cozyclay 2.1.1 → 3.0.0

package/tools/bench/score.mjs

@@ -1,343 +0,0 @@
-#!/usr/bin/env node
-/**
- * Mocap scorer (#431): compare a predicted cskel27 motion npz against a T1
- * ground-truth render (tools/gt-render/render.mjs) by rendering the
- * prediction through the SAME Studio rig and the SAME camera.
- *
- *   node tools/bench/score.mjs --gt <T1 motion dir> --pred <motion.npz> --out <dir>
- *        [--box '{"min":[x,y,z],"max":[x,y,z]}'] [--pred-transform '<json>'] [--gt-npz <npz>]
- *
- * Ground truth is the rig as rendered (joints.json, mask/), so the prediction
- * is read the same way: render.mjs --no-video --camera <gt camera.json>.
- *
- * Placements
- *   raw      the prediction as the Studio places any take: frame 0 anchored on
- *            the subject, the take's own heading (plus --pred-transform, a scene
- *            calibration in the Studio's sceneCalibration semantics, if given).
- *            A constant offset baked into the npz is therefore invisible here;
- *            score.json reports it separately (npz.frame0RootOffsetM).
- *   aligned  raw moved by the least-squares yaw + ground-plane translation that
- *            maps its first scored frame's joints onto the GT's, re-rendered so
- *            the mask IoU is of a real render.
- *
- * Timelines: the Studio plays every take at 24 fps (retimed on load). Each GT
- * frame is paired with the nearest-in-time rendered pred frame; GT frames past
- * the prediction's end are not scored. Both are reported in score.json.
- *
- * Writes <out>/score.json, <out>/frames.csv and the renders in <out>/render-*.
- */
-import { existsSync, mkdirSync, readdirSync, readFileSync, writeFileSync } from "node:fs";
-import { execFileSync } from "node:child_process";
-import { basename, dirname, join, resolve } from "node:path";
-import { parseArgs } from "node:util";
-import { decodeMotionNpz } from "../../src/ardy/npz.js";
-import { mocapMetricsFromMotion } from "../ardy/mocap-metrics.mjs";
-import { installSignalCleanup, spawnOwned, waitForExit } from "../process-supervisor.mjs";
-import { startVite, terminateAll } from "../gt-render/browser.mjs";
-import { isIdentityTransform, parseTransform, transformTake } from "../gt-render/take-transform.mjs";
-import {
-	applyYawTranslation,
-	composeCalibration,
-	displacementXZ,
-	fitYawTranslation,
-	maskIoU,
-	mean,
-	meanJointError,
-	parseBox,
-	pathLengthXZ,
-	procrustesError,
-	ratio,
-	resampleToTimeline,
-	rootRelativeError,
-	trajectoryError,
-} from "./metrics.mjs";
-
-const ROOT = resolve(dirname(new URL(import.meta.url).pathname), "../..");
-const RENDER = join(ROOT, "tools/gt-render/render.mjs");
-const ROOT_JOINT = "Hips";
-
-const USAGE = `usage: node tools/bench/score.mjs --gt <T1 motion dir> --pred <motion.npz> --out <dir> [options]
-
-  --gt <dir>              T1 output for one motion (<dir>/mask/ + <dir>/<variant>/{camera,joints}.json),
-                          or a --no-video render dir holding camera.json/joints.json/mask/
-  --pred <npz>            predicted cskel27 motion npz
-  --out <dir>             score.json, frames.csv, render-raw/, render-aligned/ [, render-gt/]
-  --box <json>            '{"min":[x,y,z],"max":[x,y,z]}' scene box: skinned-vertex distance/penetration
-  --pred-transform <json> scene calibration for the raw placement (render.mjs --transform keys)
-  --gt-npz <npz>          GT source npz (default: meta.json source.path); used for physical
-                          metrics, the npz offset diagnostic and GT contact with --box
-  --url <origin>          reuse a running Vite dev server of THIS checkout
-  --port <n>              Vite port when starting one (default 5192)
-  --cdp-port <n>          headless Chrome DevTools port for the renders (default 9232)`;
-
-function parseOptions(argv) {
-	const { values } = parseArgs({
-		args: argv,
-		options: {
-			gt: { type: "string" },
-			pred: { type: "string" },
-			out: { type: "string" },
-			box: { type: "string" },
-			"pred-transform": { type: "string" },
-			"gt-npz": { type: "string" },
-			url: { type: "string" },
-			port: { type: "string", default: "5192" },
-			"cdp-port": { type: "string", default: "9232" },
-			help: { type: "boolean", short: "h", default: false },
-		},
-	});
-	if (values.help) {
-		console.log(USAGE);
-		process.exit(0);
-	}
-	const fail = (message) => {
-		console.error(`${message}\n\n${USAGE}`);
-		process.exit(2);
-	};
-	for (const key of ["gt", "pred", "out"]) if (!values[key]) fail(`--${key} is required`);
-	const pred = resolve(values.pred);
-	if (!existsSync(pred)) fail(`no such pred: ${pred}`);
-	let box = null;
-	let predTransform = null;
-	try {
-		if (values.box) box = parseBox(values.box);
-		predTransform = parseTransform(values["pred-transform"] ?? "{}");
-	} catch (error) {
-		fail(error.message);
-	}
-	const port = Number(values.port);
-	const cdpPort = Number(values["cdp-port"]);
-	if (!Number.isInteger(port) || !Number.isInteger(cdpPort)) fail("--port and --cdp-port must be integers");
-	return { gt: resolve(values.gt), pred, out: resolve(values.out), box, predTransform, gtNpz: values["gt-npz"] ? resolve(values["gt-npz"]) : null, url: values.url?.replace(/\/$/, "") ?? null, port, cdpPort };
-}
-
-/** camera.json, joints.json, meta.json and mask/ of a GT motion dir. */
-function loadGt(dir) {
-	const hasFiles = (d) => existsSync(join(d, "camera.json")) && existsSync(join(d, "joints.json"));
-	let files = hasFiles(dir) ? dir : null;
-	if (!files) {
-		const variants = readdirSync(dir, { withFileTypes: true }).filter((e) => e.isDirectory() && hasFiles(join(dir, e.name))).map((e) => e.name);
-		const pick = variants.includes("shaded") ? "shaded" : variants.sort()[0];
-		if (!pick) throw new Error(`${dir}: no camera.json/joints.json here or in a variant subdirectory`);
-		files = join(dir, pick);
-	}
-	const maskDir = [join(dir, "mask"), join(files, "mask"), join(dirname(files), "mask")].find((d) => existsSync(d));
-	if (!maskDir) throw new Error(`${dir}: no mask/ directory`);
-	const read = (name) => JSON.parse(readFileSync(join(files, name), "utf8"));
-	return { dir, files, cameraPath: join(files, "camera.json"), camera: read("camera.json"), joints: read("joints.json"), meta: existsSync(join(files, "meta.json")) ? read("meta.json") : null, sceneBox: existsSync(join(files, "scene.json")) ? read("scene.json").placement : null, maskDir };
-}
-
-async function render({ base, cdpPort, out, camera, transform, box, sceneBox, file, children }) {
-	const args = [RENDER, "--out", out, "--no-video", "--camera", camera, "--url", base, "--cdp-port", String(cdpPort)];
-	if (transform && !isIdentityTransform(transform)) args.push("--transform", JSON.stringify(transform));
-	if (box) args.push("--box", JSON.stringify(box));
-	if (sceneBox) args.push("--scene-box", JSON.stringify(sceneBox));
-	args.push(file);
-	const child = spawnOwned(process.execPath, args, { cwd: ROOT, stdio: ["ignore", "inherit", "inherit"] });
-	children.push(child);
-	const { code, signal } = await waitForExit(child);
-	children.splice(children.indexOf(child), 1);
-	if (code !== 0) throw new Error(`render.mjs ${basename(file)} failed (code ${code}, signal ${signal})`);
-	const dir = join(out, basename(file, ".npz"));
-	const read = (name) => JSON.parse(readFileSync(join(dir, name), "utf8"));
-	return { dir, joints: read("joints.json"), meta: read("meta.json"), contact: box ? read("contact.json") : null, maskDir: join(dir, "mask") };
-}
-
-/** All masks of a dir as one gray buffer (frames * width * height). */
-function readMasks(dir, frames, width, height) {
-	const buffer = execFileSync("ffmpeg", ["-hide_banner", "-loglevel", "error", "-start_number", "0", "-i", join(dir, "%06d.png"), "-frames:v", String(frames), "-f", "rawvideo", "-pix_fmt", "gray", "pipe:1"], { maxBuffer: frames * width * height + 1024 });
-	if (buffer.length !== frames * width * height) throw new Error(`${dir}: decoded ${buffer.length} mask bytes, expected ${frames} x ${width} x ${height}`);
-	return (i) => buffer.subarray(i * width * height, (i + 1) * width * height);
-}
-
-const rootOf = (joints) => joints.joints.findIndex((joint) => joint.cskel27 === ROOT_JOINT);
-
-async function decodeFile(path) {
-	return decodeMotionNpz(new Uint8Array(readFileSync(path)));
-}
-
-function physical(motion, path) {
-	const m = mocapMetricsFromMotion(motion, { path });
-	return { frames: m.frames, fps: m.fps, footSlideCmPerS: m.footSlideCmPerS, jitterMmPerS2: m.jitterMmPerS2, framesBelowFloor: m.framesBelowFloor, deepestBelowFloorCm: m.deepestBelowFloorCm, rootTravelM: m.rootTravelM };
-}
-
-function contactSummary(contact, indices) {
-	if (!contact) return null;
-	const frames = indices.map((i) => contact.frames[i]);
-	const minDistance = Math.min(...frames.map((f) => f.minDistanceM));
-	const maxPenetration = Math.max(...frames.map((f) => f.maxPenetrationM));
-	return { basis: contact.basis, minDistanceM: minDistance, maxPenetrationM: maxPenetration, framesPenetrating: frames.filter((f) => f.maxPenetrationM > 0).length, framesTouching: frames.filter((f) => f.signedDistanceM <= 0.01).length };
-}
-
-const r6 = (value) => (value === null || value === undefined || !Number.isFinite(value) ? value ?? null : Math.round(value * 1e6) / 1e6);
-
-async function main() {
-	const options = parseOptions(process.argv.slice(2));
-	const children = [];
-	const removeSignals = installSignalCleanup(() => children, () => process.exit(130));
-	mkdirSync(options.out, { recursive: true });
-	const gt = loadGt(options.gt);
-	const { width, height } = gt.camera;
-	const gtNpz = options.gtNpz ?? (gt.meta?.source?.path && existsSync(gt.meta.source.path) ? gt.meta.source.path : null);
-	try {
-		const base = options.url ?? await startVite({ root: ROOT, port: options.port, children });
-		const common = { base, cdpPort: options.cdpPort, camera: gt.cameraPath, box: options.box, sceneBox: gt.sceneBox, children };
-		console.log(`[score] raw render of ${options.pred}`);
-		const raw = await render({ ...common, out: join(options.out, "render-raw"), transform: options.predTransform, file: options.pred });
-
-		// Timeline pairing, GT frame -> nearest pred frame.
-		const timeline = resampleToTimeline({ gtFrames: gt.joints.frames, gtFps: gt.joints.fps, predFrames: raw.joints.frames, predFps: raw.joints.fps });
-		const pairs = timeline.predIndex.map((k, i) => [i, k]).filter(([, k]) => k !== null);
-		if (!pairs.length) throw new Error("no GT frame falls inside the prediction's timeline");
-		const [gt0, pr0] = pairs[0];
-
-		// First-frame rigid alignment (yaw + ground-plane translation).
-		const alignment = fitYawTranslation(raw.joints.world[pr0], gt.joints.world[gt0]);
-		const anchor = raw.meta.placement.anchor;
-		const alignedTransform = composeCalibration(options.predTransform, anchor, alignment);
-		console.log(`[score] first-frame alignment: yaw ${alignment.yawDeg.toFixed(3)} deg, t (${alignment.tx.toFixed(4)}, ${alignment.tz.toFixed(4)}) m; aligned render`);
-		const aligned = await render({ ...common, out: join(options.out, "render-aligned"), transform: parseTransform(JSON.stringify(alignedTransform)), file: options.pred });
-		let rigidCheck = 0;
-		for (let k = 0; k < raw.joints.frames; k += 1) {
-			raw.joints.world[k].forEach((p, j) => {
-				const q = applyYawTranslation(p, alignment);
-				const a = aligned.joints.world[k][j];
-				rigidCheck = Math.max(rigidCheck, Math.hypot(q[0] - a[0], q[1] - a[1], q[2] - a[2]));
-			});
-		}
-		const gtRender = options.box && gtNpz ? await render({ ...common, out: join(options.out, "render-gt"), transform: null, file: gtNpz }) : null;
-
-		// Masks.
-		const gtMask = readMasks(gt.maskDir, gt.joints.frames, width, height);
-		const rawMask = readMasks(raw.maskDir, raw.joints.frames, width, height);
-		const alignedMask = readMasks(aligned.maskDir, aligned.joints.frames, width, height);
-
-		const root = rootOf(gt.joints);
-		if (root < 0 || rootOf(raw.joints) !== root) throw new Error("GT and pred joints.json disagree on the root joint");
-		if (gt.joints.joints.map((j) => j.bone).join() !== raw.joints.joints.map((j) => j.bone).join()) throw new Error("GT and pred joints.json list different joints");
-
-		const rows = pairs.map(([i, k]) => {
-			const g = gt.joints.world[i];
-			const pr = raw.joints.world[k];
-			const pa = aligned.joints.world[k];
-			return {
-				gtFrame: i,
-				predFrame: k,
-				timeS: i / gt.joints.fps,
-				mpjpeRawM: rootRelativeError(pr, g, root),
-				mpjpeAlignedM: rootRelativeError(pa, g, root),
-				paMpjpeM: procrustesError(pr, g),
-				jointErrRawM: meanJointError(pr, g),
-				jointErrAlignedM: meanJointError(pa, g),
-				rootErrRawM: Math.hypot(pr[root][0] - g[root][0], pr[root][1] - g[root][1], pr[root][2] - g[root][2]),
-				rootErrAlignedM: Math.hypot(pa[root][0] - g[root][0], pa[root][1] - g[root][1], pa[root][2] - g[root][2]),
-				iouRaw: maskIoU(rawMask(k), gtMask(i)).iou,
-				iouAligned: maskIoU(alignedMask(k), gtMask(i)).iou,
-				contactPredRaw: raw.contact?.frames[k] ?? null,
-				contactPredAligned: aligned.contact?.frames[k] ?? null,
-				contactGt: gtRender?.contact?.frames[i] ?? null,
-			};
-		});
-		const gtRoot = pairs.map(([i]) => gt.joints.world[i][root]);
-		const rawRoot = pairs.map(([, k]) => raw.joints.world[k][root]);
-		const alignedRoot = pairs.map(([, k]) => aligned.joints.world[k][root]);
-		const ateAligned = trajectoryError(alignedRoot, gtRoot);
-		const ateRaw = trajectoryError(rawRoot, gtRoot);
-		const last = rows[rows.length - 1];
-
-		// npz-level facts: physical metrics (tools/ardy/mocap-metrics.mjs on the
-		// take as loaded, i.e. with the scale/offsetY/yaw baked in) and the
-		// frame-0 root offset the Studio's anchoring discards.
-		const predTake = await decodeFile(options.pred);
-		const predLoaded = isIdentityTransform(options.predTransform) ? predTake : transformTake(predTake, options.predTransform).motion;
-		const gtTake = gtNpz ? await decodeFile(gtNpz) : null;
-		const npzOffset = gtTake ? Math.hypot(predTake.posedJoints[0] - gtTake.posedJoints[0], predTake.posedJoints[2] - gtTake.posedJoints[2]) : null;
-
-		const score = {
-			tool: "tools/bench/score.mjs",
-			createdAt: new Date().toISOString(),
-			gt: { dir: gt.dir, files: gt.files, camera: gt.cameraPath, npz: gtNpz, frames: gt.joints.frames, fps: gt.joints.fps },
-			pred: { npz: options.pred, transform: options.predTransform, npzFrames: predTake.frames, npzFps: predTake.fps, timelineFrames: raw.joints.frames, timelineFps: raw.joints.fps },
-			timeline: {
-				mapping: "each GT frame -> nearest-in-time rendered pred frame (Studio timeline, pred retimed to 24 fps on load); GT frames past the pred's end are not scored",
-				scoredFrames: timeline.scored,
-				droppedGtFrames: timeline.dropped,
-				exact: timeline.exact,
-				frameCountMismatch: gt.joints.frames !== raw.joints.frames ? { gt: gt.joints.frames, pred: raw.joints.frames } : null,
-				fpsMismatch: gt.joints.fps !== raw.joints.fps || (gtTake && predTake.fps !== gtTake.fps) ? { gtTimeline: gt.joints.fps, predTimeline: raw.joints.fps, gtNpz: gtTake?.fps ?? null, predNpz: predTake.fps } : null,
-			},
-			joints: { count: gt.joints.joints.length, root: ROOT_JOINT, source: "rendered Studio rig bones (joints.json), scene metres" },
-			alignment: {
-				method: "least-squares yaw about +Y + XZ translation of the first scored frame's joints (pred raw -> GT); height untouched",
-				yawDeg: r6(alignment.yawDeg),
-				translationM: [r6(alignment.tx), 0, r6(alignment.tz)],
-				renderTransform: alignedTransform,
-				anchor,
-			},
-			pose: {
-				mpjpeRootRelativeRawM: r6(mean(rows.map((r) => r.mpjpeRawM))),
-				mpjpeRootRelativeAlignedM: r6(mean(rows.map((r) => r.mpjpeAlignedM))),
-				paMpjpeM: r6(mean(rows.map((r) => r.paMpjpeM))),
-			},
-			trajectory: {
-				root: ROOT_JOINT,
-				ateAlignedM: { rmse: r6(ateAligned.rmse), mean: r6(ateAligned.mean), max: r6(ateAligned.max), final: r6(ateAligned.final) },
-				rootErrorRawM: { rmse: r6(ateRaw.rmse), mean: r6(ateRaw.mean), max: r6(ateRaw.max), final: r6(ateRaw.final) },
-				pathLengthM: { gt: r6(pathLengthXZ(gtRoot)), pred: r6(pathLengthXZ(alignedRoot)) },
-				pathLengthRatio: r6(ratio(pathLengthXZ(alignedRoot), pathLengthXZ(gtRoot))),
-				displacementM: { gt: r6(displacementXZ(gtRoot)), pred: r6(displacementXZ(alignedRoot)) },
-				displacementRatio: r6(ratio(displacementXZ(alignedRoot), displacementXZ(gtRoot))),
-			},
-			endpoints: {
-				firstFrame: { gtFrame: rows[0].gtFrame, jointErrorRawM: r6(rows[0].jointErrRawM), jointErrorAlignedM: r6(rows[0].jointErrAlignedM) },
-				lastFrame: { gtFrame: last.gtFrame, jointErrorRawM: r6(last.jointErrRawM), jointErrorAlignedM: r6(last.jointErrAlignedM) },
-			},
-			physical: {
-				source: "tools/ardy/mocap-metrics.mjs on the npz posed_joints as loaded (native fps, npz units)",
-				pred: physical(predLoaded, options.pred),
-				gt: gtTake ? physical(gtTake, gtNpz) : null,
-			},
-			overlap: {
-				maskIoURawMean: r6(mean(rows.map((r) => r.iouRaw))),
-				maskIoUAlignedMean: r6(mean(rows.map((r) => r.iouAligned))),
-				maskIoUAlignedMin: r6(Math.min(...rows.map((r) => r.iouAligned))),
-			},
-			contact: options.box ? {
-				box: options.box,
-				basis: "skinned-vertices",
-				predRaw: contactSummary(raw.contact, pairs.map(([, k]) => k)),
-				predAligned: contactSummary(aligned.contact, pairs.map(([, k]) => k)),
-				gt: gtRender ? contactSummary(gtRender.contact, pairs.map(([i]) => i)) : null,
-				gtNote: gtRender ? "GT npz re-rendered through the GT camera with --box" : "no GT npz available (pass --gt-npz)",
-			} : null,
-			npz: {
-				frame0RootOffsetM: r6(npzOffset),
-				note: "XZ distance between the pred and GT npz frame-0 roots (npz units). The Studio anchors every take's frame 0 on the subject, so this offset does not reach the renders above.",
-			},
-			checks: {
-				alignedRenderVsRigidMaxM: r6(rigidCheck),
-			},
-			files: { csv: "frames.csv", renders: ["render-raw", "render-aligned", ...(gtRender ? ["render-gt"] : [])] },
-		};
-		writeFileSync(join(options.out, "score.json"), `${JSON.stringify(score, null, "\t")}\n`);
-		const header = ["gt_frame", "pred_frame", "time_s", "mpjpe_rr_raw_m", "mpjpe_rr_aligned_m", "pa_mpjpe_m", "joint_err_raw_m", "joint_err_aligned_m", "root_err_raw_m", "root_err_aligned_m", "iou_raw", "iou_aligned"];
-		if (options.box) header.push("box_signed_pred_raw_m", "box_signed_pred_aligned_m", "box_signed_gt_m");
-		const csv = [header.join(",")];
-		for (const r of rows) {
-			const cells = [r.gtFrame, r.predFrame, r.timeS.toFixed(4), r.mpjpeRawM, r.mpjpeAlignedM, r.paMpjpeM, r.jointErrRawM, r.jointErrAlignedM, r.rootErrRawM, r.rootErrAlignedM, r.iouRaw, r.iouAligned].map((v) => (typeof v === "number" && !Number.isInteger(v) ? v.toFixed(6) : String(v)));
-			if (options.box) cells.push(r.contactPredRaw?.signedDistanceM ?? "", r.contactPredAligned?.signedDistanceM ?? "", r.contactGt?.signedDistanceM ?? "");
-			csv.push(cells.join(","));
-		}
-		writeFileSync(join(options.out, "frames.csv"), `${csv.join("\n")}\n`);
-		console.log(`[score] MPJPE rr raw ${(score.pose.mpjpeRootRelativeRawM * 1000).toFixed(1)} mm, aligned ${(score.pose.mpjpeRootRelativeAlignedM * 1000).toFixed(1)} mm, PA ${(score.pose.paMpjpeM * 1000).toFixed(1)} mm; ATE ${score.trajectory.ateAlignedM.rmse.toFixed(4)} m; IoU raw ${score.overlap.maskIoURawMean.toFixed(4)} aligned ${score.overlap.maskIoUAlignedMean.toFixed(4)}`);
-		console.log(`[score] wrote ${join(options.out, "score.json")}`);
-	} finally {
-		removeSignals();
-		await terminateAll(children);
-	}
-}
-
-main().catch((error) => {
-	console.error(error?.stack || String(error));
-	process.exitCode = 1;
-});

package/tools/bench/summarize.mjs

@@ -1,86 +0,0 @@
-#!/usr/bin/env node
-/**
- * Collect tools/bench/score.mjs results into one table (#431).
- *
- *   node tools/bench/summarize.mjs [--md <file>] [--csv <file>] <score dir ...>
- *
- * Every argument is a score.mjs --out directory (holding score.json). The
- * markdown table is printed to stdout and, with --md, written to that file;
- * --csv writes the same columns as CSV (full precision).
- */
-import { existsSync, readFileSync, writeFileSync } from "node:fs";
-import { basename, dirname, join, resolve } from "node:path";
-import { parseArgs } from "node:util";
-
-const mm = (m) => (m === null || m === undefined ? null : m * 1000);
-const cm = (m) => (m === null || m === undefined ? null : m * 100);
-const resultFor = (dir) => {
-	const file = join(dirname(resolve(dir)), "result.json");
-	return existsSync(file) ? JSON.parse(readFileSync(file, "utf8")) : null;
-};
-
-/** [header, unit note, value(score), markdown digits] */
-const COLUMNS = [
-	["case", "", (s, dir) => basename(dir), null],
-	["frames", "scored/GT", (s) => `${s.timeline.scoredFrames}/${s.gt.frames}`, null],
-	["MPJPE raw", "mm, root-relative", (s) => mm(s.pose.mpjpeRootRelativeRawM), 1],
-	["MPJPE aligned", "mm, root-relative", (s) => mm(s.pose.mpjpeRootRelativeAlignedM), 1],
-	["PA-MPJPE", "mm", (s) => mm(s.pose.paMpjpeM), 1],
-	["align yaw", "deg", (s) => s.alignment.yawDeg, 2],
-	["align shift", "m (XZ)", (s) => Math.hypot(s.alignment.translationM[0], s.alignment.translationM[2]), 3],
-	["root err raw", "m RMSE", (s) => s.trajectory.rootErrorRawM.rmse, 3],
-	["ATE aligned", "m RMSE", (s) => s.trajectory.ateAlignedM.rmse, 3],
-	["path ratio", "pred/GT", (s) => s.trajectory.pathLengthRatio, 3],
-	["disp ratio", "pred/GT", (s) => s.trajectory.displacementRatio, 3],
-	["first err aligned", "m", (s) => s.endpoints.firstFrame.jointErrorAlignedM, 3],
-	["last err raw", "m", (s) => s.endpoints.lastFrame.jointErrorRawM, 3],
-	["last err aligned", "m", (s) => s.endpoints.lastFrame.jointErrorAlignedM, 3],
-	["IoU raw", "mean", (s) => s.overlap.maskIoURawMean, 4],
-	["IoU aligned", "mean", (s) => s.overlap.maskIoUAlignedMean, 4],
-	["foot slide pred", "cm/s", (s) => s.physical.pred.footSlideCmPerS, 2],
-	["foot slide GT", "cm/s", (s) => s.physical.gt?.footSlideCmPerS, 2],
-	["jitter pred", "mm/s^2", (s) => s.physical.pred.jitterMmPerS2, 0],
-	["jitter GT", "mm/s^2", (s) => s.physical.gt?.jitterMmPerS2, 0],
-	["below floor pred", "frames", (s) => s.physical.pred.framesBelowFloor, null],
-	["box min dist pred", "cm, aligned", (s) => cm(s.contact?.predAligned?.minDistanceM), 1],
-	["box min dist GT", "cm", (s) => cm(s.contact?.gt?.minDistanceM), 1],
-	["box penetration pred", "cm, aligned", (s) => cm(s.contact?.predAligned?.maxPenetrationM), 1],
-	["box penetration GT", "cm", (s) => cm(s.contact?.gt?.maxPenetrationM), 1],
-	["npz frame-0 offset", "m", (s) => s.npz.frame0RootOffsetM, 3],
-	["runtimeS", "s", (s, dir) => resultFor(dir)?.runtimeS, 2],
-	["peakVramMB", "MB", (s, dir) => resultFor(dir)?.peakVramMB, 0],
-	["LR switches", "count", (s, dir) => resultFor(dir)?.lrSwitches, null],
-	["occluded frames", "frames", (s, dir) => resultFor(dir)?.occludedFrames, null],
-];
-
-function main() {
-	const { values, positionals } = parseArgs({ args: process.argv.slice(2), allowPositionals: true, options: { md: { type: "string" }, csv: { type: "string" }, help: { type: "boolean", short: "h", default: false } } });
-	if (values.help || !positionals.length) {
-		console.log("usage: node tools/bench/summarize.mjs [--md <file>] [--csv <file>] <score dir ...>");
-		process.exit(values.help ? 0 : 2);
-	}
-	const rows = positionals.map((dir) => {
-		const file = join(resolve(dir), "score.json");
-		if (!existsSync(file)) throw new Error(`${dir}: no score.json`);
-		const score = JSON.parse(readFileSync(file, "utf8"));
-		return COLUMNS.map(([, , value]) => value(score, resolve(dir)));
-	});
-	const show = (value, digits) => (value === null || value === undefined ? "-" : typeof value === "number" && digits !== null ? value.toFixed(digits) : String(value));
-	const md = [
-		`| ${COLUMNS.map(([name, unit]) => (unit ? `${name} (${unit})` : name)).join(" | ")} |`,
-		`|${COLUMNS.map((_, i) => (i === 0 ? " --- " : " ---: ")).join("|")}|`,
-		...rows.map((row) => `| ${row.map((value, i) => show(value, COLUMNS[i][3])).join(" | ")} |`),
-	].join("\n");
-	console.log(md);
-	if (values.md) writeFileSync(values.md, `${md}\n`);
-	if (values.csv) {
-		const quote = (v) => {
-			const text = v === null || v === undefined ? "" : String(v);
-			return /[",\n]/.test(text) ? `"${text.replace(/"/g, '""')}"` : text;
-		};
-		const csv = [COLUMNS.map(([name, unit]) => quote(unit ? `${name} (${unit})` : name)).join(","), ...rows.map((row) => row.map(quote).join(","))];
-		writeFileSync(values.csv, `${csv.join("\n")}\n`);
-	}
-}
-
-main();

package/tools/demo-worker/README.md

@@ -1,137 +0,0 @@
-# CozyClay demo GPU worker
-
-The demo worker is an outbound-only poller. It never calls `listen()` and does
-not expose an HTTP, TCP, or WebSocket service. It claims one job, runs the
-existing local ARDY runner, uploads the resulting `.npz`, and renews the
-job-bound lease every 60 seconds while generation is running.
-
-`index.mjs` owns polling/signals, `api-client.mjs` owns signed fetches,
-`generate.mjs` supervises the local runner, `sign-core.mjs` is the pure HMAC
-module, and `sign.mjs` is its curl-oriented CLI wrapper. The poller waits for
-the local generation worker's warm ping before every claim; an idle/cold worker
-is re-warmed before polling resumes.
-
-## Install and configure
-
-Install CozyClay and the local ARDY environment on the GPU box, then create an
-environment file outside the repository:
-
-```sh
-mkdir -p ~/.cozyclay
-umask 077
-cat >~/.cozyclay/demo-worker.env <<'EOF'
-CC_DEMO_API_BASE=https://api.cozyclay.org
-CC_WORKER_ID=gpu-box-01
-CC_WORKER_SECRET=replace-with-the-value-from-wrangler-secret
-EOF
-chmod 600 ~/.cozyclay/demo-worker.env
-```
-
-The three values above are read from the environment only. Do not commit the
-file, put a secret in a command argument, or print request headers. Worker
-logs report job ids and status, never `CC_WORKER_SECRET`, signatures, or lease
-tokens.
-
-Run it directly:
-
-```sh
-set -a
-. ~/.cozyclay/demo-worker.env
-set +a
-node tools/demo-worker/index.mjs
-# equivalent package script:
-npm run demo:worker
-```
-
-Run the signing helper for a curl request (the secret is still taken only from
-the environment):
-
-```sh
-CC_WORKER_SECRET=... CC_WORKER_ID=gpu-box-01 \
-  node tools/demo-worker/sign.mjs --method GET --path /worker/next
-```
-
-## launchd (macOS)
-
-Create `~/Library/LaunchAgents/org.cozyclay.demo-worker.plist` with paths
-matching the installation:
-
-```xml
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN"
-  "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
-<plist version="1.0"><dict>
-  <key>Label</key><string>org.cozyclay.demo-worker</string>
-  <key>ProgramArguments</key><array>
-    <string>/usr/local/bin/node</string>
-    <string>/path/to/CozyClay/tools/demo-worker/index.mjs</string>
-  </array>
-  <key>EnvironmentVariables</key><dict>
-    <key>CC_DEMO_API_BASE</key><string>https://api.cozyclay.org</string>
-    <key>CC_WORKER_ID</key><string>gpu-box-01</string>
-    <key>CC_WORKER_SECRET</key><string>read-from-a-protected-generated-plist</string>
-  </dict>
-  <key>RunAtLoad</key><true/>
-  <key>KeepAlive</key><true/>
-  <key>StandardOutPath</key><string>/var/tmp/cozyclay-demo-worker.log</string>
-  <key>StandardErrorPath</key><string>/var/tmp/cozyclay-demo-worker.err</string>
-</dict></plist>
-```
-
-Prefer a generated plist readable only by the service account; do not leave
-the real secret in a world-readable file. Load it with:
-
-```sh
-chmod 600 ~/Library/LaunchAgents/org.cozyclay.demo-worker.plist
-launchctl bootstrap "gui/$(id -u)" ~/Library/LaunchAgents/org.cozyclay.demo-worker.plist
-```
-
-## systemd (Linux)
-
-Store the env file at `/etc/cozyclay/demo-worker.env` with mode `0600`, then
-install `/etc/systemd/system/cozyclay-demo-worker.service`:
-
-```ini
-[Unit]
-Description=CozyClay outbound demo GPU worker
-After=network-online.target
-Wants=network-online.target
-
-[Service]
-Type=simple
-WorkingDirectory=/opt/CozyClay
-EnvironmentFile=/etc/cozyclay/demo-worker.env
-ExecStart=/usr/bin/node /opt/CozyClay/tools/demo-worker/index.mjs
-Restart=always
-RestartSec=5
-NoNewPrivileges=true
-
-[Install]
-WantedBy=multi-user.target
-```
-
-```sh
-systemctl daemon-reload
-systemctl enable --now cozyclay-demo-worker
-```
-
-## Verify inbound surface
-
-Capture listeners before and after starting the worker. The diff should be
-empty; an API connection in `ESTABLISHED` state is outbound and is not a
-listener:
-
-```sh
-lsof -nP -iTCP -sTCP:LISTEN | sort > /tmp/cc-listen-before.txt
-set -a; . ~/.cozyclay/demo-worker.env; set +a
-npm run demo:worker &
-worker_pid=$!
-sleep 5
-lsof -nP -iTCP -sTCP:LISTEN | sort > /tmp/cc-listen-after.txt
-diff /tmp/cc-listen-before.txt /tmp/cc-listen-after.txt
-kill -TERM "$worker_pid"
-wait "$worker_pid" || true
-```
-
-If the diff is non-empty, stop the process and investigate before deployment.
-