cozyclay 2.1.1 → 3.0.0

package/tools/ardy/cclay_sequence_generate.py

@@ -1,705 +0,0 @@
-# SPDX-License-Identifier: GPL-3.0-or-later
-# SPDX-FileCopyrightText: CozyClay contributors
-#
-# cclay-owned script. Source of truth lives in the CozyClay repo at
-# scripts/ardy/cclay_sequence_generate.py and is deployed to the ARDY box at
-# ~/ardy/scripts/cclay_sequence_generate.py. Do not edit the deployed copy.
-"""Segment-chained text-to-motion generation for the cclay ARDY pipeline.
-
-Generates ONE continuous rollout across multiple text segments ("run forward,
-then bow"): each segment is generated by the model's autoregressive sampling
-loop with its own prompt, conditioned on the tail of the previously generated
-motion via ``init_history_sequence`` — the same history-conditioning mechanism
-the interactive demo's replan path uses. No npz splicing, no crossfading, no
-array blending: segment continuity comes purely from history conditioning.
-
-Two empirically load-bearing choices (tuned on ARDY-Core-RP-20FPS-Horizon40):
-
-* Each segment is generated with a full ``model(...)`` call whose pad mask
-  marks the segment's exact clip length. The model was trained on clips that
-  start/end near rest, so it settles the action before the segment boundary —
-  which is what makes the next segment's transition smooth.
-* Only a SHORT history tail (default 0.6 s) is passed into the next segment.
-  Long histories dominate the window and suppress the new segment's prompt
-  (e.g. a 3 s running history makes the model ignore "bows deeply").
-
-Segment tails are additionally gated on continuity: if the last frames of a
-non-final segment still move faster than --max_boundary_jump, the segment is
-regenerated with a derived seed (bounded attempts, deterministic given
---seed); the calmest attempt wins. This is regeneration, never blending.
-
-Root 2D waypoints (--root-2d FRAME X Z HEADING, frames in the ROLLOUT-GLOBAL
-0..total-1 range) ride the same chained calls: the constraint set is built
-once over the whole rollout, and each segment call receives the slice covering
-its history tail + new frames with the history frames zeroed — exactly the
-interactive demo's streaming-constraint pattern. The model re-anchors observed
-roots by its running global translation, so rollout-global coordinates stay
-valid across every seam. Waypoint conditioning and history conditioning are
-first-class together in ``Ardy.__call__``; nothing here is off-label.
-
-Usage (from ~/ardy):
-    .venv/bin/python scripts/cclay_sequence_generate.py \
-        --segment "A person runs forward." 3 \
-        --segment "A person bows deeply." 4 \
-        --output outputs/cclay/seq --seed 7
-
-The last stdout line is a single JSON object:
-    {"frames": int, "fps": int,
-     "segments": [{"prompt", "requested_s", "start_frame", "end_frame"}],
-     "continuity": {"mean_jump_m", "max_jump_m", "max_jump_frame",
-                    "boundary_max_jump_m"}}
-start_frame/end_frame are 0-based inclusive npz frame indices. A "jump" is the
-max per-frame L2 displacement across all posed joints between consecutive
-frames (meters); jump index j measures the transition from frame j to j+1 and
-is reported as the landing frame j+1 in max_jump_frame.
-
-The output npz has exactly the same keys/shapes/conventions as
-scripts/generate.py single-prompt output (Y-up meters, cskel27), with
-text = " then ".join(segment prompts).
-"""
-import argparse
-import json
-import math
-import os
-
-import numpy as np
-import torch
-
-from ardy.model import DEFAULT_MODEL, load_model
-from ardy.model.loading import get_env_var
-from ardy.model.registry import resolve_model_name
-from ardy.motion_rep.tools import length_to_mask
-from ardy.postprocess import post_process_motion
-from ardy.skeleton import SOMASkeleton30
-from ardy.tools import seed_everything, to_numpy
-
-# Prime stride between per-segment base seeds so retry seeds never collide.
-_SEED_STRIDE = 9973
-
-
-def parse_args(argv=None):
-    parser = argparse.ArgumentParser(
-        description="Segment-chained autoregressive text-to-motion generation (cclay)"
-    )
-    parser.add_argument(
-        "--segment",
-        action="append",
-        nargs=2,
-        metavar=("PROMPT", "SECONDS"),
-        required=True,
-        help="Repeatable: a text prompt and its duration in seconds.",
-    )
-    parser.add_argument(
-        "--output",
-        type=str,
-        default="output",
-        help="Output stem name; bare names are placed under outputs/.",
-    )
-    parser.add_argument(
-        "--model",
-        type=str,
-        default=DEFAULT_MODEL,
-        help="Model nickname or full folder name (default: %(default)s).",
-    )
-    parser.add_argument(
-        "--seed",
-        type=int,
-        default=None,
-        help="Seed for reproducible results.",
-    )
-    parser.add_argument(
-        "--diffusion_steps",
-        type=int,
-        default=None,
-        help="Denoising steps, at most the model's num_base_steps (the default).",
-    )
-    parser.add_argument(
-        "--history_frames",
-        type=int,
-        default=None,
-        help=(
-            "History crop budget within the FIRST segment (multiple of the model's "
-            "token size), as in scripts/generate.py. Default: the longest history "
-            "fitting the trained 10 s window together with the generation horizon."
-        ),
-    )
-    parser.add_argument(
-        "--transition_frames",
-        type=int,
-        default=None,
-        help=(
-            "Frames of previous-motion tail passed as init history into each "
-            "subsequent segment (multiple of the model's token size). Short tails "
-            "keep boundaries continuous while letting the new prompt take over. "
-            "Default: ~0.6 s at the model fps."
-        ),
-    )
-    parser.add_argument(
-        "--root-2d",
-        dest="root_2d",
-        action="append",
-        nargs=4,
-        metavar=("FRAME", "X", "Z", "HEADING"),
-        help=(
-            "Repeatable: pin the root's ground position (meters) at a rollout-global "
-            "frame, optionally with a heading in radians ('none' to omit). Headings "
-            "are all-or-none across the set. Frame 0 is the rollout origin facing +Z."
-        ),
-    )
-    parser.add_argument(
-        "--max_boundary_jump",
-        type=float,
-        default=0.08,
-        help=(
-            "Continuity gate (meters/frame): a non-final segment whose tail still "
-            "moves faster than this is regenerated with a derived seed (default: "
-            "%(default)s)."
-        ),
-    )
-    parser.add_argument(
-        "--max_segment_attempts",
-        type=int,
-        default=6,
-        help="Max generation attempts per non-final segment for the continuity gate (default: %(default)s).",
-    )
-    parser.add_argument(
-        "--cfg_weight",
-        type=float,
-        nargs="+",
-        default=[2.0, 2.0],
-        help="CFG scale(s): one float (text) or two floats (text, constraint).",
-    )
-    parser.add_argument(
-        "--no-postprocess",
-        action="store_true",
-        help="Don't apply motion post-processing (foot-skate reduction).",
-    )
-    parser.add_argument(
-        "--root-margin",
-        type=float,
-        default=None,
-        help="Root position correction margin for post-processing (default: ARDY's 0.04 m). Larger = looser pin grip, less foot skate.",
-    )
-    parser.add_argument(
-        "--contact-threshold",
-        type=float,
-        default=None,
-        help="Foot contact detection threshold for post-processing (default: ARDY's 0.5).",
-    )
-    parser.add_argument(
-        "--checkpoints_dir",
-        type=str,
-        default=None,
-        help="Local dir holding released model folders (falls back to CHECKPOINTS_DIR env).",
-    )
-    return parser.parse_args(argv)
-
-
-def cclay_progress(iterable):
-    """Print one line per sampling step so the bridge can stream progress.
-
-    The model calls this where it would call tqdm; every line lands in the
-    UI as a status event, which is the only liveness signal the operator has
-    during a minutes-long generation.
-    """
-    total = len(iterable) if hasattr(iterable, "__len__") else None
-    for index, item in enumerate(iterable):
-        if total:
-            print(f"sampling step {index + 1}/{total}", flush=True)
-        else:
-            print(f"sampling step {index + 1}", flush=True)
-        yield item
-
-
-def _default_history_frames(fps: float, gen_horizon_len: int, num_frames_per_token: int) -> int:
-    """Longest history that, together with the generation horizon, fits the trained 10 s window.
-
-    Same budget as scripts/generate.py and the interactive demo: unbounded
-    history degrades long generations into jitter.
-    """
-    max_window_len = (int(10 * fps) // num_frames_per_token) * num_frames_per_token
-    return ((max_window_len - gen_horizon_len) // num_frames_per_token) * num_frames_per_token
-
-
-def _resolve_output_base(path: str, default_dir: str = "outputs") -> str:
-    """Place bare output names under ``default_dir``; honor explicit paths (as generate.py)."""
-    if os.path.dirname(path):
-        return path
-    return os.path.join(default_dir, path)
-
-
-def _single_file_path(path: str, ext: str) -> str:
-    """Return path for a single output file; add ext if missing, create parent dirs."""
-    if not path.endswith(ext):
-        path = path.rstrip(os.sep) + ext
-    parent = os.path.dirname(path)
-    if parent:
-        os.makedirs(parent, exist_ok=True)
-    return path
-
-
-def save_motion_npz(path: str, motion_dict: dict, fps: float, text: str) -> None:
-    """Save a motion output dict to ``.npz`` along with fps and the prompt (as generate.py)."""
-    arrays = {k: np.asarray(v) for k, v in motion_dict.items()}
-    arrays["fps"] = np.asarray(fps)
-    arrays["text"] = np.asarray(text)
-    np.savez(path, **arrays)
-
-
-def _parse_frame(raw, num_frames: int, flag: str) -> int:
-    try:
-        frame = int(raw)
-    except ValueError:
-        raise ValueError(f"{flag} frame must be an integer, got {raw!r}.")
-    if not 0 <= frame < num_frames:
-        raise ValueError(
-            f"{flag} frame {frame} is outside the rollout (0..{num_frames - 1} for "
-            f"these segments); lengthen a segment or move the constraint."
-        )
-    return frame
-
-
-def _parse_floats(raw_values, flag: str, names: str) -> list:
-    try:
-        return [float(value) for value in raw_values]
-    except ValueError:
-        raise ValueError(f"{flag} {names} must be numbers, got {tuple(raw_values)!r}.")
-
-
-def parse_root_waypoints(raw_waypoints, num_frames: int) -> list:
-    """Validate --root-2d. HEADING is radians or the literal 'none'.
-
-    Same contract as cclay_constrained_generate.py, with frames measured in
-    the rollout-global 0..total-1 range.
-    """
-    if not raw_waypoints:
-        return []
-    waypoints = []
-    seen = set()
-    for raw_frame, raw_x, raw_z, raw_heading in raw_waypoints:
-        frame = _parse_frame(raw_frame, num_frames, "--root-2d")
-        if frame in seen:
-            raise ValueError(
-                f"duplicate --root-2d for frame {frame}; one waypoint per frame."
-            )
-        seen.add(frame)
-        x, z = _parse_floats((raw_x, raw_z), "--root-2d", "X Z")
-        if str(raw_heading).lower() == "none":
-            heading = None
-        else:
-            heading = _parse_floats((raw_heading,), "--root-2d", "HEADING")[0]
-        waypoints.append({"frame": frame, "xz": [x, z], "heading": heading})
-    waypoints.sort(key=lambda entry: entry["frame"])
-    if len({entry["heading"] is None for entry in waypoints}) > 1:
-        # ARDY conditions the whole waypoint set on one heading tensor, so a
-        # partly-headed request would silently invent headings for the rest.
-        raise ValueError(
-            "--root-2d heading must be given for every waypoint or for none of them; "
-            "ARDY conditions the whole waypoint set on one heading tensor."
-        )
-    return waypoints
-
-
-def measure_waypoints(waypoints: list, generated_joints, skeleton) -> list:
-    """Horizontal distance from each requested root waypoint to the rollout's root."""
-    report = []
-    root_index = skeleton.root_idx
-    for entry in waypoints:
-        root = np.asarray(generated_joints[entry["frame"], root_index], dtype=np.float64)
-        achieved = [float(root[0]), float(root[2])]
-        error = float(np.linalg.norm(np.asarray(achieved) - np.asarray(entry["xz"])))
-        report.append(
-            {
-                "frame": entry["frame"],
-                "requested_xz": [round(value, 4) for value in entry["xz"]],
-                "achieved_xz": [round(value, 4) for value in achieved],
-                "achieved_error_m": round(error, 4),
-                "heading_rad": entry["heading"],
-            }
-        )
-    return report
-
-
-def _posed_joint_jumps(posed_joints: np.ndarray) -> np.ndarray:
-    """jump[j] = max over joints of the L2 displacement between frames j and j+1 (meters)."""
-    disp = np.linalg.norm(posed_joints[1:] - posed_joints[:-1], axis=-1)  # (F-1, J)
-    return disp.max(axis=-1)  # (F-1,)
-
-
-def _continuity_metrics(posed_joints: np.ndarray, boundaries: list) -> dict:
-    """Continuity metrics from posed joints (F, J, 3), meters.
-
-    boundary_max_jump_m = max jump within +/-2 frames of every segment boundary
-    (jumps whose either endpoint frame is within 2 frames of a boundary start).
-    """
-    jumps = _posed_joint_jumps(posed_joints)
-    boundary_max = 0.0
-    for b in boundaries:
-        lo = max(0, b - 3)
-        hi = min(len(jumps), b + 2)
-        if lo < hi:
-            boundary_max = max(boundary_max, float(jumps[lo:hi].max()))
-    return {
-        "mean_jump_m": float(jumps.mean()),
-        "max_jump_m": float(jumps.max()),
-        "max_jump_frame": int(jumps.argmax()) + 1,
-        "boundary_max_jump_m": boundary_max,
-    }
-
-
-def cclay_pick_device():
-    """cuda > mps > cpu, overridable with CCLAY_ARDY_DEVICE (cpu|mps|cuda[:N]).
-
-    The env override is how the local runner forces CPU (--cpu) without
-    relying on CUDA_VISIBLE_DEVICES, which cannot hide an Apple GPU.
-    """
-    forced = os.environ.get("CCLAY_ARDY_DEVICE", "").strip().lower()
-    if forced:
-        return forced
-    if torch.cuda.is_available():
-        return "cuda:0"
-    mps_backend = getattr(torch.backends, "mps", None)
-    if mps_backend is not None and mps_backend.is_available():
-        return "mps"
-    return "cpu"
-
-
-def cclay_mps_compat(device):
-    """Downcast float64 buffers to float32 at registration when running on MPS.
-
-    The MPS backend has no float64. ARDY's skeleton loads neutral_joints from
-    a float64 pickle and registers it as a buffer, which makes Ardy.__init__'s
-    .to("mps") fail; float32 is plenty for joint positions in meters. No-op on
-    cuda/cpu so remote-box behavior is untouched.
-    """
-    if not str(device).startswith("mps"):
-        return
-    original = torch.nn.Module.register_buffer
-    if getattr(original, "_cclay_f32", False):
-        return
-
-    def register_buffer_f32(self, name, tensor, persistent=True):
-        if tensor is not None and getattr(tensor, "dtype", None) == torch.float64:
-            tensor = tensor.float()
-        return original(self, name, tensor, persistent)
-
-    register_buffer_f32._cclay_f32 = True
-    torch.nn.Module.register_buffer = register_buffer_f32
-
-
-def main(argv=None, preloaded_model=None):
-    device = cclay_pick_device()
-    cclay_mps_compat(device)
-    print(f"Using device: {device}")
-    args = parse_args(argv)
-
-    segments = []
-    for prompt, seconds_str in args.segment:
-        prompt = prompt.strip()
-        try:
-            seconds = float(seconds_str)
-        except ValueError:
-            raise ValueError(f"--segment duration must be a number, got {seconds_str!r}.")
-        if not prompt:
-            raise ValueError("--segment prompt must be non-empty.")
-        if seconds <= 0:
-            raise ValueError(f"--segment duration must be > 0 seconds, got {seconds}.")
-        segments.append((prompt, seconds))
-
-    if len(args.cfg_weight) == 1:
-        cfg_weight = float(args.cfg_weight[0])
-    elif len(args.cfg_weight) == 2:
-        cfg_weight = (float(args.cfg_weight[0]), float(args.cfg_weight[1]))
-    else:
-        raise ValueError("--cfg_weight expects one float (text) or two floats (text, constraint).")
-    if args.max_segment_attempts < 1:
-        raise ValueError(f"--max_segment_attempts must be >= 1, got {args.max_segment_attempts}.")
-
-    # Load model (same path as scripts/generate.py)
-    checkpoints_dir = args.checkpoints_dir or get_env_var("CHECKPOINTS_DIR")
-    resolved_model = resolve_model_name(args.model, checkpoints_dir=checkpoints_dir)
-    model = (
-        preloaded_model
-        if preloaded_model is not None
-        else load_model(resolved_model, device=device, checkpoints_dir=checkpoints_dir)
-    )
-    print(f"Loaded model: {resolved_model}")
-
-    fps = model.motion_rep.fps
-    patch = model.num_frames_per_token
-    gen_horizon = model.gen_horizon_len
-    max_window_len = (int(10 * fps) // patch) * patch  # trained-window budget
-
-    num_base_steps = int(model.diffusion.num_base_steps)
-    diffusion_steps = args.diffusion_steps if args.diffusion_steps is not None else num_base_steps
-    if not 1 <= diffusion_steps <= num_base_steps:
-        raise ValueError(
-            f"--diffusion_steps must be between 1 and {num_base_steps} "
-            f"(this model's num_base_steps); got {diffusion_steps}."
-        )
-
-    history_budget = args.history_frames
-    if history_budget is None:
-        history_budget = _default_history_frames(fps, gen_horizon, patch)
-    elif history_budget < patch or history_budget % patch != 0:
-        raise ValueError(f"--history_frames must be a positive multiple of {patch} (this model's token size).")
-
-    transition_frames = args.transition_frames
-    if transition_frames is None:
-        transition_frames = max(patch, (int(0.6 * fps) // patch) * patch)
-    elif transition_frames < patch or transition_frames % patch != 0:
-        raise ValueError(f"--transition_frames must be a positive multiple of {patch} (this model's token size).")
-    print(
-        f"Using {history_budget} history frames (first-segment crop), "
-        f"{transition_frames} transition frames, {diffusion_steps} denoising steps"
-    )
-
-    # Per-segment frame counts. Later segments must fit the trained window
-    # together with the transition history (init history cannot be cropped
-    # mid-generation by the model).
-    seg_bounds = []
-    cum = 0
-    for i, (prompt, seconds) in enumerate(segments):
-        n = max(1, int(round(seconds * fps)))
-        if n < patch:
-            raise ValueError(
-                f"segment {prompt!r}: {seconds}s = {n} frames is shorter than one model "
-                f"token ({patch} frames at {fps} fps)."
-            )
-        if i > 0:
-            window = transition_frames + math.ceil(n / gen_horizon) * gen_horizon
-            if window > max_window_len:
-                max_s = (max_window_len - transition_frames) / fps
-                raise ValueError(
-                    f"segment {prompt!r}: {seconds}s exceeds the trained window for a "
-                    f"chained segment (max ~{max_s:.1f}s); split it into shorter segments."
-                )
-        seg_bounds.append({"prompt": prompt, "requested_s": seconds, "start_frame": cum, "end_frame": cum + n - 1})
-        cum += n
-    total_frames = cum
-    print(f"Will generate {total_frames} frames ({total_frames / fps:.2f}s at {fps} fps) over {len(segments)} segments")
-
-    # Root waypoints: ONE constraint set over the whole rollout, built in the
-    # rollout-global frame (frame 0 at the origin facing +Z — the first
-    # segment's canonical frame). Each chained call slices its own span below.
-    waypoints = parse_root_waypoints(args.root_2d or [], total_frames)
-    observed_full = None
-    mask_full = None
-    constraint_lst = []
-    if waypoints:
-        from ardy.constraints import Root2DConstraintSet
-
-        headings = [entry["heading"] for entry in waypoints]
-        constraint_lst = [
-            Root2DConstraintSet(
-                model.skeleton,
-                frame_indices=torch.tensor([entry["frame"] for entry in waypoints]),
-                root_2d=torch.tensor(
-                    [entry["xz"] for entry in waypoints], device=device, dtype=torch.float32
-                ),
-                global_root_heading=(
-                    None
-                    if headings[0] is None
-                    else torch.tensor(headings, device=device, dtype=torch.float32)
-                ),
-            )
-        ]
-        observed_full, mask_full = model.motion_rep.create_conditions_from_constraints_batched(
-            constraint_lst,
-            torch.tensor([total_frames], device=device),
-            to_normalize=True,
-            device=device,
-        )
-        print(
-            f"Root2DConstraintSet on rollout frames "
-            f"{[entry['frame'] for entry in waypoints]}"
-        )
-
-    def generate_segment(prompt: str, n: int, history: torch.Tensor | None, seg_start: int) -> torch.Tensor:
-        """One segment: full sampling loop conditioned on the (optional) history tail.
-
-        ``seg_start`` is the segment's first frame in rollout-global numbering;
-        with waypoints present the call receives the observed-motion slice for
-        its history tail + new frames, history frames zeroed (the demo's
-        streaming pattern — constraints never fight the conditioning history).
-        Returns only the n newly generated NORMALIZED frames.
-        """
-        history_len = 0 if history is None else history.shape[1]
-        num_frames = history_len + n
-        pad_mask = length_to_mask(torch.tensor([num_frames], device=device))
-        first_heading_angle = torch.zeros(1, device=device) if history is None else None
-        seg_mask = None
-        seg_observed = None
-        if mask_full is not None:
-            call_start = seg_start - history_len
-            seg_mask = mask_full[:, call_start : call_start + num_frames].clone()
-            seg_observed = observed_full[:, call_start : call_start + num_frames].clone()
-            seg_mask[:, :history_len] = 0.0
-            seg_observed[:, :history_len] = 0.0
-            if not bool(seg_mask.any()):
-                # no waypoint lands in this call's generated span; a pure
-                # zero mask would only cost compute
-                seg_mask = None
-                seg_observed = None
-        with torch.no_grad():
-            motion = model(
-                [prompt],
-                num_frames,
-                num_denoising_steps=diffusion_steps,
-                pad_mask=pad_mask,
-                first_heading_angle=first_heading_angle,
-                motion_mask=seg_mask,
-                observed_motion=seg_observed,
-                cfg_weight=cfg_weight,
-                progress_bar=cclay_progress,
-                init_history_sequence=history,
-                crop_history_length=history_budget if history is None else None,
-            )
-        return motion[:, history_len:]
-
-    def tail_jump(segment_motion: torch.Tensor) -> float:
-        """Max posed-joint jump over the last `patch` transitions of a segment (meters/frame)."""
-        with torch.no_grad():
-            out = model.motion_rep.inverse(segment_motion[:, -(patch + 1) :], is_normalized=True)
-        pj = out["posed_joints"][0].cpu().numpy()
-        return float(_posed_joint_jumps(pj).max())
-
-    # Single continuous rollout: `acc` holds the accumulated NORMALIZED motion
-    # tensor (1, F, D); each segment conditions on its tail.
-    acc = None
-    gate_worst_jump = None
-    gate_exhausted = False
-    for seg_idx, seg in enumerate(seg_bounds):
-        n = seg["end_frame"] - seg["start_frame"] + 1
-        is_final = seg_idx == len(seg_bounds) - 1
-        best, best_jump = None, None
-        attempts = 1 if is_final else args.max_segment_attempts
-        for attempt in range(attempts):
-            if args.seed is not None:
-                seed_everything(args.seed + _SEED_STRIDE * seg_idx + attempt)
-            if acc is None:
-                history = None
-            else:
-                # Clamp to the largest token multiple available so a short
-                # first segment never feeds a non-token-multiple history.
-                hist_len = min(transition_frames, (acc.shape[1] // patch) * patch)
-                history = acc[:, -hist_len:]
-            segment_motion = generate_segment(seg["prompt"], n, history, seg["start_frame"])
-            if is_final:
-                best = segment_motion
-                break
-            jump = tail_jump(segment_motion)
-            if best_jump is None or jump < best_jump:
-                best, best_jump = segment_motion, jump
-            if jump <= args.max_boundary_jump:
-                break
-        if not is_final:
-            print(
-                f"[segment {seg['start_frame']}-{seg['end_frame']}] tail jump "
-                f"{best_jump:.4f} m/frame after {attempt + 1} attempt(s)"
-            )
-            gate_worst_jump = best_jump if gate_worst_jump is None else max(gate_worst_jump, best_jump)
-            if best_jump > args.max_boundary_jump:
-                gate_exhausted = True
-        acc = best if acc is None else torch.cat([acc, best], dim=1)
-
-    # Unnormalize + inverse ONCE over the full rollout, then the same tail as
-    # scripts/generate.py: postprocess once, numpy, save.
-    with torch.no_grad():
-        output = model.motion_rep.inverse(acc, is_normalized=True)
-
-    postprocess_kwargs = {}
-    use_postprocess = "g1" not in resolved_model.lower() and not args.no_postprocess
-    if use_postprocess:
-        if args.root_margin is not None:
-            postprocess_kwargs["root_margin"] = args.root_margin
-        if args.contact_threshold is not None:
-            postprocess_kwargs["contact_threshold"] = args.contact_threshold
-        corrected = post_process_motion(
-            output["local_rot_mats"],
-            output["root_positions"],
-            output["foot_contacts"],
-            model.skeleton,
-            # With waypoints, ARDY's own postprocess enforces the pinned root
-            # contacts instead of skating them away (as the one-shot path).
-            constraint_lst=constraint_lst if constraint_lst else None,
-            **postprocess_kwargs,
-        )
-        output.update(corrected)
-
-    if isinstance(model.skeleton, SOMASkeleton30):
-        output = model.skeleton.output_to_SOMASkeleton77(output)
-
-    output = to_numpy(output)
-    # Single sample: drop the batch dim (generate.py _select_sample with index 0).
-    motion_dict = {
-        k: (v[0] if hasattr(v, "shape") and len(v.shape) > 0 and v.shape[0] == 1 else v)
-        for k, v in output.items()
-    }
-
-    text = " then ".join(seg["prompt"] for seg in seg_bounds)
-    output_base = _resolve_output_base(args.output)
-    npz_path = _single_file_path(output_base, ".npz")
-    print(f"Saving the npz output to {npz_path}")
-    save_motion_npz(npz_path, motion_dict, fps, text)
-
-    boundaries = [seg["start_frame"] for seg in seg_bounds[1:]]
-    frames = int(motion_dict["posed_joints"].shape[0])
-    if frames != total_frames:
-        raise RuntimeError(
-            f"generated frame count {frames} does not match the planned segment table "
-            f"({total_frames}); segment boundaries would be mislabeled."
-        )
-    # Same quality lens as the constrained report: which postprocess knobs
-    # were used, and whether stance frames keep the feet planted.
-    def _surface_contact_verified():
-        contacts = motion_dict.get("foot_contacts")
-        if contacts is None:
-            return None
-        contacts_arr = np.asarray(contacts)
-        if contacts_arr.ndim == 3:
-            contacts_arr = contacts_arr[0]
-        posed = np.asarray(motion_dict["posed_joints"])
-        foot_indices = [
-            idx
-            for idx, name in enumerate(model.skeleton.bone_order_names)
-            if "foot" in name.lower() or "toe" in name.lower()
-        ]
-        checked = 0
-        held = 0
-        for contact_idx, joint_idx in enumerate(foot_indices[: contacts_arr.shape[1]]):
-            ys = posed[:, joint_idx, 1]
-            for frame in range(1, len(posed)):
-                if contacts_arr[frame, contact_idx] > 0.5 and contacts_arr[frame - 1, contact_idx] > 0.5:
-                    checked += 1
-                    if abs(ys[frame] - ys[frame - 1]) < 0.02:
-                        held += 1
-        return checked == 0 or (held / checked) >= 0.8
-
-    result = {
-        "frames": frames,
-        "fps": int(fps),
-        "model": resolved_model,
-        "surface_contact_verified": _surface_contact_verified(),
-        "postprocess": {
-            "contact_threshold": postprocess_kwargs.get("contact_threshold", 0.5) if use_postprocess else None,
-            "root_margin": postprocess_kwargs.get("root_margin", 0.04) if use_postprocess else None,
-        },
-        "segments": seg_bounds,
-        "continuity": _continuity_metrics(np.asarray(motion_dict["posed_joints"]), boundaries),
-        "boundary_gate": {
-            "threshold_m": args.max_boundary_jump,
-            "max_attempts": args.max_segment_attempts,
-            "worst_tail_jump_m": gate_worst_jump,
-            "exhausted": gate_exhausted,
-        },
-        # Measured, never asserted: horizontal error at every pinned frame.
-        "waypoints": measure_waypoints(
-            waypoints, np.asarray(motion_dict["posed_joints"]), model.skeleton
-        ),
-    }
-    print(json.dumps(result))
-
-
-if __name__ == "__main__":
-    main()