cozyclay 2.1.1 → 3.0.0

package/tools/dev-full.mjs

@@ -8,7 +8,6 @@ import { fileURLToPath } from "node:url";
 import {
 	installSignalCleanup,
 	spawnOwned,
-	startBridge,
 	terminateOwned,
 	waitForExit,
 } from "./process-supervisor.mjs";
@@ -32,10 +31,9 @@ const livePort = process.env.COZYCLAY_LIVE_PORT ?? "5184";
 const configuredOAuthPort = process.env.COZYCLAY_OAUTH_PORT?.trim();
 const mainPort = mainPortFrom(viteArgs);
 
-// Vite runs with --strictPort and reports a taken port as a raw stack trace —
-// after the bridge has already started and printed its own banner. Probe the
-// port first so the failure is one actionable line before anything spawns,
-// the same courtesy `npx cozyclay` already extends.
+// Vite runs with --strictPort and reports a taken port as a raw stack trace.
+// Probe the port first so the failure is one actionable line before anything
+// spawns, the same courtesy `npx cozyclay` already extends.
 await new Promise((resolvePromise, reject) => {
 	const probe = createNetServer();
 	probe.once("error", reject);
@@ -47,53 +45,8 @@ await new Promise((resolvePromise, reject) => {
 });
 
 const children = [];
-let stopping = false;
-const removeSignalCleanup = installSignalCleanup(() => children, () => { stopping = true; });
-const trackChild = (child) => children.push(child);
-const untrackChild = (child) => children.splice(children.indexOf(child), 1);
-// The bridge's only backend is Kimodo, and that runner refuses to start
-// without a box to talk to. Starting it unconditionally turned a fresh
-// clone's first `npm run dev` into a hard exit over a variable a new
-// contributor has no reason to have set yet. An unset CCLAY_KIMODO_HOST is
-// the normal case, not a fault — `npx cozyclay` has always treated it that
-// way, and the studio itself already renders the sidecar as absent rather
-// than crashing, which is exactly what `npm run dev:ui` is.
-const kimodoHost = process.env.CCLAY_KIMODO_HOST?.trim();
-let bridge;
-let bridgePort;
-if (kimodoHost) {
-	try {
-		({ child: bridge, port: bridgePort } = await startBridge({
-			command: process.execPath,
-			args: ["tools/ardy/bridge.mjs"],
-			cwd: REPO,
-			env: process.env,
-			mainPort,
-			onSpawn: trackChild,
-			onFailure: untrackChild,
-			onReady: (child) => child.once("exit", () => {
-				if (stopping) return;
-				stopping = true;
-				console.error("[dev] motion generation sidecar exited unexpectedly");
-				void Promise.allSettled(children.filter((entry) => entry !== child).map((entry) => terminateOwned(entry))).then(() => process.exit(1));
-			}),
-		}));
-	} catch (err) {
-		console.error(`[dev] Studio did not start: ${err.message}`);
-		removeSignalCleanup();
-		await Promise.allSettled(children.map((child) => terminateOwned(child)));
-		process.exit(1);
-	}
-} else {
-	console.error(
-		"[dev] CCLAY_KIMODO_HOST is not set — starting the studio without motion generation (set CCLAY_KIMODO_HOST=user@gpu-box to enable Block Generation).",
-	);
-}
-
-// Resolved once per Studio admission by task 6, not from the historical port.
-const getBridgeOrigin = () => bridge && bridgePort !== undefined && bridge.exitCode === null && bridge.signalCode === null
-	? `http://127.0.0.1:${bridgePort}` : null;
-const agentHandler = createAgentHandler({ port: mainPort, getBridgeOrigin });
+const removeSignalCleanup = installSignalCleanup(() => children, () => {});
+const agentHandler = createAgentHandler({ port: mainPort });
 const oauthServer = createServer((req, res) => {
 	const path = (req.url || "").split("?")[0];
 	const hosts = new Set([`127.0.0.1:${mainPort}`, `localhost:${mainPort}`]);
@@ -113,10 +66,6 @@ const vite = spawnOwned(process.execPath, ["node_modules/vite/bin/vite.js", ...v
 	cwd: REPO,
 		env: {
 			...process.env,
-			// Left as it came in when no bridge runs: Vite's /ardy proxy then
-			// falls back the same way `dev:ui` does, and the probe fails
-			// gracefully instead of pointing at a port nothing owns.
-			...(bridgePort === undefined ? {} : { COZYCLAY_BRIDGE_PORT: String(bridgePort), COZYCLAY_BRIDGE_ORIGIN: `http://127.0.0.1:${bridgePort}` }),
 			COZYCLAY_LIVE_PORT: livePort,
 			COZYCLAY_OAUTH_PORT: String(actualOAuthPort),
 		},

package/tools/eslint-baseline.json

@@ -2,22 +2,21 @@
 	"no-async-promise-executor": 1,
 	"no-case-declarations": 1,
 	"no-constant-binary-expression": 2,
-	"no-control-regex": 5,
+	"no-control-regex": 4,
 	"no-dupe-keys": 1,
-	"no-loss-of-precision": 1,
 	"no-regex-spaces": 2,
-	"no-undef": 25,
-	"no-unsafe-finally": 5,
-	"no-unused-vars": 168,
-	"no-useless-assignment": 21,
-	"no-useless-catch": 2,
-	"no-useless-escape": 7,
-	"preserve-caught-error": 16,
-	"react-hooks/immutability": 66,
+	"no-undef": 24,
+	"no-unsafe-finally": 2,
+	"no-unused-vars": 100,
+	"no-useless-assignment": 10,
+	"no-useless-escape": 6,
+	"preserve-caught-error": 6,
+	"react-hooks/immutability": 88,
+	"react-hooks/preserve-manual-memoization": 31,
 	"react-hooks/purity": 5,
-	"react-hooks/refs": 87,
-	"react-hooks/rules-of-hooks": 3,
-	"react-hooks/set-state-in-effect": 31,
+	"react-hooks/refs": 111,
+	"react-hooks/rules-of-hooks": 2,
+	"react-hooks/set-state-in-effect": 30,
 	"react-hooks/use-memo": 1,
 	"require-yield": 2
 }

package/tools/knip-baseline.json

@@ -5,11 +5,6 @@
 	"export bin/agent/video-adapters.mjs#falVideoContract",
 	"export bin/package-signature.mjs#PACKAGE_SIGNATURE_PUBLIC_KEY",
 	"export mcp/image-file.mjs#REFERENCE_MAX_BYTES",
-	"export src/ardy/client.js#listBases",
-	"export src/ardy/convert.js#basisToLocal",
-	"export src/ardy/npz.js#CHARACTER_SCALE_MAX",
-	"export src/ardy/npz.js#CHARACTER_SCALE_MIN",
-	"export src/ardy/playback.js#boneStretch",
 	"export src/asset-pane.jsx#CHARACTER_ASSETS",
 	"export src/asset-pane.jsx#FolderGrid",
 	"export src/burn-in.js#burnInCapture",
@@ -22,37 +17,13 @@
 	"export src/camera-tutorial.jsx#default",
 	"export src/domains/motion.js#createMotionDomain",
 	"export src/domains/objects.js#createObjectsDomain",
-	"export src/grid-view.js#STAGE_BACKGROUND",
 	"export src/grid-view.js#STAGE_BACKGROUND_LIGHT",
 	"export src/mesh-sniff.js#isFbxBinaryMagic",
 	"export src/mesh-sniff.js#isGlbMagic",
 	"export src/mesh-sniff.js#looksLikeObj",
 	"export src/mesh-sniff.js#readFbxVersion",
-	"export src/motion-resources.js#loadMotionFromUrl",
 	"export src/object-catalog.jsx#default",
 	"export src/object-path.js#MAX_PATH_HEIGHT",
-	"export src/pose-extract/detector.js#POSE_WASM_BASE",
-	"export src/pose-extract/detector.js#TASKS_VISION_VERSION",
-	"export src/pose-extract/image-frame.js#decodeImage",
-	"export src/pose-extract/index.js#LEFT_RIGHT_PAIRS",
-	"export src/pose-extract/index.js#POSE_LANDMARK",
-	"export src/pose-extract/index.js#POSE_MODELS",
-	"export src/pose-extract/index.js#POSE_MODEL_URL",
-	"export src/pose-extract/index.js#POSE_MODEL_URL_HEAVY",
-	"export src/pose-extract/index.js#POSE_WASM_BASE",
-	"export src/pose-extract/index.js#TASKS_VISION_VERSION",
-	"export src/pose-extract/index.js#averageLandmarkSets",
-	"export src/pose-extract/index.js#decodeImage",
-	"export src/pose-extract/index.js#detectMirrorAveraged",
-	"export src/pose-extract/index.js#filterLandmarkTrack",
-	"export src/pose-extract/index.js#fitLandmarksToPose",
-	"export src/pose-extract/index.js#mirrorLandmarks",
-	"export src/pose-extract/index.js#normalizeLandmarkTrack",
-	"export src/pose-extract/index.js#poseChangeScores",
-	"export src/pose-extract/index.js#sampleTimes",
-	"export src/pose-extract/index.js#selectPoseKeyframes",
-	"export src/pose-extract/index.js#videoFrames",
-	"export src/pose-extract/keyframes.js#poseChangeScores",
 	"export src/project.js#storeProjectHandle",
 	"export src/range-pin-panel.jsx#RANGE_PIN_TRACKS",
 	"export src/scene-asset-cache.js#loadAssetTexture",
@@ -91,139 +62,21 @@
 	"export test/bus/generation-hooks.mjs#begin",
 	"export test/bus/generation-hooks.mjs#subscribe",
 	"export test/bus/generation-hooks.mjs#useState",
-	"export test/bus/motion-cache-fixture.mjs#getMotion",
-	"export test/bus/motion-cache-fixture.mjs#openMotionDb",
-	"export test/bus/motion-cache-fixture.mjs#putMotion",
-	"export test/bus/motion-cache-fixture.mjs#records",
-	"export test/bus/motion-cache-fixture.mjs#subscribe",
 	"export test/bus/objects-asset-db.mjs#db",
 	"export test/bus/objects-asset-db.mjs#holdNextWrite",
 	"export test/bus/objects-asset-db.mjs#records",
 	"export test/bus/objects-fixture.mjs#objectPanels",
 	"export test/bus/stage-fixture.mjs#stagePanels",
 	"export test/bus/verify-bus-coverage.mjs#applyRatchet",
-	"export test/bus/verify-motion-concurrent.mjs#motionJobParity",
-	"export test/bus/verify-motion-generation.mjs#ok",
-	"export test/bus/verify-motion-generation.mjs#source",
 	"export test/bus/verify-motion-private-owners-removed.mjs#sourceFiles",
 	"export test/bus/verify-parity-matrix.mjs#executeParity",
 	"export test/bus/verify-parity-matrix.mjs#parityMatrix",
 	"export test/bus/verify-stage-gestures.mjs#elements",
 	"export test/fixtures/fake-model.mjs#createFauxModel",
 	"export test/fixtures/fake-model.mjs#fakeModel",
-	"export test/fixtures/studio-agent-motion.mjs#createFixtureMotion",
 	"export test/fixtures/write-cube-glb.mjs#cubeGeometry",
 	"export test/fixtures/write-cube-glb.mjs#writeGlb",
 	"export test/fixtures/write-cube-obj.mjs#cubeObj",
-	"export test/verify-gvhmr-detector-flag.mjs#GVHMR_SMOOTH_SIGMA",
-	"export tools/ardy/runners/remote.mjs#createRemoteRunner",
-	"export tools/bench/exp3.mjs#main",
-	"export tools/bench/exp3.mjs#summarizeGt",
-	"export tools/bench/extract-bench-lib.mjs#CONDITIONS",
-	"export tools/bench/extract-bench-lib.mjs#DEFAULT_CONDITIONS",
-	"export tools/bench/extract-bench-lib.mjs#DEFAULT_VARIANTS",
-	"export tools/bench/extract-bench-lib.mjs#FMM_SUFFIX",
-	"export tools/bench/fal-generate.mjs#costFields",
-	"export tools/bench/fit-bench.mjs#USAGE",
-	"export tools/bench/fit/camera.mjs#transformMotion",
-	"export tools/bench/fit/contact.mjs#continuousSceneDeltas",
-	"export tools/bench/metrics.mjs#DEG",
-	"export tools/bench/obs-bench.mjs#DEFAULT_OBS_ROOT",
-	"export tools/bench/obs-bench.mjs#USAGE",
-	"export tools/bench/obs-bench.mjs#characterStandingAnkle",
-	"export tools/bench/obs-bench.mjs#main",
-	"export tools/bench/obs-bench.mjs#scoreFal",
-	"export tools/bench/obs-bench.mjs#trackerRigPath",
-	"export tools/bench/obs/heading.mjs#worldYawDeg",
-	"export tools/bench/obs/ladder.mjs#DEFAULTS",
-	"export tools/bench/obs/ladder.mjs#SMPL_PARENTS",
-	"export tools/bench/obs/ladder.mjs#ayfzNormalize",
-	"export tools/bench/obs/ladder.mjs#calibrateAnklePlane",
-	"export tools/bench/obs/ladder.mjs#floorOffset",
-	"export tools/bench/obs/ladder.mjs#framesOf",
-	"export tools/bench/obs/ladder.mjs#obsFps",
-	"export tools/bench/obs/ladder.mjs#obsGlobal",
-	"export tools/bench/obs/ladder.mjs#smoothSmplParams",
-	"export tools/bench/obs/ladder.mjs#toCskel27",
-	"export tools/bench/obs/ladder.mjs#vectorsOf",
-	"export tools/bench/obs/ybot-targets.mjs#RIG_SEGMENTS",
-	"export tools/bench/obs/ybot-targets.mjs#ybotTargets",
-	"export tools/demo-worker/index.mjs#BACKOFF_MAX_MS",
-	"export tools/demo-worker/index.mjs#BACKOFF_MIN_MS",
-	"export tools/demo-worker/index.mjs#EMPTY_QUEUE_BACKOFF_MAX_MS",
-	"export tools/demo-worker/index.mjs#EMPTY_QUEUE_BACKOFF_MIN_MS",
-	"export tools/demo-worker/index.mjs#HEARTBEAT_INTERVAL_MS",
-	"export tools/demo-worker/index.mjs#JOB_HARD_TIMEOUT_MS",
-	"export tools/demo-worker/index.mjs#default",
-	"export tools/demo-worker/index.mjs#main",
-	"export tools/demo-worker/index.mjs#run",
-	"export tools/demo-worker/sign.mjs#bodyBytes",
-	"export tools/demo-worker/sign.mjs#canonicalString",
-	"export tools/demo-worker/sign.mjs#digestHex",
-	"export tools/demo-worker/sign.mjs#randomNonce",
-	"export tools/demo-worker/sign.mjs#runCli",
-	"export tools/demo-worker/sign.mjs#signRequest",
-	"export tools/demo-worker/sign.mjs#toBase64Url",
-	"export tools/gt-render/browser.mjs#connect",
-	"export tools/gt-render/camera-math.mjs#FULL_FRAME_DIAGONAL_MM",
-	"export tools/gt-render/camera-math.mjs#rotationYXZ",
-	"export tools/gt-render/camera-math.mjs#solvePlacement",
-	"export tools/gt-render/camera-math.mjs#worldToCameraCv",
-	"export tools/gt-render/camera-math.mjs#worldToCameraGl",
-	"export tools/kimodo/compare-seam.mjs#rootSpeeds",
-	"export tools/kimodo/measure-preserve.mjs#CSKEL27_GROUPS",
-	"export tools/kimodo/measure-preserve.mjs#buildFrameMap",
-	"export tools/kimodo/measure-preserve.mjs#footSliding",
-	"export tools/kimodo/measure-preserve.mjs#loadMotion",
-	"export tools/kimodo/measure-preserve.mjs#measurePreserve",
-	"export tools/kimodo/measure-preserve.mjs#parseRanges",
-	"export tools/kimodo/soma77-to-cskel27.mjs#CSKEL27_IDENTITY",
-	"export tools/projflow/hml22-to-cskel27.mjs#CSKEL27_IDENTITY",
-	"export tools/projflow/line-edit-job.mjs#maxJointStep",
-	"export tools/projflow/replay.mjs#LINE_EDIT_PINS_MAX",
-	"export tools/projflow/replay.mjs#LINE_EDIT_PINS_MIN",
-	"export tools/projflow/service.mjs#stopResidentService",
-	"export tools/track/backfill-provenance.mjs#KINDS",
-	"export tools/track/backfill-provenance.mjs#USAGE",
-	"export tools/track/backfill-provenance.mjs#main",
-	"export tools/track/backfill-provenance.mjs#parseArgs",
-	"export tools/track/backfill-provenance.mjs#plan",
-	"export tools/track/check-rig.mjs#boneWorlds",
-	"export tools/track/check-rig.mjs#checkRig",
-	"export tools/track/check-rig.mjs#restJoints",
-	"export tools/track/check-rig.mjs#skinVertex",
-	"export tools/track/export-rig.mjs#dumpRig",
-	"export tools/track/export-rig.mjs#exportRig",
-	"export tools/track/fk-parity-fixture.mjs#buildFixture",
-	"export tools/track/fk-parity-fixture.mjs#prng",
-	"export tools/track/gate.mjs#evaluate",
-	"export tools/track/masks.mjs#DEFAULT_CACHE_ROOT",
-	"export tools/track/masks.mjs#HASHED_PROVENANCE",
-	"export tools/track/masks.mjs#MASKS_SCRIPT",
-	"export tools/track/metrics.mjs#STANCE_SPEED_MPS",
-	"export tools/track/publish-obs.mjs#USAGE",
-	"export tools/track/publish-obs.mjs#parseArgs",
-	"export tools/track/publish-obs.mjs#plan",
-	"export tools/track/publish-obs.mjs#runItems",
-	"export tools/track/run-box.mjs#idleCheck",
-	"export tools/track/study-2d.mjs#BILATERAL",
-	"export tools/track/study-2d.mjs#BODY_KEYPOINTS",
-	"export tools/track/study-2d.mjs#COCO_NAMES",
-	"export tools/track/study-2d.mjs#COCO_TO_RIG",
-	"export tools/track/study-2d.mjs#SWAP_CONF_MIN",
-	"export tools/track/study-2d.mjs#SWAP_MARGIN",
-	"export tools/track/study-2d.mjs#SWAP_MIN_PAIRS",
-	"export tools/track/study-2d.mjs#USAGE",
-	"export tools/track/study-2d.mjs#cameraProbe",
-	"export tools/track/study-2d.mjs#ceilingInputs",
-	"export tools/track/study-2d.mjs#ceilingItem",
-	"export tools/track/study-2d.mjs#codeSha",
-	"export tools/track/study-2d.mjs#handoffCheck",
-	"export tools/track/study-2d.mjs#inputKey",
-	"export tools/track/study-2d.mjs#main",
-	"export tools/track/study-2d.mjs#parseArgs",
-	"export tools/track/study-2d.mjs#skinProvenance",
-	"export tools/track/study-2d.mjs#stanceItem",
 	"export workers/api/src/auth.js#OAUTH_COOKIE",
 	"export workers/api/src/auth.js#PROVIDERS",
 	"export workers/api/src/auth.js#SESSION_COOKIE",
@@ -238,39 +91,13 @@
 	"export workers/api/src/auth.js#signedState",
 	"export workers/api/src/auth.js#verifyState",
 	"export workers/api/src/cors.js#originAllowed",
-	"export workers/api/src/eta.js#ETA_FALLBACK_TEXT",
 	"export workers/api/src/index.js#clearSessionCookie",
 	"export workers/api/src/index.js#json",
-	"export workers/api/src/index.js#motionEnabled",
-	"export workers/api/src/index.js#motionUsageFor",
 	"export workers/api/src/index.js#mutationGuard",
-	"export workers/api/src/index.js#npzLooksValid",
-	"export workers/api/src/index.js#publicMotionJob",
 	"export workers/api/src/index.js#requireOrigin",
 	"export workers/api/src/index.js#route",
-	"export workers/api/src/index.js#runMotionJob",
-	"export workers/api/src/index.js#submitMotion",
 	"export workers/api/src/index.js#withCors",
-	"export workers/api/src/motion.js#MAX_DURATION",
-	"export workers/api/src/motion.js#MAX_STILL_BYTES",
-	"export workers/api/src/motion.js#MIN_DURATION",
-	"export workers/api/src/motion.js#uploadStill",
 	"export workers/api/src/policy.js#SITE_ORIGIN",
-	"export workers/api/src/policy.js#apiOriginFor",
-	"export workers/api/src/prompt.js#PROMPT_MAX_CHARS",
-	"export workers/api/src/queue.js#changesOf",
-	"export workers/api/src/queue.js#cleanupWorkerNonces",
-	"export workers/api/src/queue.js#positionFormula",
-	"export workers/api/src/turnstile.js#TURNSTILE_ALWAYS_BLOCK_SECRET_KEY",
-	"export workers/api/src/turnstile.js#TURNSTILE_ALWAYS_BLOCK_SITE_KEY",
-	"export workers/api/src/turnstile.js#TURNSTILE_ALWAYS_PASS_SECRET_KEY",
-	"export workers/api/src/turnstile.js#TURNSTILE_ALWAYS_PASS_SITE_KEY",
-	"export workers/api/src/worker-auth.js#bodyBytes",
-	"export workers/api/src/worker-auth.js#digestHex",
-	"export workers/api/src/worker-auth.js#fromBase64Url",
-	"export workers/api/src/worker-auth.js#randomNonce",
-	"export workers/api/src/worker-auth.js#signedHeaders",
-	"export workers/api/src/worker-auth.js#toBase64Url",
 	"file test/scene-panel-harness.jsx",
 	"file workers/api/scripts/dev-session.mjs",
 	"unlisted bin/agent/pi-tools.mjs#typebox",
@@ -288,8 +115,6 @@
 	"unlisted mcp/verify-live-controller.mjs#ws",
 	"unlisted mcp/verify-live-editor-model.mjs#@modelcontextprotocol/sdk",
 	"unlisted mcp/verify-live-execution.mjs#ws",
-	"unlisted mcp/verify-live-motion-job.mjs#@modelcontextprotocol/sdk",
-	"unlisted mcp/verify-live-motion-job.mjs#ws",
 	"unlisted mcp/verify-live-p0.mjs#@modelcontextprotocol/sdk",
 	"unlisted mcp/verify-live-p0.mjs#ws",
 	"unlisted mcp/verify-live-routing.mjs#@modelcontextprotocol/sdk",
@@ -300,11 +125,8 @@
 	"unlisted mcp/verify-sculpt-object.mjs#jpeg-js",
 	"unlisted mcp/verify-tool-annotations.mjs#@modelcontextprotocol/sdk",
 	"unlisted mcp/verify.mjs#@modelcontextprotocol/sdk",
-	"unlisted test/ardy/compare-npz.mjs#fflate",
-	"unlisted test/ardy/verify-compare-npz.mjs#fflate",
 	"unlisted test/bus/agent-path-loc.mjs#rolldown",
 	"unlisted test/bus/cast-fixture.mjs#rolldown",
-	"unlisted test/bus/generation-fixture.mjs#rolldown",
 	"unlisted test/bus/handler-coverage.mjs#rolldown",
 	"unlisted test/bus/history-owners.mjs#rolldown",
 	"unlisted test/bus/motion-fixture.mjs#rolldown",
@@ -323,7 +145,6 @@
 	"unlisted test/bus/verify-store-domain-routing.mjs#rolldown",
 	"unlisted test/verify-agent-panel.mjs#rolldown",
 	"unlisted test/verify-export-recovery.mjs#rolldown",
-	"unlisted test/verify-motion-trail-persistence.mjs#rolldown",
 	"unlisted test/verify-schema-to-typebox.mjs#typebox",
 	"unlisted test/verify-studio-agent-binding.mjs#rolldown",
 	"unlisted test/verify-studio-undo-hygiene.mjs#rolldown",

package/tools/loc-baseline.json

@@ -1,126 +1,76 @@
 {
-	"bin/agent/agent-routes.mjs": 903,
+	"bin/agent/agent-routes.mjs": 865,
 	"bin/agent/agent-runner.mjs": 496,
 	"bin/agent/providers.mjs": 409,
 	"bin/agent/session-store.mjs": 324,
-	"bin/agent/studio-rebase.mjs": 268,
 	"bin/agent/supervisor.mjs": 283,
 	"bin/agent/video-adapters.mjs": 334,
-	"bin/cozyclay.mjs": 527,
+	"bin/cozyclay.mjs": 440,
 	"bin/live/cli.mjs": 456,
-	"mcp/live-hub.mjs": 534,
-	"mcp/tool-handlers.mjs": 1890,
-	"mcp/verify-live-batch.mjs": 490,
+	"mcp/live-hub.mjs": 529,
+	"mcp/tool-handlers.mjs": 1730,
+	"mcp/verify-live-batch.mjs": 486,
 	"mcp/verify-live-capture.mjs": 268,
 	"mcp/verify-live-controller.mjs": 340,
-	"mcp/verify-live-motion-job.mjs": 336,
-	"mcp/verify-live-p0.mjs": 287,
-	"mcp/verify-live.mjs": 455,
-	"src/analytics.js": 1181,
-	"src/App.jsx": 6644,
-	"src/ardy/auto-physics.js": 1094,
-	"src/ardy/collision-blockers.js": 273,
-	"src/ardy/convert.js": 285,
-	"src/ardy/fix-collisions.js": 1987,
-	"src/ardy/ik.js": 1135,
-	"src/ardy/npz.js": 534,
-	"src/ardy/physics-review.js": 510,
-	"src/ardy/platform-fit.js": 277,
-	"src/ardy/playback.js": 565,
-	"src/ardy/range-pin.js": 277,
-	"src/ardy/root-drop.js": 313,
-	"src/ardy/timeline.jsx": 2384,
-	"src/ardy/waypoints.js": 311,
+	"mcp/verify-live-p0.mjs": 264,
+	"mcp/verify-live.mjs": 416,
+	"src/analytics.js": 1169,
+	"src/App.jsx": 4711,
 	"src/asset-pane.jsx": 648,
 	"src/camera-follow.js": 505,
 	"src/camera-move.js": 289,
 	"src/camera-tutorial.jsx": 443,
 	"src/command-bus.js": 378,
 	"src/controls.jsx": 340,
-	"src/domains/cast.js": 859,
-	"src/domains/motion.js": 2277,
-	"src/domains/motion/motion-video-capture.js": 592,
+	"src/domains/cast.js": 717,
+	"src/domains/motion.js": 812,
 	"src/domains/objects.js": 907,
-	"src/domains/scenes.js": 801,
+	"src/domains/scenes.js": 754,
 	"src/domains/shots.js": 411,
 	"src/dualview.jsx": 371,
 	"src/hierarchy-panel.jsx": 779,
-	"src/line-edit.js": 1215,
 	"src/live-control.js": 338,
 	"src/matte-editor.js": 486,
 	"src/matte.js": 472,
-	"src/motion-trail.js": 550,
-	"src/multimodel-ingest.js": 344,
+	"src/motion/collision-blockers.js": 273,
+	"src/motion/fix-collisions.js": 748,
+	"src/motion/ik.js": 1135,
+	"src/motion/range-pin.js": 277,
+	"src/motion/timeline.jsx": 2047,
 	"src/object-gizmo.jsx": 824,
 	"src/object-path.js": 410,
 	"src/panels/ObjectTransformPanel.jsx": 545,
-	"src/panels/PromptBlocksPanel.jsx": 433,
 	"src/panels/SculptPanel.jsx": 370,
 	"src/planview.jsx": 887,
 	"src/poses.js": 321,
-	"src/posestudio.jsx": 1263,
+	"src/posestudio.jsx": 1240,
 	"src/project-browser.jsx": 401,
-	"src/project-resources.js": 256,
-	"src/project.js": 691,
-	"src/props.jsx": 649,
+	"src/project.js": 603,
+	"src/props.jsx": 417,
 	"src/range-pin-panel.jsx": 305,
 	"src/scene-assets.js": 400,
 	"src/scene-mesh.js": 350,
-	"src/scene-objects.js": 1233,
-	"src/scenes.js": 456,
+	"src/scene-objects.js": 1136,
+	"src/scenes.js": 387,
 	"src/sculpt-compare.js": 357,
 	"src/sculpt-recipe.js": 363,
 	"src/sculpt-run.js": 309,
 	"src/shell/BoardSlot.jsx": 316,
-	"src/shell/BottomDock.jsx": 460,
-	"src/shell/DetailsSlot.jsx": 517,
+	"src/shell/BottomDock.jsx": 416,
+	"src/shell/DetailsSlot.jsx": 334,
 	"src/shell/MenuBar.jsx": 640,
-	"src/shell/PreferencesDialog.jsx": 516,
-	"src/shell/ViewportToolbar.jsx": 638,
+	"src/shell/PreferencesDialog.jsx": 466,
+	"src/shell/ViewportToolbar.jsx": 567,
 	"src/shot-authoring.js": 348,
 	"src/stage-canvas-rigs.jsx": 352,
 	"src/stage-editor-gizmos.jsx": 1116,
 	"src/studio-agent-commands.js": 492,
-	"src/studio-agent-protocol.js": 521,
-	"src/studio-app-binding.js": 364,
+	"src/studio-agent-protocol.js": 486,
+	"src/studio-app-binding.js": 346,
 	"src/ui.jsx": 393,
 	"src/workflow/agent-client.js": 1386,
-	"src/workflow/AgentPanel.jsx": 894,
-	"src/workflow/WorkflowBuilder.jsx": 608,
-	"tools/ardy/bridge.mjs": 1321,
-	"tools/ardy/bvh-cskel27.mjs": 912,
-	"tools/ardy/extract-rest.mjs": 266,
-	"tools/ardy/extract.mjs": 412,
-	"tools/ardy/footage.mjs": 409,
-	"tools/ardy/motion-stabilize.mjs": 279,
-	"tools/ardy/npz.mjs": 369,
-	"tools/ardy/runners/local.mjs": 367,
-	"tools/bench/extract-bench.mjs": 284,
-	"tools/bench/fit/contact.mjs": 380,
-	"tools/bench/metrics.mjs": 290,
-	"tools/bench/obs-bench.mjs": 486,
-	"tools/bench/obs/ground.mjs": 265,
-	"tools/bench/obs/ladder.mjs": 480,
-	"tools/bench/score.mjs": 316,
-	"tools/demo-worker/generate.mjs": 274,
-	"tools/demo-worker/index.mjs": 426,
-	"tools/gt-render/camera-math.mjs": 255,
-	"tools/gt-render/render.mjs": 485,
-	"tools/kimodo/generate.mjs": 519,
-	"tools/kimodo/local-output.mjs": 255,
-	"tools/kimodo/measure-preserve.mjs": 795,
-	"tools/kimodo/preserve-mask.mjs": 452,
-	"tools/kimodo/soma77-to-cskel27.mjs": 271,
-	"tools/projflow/generate.mjs": 682,
-	"tools/projflow/hml22-to-cskel27.mjs": 633,
-	"tools/projflow/line-edit-job.mjs": 484,
-	"tools/projflow/replay.mjs": 397,
-	"tools/projflow/service.mjs": 651,
+	"src/workflow/AgentPanel.jsx": 880,
+	"src/workflow/WorkflowBuilder.jsx": 592,
 	"tools/qa/css-rule-usage.mjs": 251,
-	"tools/run-tests.mjs": 564,
-	"tools/track/gate.mjs": 325,
-	"tools/track/masks.mjs": 297,
-	"tools/track/study-2d.mjs": 663,
-	"workers/api/src/index.js": 426,
-	"workers/api/src/queue.js": 441
+	"tools/run-tests.mjs": 448
 }

package/tools/motion3/extract-body.mjs

@@ -0,0 +1,103 @@
+// Fit the collision body of a Mixamo FBX rig from its skin to src/motion3/rigs/<model>-body.json
+// for motion3's self-collision (src/motion3/body.js): one signed distance grid per skinned bone, in
+// that bone's bind frame (the bone moves it rigidly), from the skin vertices the bone carries; and
+// for each limb bone the radius of its skin along the bone (the probe spheres a limb collides with).
+// Run once per rig: node tools/motion3/extract-body.mjs y-bot-tpose
+import fs from "node:fs";
+import path from "node:path";
+import * as THREE from "three";
+import { FBXLoader } from "three/examples/jsm/loaders/FBXLoader.js";
+import { skeletonFor } from "../../src/motion3/rigs/index.js";
+import { axisEnd } from "../../src/motion3/body.js";
+import { sub, apply, T, dot, len } from "../../src/motion3/compiler/math.js";
+
+const model = process.argv[2] ?? "y-bot-tpose";
+const STEP = 0.015, MARGIN = 0.04, MEMBER = 0.25, MM = 1000;
+const buf = fs.readFileSync(path.resolve("public/models", `${model}.fbx`));
+const root = new FBXLoader().parse(buf.buffer.slice(buf.byteOffset, buf.byteOffset + buf.byteLength), "");
+root.updateMatrixWorld(true);
+const sk = skeletonFor(model), name = n => n.replace(/^mixamorig:?/, "");
+
+// Skin vertices (metres, bind pose) with normals and the bones that carry them, both meshes (the
+// Y/X Bot joint balls are their own mesh), duplicates merged.
+const verts = new Map();
+root.traverse(o => {
+	if (!o.isSkinnedMesh) return;
+	const g = o.geometry, pos = g.attributes.position, nrm = g.attributes.normal, si = g.attributes.skinIndex, sw = g.attributes.skinWeight;
+	const v = new THREE.Vector3(), n = new THREE.Vector3(), nm = new THREE.Matrix3().getNormalMatrix(o.matrixWorld);
+	for (let i = 0; i < pos.count; i++) {
+		v.fromBufferAttribute(pos, i).applyMatrix4(o.matrixWorld).multiplyScalar(0.01);
+		const key = v.toArray().map(x => Math.round(x * 2000)).join();
+		const entry = verts.get(key) ?? { p: v.toArray(), n: [0, 0, 0], w: new Map() };
+		n.fromBufferAttribute(nrm, i).applyMatrix3(nm).normalize();
+		entry.n = entry.n.map((x, k) => x + n.getComponent(k));
+		for (let k = 0; k < 4; k++) {
+			const w = sw.getComponent(i, k), b = sk.index[name(o.skeleton.bones[si.getComponent(i, k)].name)];
+			if (w > 0 && b !== undefined) entry.w.set(b, Math.max(entry.w.get(b) ?? 0, w));
+		}
+		verts.set(key, entry);
+	}
+});
+const V = [...verts.values()].map(e => ({ ...e, n: e.n.map(x => x / (len(e.n) || 1)) }));
+const dominant = e => [...e.w].sort((a, b) => b[1] - a[1])[0]?.[0];
+// Fingers bend inside the hand: their skin is no grid of the hand; every other skinned bone gets one.
+const FINGER = /Hand(Thumb|Index|Middle|Ring|Pinky)/;
+const owners = [...new Set(V.map(dominant))].filter(b => b !== undefined && !FINGER.test(sk.names[b]));
+
+/** Signed distance grid of the skin bone b carries, in b's bind frame (millimetres, Int8, outside +). */
+function grid(b) {
+	const toLocal = p => apply(T(sk.restWorldRot[b]), sub(p, sk.restWorldPos[b]));
+	const pts = V.filter(e => (e.w.get(b) ?? 0) >= MEMBER || dominant(e) === b).map(e => ({ p: toLocal(e.p), n: apply(T(sk.restWorldRot[b]), e.n) }));
+	const own = V.filter(e => dominant(e) === b).map(e => toLocal(e.p));
+	const lo = [0, 1, 2].map(k => Math.min(...own.map(p => p[k])) - MARGIN), hi = [0, 1, 2].map(k => Math.max(...own.map(p => p[k])) + MARGIN);
+	const dims = lo.map((l, k) => Math.max(2, Math.ceil((hi[k] - l) / STEP) + 1));
+	// a hash of the member points: the nearest few decide distance and side
+	const cell = 0.03, hash = new Map(), at = p => p.map(x => Math.floor(x / cell)).join();
+	for (const q of pts) { const k = at(q.p); if (!hash.has(k)) hash.set(k, []); hash.get(k).push(q); }
+	const near = p => {
+		const c = p.map(x => Math.floor(x / cell)), found = [];
+		for (let r = 1; r <= 6 && found.length < 6; r++) {
+			found.length = 0;
+			for (let i = -r; i <= r; i++) for (let j = -r; j <= r; j++) for (let k = -r; k <= r; k++) found.push(...(hash.get(`${c[0] + i},${c[1] + j},${c[2] + k}`) ?? []));
+		}
+		return found.map(q => ({ q, d: len(sub(p, q.p)) })).sort((x, y) => x.d - y.d).slice(0, 6);
+	};
+	const data = new Int8Array(dims[0] * dims[1] * dims[2]);
+	for (let x = 0; x < dims[0]; x++) for (let y = 0; y < dims[1]; y++) for (let z = 0; z < dims[2]; z++) {
+		const p = [lo[0] + x * STEP, lo[1] + y * STEP, lo[2] + z * STEP], nn = near(p);
+		let d = 0.127;
+		if (nn.length) {
+			// side: the nearest points' normals vote, nearer ones louder; distance: to the nearest point's
+			// tangent plane where the point lies over it, else to the point
+			const side = nn.reduce((acc, { q, d: dq }) => acc + Math.sign(dot(sub(p, q.p), q.n)) / (dq + 0.005), 0) >= 0 ? 1 : -1;
+			const { q, d: dq } = nn[0], along = Math.abs(dot(sub(p, q.p), q.n)), lateral = Math.sqrt(Math.max(0, dq * dq - along * along));
+			d = side * (lateral < STEP ? along : dq);
+		}
+		data[(x * dims[1] + y) * dims[2] + z] = Math.max(-127, Math.min(127, Math.round(d * MM)));
+	}
+	return { min: lo.map(v => +v.toFixed(4)), dims, data: Buffer.from(data.buffer).toString("base64") };
+}
+
+/** Skin radius along a limb bone (bone to its first child), [t, r] at 6 stations: the 80th percentile of
+ * the skin's distance from the bone, but for a hand the median capped at HAND (the palm is flat, and the
+ * thumb's root rides the hand bone: a round 80th percentile would make it a 10 cm ball); HAND is the palm's half thickness (qa/geometry.js hand_*). */
+const HAND = 0.022;
+function profile(b) {
+	const hand = /Hand$/.test(sk.names[b]);
+	const child = axisEnd(sk, b), A = sk.restWorldPos[b], B = sk.restWorldPos[child], axis = sub(B, A), L2 = dot(axis, axis);
+	const bins = Array.from({ length: 6 }, () => []);
+	for (const e of V) {
+		if (dominant(e) !== b) continue;
+		const t = dot(sub(e.p, A), axis) / L2;
+		if (t < 0 || t > 1) continue;
+		bins[Math.min(5, Math.floor(t * 6))].push(len(sub(sub(e.p, A), axis.map(v => v * t))));
+	}
+	const pick = r => { const v = r.sort((x, y) => x - y)[Math.floor(r.length * (hand ? 0.5 : 0.8))]; return +(hand ? Math.min(HAND, v) : v).toFixed(4); };
+	return bins.map((r, i) => [+((i + 0.5) / 6).toFixed(3), r.length ? pick(r) : null]).filter(([, r]) => r !== null);
+}
+
+const LIMBS = ["Arm", "ForeArm", "Hand", "UpLeg", "Leg"].flatMap(n => [`Left${n}`, `Right${n}`]);
+const out = { model, step: STEP, unit: "mm", grids: Object.fromEntries(owners.map(b => [sk.names[b], grid(b)])), radii: Object.fromEntries(LIMBS.map(n => [n, profile(sk.index[n])])) };
+const file = path.resolve("src/motion3/rigs", `${model}-body.json`);
+fs.writeFileSync(file, `${JSON.stringify(out)}\n`);
+console.log(`${file}: ${owners.length} grids, ${(fs.statSync(file).size / 1024).toFixed(0)} KB`);