	// historical meaning was measured at 30fps, so convert it to acceleration
-	// units when a normalised metric is available.
-	const frameJitterLimit = Number(limits.maxJitterMmPerFrame2);
-	const secondJitterLimit = Number(limits.maxJitterMmPerS2);
-	const jitterLimit = jitterIsNormalised
-		? (Number.isFinite(frameJitterLimit) &&
-			(!Number.isFinite(secondJitterLimit) || secondJitterLimit === DEFAULT_LIMITS.maxJitterMmPerS2)
-			? frameJitterLimit * 30 * 30
-			: secondJitterLimit)
-		: limits.maxJitterMmPerFrame2;
-	const checks = [
-		{
-			name: "foot-slide",
-			value: metrics.footSlideCmPerS,
-			limit: limits.maxFootSlideCmPerS,
-			pass: metrics.footSlideCmPerS <= limits.maxFootSlideCmPerS,
-			unit: "cm/s",
-		},
-		{
-			name: "jitter",
-			value: jitterValue,
-			limit: jitterLimit,
-			pass: Number.isFinite(jitterValue) && jitterValue <= jitterLimit,
-			unit: jitterIsNormalised ? "mm/s²" : "mm/frame²",
-			...(jitterIsNormalised ? { rawValue: metrics.jitterMmPerFrame2, fps } : {}),
-		},
-		{
-			name: "below-floor-fraction",
-			value: metrics.framesBelowFloor / metrics.frames,
-			limit: limits.maxBelowFloorFraction,
-			pass: metrics.framesBelowFloor / metrics.frames <= limits.maxBelowFloorFraction,
-			unit: "fraction",
-		},
-		{
-			name: "deepest-below-floor",
-			value: metrics.deepestBelowFloorCm,
-			limit: limits.maxDeepestBelowFloorCm,
-			pass: metrics.deepestBelowFloorCm <= limits.maxDeepestBelowFloorCm,
-			unit: "cm",
-		},
-	];
-	// These checks need scene/video observations that an NPZ alone does not
-	// contain.  Include them whenever the extractor supplies the measurements;
-	// omission is reported to callers as "unmeasured" rather than guessed.
-	for (const [name, valueKey, limitKey, unit] of [
-		["vertical-contact", "verticalContactErrorCm", "maxVerticalContactErrorCm", "cm"],
-		["camera-drift", "cameraDriftPx", "maxCameraDriftPx", "px"],
-		["background-drift", "backgroundDriftP95", "maxBackgroundDriftP95", "mean-absolute-RGB"],
-	]) {
-		if (Number.isFinite(metrics[valueKey]) && Number.isFinite(limits[limitKey])) {
-			checks.push({ name, value: metrics[valueKey], limit: limits[limitKey], pass: metrics[valueKey] <= limits[limitKey], unit });
-		}
-	}
-	return { pass: checks.every((check) => check.pass), checks, metrics };
-}
-
-function usage() {
-	console.error("usage: node tools/ardy/mocap-quality-gate.mjs <take.npz> [--foot-slide cm/s] [--jitter mm/frame² @30fps] [--jitter-s2 mm/s²] [--below-floor fraction] [--depth cm]");
-}
-
-if (process.argv[1] && import.meta.url === pathToFileURL(process.argv[1]).href) {
-	const [path, ...args] = process.argv.slice(2);
-	if (!path) { usage(); process.exit(2); }
-	const limits = { ...DEFAULT_LIMITS };
-	for (let i = 0; i < args.length; i += 2) {
-		const value = Number(args[i + 1]);
-		if (!Number.isFinite(value)) { usage(); process.exit(2); }
-		if (args[i] === "--foot-slide") limits.maxFootSlideCmPerS = value;
-		else if (args[i] === "--jitter") limits.maxJitterMmPerFrame2 = value;
-		else if (args[i] === "--jitter-s2") limits.maxJitterMmPerS2 = value;
-		else if (args[i] === "--below-floor") limits.maxBelowFloorFraction = value;
-		else if (args[i] === "--depth") limits.maxDeepestBelowFloorCm = value;
-		else { usage(); process.exit(2); }
-	}
-	const result = evaluateQuality(mocapMetrics(path), limits);
-	console.log(JSON.stringify(result, null, 2));
-	if (!result.pass) process.exitCode = 1;
-}

package/tools/ardy/motion-stabilize.mjs

@@ -1,348 +0,0 @@
-/**
- * Small, model-agnostic cleanup pass for GVHMR retargets.
- *
- * GVHMR is temporally aware, but its per-frame segmentation/keypoint inputs
- * can still produce one-frame spikes.  This pass removes only high-frequency
- * residuals: the correction is centred on the neighbouring frames and its
- * strength falls as local speed increases.  A fast step therefore remains a
- * step while a stationary foot no longer buzzes in place.
- */
-
-const JOINTS = 27;
-
-const clamp = (v, lo, hi) => Math.max(lo, Math.min(hi, v));
-const distance3 = (a, b) => Math.hypot(a[0] - b[0], a[1] - b[1], a[2] - b[2]);
-
-function smoothPositions(input, frames, stride, fps) {
-	const out = new Float32Array(input);
-	if (frames < 3) return { values: out, corrected: 0 };
-	let corrected = 0;
-	for (let f = 1; f < frames - 1; f += 1) {
-		for (let item = 0; item < stride; item += 1) {
-			const o = (f * stride + item) * 3;
-			const p = (f - 1) * stride * 3 + item * 3;
-			const n = (f + 1) * stride * 3 + item * 3;
-			const prev = [input[p], input[p + 1], input[p + 2]];
-			const curr = [input[o], input[o + 1], input[o + 2]];
-			const next = [input[n], input[n + 1], input[n + 2]];
-			const prevVelocity = [curr[0] - prev[0], curr[1] - prev[1], curr[2] - prev[2]];
-			const nextVelocity = [next[0] - curr[0], next[1] - curr[1], next[2] - curr[2]];
-			const speed = (distance3(curr, prev) + distance3(next, curr)) * 0.5 * fps;
-			// At rest blend up to 35% towards the centred neighbour estimate;
-			// above roughly 1 m/s preserve almost all of the authored motion.
-			const reversal = prevVelocity[0] * nextVelocity[0] + prevVelocity[1] * nextVelocity[1] + prevVelocity[2] * nextVelocity[2] < 0;
-			const blend = reversal ? 0.72 : clamp(0.35 - speed * 0.12, 0.04, 0.35);
-			const correction = [(prev[0] + next[0]) * 0.5 - curr[0],
-				(prev[1] + next[1]) * 0.5 - curr[1],
-				(prev[2] + next[2]) * 0.5 - curr[2]];
-			// Isolated reversals are segmentation outliers (often 10–15 cm on a
-			// rendered limb), so permit a larger correction only in that case.
-			const amount = Math.min(reversal ? 0.12 : 0.045, Math.hypot(...correction) * blend);
-			if (amount < 1e-5) continue;
-			const scale = amount / Math.max(Math.hypot(...correction), 1e-8);
-			out[o] = curr[0] + correction[0] * scale;
-			out[o + 1] = curr[1] + correction[1] * scale;
-			out[o + 2] = curr[2] + correction[2] * scale;
-			corrected += 1;
-		}
-	}
-	// A segmentation/keypoint dropout can persist for a few frames. A single
-	// three-tap pass repairs the edges of that burst but leaves its centre at the
-	// wrong location. Detect a short burst against a longer chord, using the
-	// immutable source so a correction cannot spread into clean entry/exit
-	// frames. The radius is tied to time (about 100 ms), not a fixed frame count,
-	// so 24, 30 and 60 fps clips behave alike.
-	const radius = Math.max(3, Math.min(5, Math.round(fps * 0.1)));
-	if (frames > radius * 2 + 1) {
-		const pass = new Float32Array(out);
-		// Hips (joint 0) is the authored root trajectory. A real stair or chair
-		// ascent can be a short, high-amplitude change, so never run the dropout
-		// repair over it; only limb observations are eligible.
-		const firstItem = stride === JOINTS ? 1 : stride;
-		for (let item = firstItem; item < stride; item += 1) {
-			// First identify a contiguous run from the raw input. Requiring two
-			// adjacent outliers rejects a genuine one-frame limb snap, which the
-			// preceding three-tap pass already handles with a smaller correction.
-			const candidates = new Uint8Array(frames);
-			for (let f = radius; f < frames - radius; f += 1) {
-				const o = (f * stride + item) * 3;
-				const before = ((f - radius) * stride + item) * 3;
-				const after = ((f + radius) * stride + item) * 3;
-				const rawCurrent = [input[o], input[o + 1], input[o + 2]];
-				const rawEstimate = [(input[before] + input[after]) * 0.5,
-					(input[before + 1] + input[after + 1]) * 0.5,
-					(input[before + 2] + input[after + 2]) * 0.5];
-				// 8 cm is above ordinary retarget noise and catches the short,
-				// high-amplitude plateaus seen when a detector loses a limb.
-				if (distance3(rawCurrent, rawEstimate) < 0.08) continue;
-				const spanSpeed = distance3(
-					[input[before], input[before + 1], input[before + 2]],
-					[input[after], input[after + 1], input[after + 2]],
-				) * fps / (2 * radius);
-				// Preserve running/throwing trajectories; the long chord is only a
-				// dropout signal when the surrounding motion is below 2 m/s.
-				if (spanSpeed > 2) continue;
-				candidates[f] = 1;
-			}
-			for (let f = radius; f < frames - radius;) {
-				if (!candidates[f]) { f += 1; continue; }
-				const start = f;
-				while (f < frames - radius && candidates[f]) f += 1;
-				if (f - start < 2) continue;
-			// A dropout plateau has almost no movement inside its run. Reject a
-			// run whose own samples are moving quickly; that is a real gesture,
-			// even when its longer chord happens to curve by several centimetres.
-				let coherent = true;
-				for (let g = start + 1; g < f; g += 1) {
-					const prev = ((g - 1) * stride + item) * 3;
-					const curr = (g * stride + item) * 3;
-				if (distance3([input[prev], input[prev + 1], input[prev + 2]], [input[curr], input[curr + 1], input[curr + 2]]) > 0.015) {
-						coherent = false;
-						break;
-					}
-				}
-				if (!coherent) continue;
-				for (let currentFrame = start; currentFrame < f; currentFrame += 1) {
-					const o = (currentFrame * stride + item) * 3;
-					const before = ((currentFrame - radius) * stride + item) * 3;
-					const after = ((currentFrame + radius) * stride + item) * 3;
-				const estimate = [(pass[before] + pass[after]) * 0.5,
-					(pass[before + 1] + pass[after + 1]) * 0.5,
-					(pass[before + 2] + pass[after + 2]) * 0.5];
-				const current = [pass[o], pass[o + 1], pass[o + 2]];
-				const residual = distance3(current, estimate);
-				const amount = Math.min(0.1, residual * 0.9);
-				if (amount < 1e-5) continue;
-				const scale = amount / Math.max(residual, 1e-8);
-				out[o] = current[0] + (estimate[0] - current[0]) * scale;
-				out[o + 1] = current[1] + (estimate[1] - current[1]) * scale;
-				out[o + 2] = current[2] + (estimate[2] - current[2]) * scale;
-					corrected += 1;
-				}
-			}
-		}
-	}
-	return { values: out, corrected };
-}
-
-function matrixToQuat(m) {
-	const trace = m[0] + m[4] + m[8];
-	let x; let y; let z; let w;
-	if (trace > 0) {
-		const s = Math.sqrt(trace + 1) * 2; w = 0.25 * s; x = (m[7] - m[5]) / s; y = (m[2] - m[6]) / s; z = (m[3] - m[1]) / s;
-	} else if (m[0] > m[4] && m[0] > m[8]) {
-		const s = Math.sqrt(1 + m[0] - m[4] - m[8]) * 2; w = (m[7] - m[5]) / s; x = 0.25 * s; y = (m[1] + m[3]) / s; z = (m[2] + m[6]) / s;
-	} else if (m[4] > m[8]) {
-		const s = Math.sqrt(1 + m[4] - m[0] - m[8]) * 2; w = (m[2] - m[6]) / s; x = (m[1] + m[3]) / s; y = 0.25 * s; z = (m[5] + m[7]) / s;
-	} else {
-		const s = Math.sqrt(1 + m[8] - m[0] - m[4]) * 2; w = (m[3] - m[1]) / s; x = (m[2] + m[6]) / s; y = (m[5] + m[7]) / s; z = 0.25 * s;
-	}
-	const norm = Math.hypot(x, y, z, w) || 1;
-	return [x / norm, y / norm, z / norm, w / norm];
-}
-
-function quatToMatrix(q) {
-	const [x, y, z, w] = q;
-	return [1 - 2 * (y * y + z * z), 2 * (x * y - z * w), 2 * (x * z + y * w),
-		2 * (x * y + z * w), 1 - 2 * (x * x + z * z), 2 * (y * z - x * w),
-		2 * (x * z - y * w), 2 * (y * z + x * w), 1 - 2 * (x * x + y * y)];
-}
-
-function slerp(a, b, t) {
-	let d = a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
-		if (d < 0) { b = b.map((v) => -v); d = -d; }
-	if (d > 0.9995) {
-		const q = a.map((v, i) => v + (b[i] - v) * t); const n = Math.hypot(...q) || 1; return q.map((v) => v / n);
-	}
-	const angle = Math.acos(clamp(d, -1, 1));
-	const sin = Math.sin(angle) || 1;
-	const wa = Math.sin((1 - t) * angle) / sin; const wb = Math.sin(t * angle) / sin;
-	return a.map((v, i) => v * wa + b[i] * wb);
-}
-
-function smoothRotations(input, frames, joints, fps) {
-	const out = new Float32Array(input); if (frames < 3) return { values: out, corrected: 0 };
-	let corrected = 0;
-	for (let j = 0; j < joints; j += 1) {
-		const qs = new Array(frames);
-		for (let f = 0; f < frames; f += 1) qs[f] = matrixToQuat(input.subarray((f * joints + j) * 9, (f * joints + j + 1) * 9));
-		for (let f = 1; f < frames - 1; f += 1) {
-			const prev = qs[f - 1]; const curr = qs[f]; const next = qs[f + 1];
-			const neighbour = slerp(prev, next, 0.5);
-			const angular = 2 * Math.acos(clamp(Math.abs(curr[0] * prev[0] + curr[1] * prev[1] + curr[2] * prev[2] + curr[3] * prev[3]), -1, 1)) * fps;
-			const blend = clamp(0.28 - angular * 0.035, 0.025, 0.28);
-			const q = slerp(curr, neighbour, blend);
-			const o = (f * joints + j) * 9; const m = quatToMatrix(q);
-			for (let k = 0; k < 9; k += 1) out[o + k] = m[k];
-			if (blend > 0.05) corrected += 1;
-		}
-	}
-	return { values: out, corrected };
-}
-
-/** Return a copy of a converted motion with transient jitter reduced. */
-function stabilizeContacts(root, posed, frames, fps, { contactHeight, groundY } = {}) {
-	const outRoot = new Float32Array(root); const outPosed = new Float32Array(posed);
-	const feet = [21, 22, 25, 26]; const window = Math.max(2, Math.round(fps * .12));
-	let corrected = 0; const targetHeight = Number.isFinite(contactHeight) ? contactHeight : (Number.isFinite(groundY) ? groundY : null);
-	// Without an explicit surface datum we cannot tell floor contact from a
-	// step, stair, or chair. Leave the source trajectory untouched; smoothing
-	// above remains safe for every scene.
-	if (targetHeight === null) return { root: outRoot, posed: outPosed, corrected };
-	for (let f = window; f < frames - window; f += 1) {
-		const samples = [];
-		for (const j of feet) {
-			const speed = distance3(
-				[posed[(f * JOINTS + j) * 3], posed[(f * JOINTS + j) * 3 + 1], posed[(f * JOINTS + j) * 3 + 2]],
-				[posed[((f - window) * JOINTS + j) * 3], posed[((f - window) * JOINTS + j) * 3 + 1], posed[((f - window) * JOINTS + j) * 3 + 2]],
-			) / (window / fps);
-			const ys = []; for (let t = f - window; t <= f + window; t += 1) ys.push(posed[(t * JOINTS + j) * 3 + 1]);
-			const spread = Math.max(...ys) - Math.min(...ys);
-			if (speed < .08 && spread < .025) samples.push(j);
-		}
-		// Bilateral contact is a conservative signal that root translation should
-		// not buzz. Single-foot IK belongs to the character-specific solver.
-		if (samples.length < 2) continue;
-		let dx = 0; let dy = 0; let dz = 0;
-		for (const j of samples) { const o = (f * JOINTS + j) * 3; dx += posed[o]; dy += posed[o + 1]; dz += posed[o + 2]; }
-		dx /= samples.length; dy /= samples.length; dz /= samples.length;
-		if (targetHeight !== null) dy -= targetHeight;
-		// Apply only a small centred correction; larger changes indicate a real
-		// step or jump and are left to the source trajectory.
-		const prevAvg = [0, 0, 0]; const nextAvg = [0, 0, 0];
-		for (const j of samples) {
-			for (let k = 0; k < 3; k += 1) { prevAvg[k] += posed[((f - 1) * JOINTS + j) * 3 + k]; nextAvg[k] += posed[((f + 1) * JOINTS + j) * 3 + k]; }
-		}
-		for (let k = 0; k < 3; k += 1) { prevAvg[k] /= samples.length; nextAvg[k] /= samples.length; }
-		const correction = [((prevAvg[0] + nextAvg[0]) * .5 - dx), targetHeight !== null ? targetHeight - dy : ((prevAvg[1] + nextAvg[1]) * .5 - dy), ((prevAvg[2] + nextAvg[2]) * .5 - dz)];
-		const amount = Math.min(.025, Math.hypot(...correction));
-		if (amount < 1e-4) continue;
-		const scale = amount / Math.max(Math.hypot(...correction), 1e-8);
-		for (let j = 0; j < JOINTS; j += 1) { const o = (f * JOINTS + j) * 3; outPosed[o] += correction[0] * scale; outPosed[o + 1] += correction[1] * scale; outPosed[o + 2] += correction[2] * scale; }
-		outRoot[f * 3] += correction[0] * scale; outRoot[f * 3 + 1] += correction[1] * scale; outRoot[f * 3 + 2] += correction[2] * scale; corrected += 1;
-	}
-	return { root: outRoot, posed: outPosed, corrected };
-}
-
-/**
- * Foot-anchored root re-integration (#380).
- *
- * GVHMR integrates the root from per-frame velocity and, on rendered clips,
- * under-scales the stride: measured on v13c the stance ankle moonwalked at
- * 45 cm/s in world while the hips advanced 49 cm/s — the legs walk faster
- * than the body moves. Its contact logits did not correlate with planted
- * frames (r <= 0.09) so the anchor is read off the take itself: per frame the
- * foot that is BOTH lowest and slowest is the support, and the whole body is
- * shifted rigidly (root + every joint by one vector) so that foot holds the
- * world XZ it had when its stance run began. A rigid shift keeps every pose
- * exactly as authored; only the trajectory changes. Y is never touched (a
- * step, stair or chair is a real height change).
- *
- * Stance is a run: the anchor is only trusted once a foot has been low+slow
- * for MIN_STANCE frames, and it releases as soon as the foot lifts or
- * accelerates. Low and slow are both read off the INPUT arrays (the shift is
- * written to copies), so the correction cannot feed back into its own
- * trigger. Between runs the accumulated offset is held, never reset, so the
- * take stays continuous.
- */
-function anchorFeetToFloor(root, posed, frames, fps, reference = posed) {
-	const outRoot = new Float32Array(root); const outPosed = new Float32Array(posed);
-	const FEET = [21, 22, 25, 26];
-	const MIN_STANCE = Math.max(2, Math.round(fps * 0.08));
-	// Stance is read off `reference` — the AUTHORED joints, before the spike
-	// filter above: that filter's reversal branch moves the last stance frame
-	// (a velocity reversal by definition) by up to 2 cm, which would shorten
-	// every run by one frame and leave that frame sliding.
-	const at = (f, j, a) => reference[(f * JOINTS + j) * 3 + a];
-	const heights = FEET.map((j) => Array.from({ length: frames }, (_, f) => at(f, j, 1)));
-	const low = FEET.map((_, i) => { const s = [...heights[i]].sort((a, b) => a - b); return s[Math.floor((s.length - 1) * 0.35)]; });
-	// World horizontal speed of the authored foot. Stance is low AND slow;
-	// "slow" is half the foot's upper-quartile speed (its swing), which
-	// separates the two phases without depending on the walk's duty cycle —
-	// a median gate sits ON the stance speed of a 50/50 gait and then admits
-	// or rejects stance frames on float noise.
-	const speed = FEET.map((j) => Array.from({ length: frames }, (_, f) => f === 0 ? 0 : Math.hypot(at(f, j, 0) - at(f - 1, j, 0), at(f, j, 2) - at(f - 1, j, 2)) * fps));
-	const quantile = (v, q) => { const s = [...v].sort((a, b) => a - b); return s[Math.floor((s.length - 1) * q)]; };
-	const slow = speed.map((v) => quantile(v, 0.75) * 0.5);
-	const planted = (i, f) => heights[i][f] <= low[i] + 0.01 && speed[i][f] <= slow[i];
-	// Pass 1: stance runs. A run is one foot planted for >= MIN_STANCE
-	// consecutive frames; the lowest such foot carries the frame. Runs of the
-	// same foot that touch are one run.
-	const support = new Int8Array(frames).fill(-1);
-	for (let f = 0; f < frames; f += 1) {
-		let best = -1;
-		for (let i = 0; i < FEET.length; i += 1) {
-			let run = 0; for (let t = f; t >= 0 && planted(i, t); t -= 1) run += 1;
-			for (let t = f + 1; t < frames && run < MIN_STANCE && planted(i, t); t += 1) run += 1;
-			if (run >= MIN_STANCE && (best < 0 || heights[i][f] < heights[best][f])) best = i;
-		}
-		support[f] = best;
-	}
-	// Pass 2: the offset that holds each run's foot at its landing position.
-	// Inside a run only the foot's DRIFT is cancelled — the straight line from
-	// where it landed to where it lifted, which is the under-scaled stride —
-	// never its frame-to-frame wobble: mirroring that wobble into the root
-	// would move the whole body by the foot's estimation noise (measured:
-	// +4.4 mm/f² of root jitter for -25 cm/s of slide). Across the gap between
-	// two runs the offset ramps linearly so the swap is spread over the swing.
-	// Every pose is shifted rigidly per frame.
-	const offsets = new Array(frames).fill(null);
-	let anchoredFrames = 0; let carry = [0, 0]; let f = 0;
-	while (f < frames) {
-		const i = support[f];
-		if (i < 0) { f += 1; continue; }
-		let g = f; while (g + 1 < frames && support[g + 1] === i) g += 1;
-		const j = FEET[i];
-		// Land where the previous run left the body: the foot's own position
-		// at the run's first frame plus the offset carried in.
-		const driftX = at(g, j, 0) - at(f, j, 0), driftZ = at(g, j, 2) - at(f, j, 2), len = Math.max(1, g - f);
-		for (let t = f; t <= g; t += 1) { const w = (t - f) / len; offsets[t] = [carry[0] - driftX * w, carry[1] - driftZ * w]; anchoredFrames += 1; }
-		carry = offsets[g];
-		f = g + 1;
-	}
-	// Fill the gaps: lead-in holds the first run's offset, gaps ramp, tail holds.
-	let prev = -1;
-	for (let t = 0; t < frames; t += 1) {
-		if (offsets[t]) { prev = t; continue; }
-		let nextAt = t; while (nextAt < frames && !offsets[nextAt]) nextAt += 1;
-		const a = prev >= 0 ? offsets[prev] : (nextAt < frames ? offsets[nextAt] : [0, 0]);
-		const b = nextAt < frames ? offsets[nextAt] : a;
-		const span = nextAt - (prev >= 0 ? prev : t - 1);
-		for (let u = t; u < nextAt; u += 1) { const w = prev >= 0 && nextAt < frames ? (u - prev) / span : 0; offsets[u] = [a[0] + (b[0] - a[0]) * w, a[1] + (b[1] - a[1]) * w]; }
-		t = nextAt - 1;
-	}
-	// The offset series is piecewise linear with a slope change at every run
-	// and gap boundary (the stride correction differs per step). Blur it over
-	// ~120 ms so the body's velocity, not just its position, is continuous:
-	// the slope changes become ramps and add no second-difference of their own.
-	// A blur this short leaves the stance foot within a few mm of still.
-	const radius = Math.max(1, Math.round(fps * 0.08));
-	const kernel = []; let norm = 0;
-	for (let k = -radius; k <= radius; k += 1) { const w = Math.exp(-0.5 * (k / (radius / 2)) ** 2); kernel.push(w); norm += w; }
-	for (let t = 0; t < frames; t += 1) {
-		let ox = 0, oz = 0;
-		for (let k = -radius; k <= radius; k += 1) { const u = Math.min(frames - 1, Math.max(0, t + k)); const w = kernel[k + radius] / norm; ox += offsets[u][0] * w; oz += offsets[u][1] * w; }
-		for (let j = 0; j < JOINTS; j += 1) { const o = (t * JOINTS + j) * 3; outPosed[o] = posed[o] + ox; outPosed[o + 2] = posed[o + 2] + oz; }
-		outRoot[t * 3] = root[t * 3] + ox; outRoot[t * 3 + 2] = root[t * 3 + 2] + oz;
-	}
-	return { root: outRoot, posed: outPosed, anchoredFrames };
-}
-
-export function stabilizeMotion(motion, { enabled = true, smoothRotations: smoothRotationSeries = true, contactHeight, groundY, anchorFeet = false } = {}) {
-	if (!enabled || !motion || motion.frames < 3) return { ...motion, stabilization: { enabled: false, correctedPositions: 0, correctedRotations: 0, anchoredFrames: 0 } };
-	const frames = motion.frames; const fps = Number(motion.fps) || 30;
-	const root = smoothPositions(motion.rootPos, frames, 1, fps);
-	const posed = smoothPositions(motion.posedJoints, frames, JOINTS, fps);
-	const rotations = smoothRotationSeries ? smoothRotations(motion.rotMats, frames, JOINTS, fps) : { values: new Float32Array(motion.rotMats), corrected: 0 };
-	// Keep the root channel and the Hips joint coherent after filtering.
-	for (let f = 0; f < frames; f += 1) {
-		root.values[f * 3] = posed.values[(f * JOINTS) * 3];
-		root.values[f * 3 + 1] = posed.values[(f * JOINTS) * 3 + 1];
-		root.values[f * 3 + 2] = posed.values[(f * JOINTS) * 3 + 2];
-	}
-	const contacts = stabilizeContacts(root.values, posed.values, frames, fps, { contactHeight, groundY });
-	const anchored = anchorFeet ? anchorFeetToFloor(contacts.root, contacts.posed, frames, fps, motion.posedJoints) : { root: contacts.root, posed: contacts.posed, anchoredFrames: 0 };
-	return { ...motion, rootPos: anchored.root, posedJoints: anchored.posed, rotMats: rotations.values,
-		stabilization: { enabled: true, correctedPositions: posed.corrected + root.corrected, correctedRotations: rotations.corrected,
-			correctedContacts: contacts.corrected, anchoredFrames: anchored.anchoredFrames, contactHeight: Number.isFinite(contactHeight) ? contactHeight : (Number.isFinite(groundY) ? groundY : null), fps } };
-}