cozyclay 2.1.1 → 3.0.0

package/tools/kimodo/local-output.mjs

@@ -1,265 +0,0 @@
-/**
- * Native local SOMA30 float buffers -> Kimodo's SOMA77 NPZ, without Python.
- *
- * Verified source pins (the data below is extracted, not an invented rig):
- * localai-org/kimodo.cpp@568b0253f346fbe369587c7dae73d58594a14c90
- *   src/generate.cpp:15-20,60-65: native-endian float bytes and output names.
- *   src/motion_decode.cpp:10-12: XYZ roots [T,3], local XYZW [T,J,4],
- *     local = transpose(parentGlobal) * global; row-major matrices.
- *   src/skeleton.hpp:45-67: SOMA30 joint names, hierarchy and offsets.
- *   scripts/convert_motion_to_gguf.py:28-29,240: SOMA models use 30 joints, 30 FPS.
- * nv-tlabs/kimodo@1aece8c124d73d255ceff5086d983b844c9f4e94
- *   kimodo/skeleton/definitions.py:85-164: SOMA77 names/parents (same order as
- *     SOMA77_JOINTS); :208-237: SOMA30 order; :246-277: canonical expansion:
- *     seed relaxed-hand local matrices, overwrite the named 30 joints, run FK.
- *   kimodo/skeleton/base.py:70-73: load neutral positions from joints.p.
- *   kimodo/skeleton/kinematics.py:48-72,157-183: subtract neutral root, use
- *     child-minus-parent offsets; global = parentGlobal * local.
- *   kimodo/assets/skeletons/somaskel77/joints.p (77x3 contiguous LE float64):
- *     SHA256 dc5fd8e39e0ff312f5d0f536a87ac22ac58445e13443fcb8ab54e6817cb97ce7
- *   kimodo/assets/skeletons/somaskel77/relaxed_hands_rest_pose.npy (77x3x3 C-order <f4):
- *     SHA256 64a3828e0d1ef1f1de8228c74eba8040c0810d898169f1892d8997a213b2b64c
- *
- * NVIDIA skeleton data/expansion: Copyright (c) 2026 NVIDIA CORPORATION &
- * AFFILIATES. All rights reserved. SPDX-License-Identifier: Apache-2.0
- *
- * cpp does NOT emit 77 joints. Missing fingers/head/toe ends follow NVIDIA's
- * relaxed rest pose, not identity. The same two-file contract is usable by
- * the MLX wrapper. Files carry no header, FPS, skeleton ID or byte-order tag:
- * only SOMA30 at 30 FPS on little-endian local hosts is supported. No claim
- * of big-endian portability, arbitrary model support or inferred metadata.
- */
-import { readFileSync } from "node:fs";
-import { endianness } from "node:os";
-import { join } from "node:path";
-import { writeNpz } from "../ardy/npz.mjs";
-
-// Generated from the pinned named hierarchies. Root is Hips, not BVH's extra Root.
-const PARENTS = [-1, 0, 1, 2, 3, 4, 5, 6, 6, 6, 6, 3, 11, 12, 13, 14, 15, 16, 17, 14, 19, 20, 21, 22, 14, 24, 25, 26, 27, 14, 29, 30, 31, 32, 14, 34, 35, 36, 37, 3, 39, 40, 41, 42, 43, 44, 45, 42, 47, 48, 49, 50, 42, 52, 53, 54, 55, 42, 57, 58, 59, 60, 42, 62, 63, 64, 65, 0, 67, 68, 69, 70, 0, 72, 73, 74, 75];
-const SOMA30_TO_77 = [0, 1, 2, 3, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 18, 28, 39, 40, 41, 42, 46, 56, 67, 68, 69, 70, 72, 73, 74, 75];
-// Parent-relative offsets in metres, extracted from the float64 neutral joints.
-const OFFSETS = [
-	[0, 0, 0], // Hips
-	[-0.00013727, 0.050037625614476805, -0.0005372666896067667], // Spine1
-	[-1.8657410332130735e-09, 0.07125301392692317, -0.00029824854593102964], // Spine2
-	[-5.7518839849206565e-09, 0.07550063051507273, -0.00815970991996409], // Chest
-	[-0.0018167651690788303, 0.2631129525790038, -0.005533482916249482], // Neck1
-	[-2.8510223053918038e-08, 0.07709396639418398, 0.023025854617019993], // Neck2
-	[-4.597543699653289e-08, 0.06128915946413971, 0.01953708612715343], // Head
-	[3.5979336415923983e-05, 0.1606540240501252, -0.01835379253397452], // HeadEnd
-	[2.6368790127171077e-05, 0.004755922495750409, 0.03094940615654751], // Jaw
-	[0.03206380787719566, 0.053802051250082306, 0.0758688307547003], // LeftEye
-	[-0.032224401727763405, 0.053618690013014, 0.07558233588519858], // RightEye
-	[0.016216517548183828, 0.2323716406639265, 0.05113413235915687], // LeftShoulder
-	[0.1491984571395857, 2.1939787320235382e-08, -0.05502325756719371], // LeftArm
-	[0.28739307789898705, 2.5026838934572027e-09, -2.5878773664946356e-05], // LeftForeArm
-	[0.27093981200040373, -7.066251084264508e-09, 2.6089724817620827e-05], // LeftHand
-	[0.022764819157403915, -0.013920452593413402, 0.031914129923056804], // LeftHandThumb1
-	[0.040128365833829394, -0.018281266164464516, 0.01641654386703534], // LeftHandThumb2
-	[0.027985150871132403, 6.679267694487123e-10, -2.822743635361169e-08], // LeftHandThumb3
-	[0.03180793099011725, -3.924084146511575e-08, 4.201470514553218e-08], // LeftHandThumbEnd
-	[0.03247554774471517, -0.00531997799010181, 0.02296169245930663], // LeftHandIndex1
-	[0.06364578329248527, 0.00012059681205822681, 0.0017859956706151887], // LeftHandIndex2
-	[0.03662364008467556, 6.022104481751001e-10, 2.228786582375575e-09], // LeftHandIndex3
-	[0.023292420053853458, 4.038300810416118e-08, 4.1417497542717285e-08], // LeftHandIndex4
-	[0.02759615203779331, -0.0018053748082757504, -0.0011302401430646723], // LeftHandIndexEnd
-	[0.031634951248573295, 0.0024098051848970292, 0.01000332261599311], // LeftHandMiddle1
-	[0.061907798628576205, -0.0025927821616844593, -0.010025481658581756], // LeftHandMiddle2
-	[0.043565201128868414, -3.9144125996148915e-08, -7.213858317992039e-09], // LeftHandMiddle3
-	[0.029968770776552467, -7.941124641197561e-08, 1.916610021732157e-09], // LeftHandMiddle4
-	[0.02304287359856616, -0.002945688337905261, -0.0003174060327313724], // LeftHandMiddleEnd
-	[0.028826430776087486, -0.0005365196119661575, -0.003225431726185689], // LeftHandRing1
-	[0.058545409922326375, -0.004862024489686589, -0.013738406597130912], // LeftHandRing2
-	[0.04350578232071611, 5.056851604123835e-10, 3.2482461696098364e-08], // LeftHandRing3
-	[0.026513211414290416, 7.030818460762589e-08, 2.151285180551632e-08], // LeftHandRing4
-	[0.019361051692715625, 0.0007768686737038566, -7.067837662876053e-07], // LeftHandRingEnd
-	[0.028654998325629344, -0.0031000517019837415, -0.016003778622878377], // LeftHandPinky1
-	[0.05087848631839764, -0.01331141349718662, -0.017712301515047175], // LeftHandPinky2
-	[0.030709740795539675, 4.051295432461188e-08, 2.7507847666363716e-09], // LeftHandPinky3
-	[0.015496720401442454, 2.5884316912083705e-10, 1.1388101253673177e-08], // LeftHandPinky4
-	[0.019448930482861893, -0.0015780209549762225, 0.0005721854955899469], // LeftHandPinkyEnd
-	[-0.013801182399705653, 0.23180308551238452, 0.05214157857767408], // RightShoulder
-	[-0.15037196207493894, 1.1738790139936839e-07, -0.05545604370327074], // RightArm
-	[-0.28736639322161683, 1.8762808196015612e-08, -2.5970935871087383e-05], // RightForeArm
-	[-0.27133619762098016, -1.1676740130361907e-09, 2.612693678507097e-05], // RightHand
-	[-0.022740317711105185, -0.013839883504850936, 0.03163127194989407], // RightHandThumb1
-	[-0.04011429382658016, -0.018274664649153394, 0.016409142225213523], // RightHandThumb2
-	[-0.027949350772652704, -3.841258033876471e-08, -3.175294090856928e-08], // RightHandThumb3
-	[-0.03183852088016581, 4.180831825184583e-08, 8.003133704359566e-09], // RightHandThumbEnd
-	[-0.03253265793925497, -0.0052005725886324905, 0.022828661618524614], // RightHandIndex1
-	[-0.06341917085810977, 0.00012470760922905777, 0.0017826574900657675], // RightHandIndex2
-	[-0.0365487107051663, -7.864077716801532e-08, -1.440948733597014e-09], // RightHandIndex3
-	[-0.023275860449081365, 8.656209637969425e-10, 9.08233731451713e-09], // RightHandIndex4
-	[-0.0276178977412862, -0.0018065562762186183, -0.001130778192748809], // RightHandIndexEnd
-	[-0.03168105788962827, 0.002465934369192846, 0.010010303813739617], // RightHandMiddle1
-	[-0.06180827819827295, -0.0025883551554772843, -0.010008952130262615], // RightHandMiddle2
-	[-0.04348901102655145, 1.4588690810946048e-09, -1.8813487434599097e-09], // RightHandMiddle3
-	[-0.030002400708201815, -3.8993554107857875e-08, -2.1297912910708816e-08], // RightHandMiddle4
-	[-0.02302519694961802, -0.002943697103729992, -0.00031706280391993746], // RightHandMiddleEnd
-	[-0.028856900385819784, -0.0006795227401513171, -0.0030885825502642364], // RightHandRing1
-	[-0.05854198602585736, -0.00486130167768084, -0.013737309211220189], // RightHandRing2
-	[-0.043388100336349544, -3.8646553124355165e-08, -1.933097331513478e-09], // RightHandRing3
-	[-0.02654903020581123, -3.917183399870794e-08, 3.8817149244918525e-08], // RightHandRing4
-	[-0.019335684270237574, 0.0007752651056781024, -5.246026544766802e-07], // RightHandRingEnd
-	[-0.028664251697099297, -0.003427963989546201, -0.015841448874052068], // RightHandPinky1
-	[-0.05091371014443247, -0.013320554140404506, -0.01772384508985521], // RightHandPinky2
-	[-0.03062664112380975, -3.8360240428580994e-08, 8.515967264699498e-09], // RightHandPinky3
-	[-0.015465290567481138, 4.0828027181305515e-08, -2.0749384023466266e-08], // RightHandPinky4
-	[-0.019451189105096578, -0.0015771778137836368, 0.0005721110096287285], // RightHandPinkyEnd
-	[0.10043214000000002, -0.08434526713056027, 0.025956547303516146], // LeftLeg
-	[-9.999999994736442e-09, -0.43221753717004235, -0.008029128048028446], // LeftShin
-	[9.999999994736442e-09, -0.4215509590627605, -0.03481522975357983], // LeftFoot
-	[0.0, -0.05059472058410097, 0.13231529381811288], // LeftToeBase
-	[-9.60661200642976e-05, -0.01647619127208577, 0.0651301714815308], // LeftToeEnd
-	[-0.10047278, -0.08295259954688608, 0.02620316950258045], // RightLeg
-	[9.999999994736442e-09, -0.4336220589749483, -0.008055558278834429], // RightShin
-	[1.9999999989472883e-08, -0.421173943265713, -0.03478397847408046], // RightFoot
-	[-3.429076689265287e-09, -0.05079609316564615, 0.13284195550713543], // RightToeBase
-	[9.531671626031302e-05, -0.016343780682348985, 0.06460591248071407], // RightToeEnd
-];
-// Only joints NOT overwritten by the 30-joint output. Preserve the asset's
-// float32 matrices verbatim, including its small near-identity roundoff.
-const RELAXED_LOCALS = new Map([
-	[7, [1.0, -1.3427583098746254e-06, -3.9264031670427357e-07, 1.3427583098746254e-06, 1.000000238418579, -1.6478944075970503e-07, 3.9264048723453016e-07, 4.464928693437287e-08, 1.000000238418579]], // HeadEnd
-	[15, [0.980038046836853, 0.10456321388483047, 0.16909213364124298, -0.10096757858991623, 0.9944452047348022, -0.02974773570895195, -0.17126333713531494, 0.012080984190106392, 0.985151469707489]], // LeftHandThumb1
-	[16, [0.9818174839019775, 0.18747958540916443, -0.029765967279672623, -0.18972326815128326, 0.974337637424469, -0.12112738192081451, 0.006293131969869137, 0.12457224726676941, 0.9921908378601074]], // LeftHandThumb2
-	[17, [0.9882956147193909, 1.1954236356359615e-07, 0.15255138278007507, 1.2170265506483702e-07, 1.0000003576278687, 1.1255096854512203e-09, -0.15255147218704224, -6.156434473325589e-09, 0.9882957935333252]], // LeftHandThumb3
-	[19, [0.9985320568084717, 0.030242079868912697, 0.04493670165538788, -0.03214818984270096, 0.9985869526863098, 0.04232209548354149, -0.043593283742666245, -0.043704744428396225, 0.9980931878089905]], // LeftHandIndex1
-	[20, [0.9810277223587036, 0.18235456943511963, 0.06581452488899231, -0.1758711338043213, 0.979948878288269, -0.09364926069974899, -0.08157219737768173, 0.08029749989509583, 0.9934277534484863]], // LeftHandIndex2
-	[21, [0.9337304830551147, 0.35797688364982605, -2.539580989946444e-08, -0.3579767346382141, 0.9337307810783386, -8.669996987009654e-08, 1.5877981596190693e-08, -4.312953549856502e-08, 1.000000238418579]], // LeftHandIndex3
-	[22, [0.9313047528266907, 0.3588401675224304, 0.06249217316508293, -0.3617202639579773, 0.9312959313392639, 0.04297603294253349, -0.04277715086936951, -0.0626286044716835, 0.9971199631690979]], // LeftHandIndex4
-	[23, [1.0, 7.989044803480283e-08, -1.0939109529317648e-07, 8.867302625503726e-08, 1.0000003576278687, -6.046956002592196e-08, 9.944098167125048e-08, -7.377190769375375e-08, 1.000000238418579]], // LeftHandIndexEnd
-	[24, [0.9989528059959412, 0.02326994203031063, 0.03939470648765564, -0.023762758821249008, 0.9996448159217834, 0.012091930024325848, -0.039099305868148804, -0.013015532866120338, 0.999150812625885]], // LeftHandMiddle1
-	[25, [0.9314213991165161, 0.3638163208961487, -0.009597794152796268, -0.3637995421886444, 0.929991602897644, -0.05259339511394501, -0.010208404622972012, 0.05247814953327179, 0.9985701441764832]], // LeftHandMiddle2
-	[26, [0.9710460305213928, 0.23889276385307312, -6.942111774321802e-09, -0.23889261484146118, 0.9710462689399719, -8.680182617126775e-08, 3.955703675728728e-08, -5.6245866630888486e-08, 1.000000238418579]], // LeftHandMiddle3
-	[27, [0.9143363833427429, 0.4049510657787323, 0.0019584561232477427, -0.40493232011795044, 0.9142212867736816, 0.015156357549130917, 0.004347181413322687, -0.014651183970272541, 0.9998834729194641]], // LeftHandMiddle4
-	[29, [0.9995572566986084, 0.005557473283261061, 0.029233748093247414, -0.005129389464855194, 0.9998792409896851, -0.01469280943274498, -0.029311854392290115, 0.014536227099597454, 0.9994648098945618]], // LeftHandRing1
-	[30, [0.9693662524223328, 0.2455878108739853, -0.003998155239969492, -0.24561482667922974, 0.9691089391708374, -0.022401701658964157, -0.0016269013285636902, 0.02269735187292099, 0.99974125623703]], // LeftHandRing2
-	[31, [0.8269525766372681, 0.5621064901351929, -0.013640386052429676, -0.562249481678009, 0.8268929719924927, -0.01113723125308752, 0.005018884781748056, 0.016879167407751083, 0.9998450875282288]], // LeftHandRing3
-	[32, [0.9393614530563354, 0.34282228350639343, 0.00856061838567257, -0.34251558780670166, 0.9391621947288513, -0.025651078671216965, -0.01683351956307888, 0.02116338536143303, 0.9996344447135925]], // LeftHandRing4
-	[33, [1.0000001192092896, 7.095973586501714e-08, 1.34568995946438e-08, 7.095973586501714e-08, 1.0000003576278687, -5.411286352341449e-08, 1.34568995946438e-08, -5.411286352341449e-08, 1.0000001192092896]], // LeftHandRingEnd
-	[34, [0.9981033802032471, 0.06012800335884094, 0.013206100091338158, -0.060004234313964844, 0.9981526136398315, -0.009565235115587711, -0.013756813481450081, 0.00875452347099781, 0.99986732006073]], // LeftHandPinky1
-	[35, [0.960137665271759, 0.27127575874328613, -0.06741887331008911, -0.2740127742290497, 0.9610827565193176, -0.03517961874604225, 0.055251795798540115, 0.05225076898932457, 0.9971046447753906]], // LeftHandPinky2
-	[36, [0.993886411190033, 0.1104077696800232, 2.7541052105561903e-08, -0.11040759831666946, 0.9938867092132568, -7.914825062016462e-08, 4.094326300219109e-08, -5.936898617164843e-08, 1.0000003576278687]], // LeftHandPinky3
-	[37, [0.9484628438949585, 0.3047541081905365, 0.08685233443975449, -0.3104344606399536, 0.948600172996521, 0.06155230477452278, -0.06362971663475037, -0.0853421539068222, 0.9943181872367859]], // LeftHandPinky4
-	[38, [1.0000001192092896, 1.60153916795025e-07, 3.714115592856615e-08, 1.860044918089443e-08, 1.000000238418579, -3.587032182394978e-08, 3.5881356552636134e-08, -1.0167633490709704e-07, 1.0000003576278687]], // LeftHandPinkyEnd
-	[43, [0.9950336217880249, -0.03400981053709984, -0.09354962408542633, 0.03898259624838829, 0.9978938698768616, 0.05185317248106003, 0.09158914536237717, -0.05524258688092232, 0.9942634701728821]], // RightHandThumb1
-	[44, [0.9689887166023254, -0.2465875893831253, 0.01598574034869671, 0.246683731675148, 0.9615330696105957, -0.12083777785301208, 0.014426319859921932, 0.12103372812271118, 0.992543637752533]], // RightHandThumb2
-	[45, [0.9755706787109375, -6.032398136568418e-09, -0.21968600153923035, -1.4764328426508655e-08, 1.000000238418579, -5.104336864292236e-08, 0.21968604624271393, -7.599813045544579e-08, 0.9755706787109375]], // RightHandThumb3
-	[47, [0.9989951848983765, -0.027317475527524948, -0.03553270548582077, 0.029050273820757866, 0.9983665943145752, 0.04920250177383423, 0.03413066640496254, -0.05018545687198639, 0.9981566667556763]], // RightHandIndex1
-	[48, [0.9939585328102112, -0.0884183943271637, -0.06502870470285416, 0.08220367133617401, 0.9922928810119629, -0.09272538870573044, 0.07272621244192123, 0.08681940287351608, 0.99356609582901]], // RightHandIndex2
-	[49, [0.9815588593482971, -0.1911604106426239, 6.040594513478936e-08, 0.19116035103797913, 0.9815590977668762, -7.543771829432444e-08, 3.969322648345042e-08, -9.051092320078169e-08, 1.000000238418579]], // RightHandIndex3
-	[50, [0.975672721862793, -0.20632407069206238, -0.07411642372608185, 0.20932693779468536, 0.9772104024887085, 0.0352504663169384, 0.06515438854694366, -0.049907661974430084, 0.9966265559196472]], // RightHandIndex4
-	[51, [1.0, -3.128822712028523e-08, 5.321204454844519e-08, -3.128822712028523e-08, 1.000000238418579, -8.74741346024166e-08, 5.321204454844519e-08, -8.74741346024166e-08, 1.0000001192092896]], // RightHandIndexEnd
-	[52, [0.9991795420646667, -0.021660208702087402, -0.03422252833843231, 0.02253466658294201, 0.999424159526825, 0.025378331542015076, 0.03365320712327957, -0.026128867641091347, 0.9990921020507812]], // RightHandMiddle1
-	[53, [0.9667755365371704, -0.25422102212905884, 0.026775022968649864, 0.25543513894081116, 0.9647941589355469, -0.06265555322170258, -0.009903957135975361, 0.06741295754909515, 0.9976761341094971]], // RightHandMiddle2
-	[54, [0.9689971804618835, -0.2417343407869339, -0.05107900872826576, 0.2459598183631897, 0.9633893966674805, 0.10670134425163269, 0.023415658622980118, -0.1159568503499031, 0.9929783940315247]], // RightHandMiddle3
-	[55, [0.941867470741272, -0.3359818756580353, -0.0014353847363963723, 0.3359754681587219, 0.9418008327484131, 0.011499876156449318, -0.0025118428748100996, -0.0113137885928154, 0.9999330043792725]], // RightHandMiddle4
-	[57, [0.9996333122253418, -0.0061468142084777355, -0.02637435868382454, 0.00615928927436471, 0.9999812841415405, 0.0003948818484786898, 0.026371527463197708, -0.0005573396338149905, 0.9996522068977356]], // RightHandRing1
-	[58, [0.9364164471626282, -0.34295132756233215, 0.07422114908695221, 0.3449566662311554, 0.9384870529174805, -0.015735777094960213, -0.06425891071557999, 0.04033815488219261, 0.997117817401886]], // RightHandRing2
-	[59, [0.9467210173606873, -0.32205501198768616, 4.636428840854023e-08, 0.322054922580719, 0.9467213153839111, -6.129761942474943e-08, 9.372781661909357e-09, -8.999508338547457e-08, 1.000000238418579]], // RightHandRing3
-	[60, [0.982410728931427, -0.1866968870162964, -0.003674674779176712, 0.18654502928256989, 0.9821150302886963, -0.025529347360134125, 0.008375243283808231, 0.024394650012254715, 0.9996675252914429]], // RightHandRing4
-	[61, [1.0, -5.399165914354853e-08, 3.024080186264655e-08, -5.399165914354853e-08, 1.0000003576278687, -7.882910324497061e-08, 3.024080186264655e-08, -7.882910324497061e-08, 1.000000238418579]], // RightHandRingEnd
-	[62, [0.9983538389205933, -0.057158663868904114, 0.004752615001052618, 0.05710673704743385, 0.9983140826225281, 0.010412987321615219, -0.005339713301509619, -0.01012459397315979, 0.9999346137046814]], // RightHandPinky1
-	[63, [0.9107372164726257, -0.35845717787742615, 0.2051009088754654, 0.35850635170936584, 0.9327439665794373, 0.038242265582084656, -0.20501473546028137, 0.03870117664337158, 0.9779936075210571]], // RightHandPinky2
-	[64, [0.9898684024810791, -0.1419883370399475, 5.918328582765753e-08, 0.14198823273181915, 0.9898686408996582, -6.623200476951752e-08, 4.9272500746155856e-08, -7.999228301969197e-08, 1.0000001192092896]], // RightHandPinky3
-	[65, [0.9467962980270386, -0.30904620885849, -0.08981873095035553, 0.3149397373199463, 0.9471571445465088, 0.060884833335876465, 0.06625629216432571, -0.08593318611383438, 0.994095504283905]], // RightHandPinky4
-	[66, [1.0000001192092896, -9.611500217943103e-08, 5.342175413147743e-08, 9.53837098194299e-09, 1.0000003576278687, -6.045292622047782e-08, 5.2956131924020156e-08, -9.241933440762296e-08, 1.0000001192092896]], // RightHandPinkyEnd
-	[71, [1.0, -9.346368123885895e-11, 2.1470714095528365e-11, 8.58312379503623e-12, 1.0000004768371582, -1.1385103704242283e-07, 2.1471657785099296e-11, -4.4665963372381157e-08, 1.0000004768371582]], // LeftToeEnd
-	[76, [1.0, 1.1998419618963752e-11, 2.0857204852120503e-12, 6.382799150328466e-11, 1.0000001192092896, -2.5707786122097787e-08, 2.0864421301780567e-12, -6.083076442564561e-08, 1.0000001192092896]], // RightToeEnd
-]);
-
-function readFloats(path) {
-	const bytes = readFileSync(path);
-	if (bytes.length === 0 || bytes.length % 4 !== 0) {
-		throw new Error(`writeLocalKimodoNpz: ${path} must contain nonempty float32 bytes`);
-	}
-	const values = new Float32Array(bytes.length / 4);
-	for (let i = 0; i < values.length; i++) {
-		values[i] = bytes.readFloatLE(i * 4);
-		if (!Number.isFinite(values[i])) {
-			throw new Error(`writeLocalKimodoNpz: ${path} has non-finite float at index ${i}`);
-		}
-	}
-	return values;
-}
-
-function quaternionMatrix(values, offset, frame, joint) {
-	let [x, y, z, w] = values.subarray(offset, offset + 4);
-	const norm = Math.hypot(x, y, z, w);
-	if (norm === 0) {
-		throw new Error(`writeLocalKimodoNpz: local_rotations_xyzw.f32 has zero quaternion at frame ${frame}, joint ${joint}`);
-	}
-	// Both q and -q, and any finite nonzero scaling, represent the same rotation.
-	x /= norm; y /= norm; z /= norm; w /= norm;
-	return [
-		1 - 2 * (y * y + z * z), 2 * (x * y - z * w), 2 * (x * z + y * w),
-		2 * (x * y + z * w), 1 - 2 * (x * x + z * z), 2 * (y * z - x * w),
-		2 * (x * z - y * w), 2 * (y * z + x * w), 1 - 2 * (x * x + y * y),
-	];
-}
-
-/**
- * Synchronously validate local files and write native SOMA77 NPZ members
- * posed_joints [T,77,3], global_rot_mats [T,77,3,3], and scalar fps=30.
- * No output is written until all input and computed arrays have been validated.
- * @param {string} outputDir Directory containing the two little-endian .f32 files.
- * @param {string} npzPath Destination NPZ (its parent directory must exist).
- * @param {{expectedFrames?: number}} [options] Optional requested frame count.
- */
-export function writeLocalKimodoNpz(outputDir, npzPath, { expectedFrames } = {}) {
-	if (endianness() !== "LE") throw new Error("writeLocalKimodoNpz: only little-endian local hosts are supported");
-	if (expectedFrames !== undefined && (!Number.isSafeInteger(expectedFrames) || expectedFrames < 1)) {
-		throw new Error("writeLocalKimodoNpz: expectedFrames must be a positive integer");
-	}
-	const roots = readFloats(join(outputDir, "root_positions.f32"));
-	if (roots.length % 3 !== 0) {
-		throw new Error("writeLocalKimodoNpz: root_positions.f32 must contain complete XYZ frames");
-	}
-	const frames = roots.length / 3;
-	if (expectedFrames !== undefined && frames !== expectedFrames) {
-		throw new Error(`writeLocalKimodoNpz: expected ${expectedFrames} frames, root_positions.f32 contains ${frames}`);
-	}
-	const quaternions = readFloats(join(outputDir, "local_rotations_xyzw.f32"));
-	if (quaternions.length !== frames * 30 * 4) {
-		throw new Error(`writeLocalKimodoNpz: local_rotations_xyzw.f32 must contain ${frames} frames of 30 SOMA joints (${frames * 30 * 16} bytes), got ${quaternions.byteLength} bytes`);
-	}
-	const posedJoints = new Float32Array(frames * 77 * 3);
-	const globalRotMats = new Float32Array(frames * 77 * 9);
-	const locals = new Array(77);
-	for (const [joint, matrix] of RELAXED_LOCALS) locals[joint] = matrix;
-	for (let frame = 0; frame < frames; frame++) {
-		for (let joint = 0; joint < 30; joint++) {
-			locals[SOMA30_TO_77[joint]] = quaternionMatrix(quaternions, (frame * 30 + joint) * 4, frame, joint);
-		}
-		// Keep intermediate FK in double precision; serialize only the final arrays.
-		const globals = new Array(77);
-		const positions = new Array(77);
-		for (let joint = 0; joint < 77; joint++) {
-			const parent = PARENTS[joint];
-			if (parent < 0) {
-				globals[joint] = locals[joint];
-				positions[joint] = Array.from(roots.subarray(frame * 3, frame * 3 + 3));
-			} else {
-				const a = globals[parent], b = locals[joint], offset = OFFSETS[joint];
-				const rotation = new Array(9).fill(0);
-				const position = positions[parent].slice();
-				for (let row = 0; row < 3; row++) {
-					for (let k = 0; k < 3; k++) {
-						position[row] += a[row * 3 + k] * offset[k];
-						for (let col = 0; col < 3; col++) rotation[row * 3 + col] += a[row * 3 + k] * b[k * 3 + col];
-					}
-				}
-				globals[joint] = rotation;
-				positions[joint] = position;
-			}
-			posedJoints.set(positions[joint], (frame * 77 + joint) * 3);
-			globalRotMats.set(globals[joint], (frame * 77 + joint) * 9);
-		}
-	}
-	writeNpz(npzPath, {
-		posed_joints: { data: posedJoints, shape: [frames, 77, 3] },
-		global_rot_mats: { data: globalRotMats, shape: [frames, 77, 3, 3] },
-		fps: { data: new Int32Array([30]), shape: [] },
-	});
-}

package/tools/kimodo/measure-pose.mjs

@@ -1,65 +0,0 @@
-#!/usr/bin/env node
-/**
- * measure-pose.mjs — how closely did a generated take hit its pinned pose?
- *
- * Compares the GLOBAL rotation of every authored joint at the pinned frame
- * against the authored pose, in degrees. Globals rather than locals because a
- * local error high in the chain is inherited by everything below it, which would
- * count one mistake many times; the global is what the viewer actually sees.
- *
- * usage: measure-pose.mjs <take.npz> <pose.npz> <frame>
- */
-import { readNpz } from "./read-npz.mjs";
-import { globalRotations, matMul, matTranspose } from "../../src/ardy/convert.js";
-import { CSKEL27_JOINTS } from "../../src/ardy/cskel27.js";
-
-const [, , takePath, posePath, frameArg] = process.argv;
-if (!takePath || !posePath) {
-	console.error("usage: measure-pose.mjs <take.npz> <pose.npz> <frame>");
-	process.exit(2);
-}
-const frame = Number(frameArg);
-
-const readLocals = (members, f) => {
-	const rot = members.local_rot_mats;
-	const J = rot.shape.at(-3);
-	const out = [];
-	for (let j = 0; j < J; j += 1) {
-		const base = (f * J + j) * 9;
-		out.push([
-			[rot.data[base], rot.data[base + 1], rot.data[base + 2]],
-			[rot.data[base + 3], rot.data[base + 4], rot.data[base + 5]],
-			[rot.data[base + 6], rot.data[base + 7], rot.data[base + 8]],
-		]);
-	}
-	return out;
-};
-
-const take = readNpz(takePath);
-const pose = readNpz(posePath);
-const authoredIdx = pose.rotation_constraint_indices
-	? Array.from(pose.rotation_constraint_indices.data, (v) => Math.round(v))
-	: CSKEL27_JOINTS.map((_, i) => i);
-
-const takeGlobals = globalRotations(readLocals(take, frame));
-const poseGlobals = globalRotations(readLocals(pose, 0));
-
-const angleBetween = (a, b) => {
-	const d = matMul(matTranspose(a), b);
-	const trace = d[0][0] + d[1][1] + d[2][2];
-	return (Math.acos(Math.min(1, Math.max(-1, (trace - 1) / 2))) * 180) / Math.PI;
-};
-
-let sum = 0;
-const rows = [];
-for (const j of authoredIdx) {
-	const deg = angleBetween(poseGlobals[j], takeGlobals[j]);
-	sum += deg;
-	rows.push({ name: CSKEL27_JOINTS[j], deg });
-}
-rows.sort((a, b) => b.deg - a.deg);
-console.log(`pinned frame ${frame}, ${authoredIdx.length} authored joints`);
-for (const r of rows) console.log(`  ${r.name.padEnd(16)} ${r.deg.toFixed(1)} deg`);
-const mean = sum / authoredIdx.length;
-console.log(`MEAN_ERROR_DEG=${mean.toFixed(2)}`);
-console.log(`MAX_ERROR_DEG=${rows[0].deg.toFixed(2)}`);