cozyclay 2.1.0 → 3.0.0

package/tools/bench/extract-bench.mjs

@@ -1,302 +0,0 @@
-#!/usr/bin/env node
-/**
- * extract-bench.mjs — GVHMR extraction bench (#430, validation step T2).
- *
- * Feeds T1 ground-truth renders (<input>/<motion>/<variant>/video.mp4 +
- * camera.json) to the GPU box under named conditions and converts every
- * result with production's post-processing, so T3 can score conditions
- * against the ground truth without re-running anything:
- *
- *   <out>/<motion>/<variant>/<condition>/
- *     gvhmr.npz    the runner's SMPL output, untouched
- *     motion.npz   cskel27, smplToCskel27Motion -> stabilizeMotion ->
- *                  guardTrajectoryFloor, written like /ardy/extract writes it
- *     log.txt      the runner's log, lines prefixed with elapsed seconds
- *     result.json  flags, detection counts, timings, quality report,
- *                  stabilisation and trajectory diagnostics
- *
- * `prod` is handleExtract's path step for step (fps conform, upload, the
- * bridge's persistent worker with its request, conversion with the env
- * defaults); the other conditions call cclay_gvhmr_extract.py directly with
- * one variable changed. Runs are serial, on the box they use only
- * /tmp/cclay-bench-<stamp>/ (removed at exit) — the one exception is the
- * persistent worker's own content-addressed code dir, which gvhmrWorker owns.
- * Pure logic: extract-bench-lib.mjs.
- */
-import { spawn, spawnSync } from "node:child_process";
-import { createHash, randomBytes } from "node:crypto";
-import { appendFileSync, existsSync, mkdirSync, mkdtempSync, readdirSync, readFileSync, rmSync, writeFileSync } from "node:fs";
-import { tmpdir } from "node:os";
-import { dirname, join, resolve } from "node:path";
-import { fileURLToPath } from "node:url";
-import { conformToExtractFps } from "../ardy/footage.mjs";
-import { qualityReportForMotion } from "../ardy/extract.mjs";
-import { guardTrajectoryFloor } from "../ardy/gvhmr-floor.mjs";
-import { stabilizeMotion } from "../ardy/motion-stabilize.mjs";
-import { motionArraysToNpzMembers, writeNpz } from "../ardy/npz.mjs";
-import { gvhmrWorker } from "../ardy/runners/gvhmr-worker.mjs";
-import { globalChildren, killGroup, streamLines, track } from "../ardy/runners/proc.mjs";
-import { smplToCskel27Motion } from "../ardy/smpl-cskel27.mjs";
-import { readNpz } from "../kimodo/read-npz.mjs";
-import { USAGE, parseArgs, parseRunnerLog, resolveCondition } from "./extract-bench-lib.mjs";
-
-const HERE = dirname(fileURLToPath(import.meta.url));
-const REPO = resolve(HERE, "..", "..");
-const GVHMR_DIR = "~/cclay-ingest/GVHMR";
-const LAUNCHER = join(HERE, "cclay_bench_runner.py");
-const RUN_TIMEOUT_MS = 30 * 60 * 1000;
-// Same ssh options handleExtract uses (CCLAY_EXTRACT_SSH_PORT included) — the
-// worker client is keyed on them, as the bridge's is.
-const SSH_BASE_OPTS = ["-o", "BatchMode=yes", "-o", "ConnectTimeout=15"];
-const SSH_PORT = process.env.CCLAY_EXTRACT_SSH_PORT?.trim() || "";
-const SSH_OPTS = SSH_PORT ? [...SSH_BASE_OPTS, "-p", SSH_PORT] : SSH_BASE_OPTS;
-const SCP_OPTS = SSH_PORT ? [...SSH_BASE_OPTS, "-P", SSH_PORT] : SSH_BASE_OPTS;
-
-/** Spawn a child in its own group; resolve on exit 0, reject with its last
- *  output line otherwise. Every line (split on \r too, for tqdm) -> onLine. */
-function exec(command, args, { onLine, timeoutMs = 0 } = {}) {
-	return new Promise((resolvePromise, reject) => {
-		const child = spawn(command, args, { detached: true, stdio: ["ignore", "pipe", "pipe"] });
-		track(child);
-		let last = "";
-		const feed = (line) => {
-			for (const part of line.split("\r")) {
-				if (!part.trim()) continue;
-				last = part;
-				onLine?.(part);
-			}
-		};
-		streamLines(child.stdout, feed);
-		streamLines(child.stderr, feed);
-		const timer = timeoutMs ? setTimeout(() => { killGroup(child); reject(new Error(`${command} timed out`)); }, timeoutMs) : null;
-		child.once("error", (err) => { clearTimeout(timer); reject(new Error(`spawn ${command}: ${err.message}`)); });
-		child.once("close", (code) => {
-			clearTimeout(timer);
-			if (code === 0) resolvePromise();
-			else reject(new Error(last.trim() || `${command} exited ${code}`));
-		});
-	});
-}
-
-const ssh = (host, command, options) => exec("ssh", [...SSH_OPTS, host, command], options);
-const scp = (from, to, options) => exec("scp", [...SCP_OPTS, from, to], options);
-const seconds = (since) => Number(((performance.now() - since) / 1000).toFixed(3));
-const readJson = (path) => (existsSync(path) ? JSON.parse(readFileSync(path, "utf8")) : null);
-
-function commitId() {
-	const head = spawnSync("git", ["rev-parse", "HEAD"], { cwd: REPO, encoding: "utf8" }).stdout.trim();
-	const dirty = spawnSync("git", ["status", "--porcelain"], { cwd: REPO, encoding: "utf8" }).stdout.trim();
-	return head ? `${head}${dirty ? "-dirty" : ""}` : null;
-}
-
-function discoverMotions(input) {
-	return readdirSync(input, { withFileTypes: true })
-		.filter((entry) => entry.isDirectory())
-		.filter((entry) => readdirSync(join(input, entry.name), { withFileTypes: true })
-			.some((sub) => sub.isDirectory() && existsSync(join(input, entry.name, sub.name, "video.mp4"))))
-		.map((entry) => entry.name)
-		.sort();
-}
-
-function buildPlan(options) {
-	const motions = options.motions ?? discoverMotions(options.input);
-	const runs = [];
-	for (const motion of motions) {
-		for (const variant of options.variants) {
-			const source = join(options.input, motion, variant);
-			for (const condition of options.conditions) {
-				const camera = readJson(join(source, "camera.json"));
-				runs.push({
-					motion, variant, source,
-					out: join(options.out, motion, variant, condition.name),
-					plan: resolveCondition(condition, { cameraFMm: camera?.gvhmrFMm ?? null, env: process.env }),
-				});
-			}
-		}
-	}
-	return runs;
-}
-
-async function runOne(run, { host, benchDir, worker, commit }) {
-	const started = performance.now();
-	const { motion, variant, source, out, plan } = run;
-	rmSync(out, { recursive: true, force: true });
-	mkdirSync(out, { recursive: true });
-	const logPath = join(out, "log.txt");
-	writeFileSync(logPath, "");
-	const log = (line) => appendFileSync(logPath, `[+${((performance.now() - started) / 1000).toFixed(2)}s] ${line}\n`);
-	const video = join(source, "video.mp4");
-	const videoBytes = readFileSync(video);
-	const camera = readJson(join(source, "camera.json"));
-	const meta = readJson(join(source, "meta.json"));
-	const timings = {};
-	const result = {
-		ok: false,
-		tool: "tools/bench/extract-bench.mjs",
-		commit,
-		createdAt: new Date().toISOString(),
-		motion, variant, condition: plan.name, base: plan.base, fmm: plan.fmm, host,
-		input: {
-			video, sha256: createHash("sha256").update(videoBytes).digest("hex"), bytes: videoBytes.length,
-			camera: camera && { width: camera.width, height: camera.height, fx: camera.fx, gvhmrFMm: camera.gvhmrFMm ?? null },
-			meta: meta && { frames: meta.frames, fps: meta.fps, variant: meta.variant, source: meta.source?.path ?? null },
-		},
-		flags: {
-			path: plan.path, detector: plan.detector, keypoints: plan.keypoints, fMm: plan.fMm,
-			...(plan.path === "direct" ? { runnerArgs: plan.runnerArgs, launcher: plan.detector === "palette" ? "runner" : "bench-launcher" } : { workerRequest: plan.workerFields }),
-			stabilize: plan.stabilize,
-		},
-		timings,
-	};
-	const localTmp = mkdtempSync(join(tmpdir(), "cclay-bench-"));
-	const runKey = `${motion}-${variant}-${plan.name}`.replace(/[^A-Za-z0-9_.-]/g, "_");
-	const remoteDir = `${benchDir}/${runKey}`;
-	const remoteVideo = `${remoteDir}/video.mp4`;
-	const remoteNpz = `${remoteDir}/gvhmr.npz`;
-	const outRoot = `${remoteDir}/gvhmr-out`;
-	let step = "conform";
-	try {
-		// handleExtract's rate ceiling: a ≤30 fps render passes through as is.
-		let at = performance.now();
-		const conformed = await conformToExtractFps(video, join(localTmp, "capped.mp4"));
-		result.conform = { fps: conformed.fps, capped: conformed.capped };
-		timings.conformS = seconds(at);
-
-		step = "upload";
-		at = performance.now();
-		await ssh(host, `umask 077 && mkdir -p '${remoteDir}'`, { timeoutMs: 60000 });
-		await scp(conformed.path, `${host}:${remoteVideo}`, { timeoutMs: 300000 });
-		timings.uploadS = seconds(at);
-
-		step = "extract";
-		at = performance.now();
-		let performanceReport = null;
-		if (plan.path === "worker") {
-			const request = { video: remoteVideo, output: remoteNpz, outRoot, ...plan.workerFields };
-			log(`[bench] worker request ${JSON.stringify(request)}`);
-			performanceReport = await worker().run(request, { timeoutMs: RUN_TIMEOUT_MS, onLine: log });
-		} else {
-			const program = plan.detector === "palette"
-				? "cclay_gvhmr_extract.py"
-				: `${benchDir}/cclay_bench_runner.py cclay_gvhmr_extract.py`;
-			const command = `cd ${GVHMR_DIR} && .venv/bin/python ${program} ${remoteVideo} ${remoteNpz} ${plan.runnerArgs.join(" ")} --out-root ${outRoot}`;
-			log(`[bench] ssh ${command}`);
-			await ssh(host, command, { timeoutMs: RUN_TIMEOUT_MS, onLine: log });
-		}
-		timings.extractS = seconds(at);
-		result.performance = performanceReport;
-
-		step = "fetch";
-		at = performance.now();
-		const gvhmrNpz = join(out, "gvhmr.npz");
-		await scp(`${host}:${remoteNpz}`, gvhmrNpz, { timeoutMs: 120000 });
-		timings.fetchS = seconds(at);
-
-		step = "convert";
-		at = performance.now();
-		const events = performanceReport?.trajectory?.events ?? [];
-		const converted = stabilizeMotion(smplToCskel27Motion(readNpz(gvhmrNpz)), plan.stabilize);
-		const guarded = guardTrajectoryFloor(converted, events);
-		result.quality = qualityReportForMotion(guarded.motion);
-		if (events.length) performanceReport.trajectory.floor = guarded.diagnostics;
-		writeNpz(join(out, "motion.npz"), motionArraysToNpzMembers(guarded.motion));
-		timings.convertS = seconds(at);
-		result.motionInfo = { frames: guarded.motion.frames, fps: guarded.motion.fps, personScale: guarded.motion.personScale };
-		result.stabilization = guarded.motion.stabilization ?? null;
-		result.trajectory = { events, floor: guarded.diagnostics };
-		result.ok = true;
-	} catch (err) {
-		result.error = { step, message: err.message };
-		log(`[bench] FAILED at ${step}: ${err.message}`);
-	} finally {
-		rmSync(localTmp, { recursive: true, force: true });
-		await ssh(host, `rm -rf '${remoteDir}'`, { timeoutMs: 60000 }).catch((err) => log(`[bench] remote cleanup failed: ${err.message}`));
-	}
-	const summary = parseRunnerLog(readFileSync(logPath, "utf8"));
-	const segmentation = result.performance?.segmentation;
-	result.detection = summary.detectedFrames != null
-		? { detector: summary.detector, detectedFrames: summary.detectedFrames, totalFrames: summary.totalFrames, detectionRate: summary.detectionRate, source: summary.detectionSource }
-		: segmentation?.detectedFrames != null
-			? { detector: segmentation.detector, detectedFrames: segmentation.detectedFrames, totalFrames: segmentation.frames, detectionRate: segmentation.detectionRate, source: "worker-segmentation" }
-			: { detector: summary.detector, detectedFrames: null, totalFrames: null, detectionRate: null, source: null };
-	result.runnerLog = summary;
-	timings.totalS = seconds(started);
-	writeFileSync(join(out, "result.json"), `${JSON.stringify(result, null, "\t")}\n`);
-	return result;
-}
-
-async function main() {
-	let options;
-	try {
-		options = parseArgs(process.argv.slice(2), process.env);
-	} catch (err) {
-		console.error(`extract-bench: ${err.message}\n\n${USAGE}`);
-		process.exit(2);
-	}
-	if (options.help) {
-		console.log(USAGE);
-		return;
-	}
-	options.input = resolve(options.input);
-	options.out = resolve(options.out);
-	const runs = buildPlan(options);
-	for (const run of runs) {
-		if (!existsSync(join(run.source, "video.mp4"))) throw new Error(`missing input ${join(run.source, "video.mp4")}`);
-	}
-	if (options.dryRun) {
-		for (const { motion, variant, plan } of runs) {
-			const flags = plan.path === "worker" ? JSON.stringify(plan.workerFields) : plan.runnerArgs.join(" ");
-			console.log(`${motion}/${variant}/${plan.name}\t${plan.path}\t${flags}`);
-		}
-		return;
-	}
-
-	const host = options.host;
-	const commit = commitId();
-	const benchDir = `/tmp/cclay-bench-${Date.now()}-${randomBytes(3).toString("hex")}`;
-	let client = null;
-	const worker = () => (client ??= gvhmrWorker({ host, sshOptions: SSH_OPTS, scpOptions: SCP_OPTS }));
-	const cleanupRemote = () => spawnSync("ssh", [...SSH_OPTS, host, `rm -rf '${benchDir}'`], { stdio: "ignore", timeout: 60000 });
-	process.once("SIGINT", () => {
-		console.error("extract-bench: interrupted; stopping children and removing the box temp dir");
-		client?.stop("extract-cancelled");
-		for (const child of globalChildren) killGroup(child);
-		cleanupRemote();
-		process.exit(130);
-	});
-
-	await ssh(host, `umask 077 && mkdir -p '${benchDir}'`, { timeoutMs: 60000 });
-	if (runs.some((run) => run.plan.path === "direct" && run.plan.detector !== "palette")) {
-		await scp(LAUNCHER, `${host}:${benchDir}/cclay_bench_runner.py`, { timeoutMs: 60000 });
-	}
-	let failures = 0;
-	try {
-		for (const run of runs) {
-			const label = `${run.motion}/${run.variant}/${run.plan.name}`;
-			const previous = readJson(join(run.out, "result.json"));
-			if (previous?.ok && !options.force) {
-				console.log(`skip ${label} (result.json ok; --force re-runs)`);
-				continue;
-			}
-			console.log(`run  ${label} [${run.plan.path}]`);
-			const result = await runOne(run, { host, benchDir, worker, commit });
-			if (!result.ok) failures += 1;
-			const d = result.detection;
-			console.log(`${result.ok ? "ok  " : "FAIL"} ${label} detected ${d.detectedFrames ?? "?"}/${d.totalFrames ?? "?"} (${d.detector ?? "?"})` +
-				` extract ${result.timings.extractS ?? "-"} s total ${result.timings.totalS} s` +
-				(result.ok ? ` quality ${result.quality.pass ? "pass" : "fail"}` : ` — ${result.error.step}: ${result.error.message}`));
-		}
-	} finally {
-		client?.stop("extract-bench-finished");
-		cleanupRemote();
-	}
-	if (failures) {
-		console.error(`extract-bench: ${failures} run(s) failed`);
-		process.exitCode = 1;
-	}
-}
-
-main().catch((err) => {
-	console.error(`extract-bench: ${err.stack ?? err.message}`);
-	process.exit(1);
-});

package/tools/bench/fal-generate.mjs

@@ -1,88 +0,0 @@
-#!/usr/bin/env node
-import { execFileSync } from "node:child_process";
-import { createHash } from "node:crypto";
-import { existsSync, mkdirSync, readFileSync, writeFileSync } from "node:fs";
-import { basename, join, resolve } from "node:path";
-import { fileURLToPath } from "node:url";
-import { parseArgs } from "node:util";
-import { setTimeout as delay } from "node:timers/promises";
-import { buildH3LockedPrompt } from "../../bin/agent/video-adapters.mjs";
-
-export const FAL_MODEL = "minimax/h3-max-turbo/image-to-video";
-export function falRequest({ prompt, firstImage, lastImage }) {
-	if (!String(prompt ?? "").trim() || !firstImage || !lastImage) throw new Error("prompt and both endpoint images are required");
-	// H3's documented contract has no seed field: independent requests, not
-	// a claimed deterministic seed sweep. Do not silently send ignored seeds.
-	return { prompt: buildH3LockedPrompt(prompt), image_url: firstImage, end_image_url: lastImage, resolution: "480P", duration: 5, prompt_expansion_mode: "disabled" };
-}
-export function costFields(value) {
-	if (!value || typeof value !== "object") return {};
-	const out = {};
-	for (const [key, entry] of Object.entries(value)) {
-		if (/cost|price|billing|usage/i.test(key)) out[key] = entry;
-		else if (entry && typeof entry === "object") { const nested = costFields(entry); if (Object.keys(nested).length) out[key] = nested; }
-	}
-	return out;
-}
-/** Unbounded queue wait, finite individual HTTP requests. Every response is
- * logged by the caller. Test injects fetch + wait, never wall-clock polling. */
-export async function runFal(body, { key, fetchImpl = fetch, wait = () => delay(5000), onEvent = () => {} }) {
-	if (!key) throw new Error("fal key is required");
-	const request = async (url, options = {}) => {
-		const response = await fetchImpl(url, { ...options, headers: { authorization: `Key ${key}`, ...options.headers }, signal: AbortSignal.timeout(120000) });
-		if (!response.ok) throw new Error(`fal HTTP ${response.status} at ${new URL(url).pathname}`);
-		const value = await response.json(); onEvent({ at: new Date().toISOString(), url, response: value, cost: costFields(value) }); return value;
-	};
-	const queued = await request(`https://queue.fal.run/${FAL_MODEL}`, { method: "POST", headers: { "content-type": "application/json" }, body: JSON.stringify(body) });
-	let status = queued;
-	for (;;) {
-		const video = status.video?.url ?? status.output?.video?.url ?? status.video_url;
-		if (video) return { queued, result: status, video };
-		if (["FAILED", "CANCELLED"].includes(status.status)) throw new Error(`fal ${status.status}: ${status.error ?? "no error detail"}`);
-		if (status.status === "COMPLETED") {
-			const url = status.response_url ?? queued.response_url;
-			if (!url) throw new Error("fal completed without response_url");
-			status = await request(url);
-			if (!(status.video?.url ?? status.output?.video?.url ?? status.video_url)) throw new Error("fal completed without video URL");
-			continue;
-		}
-		const url = status.status_url ?? queued.status_url;
-		if (!url) throw new Error("fal queue response lacks status_url");
-		await wait(); status = await request(url);
-	}
-}
-const sha = bytes => createHash("sha256").update(bytes).digest("hex");
-export async function main(argv = process.argv.slice(2)) {
-	const { values: v } = parseArgs({ args: argv, options: { scenario: { type: "string" }, variant: { type: "string", default: "shaded" }, out: { type: "string" }, prompt: { type: "string" }, key: { type: "string" }, runs: { type: "string", default: "3" }, "dry-run": { type: "boolean" }, help: { type: "boolean" } } });
-	if (v.help) { console.log("usage: node tools/bench/fal-generate.mjs --scenario <GT motion dir> --out <clips root> [--prompt <action>] [--key <file>] [--runs 3] [--variant shaded|skin] [--dry-run]\nReads scenario.json prompt or --prompt; writes <out>/<scenario>-<variant>-01/{video.mp4,request.json,A.png,B.png}. No seed is sent (independent H3 requests)."); return; }
-	if (!v.scenario || !v.out) throw new Error("--scenario and --out required");
-	const runs = Number(v.runs); if (!Number.isInteger(runs) || runs < 1) throw new Error("--runs must be a positive integer");
-	if (!["shaded", "skin"].includes(v.variant)) throw new Error("--variant must be shaded or skin");
-	const scenario = resolve(v.scenario), name = basename(scenario), source = join(scenario, v.variant);
-	const meta = JSON.parse(readFileSync(join(source, "meta.json"))), info = existsSync(join(scenario, "scenario.json")) ? JSON.parse(readFileSync(join(scenario, "scenario.json"))) : {};
-	const prompt = v.prompt ?? info.prompt;
-	const still = frame => execFileSync("ffmpeg", ["-v", "error", "-i", join(source, "video.mp4"), "-vf", `select=eq(n\\,${frame})`, "-frames:v", "1", "-f", "image2pipe", "-c:v", "png", "pipe:1"], { maxBuffer: 10 * 1024 * 1024 });
-	const a = still(0), b = still(meta.frames - 1);
-	if (!a.length || !b.length) throw new Error("missing endpoint frame");
-	const body = falRequest({ prompt, firstImage: `data:image/png;base64,${a.toString("base64")}`, lastImage: `data:image/png;base64,${b.toString("base64")}` });
-	const keyPath = v.key ?? resolve(process.env.HOME, "ccFalToMocap/.fal-key");
-	const dry = v["dry-run"] || !existsSync(keyPath);
-	const key = dry ? null : readFileSync(keyPath, "utf8").trim();
-	for (let i = 1; i <= runs; i++) {
-		const dir = join(resolve(v.out), `${name}-${v.variant}-${String(i).padStart(2, "0")}`); mkdirSync(dir, { recursive: true });
-		const recordPath = join(dir, "request.json");
-		if (existsSync(recordPath) && JSON.parse(readFileSync(recordPath)).ok && existsSync(join(dir, "video.mp4"))) { console.log(`skip completed ${basename(dir)}`); continue; }
-		writeFileSync(join(dir, "A.png"), a); writeFileSync(join(dir, "B.png"), b);
-		const record = { model: FAL_MODEL, scenario, variant: v.variant, run: i, independentRun: true, seed: null, dryRun: dry, ok: false, body: { ...body, image_url: "A.png", end_image_url: "B.png" }, endpoints: { A: sha(a), B: sha(b), sourceFrames: [0, meta.frames - 1] }, events: [], cost: null };
-		const save = () => writeFileSync(recordPath, JSON.stringify(record, null, 2) + "\n"); save();
-		if (dry) { console.log(`dry-run ${basename(dir)}: ${v["dry-run"] ? "requested" : "key missing"}`); continue; }
-		try {
-			const result = await runFal(body, { key, onEvent: event => { record.events.push(event); save(); console.log(`[${basename(dir)}] ${event.response.status ?? "result"} ${event.response.request_id ?? ""}`); } });
-			const response = await fetch(result.video, { signal: AbortSignal.timeout(300000) }); if (!response.ok) throw new Error(`video HTTP ${response.status}`);
-			writeFileSync(join(dir, "video.mp4"), Buffer.from(await response.arrayBuffer()));
-			record.ok = true; record.requestId = result.queued.request_id; record.result = result.result;
-			record.cost = record.events.map(e => e.cost).filter(c => Object.keys(c).length); record.costNote = record.cost.length ? "Provider-reported fields, not estimated." : "Provider supplied no cost fields; unknown, not zero.";
-		} catch (error) { record.error = error.message; throw error; } finally { save(); }
-	}
-}
-if (process.argv[1] && resolve(process.argv[1]) === fileURLToPath(import.meta.url)) main().catch(e => { console.error(e.stack); process.exitCode = 1; });

package/tools/bench/fit/README.md

@@ -1,189 +0,0 @@
-# F0-F5 cumulative fitting bench (#432)
-
-```sh
-node tools/bench/fit-bench.mjs \
-  --input /path/to/evidence/gt \
-  --extract /path/to/evidence/exp1/extract \
-  --poses /path/to/evidence/prep/gt-motions \
-  --out /path/to/evidence/exp2/fit \
-  --variant shaded --host yun@ubuntu-baremetal \
-  --motions walk,run,turn,sit,standup,jump,pickup,stepup
-
-# Native YOLO/ViTPose on the grey mannequin. F0 exists in T2; if F1
-# yolo-vitpose+fmm is absent, fit-bench extracts it serially with --host.
-node tools/bench/fit-bench.mjs \
-  --input /path/to/evidence/gt --extract /path/to/evidence/exp1/extract \
-  --poses /path/to/evidence/prep/gt-motions --out /path/to/evidence/exp2/fit-skin \
-  --variant skin --base-condition yolo-vitpose --host yun@ubuntu-baremetal
-
-# Evaluation ONLY. This program's output is never consumed by fitting.
-node tools/bench/fit-sanity.mjs /path/to/evidence/exp2/fit /path/to/evidence/prep/gt-motions
-```
-
-Each `<out>/<motion>/F0..F5/motion.npz` is a normal cskel27 archive:
-`local_rot_mats`, `root_positions`, `posed_joints`, `fps`, with production's
-optional `bone_scale` / `person_scale`. `result.json` records provenance,
-registration, configuration, contact diagnostics and deviations. Camera evidence
-is saved to `<out>/<motion>/incam.npz`, with its run log and cache manifest.
-A different variant or base condition needs a different output root. Existing
-mismatched results are rejected, not silently overwritten. `--base-condition`
-defaults to `prod` (the existing F0/F1 motion bytes are unchanged); it accepts a
-T2 base condition without `+fmm`. F0 is copied from that condition and F1 from
-the same condition with `+fmm`. T2 already supports `yolo-vitpose+fmm` for direct
-runs. If only F1 is missing, the CLI invokes T2 for that one motion/variant/
-condition after the idle-GPU check. It never substitutes F0 for missing F1.
-
-## Information boundary
-
-**No fitting stage reads or measures GT intermediate motion.** The allowed
-inputs are extracted video motion, known camera, known character body, the
-user's two endpoint poses and scene geometry. `readEndpoints` decodes a source
-archive but exposes only its first/last rotation matrices and roots. It never
-examines intermediate arrays, joint trajectories or GT body measurements. A
-test poisons all other source data and exercises the real CLI successfully.
-`fit-sanity.mjs` is a separate read-only evaluator and is the only code here
-that consumes the complete reference trajectory.
-
-| Stage | New information | Operation |
-|---|---|---|
-| F0 | None | Byte-identical T2 `<base-condition>/motion.npz` (default `prod`). |
-| F1 | Known focal | Byte-identical T2 `<base-condition>+fmm/motion.npz`. |
-| F2 | Known static OpenCV camera extrinsics | Register the first F1 pelvis/orientation to the predicted camera-space pelvis/orientation, then apply the same rigid transform to every frame. |
-| F3 | Known character bone factors | Regenerate FK from F2 rotations with canonical offsets times the character's factors. Defaults to all ones, equivalent to `boneScale:1`. |
-| F4 | User's A and B poses only | Slerp local rotations toward A/B; smoothstep endpoint root-offset ramps. Default 0.5 s, capped at half the clip. |
-| F5 | Floor Y=0 and optional axis-aligned boxes | Low/slow stance detection, rigid support locking, floor and skeletal bone/box penetration resolution. |
-
-## F2: why one static registration
-
-The new `cclay_bench_extract_incam.py` imports the box's **unchanged**
-`cclay_gvhmr_extract.py` and runs its `main()` under the same imported
-`FastRuntime` and `trajectory_job` wrappers as the production worker. It passes
-`--static-cam`, known `--f-mm`, production detector/keypoint flags, and
-production smoothing sigma. It does not copy the model or preprocessing
-pipeline and does not edit anything in the GVHMR checkout. For a direct T2
-condition such as `yolo-vitpose`, the camera launcher uses the same YOLO and
-ViTPose flags and **does not** enable `FastRuntime` or `trajectory_job`. The
-bench-only `--bench-direct` switch is removed before calling the runner. This
-keeps camera evidence matched to F1 rather than quietly using palette evidence
-for a YOLO fit. The condition is included in cache signatures and result metadata.
-
-The launcher adds the raw in-camera SMPL-X parameters and recomputes the
-camera pelvis with the same SMPL-X -> SMPL mesh regressor as the runner.
-**SMPL model `transl` is not its mesh-regressed pelvis**, so substituting it
-would introduce a shape-dependent translation error. It smooths camera pelvis
-and root orientation with the runner's own `smooth_motion_params`.
-
-All transforms multiply column vectors. Added NPZ members:
-
-| Member | Shape | Meaning |
-|---|---|---|
-| `incam_raw_global_orient`, `incam_raw_transl` | T,3 | Raw camera-space SMPL-X model parameters. |
-| `incam_raw_body_pose`, `incam_raw_betas` | T,63 / T,10 | Raw model articulation and shape. |
-| `incam_global_orient`, `incam_pelvis` | T,3 | Smoothed camera orientation and mesh-regressed pelvis. |
-| `ayfz_to_camera` | T,4,4 | Per-frame relation between output ayfz pelvis/orientation and the camera prediction. |
-| `ay_to_ayfz` | 4,4 | Runner's exact pre-smoothing normalization, including floor and heading. |
-| `ay_global_orient`, `ay_transl` | T,3 | Raw predicted gravity-aligned model parameters. |
-| `K_fullimg` | T,3,3 | Intrinsics actually used by GVHMR. |
-
-The per-frame `ayfz_to_camera` is diagnostic. Camera-space depth and the
-integrated global trajectory can disagree even with a static camera. Applying
-the entire time-varying relation would replace F1's trajectory with noisy
-monocular camera translation. Instead F2 preserves production's trajectory
-(including stabilization/contact anchoring and any descent/floor correction)
-and only fixes its initial reference frame:
-
-```
-R_f1_to_cam = R_incam[0] * transpose(R_f1[0])
-R = transpose(R_world_to_cam) * R_f1_to_cam
-p_world = transpose(R_world_to_cam) * (p_incam[0] - t_world_to_cam)
-t = p_world - R * p_f1[0]
-p_F2[f] = R * p_F1[f] + t
-```
-
-Only the Hips local rotation is multiplied by `R`; child local rotations are
-unchanged. All positional channels get the same SE(3). No GT roots, floor
-alignment, heading search, scale search or Procrustes fit enters F2. Camera
-JSON must be static and a proper rigid OpenCV transform. Its `worldToCamera`
-(y down, z forward), not the Three/OpenGL matrix, is inverted. Camera evidence
-intrinsics must agree with the known focal.
-
-## Deliberate conversion deviations
-
-- F0/F1 are untouched production archives: `smplToCskel27Motion`,
-  `stabilizeMotion`, and `guardTrajectoryFloor` have already run in T2.
-- F2 is cumulative on **that F1**, not a fresh conversion of the additional
-  inference. The new inference supplies camera evidence only. Its first
-  pelvis replaces production's arbitrary initial floor datum; re-grounding
-  here would undo camera placement. Static registration uses one frame and
-  inherits that frame's monocular depth/orientation uncertainty.
-- F3 keeps F2's root in metres and `personScale=1`; it does not scale the
-  camera translation to compensate for changed body proportions. It rebuilds
-  positions by FK, avoiding production's independently smoothed joint arrays
-  when those disagree with constant bone lengths. There is no second
-  stabilization, foot anchoring or percentile-floor pass.
-- Character factors default to canonical cskel27 (all ones), not a fresh
-  measurement of the rendered y-bot mesh. `--body body.json` accepts the known
-  character's 27 positive per-bone factors. This follows the issue's
-  `boneScale:1` option and leaves playback's own rig mapping intact.
-- F4 preserves F3 bone lengths and uses source NPZ first/last poses exactly as
-  requested. The last source frame is pinned even when rate conversion puts
-  the last rendered sample slightly before it (180@30 vs 144@24).
-- F5 is a **skeletal**, not skinned-mesh, constraint pass. One support point at
-  a time is locked by rigid root translation, preserving rotations and bone
-  vectors. Eligible feet/toes are within 4 cm of a known surface and move at
-  <=0.18 m/s for >=0.08 s. A hand can support on a known box face; no box means
-  no invented hand contact. Smoothstep bridges carry offsets between runs.
-  Simultaneous two-foot or hand/foot contacts are not a multi-effector IK solve.
-- Box collision tests include open-interior bone segments, not just joints.
-  On collision a conservative root shift clears the whole skeleton along a
-  separating axis, preserving lengths. No skin radius, self-collision or
-  collision-free swept trajectory between frames is claimed. Boxes can force
-  substantial displacement. Conflicting projections fail rather than silently
-  emit penetrations. Floor/scene safety wins over incompatible locks and A/B
-  pins; `sceneOverrides` and `maxLockResidualM` disclose this.
-
-Scene format (`--scene`):
-
-```json
-{"boxes":[{"min":[-0.5,0,-0.5],"max":[0.5,1,0.5]}]}
-```
-
-## GPU ownership and caches
-
-Wait until other T2 sweeps have finished. The CLI refuses any other GVHMR
-Python process, including an idle persistent worker, and checks `nvidia-smi`
-compute memory before upload and again immediately before inference. This is
-a safety check, not a lock respected by independently launched jobs; callers
-must coordinate those launches. No other process is killed. The bench runs
-serially and uses only `/tmp/cclay-fit-*` on the box; the run directory is
-removed in success/failure paths, and cleanup failure is an error. Abrupt
-process termination or a broken SSH connection can require manual cleanup.
-
-Local camera caches bind the video, focal/flags and deployed code hashes. The
-box runner SHA is recorded. The runner is externally managed: if it changes,
-use `--force-incam`. `--incam-root` supplies already extracted
-`<root>/<motion>/incam.npz` without touching the GPU (also the CPU integration
-test path).
-
-## Verification and sanity metric
-
-```sh
-node test/verify-fit-bench.mjs
-npm run build                  # dist is required by an existing suite
-node tools/run-tests.mjs
-```
-
-Tests cover camera inverse and proper-rotation validation, rigid trajectory
-registration, body/FK preservation, endpoint slerp and antipodes, short clips,
-falloff boundaries, floor and stance locking, segment/box crossings, bone
-length preservation, archive round trips, byte-identical F0/F1, and the real
-CLI with poisoned intermediate GT data. No timing waits or external GPU are
-needed by tests.
-
-`fit-sanity.mjs` compares output cskel27 `posed_joints` with source NPZ
-`posed_joints` at matching seconds (linear interpolation of reference
-positions). Root-relative error averages joints 1..26; root error is Hips.
-There is **no alignment**. It writes per-motion/per-stage and aggregate tables
-in millimetres. These are not official rendered-rig errors: Studio playback
-applies rig scale and bind offsets, F2 is scene metres, and the requested F4
-source endpoints are native cskel27. Official grading by #431 remains separate.

package/tools/bench/fit/camera.mjs

@@ -1,59 +0,0 @@
-import { matMul, matTranspose, quatToMat } from "../../../src/ardy/convert.js";
-import { add, cloneMotion, matVec, member, readMat, sub, vec } from "./motion.mjs";
-
-export function axisAngleMatrix(v) {
-	const angle = Math.hypot(...v), scale = angle < 1e-12 ? 0.5 : Math.sin(angle / 2) / angle;
-	return quatToMat([Math.cos(angle / 2), ...v.map(x => x * scale)]);
-}
-
-/** OpenCV x-right/y-down/z-forward, NOT the OpenGL camera rotation. */
-export function cameraToWorld(camera) {
-	const t = camera.worldToCamera;
-	if (!camera.static || !Array.isArray(t) || t.length !== 4 || !t.every(row => Array.isArray(row) && row.length === 4 && row.every(Number.isFinite))) {
-		throw new Error("camera: expected static OpenCV worldToCamera [4,4]");
-	}
-	const r = t.slice(0, 3).map(row => row.slice(0, 3)), rt = matTranspose(r);
-	const identity = matMul(r, rt);
-	const det = r[0][0] * (r[1][1] * r[2][2] - r[1][2] * r[2][1]) - r[0][1] * (r[1][0] * r[2][2] - r[1][2] * r[2][0]) + r[0][2] * (r[1][0] * r[2][1] - r[1][1] * r[2][0]);
-	if (identity.some((row, i) => row.some((x, j) => Math.abs(x - Number(i === j)) > 1e-5)) || Math.abs(det - 1) > 1e-5 || t[3].some((x, i) => Math.abs(x - Number(i === 3)) > 1e-6)) {
-		throw new Error("camera: worldToCamera must be a rigid proper transform");
-	}
-	return { rotation: rt, translation: matVec(rt, t.slice(0, 3).map(row => -row[3])) };
-}
-
-export function transformMotion(motion, { rotation, translation }) {
-	const out = cloneMotion(motion);
-	for (let f = 0; f < motion.frames; f++) {
-		out.rootPos.set(add(matVec(rotation, vec(motion.rootPos, f * 3)), translation), f * 3);
-		out.rotMats.set(matMul(rotation, readMat(motion.rotMats, f * 243)).flat(), f * 243);
-		for (let j = 0; j < 27; j++) {
-			const o = (f * 27 + j) * 3;
-			out.posedJoints.set(add(matVec(rotation, vec(motion.posedJoints, o)), translation), o);
-		}
-	}
-	return out;
-}
-
-/** F2: static registration, never a trajectory fit to GT. The new box run
- * supplies the camera-space pelvis and orientation. F1 supplies the SAME
- * production-smoothed ayfz root orientation. Register their first frames,
- * then apply ONE rigid transform to all of F1. This removes the arbitrary
- * initial heading/origin/floor datum while preserving production trajectory,
- * body, stabilisation and trajectory-floor safety relative to that datum.
- * Per-frame world->camera transforms are saved as diagnostics, not used as
- * a moving camera: their drift includes monocular depth/velocity disagreement.
- */
-export function registerCamera(motion, incam, camera) {
-	const n = incam.incam_pelvis?.shape[0];
-	if (n !== motion.frames) throw new Error("incam and F1 frame counts disagree");
-	const pelvis = member(incam, "incam_pelvis", [n, 3]);
-	const orient = member(incam, "incam_global_orient", [n, 3]);
-	if (Math.abs(member(incam, "fps", [])[0] - motion.fps) > 1e-6) throw new Error("incam and F1 fps disagree");
-	const c2w = cameraToWorld(camera);
-	const f1ToCamera = matMul(axisAngleMatrix(vec(orient)), matTranspose(readMat(motion.rotMats)));
-	const rotation = matMul(c2w.rotation, f1ToCamera);
-	const worldPelvis = add(matVec(c2w.rotation, vec(pelvis)), c2w.translation);
-	const translation = sub(worldPelvis, matVec(rotation, vec(motion.rootPos)));
-	return { motion: transformMotion(motion, { rotation, translation }),
-		diagnostics: { rotation, translation, worldPelvis, anchorFrame: 0, registration: "static-predicted-pelvis", preservesF1RelativeTrajectory: true } };
-}