pymomentum-cpu 0.1.80.post0__cp313-cp313-manylinux_2_39_x86_64.whl → 0.1.82.post0__cp313-cp313-manylinux_2_39_x86_64.whl

include/momentum/character_sequence_solver/sequence_solver_function.h

@@ -126,7 +126,7 @@ class SequenceSolverFunctionT : public SolverFunctionT<T> {
   std::atomic<size_t> numTotalPerFrameErrorFunctions_ = 0;
   std::atomic<size_t> numTotalSequenceErrorFunctions_ = 0;
 
-  bool needsMesh_ = false;
+  std::atomic<bool> needsMesh_{false};
 
   friend class SequenceSolverT<T>;
 };

include/momentum/character_sequence_solver/vertex_sequence_error_function.h

@@ -67,6 +67,10 @@ class VertexSequenceErrorFunctionT : public SequenceErrorFunctionT<T> {
       Eigen::Ref<Eigen::VectorX<T>> residual,
       int& usedRows) const final;
 
+  bool needsMesh() const final {
+    return true;
+  }
+
   [[nodiscard]] size_t getJacobianSize() const final;
 
   /// Add a vertex velocity constraint.
@@ -99,30 +103,21 @@ class VertexSequenceErrorFunctionT : public SequenceErrorFunctionT<T> {
   /// Calculate gradient for a single vertex velocity constraint.
   double calculateVelocityGradient(
       gsl::span<const SkeletonStateT<T>> skelStates,
+      gsl::span<const MeshStateT<T>> meshStates,
       const VertexVelocityConstraintT<T>& constraint,
       Eigen::Ref<Eigen::VectorX<T>> gradient) const;
 
   /// Calculate Jacobian for a single vertex velocity constraint.
   double calculateVelocityJacobian(
       gsl::span<const SkeletonStateT<T>> skelStates,
+      gsl::span<const MeshStateT<T>> meshStates,
       const VertexVelocityConstraintT<T>& constraint,
       Eigen::Ref<Eigen::MatrixX<T>> jacobian,
       Eigen::Ref<Eigen::VectorX<T>> residual,
       Eigen::Index startRow) const;
 
-  /// Update meshes for both frames.
-  void updateMeshes(
-      gsl::span<const ModelParametersT<T>> modelParameters,
-      gsl::span<const SkeletonStateT<T>> skelStates) const;
-
   const Character& character_;
   std::vector<VertexVelocityConstraintT<T>> constraints_;
-
-  // Meshes for the two frames
-  mutable std::unique_ptr<MeshT<T>> neutralMesh_;
-  mutable std::unique_ptr<MeshT<T>> restMesh_; // Single rest mesh used for both frames
-  mutable std::unique_ptr<MeshT<T>> posedMesh0_;
-  mutable std::unique_ptr<MeshT<T>> posedMesh1_;
 };
 
 } // namespace momentum

include/momentum/character_solver/skinned_locator_triangle_error_function.h

@@ -109,23 +109,27 @@ class SkinnedLocatorTriangleErrorFunctionT : public SkeletonErrorFunctionT<T> {
 
   double calculatePositionJacobian(
       const ModelParametersT<T>& modelParameters,
+      const MeshStateT<T>& meshState,
       const SkinnedLocatorTriangleConstraintT<T>& constr,
       Ref<Eigen::MatrixX<T>> jac,
       Ref<Eigen::VectorX<T>> res) const;
 
   double calculatePlaneJacobian(
       const ModelParametersT<T>& modelParameters,
+      const MeshStateT<T>& meshState,
       const SkinnedLocatorTriangleConstraintT<T>& constr,
       Ref<Eigen::MatrixX<T>> jac,
       T& res) const;
 
   double calculatePositionGradient(
       const ModelParametersT<T>& modelParameters,
+      const MeshStateT<T>& meshState,
       const SkinnedLocatorTriangleConstraintT<T>& constr,
       Eigen::Ref<Eigen::VectorX<T>> gradient) const;
 
   double calculatePlaneGradient(
       const ModelParametersT<T>& modelParameters,
+      const MeshStateT<T>& meshState,
       const SkinnedLocatorTriangleConstraintT<T>& constr,
       Eigen::Ref<Eigen::VectorX<T>> gradient) const;
 
@@ -136,11 +140,7 @@ class SkinnedLocatorTriangleErrorFunctionT : public SkeletonErrorFunctionT<T> {
 
   std::vector<SkinnedLocatorTriangleConstraintT<T>> constraints_;
 
-  std::unique_ptr<MeshT<T>> neutralMesh_; // Rest mesh without facial expression basis
-  std::unique_ptr<MeshT<T>> restMesh_; // Rest positions after shape basis is applied
-
   const VertexConstraintType constraintType_;
-  void updateMeshes(const ModelParametersT<T>& modelParameters);
 };
 
 } // namespace momentum

include/momentum/io/marker/c3d_io.h

@@ -24,6 +24,7 @@ namespace momentum {
 /// @return std::vector<MarkerSequence> A vector containing the marker sequences from the C3D file.
 [[nodiscard]] std::vector<MarkerSequence> loadC3d(
     const std::string& filename,
-    UpVector up = UpVector::Y);
+    UpVector up = UpVector::Y,
+    std::span<const std::string> validMarkerNames = {});
 
 } // namespace momentum

include/momentum/io/marker/marker_io.h

@@ -26,7 +26,8 @@ namespace momentum {
 /// the file.
 [[nodiscard]] std::vector<MarkerSequence> loadMarkers(
     const std::string& filename,
-    UpVector up = UpVector::Y);
+    UpVector up = UpVector::Y,
+    std::span<const std::string> validMarkerNames = {});
 
 /// Loads the main subject's marker data from a marker file (c3d, trc, glb) and converts the
 /// positions to the target coordinate system. Default target coordinate system is: (Y-up,
@@ -40,7 +41,8 @@ namespace momentum {
 /// data, or an empty optional if no main subject is found.
 [[nodiscard]] std::optional<MarkerSequence> loadMarkersForMainSubject(
     const std::string& filename,
-    UpVector up = UpVector::Y);
+    UpVector up = UpVector::Y,
+    std::span<const std::string> validMarkerNames = {});
 
 /// Finds the "main subject" from a vector of MarkerSequences. The main subject is currently defined
 /// as a named actor with the maximum number of visible markers in the sequence.

{lib64 → lib}/cmake/axel/axelTargets-release.cmake

@@ -9,11 +9,11 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 set_property(TARGET axel::axel APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(axel::axel PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libaxel.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libaxel.a"
   )
 
 list(APPEND _cmake_import_check_targets axel::axel )
-list(APPEND _cmake_import_check_files_for_axel::axel "${_IMPORT_PREFIX}/lib64/libaxel.a" )
+list(APPEND _cmake_import_check_files_for_axel::axel "${_IMPORT_PREFIX}/lib/libaxel.a" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

{lib64 → lib}/cmake/momentum/momentumTargets-release.cmake

@@ -9,251 +9,251 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 set_property(TARGET momentum::common APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::common PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_common.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_common.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::common )
-list(APPEND _cmake_import_check_files_for_momentum::common "${_IMPORT_PREFIX}/lib64/libmomentum_common.a" )
+list(APPEND _cmake_import_check_files_for_momentum::common "${_IMPORT_PREFIX}/lib/libmomentum_common.a" )
 
 # Import target "momentum::online_qr" for configuration "Release"
 set_property(TARGET momentum::online_qr APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::online_qr PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_online_qr.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_online_qr.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::online_qr )
-list(APPEND _cmake_import_check_files_for_momentum::online_qr "${_IMPORT_PREFIX}/lib64/libmomentum_online_qr.a" )
+list(APPEND _cmake_import_check_files_for_momentum::online_qr "${_IMPORT_PREFIX}/lib/libmomentum_online_qr.a" )
 
 # Import target "momentum::math" for configuration "Release"
 set_property(TARGET momentum::math APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::math PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_math.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_math.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::math )
-list(APPEND _cmake_import_check_files_for_momentum::math "${_IMPORT_PREFIX}/lib64/libmomentum_math.a" )
+list(APPEND _cmake_import_check_files_for_momentum::math "${_IMPORT_PREFIX}/lib/libmomentum_math.a" )
 
 # Import target "momentum::simd_generalized_loss" for configuration "Release"
 set_property(TARGET momentum::simd_generalized_loss APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::simd_generalized_loss PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_simd_generalized_loss.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_simd_generalized_loss.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::simd_generalized_loss )
-list(APPEND _cmake_import_check_files_for_momentum::simd_generalized_loss "${_IMPORT_PREFIX}/lib64/libmomentum_simd_generalized_loss.a" )
+list(APPEND _cmake_import_check_files_for_momentum::simd_generalized_loss "${_IMPORT_PREFIX}/lib/libmomentum_simd_generalized_loss.a" )
 
 # Import target "momentum::skeleton" for configuration "Release"
 set_property(TARGET momentum::skeleton APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::skeleton PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_skeleton.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_skeleton.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::skeleton )
-list(APPEND _cmake_import_check_files_for_momentum::skeleton "${_IMPORT_PREFIX}/lib64/libmomentum_skeleton.a" )
+list(APPEND _cmake_import_check_files_for_momentum::skeleton "${_IMPORT_PREFIX}/lib/libmomentum_skeleton.a" )
 
 # Import target "momentum::character" for configuration "Release"
 set_property(TARGET momentum::character APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::character PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_character.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_character.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::character )
-list(APPEND _cmake_import_check_files_for_momentum::character "${_IMPORT_PREFIX}/lib64/libmomentum_character.a" )
+list(APPEND _cmake_import_check_files_for_momentum::character "${_IMPORT_PREFIX}/lib/libmomentum_character.a" )
 
 # Import target "momentum::solver" for configuration "Release"
 set_property(TARGET momentum::solver APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::solver PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_solver.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_solver.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::solver )
-list(APPEND _cmake_import_check_files_for_momentum::solver "${_IMPORT_PREFIX}/lib64/libmomentum_solver.a" )
+list(APPEND _cmake_import_check_files_for_momentum::solver "${_IMPORT_PREFIX}/lib/libmomentum_solver.a" )
 
 # Import target "momentum::character_solver" for configuration "Release"
 set_property(TARGET momentum::character_solver APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::character_solver PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_character_solver.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_character_solver.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::character_solver )
-list(APPEND _cmake_import_check_files_for_momentum::character_solver "${_IMPORT_PREFIX}/lib64/libmomentum_character_solver.a" )
+list(APPEND _cmake_import_check_files_for_momentum::character_solver "${_IMPORT_PREFIX}/lib/libmomentum_character_solver.a" )
 
 # Import target "momentum::simd_constraints" for configuration "Release"
 set_property(TARGET momentum::simd_constraints APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::simd_constraints PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_simd_constraints.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_simd_constraints.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::simd_constraints )
-list(APPEND _cmake_import_check_files_for_momentum::simd_constraints "${_IMPORT_PREFIX}/lib64/libmomentum_simd_constraints.a" )
+list(APPEND _cmake_import_check_files_for_momentum::simd_constraints "${_IMPORT_PREFIX}/lib/libmomentum_simd_constraints.a" )
 
 # Import target "momentum::character_sequence_solver" for configuration "Release"
 set_property(TARGET momentum::character_sequence_solver APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::character_sequence_solver PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_character_sequence_solver.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_character_sequence_solver.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::character_sequence_solver )
-list(APPEND _cmake_import_check_files_for_momentum::character_sequence_solver "${_IMPORT_PREFIX}/lib64/libmomentum_character_sequence_solver.a" )
+list(APPEND _cmake_import_check_files_for_momentum::character_sequence_solver "${_IMPORT_PREFIX}/lib/libmomentum_character_sequence_solver.a" )
 
 # Import target "momentum::diff_ik" for configuration "Release"
 set_property(TARGET momentum::diff_ik APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::diff_ik PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_diff_ik.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_diff_ik.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::diff_ik )
-list(APPEND _cmake_import_check_files_for_momentum::diff_ik "${_IMPORT_PREFIX}/lib64/libmomentum_diff_ik.a" )
+list(APPEND _cmake_import_check_files_for_momentum::diff_ik "${_IMPORT_PREFIX}/lib/libmomentum_diff_ik.a" )
 
 # Import target "momentum::io_common" for configuration "Release"
 set_property(TARGET momentum::io_common APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::io_common PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_io_common.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_io_common.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::io_common )
-list(APPEND _cmake_import_check_files_for_momentum::io_common "${_IMPORT_PREFIX}/lib64/libmomentum_io_common.a" )
+list(APPEND _cmake_import_check_files_for_momentum::io_common "${_IMPORT_PREFIX}/lib/libmomentum_io_common.a" )
 
 # Import target "momentum::io_skeleton" for configuration "Release"
 set_property(TARGET momentum::io_skeleton APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::io_skeleton PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_io_skeleton.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_io_skeleton.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::io_skeleton )
-list(APPEND _cmake_import_check_files_for_momentum::io_skeleton "${_IMPORT_PREFIX}/lib64/libmomentum_io_skeleton.a" )
+list(APPEND _cmake_import_check_files_for_momentum::io_skeleton "${_IMPORT_PREFIX}/lib/libmomentum_io_skeleton.a" )
 
 # Import target "momentum::io_shape" for configuration "Release"
 set_property(TARGET momentum::io_shape APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::io_shape PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_io_shape.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_io_shape.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::io_shape )
-list(APPEND _cmake_import_check_files_for_momentum::io_shape "${_IMPORT_PREFIX}/lib64/libmomentum_io_shape.a" )
+list(APPEND _cmake_import_check_files_for_momentum::io_shape "${_IMPORT_PREFIX}/lib/libmomentum_io_shape.a" )
 
 # Import target "momentum::io_fbx" for configuration "Release"
 set_property(TARGET momentum::io_fbx APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::io_fbx PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_io_fbx.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_io_fbx.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::io_fbx )
-list(APPEND _cmake_import_check_files_for_momentum::io_fbx "${_IMPORT_PREFIX}/lib64/libmomentum_io_fbx.a" )
+list(APPEND _cmake_import_check_files_for_momentum::io_fbx "${_IMPORT_PREFIX}/lib/libmomentum_io_fbx.a" )
 
 # Import target "momentum::io_gltf" for configuration "Release"
 set_property(TARGET momentum::io_gltf APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::io_gltf PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_io_gltf.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_io_gltf.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::io_gltf )
-list(APPEND _cmake_import_check_files_for_momentum::io_gltf "${_IMPORT_PREFIX}/lib64/libmomentum_io_gltf.a" )
+list(APPEND _cmake_import_check_files_for_momentum::io_gltf "${_IMPORT_PREFIX}/lib/libmomentum_io_gltf.a" )
 
 # Import target "momentum::io_urdf" for configuration "Release"
 set_property(TARGET momentum::io_urdf APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::io_urdf PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_io_urdf.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_io_urdf.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::io_urdf )
-list(APPEND _cmake_import_check_files_for_momentum::io_urdf "${_IMPORT_PREFIX}/lib64/libmomentum_io_urdf.a" )
+list(APPEND _cmake_import_check_files_for_momentum::io_urdf "${_IMPORT_PREFIX}/lib/libmomentum_io_urdf.a" )
 
 # Import target "momentum::io_legacy_json" for configuration "Release"
 set_property(TARGET momentum::io_legacy_json APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::io_legacy_json PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_io_legacy_json.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_io_legacy_json.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::io_legacy_json )
-list(APPEND _cmake_import_check_files_for_momentum::io_legacy_json "${_IMPORT_PREFIX}/lib64/libmomentum_io_legacy_json.a" )
+list(APPEND _cmake_import_check_files_for_momentum::io_legacy_json "${_IMPORT_PREFIX}/lib/libmomentum_io_legacy_json.a" )
 
 # Import target "momentum::io_motion" for configuration "Release"
 set_property(TARGET momentum::io_motion APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::io_motion PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_io_motion.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_io_motion.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::io_motion )
-list(APPEND _cmake_import_check_files_for_momentum::io_motion "${_IMPORT_PREFIX}/lib64/libmomentum_io_motion.a" )
+list(APPEND _cmake_import_check_files_for_momentum::io_motion "${_IMPORT_PREFIX}/lib/libmomentum_io_motion.a" )
 
 # Import target "momentum::io_marker" for configuration "Release"
 set_property(TARGET momentum::io_marker APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::io_marker PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_io_marker.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_io_marker.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::io_marker )
-list(APPEND _cmake_import_check_files_for_momentum::io_marker "${_IMPORT_PREFIX}/lib64/libmomentum_io_marker.a" )
+list(APPEND _cmake_import_check_files_for_momentum::io_marker "${_IMPORT_PREFIX}/lib/libmomentum_io_marker.a" )
 
 # Import target "momentum::io" for configuration "Release"
 set_property(TARGET momentum::io APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::io PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_io.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_io.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::io )
-list(APPEND _cmake_import_check_files_for_momentum::io "${_IMPORT_PREFIX}/lib64/libmomentum_io.a" )
+list(APPEND _cmake_import_check_files_for_momentum::io "${_IMPORT_PREFIX}/lib/libmomentum_io.a" )
 
 # Import target "momentum::marker_tracker" for configuration "Release"
 set_property(TARGET momentum::marker_tracker APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::marker_tracker PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_marker_tracker.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_marker_tracker.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::marker_tracker )
-list(APPEND _cmake_import_check_files_for_momentum::marker_tracker "${_IMPORT_PREFIX}/lib64/libmomentum_marker_tracker.a" )
+list(APPEND _cmake_import_check_files_for_momentum::marker_tracker "${_IMPORT_PREFIX}/lib/libmomentum_marker_tracker.a" )
 
 # Import target "momentum::app_utils" for configuration "Release"
 set_property(TARGET momentum::app_utils APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::app_utils PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_app_utils.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_app_utils.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::app_utils )
-list(APPEND _cmake_import_check_files_for_momentum::app_utils "${_IMPORT_PREFIX}/lib64/libmomentum_app_utils.a" )
+list(APPEND _cmake_import_check_files_for_momentum::app_utils "${_IMPORT_PREFIX}/lib/libmomentum_app_utils.a" )
 
 # Import target "momentum::process_markers" for configuration "Release"
 set_property(TARGET momentum::process_markers APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::process_markers PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_process_markers.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_process_markers.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::process_markers )
-list(APPEND _cmake_import_check_files_for_momentum::process_markers "${_IMPORT_PREFIX}/lib64/libmomentum_process_markers.a" )
+list(APPEND _cmake_import_check_files_for_momentum::process_markers "${_IMPORT_PREFIX}/lib/libmomentum_process_markers.a" )
 
 # Import target "momentum::rerun" for configuration "Release"
 set_property(TARGET momentum::rerun APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(momentum::rerun PROPERTIES
   IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib64/libmomentum_rerun.a"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmomentum_rerun.a"
   )
 
 list(APPEND _cmake_import_check_targets momentum::rerun )
-list(APPEND _cmake_import_check_files_for_momentum::rerun "${_IMPORT_PREFIX}/lib64/libmomentum_rerun.a" )
+list(APPEND _cmake_import_check_files_for_momentum::rerun "${_IMPORT_PREFIX}/lib/libmomentum_rerun.a" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

lib/cmake/rerun_sdk/rerun_sdkConfig.cmake

@@ -15,7 +15,7 @@ if(ON)
     if(NOT TARGET rerun_c)
         # Setup `rerun_c` (imported libraries can't be exported!)
         add_library(rerun_c STATIC IMPORTED GLOBAL)
-        get_filename_component(RERUN_C_LIB_NAME "/home/jeongseok/dev/momentum/momentum/build/cp313-cp313-linux_x86_64/_deps/rerun_sdk-src/lib/librerun_c__linux_x64.a" NAME)
+        get_filename_component(RERUN_C_LIB_NAME "/home/runner/work/momentum/momentum/build/cp313-cp313-linux_x86_64/_deps/rerun_sdk-src/lib/librerun_c__linux_x64.a" NAME)
         set_target_properties(rerun_c PROPERTIES IMPORTED_LOCATION "${RERUN_LIB_DIR}/${RERUN_C_LIB_NAME}")
         if(APPLE)
             target_link_libraries(rerun_c INTERFACE "-framework CoreFoundation" "-framework IOKit")
@@ -34,14 +34,14 @@ if(ON AND NOT OFF)
 
     if(NOT TARGET rerun_arrow_target)
         add_library(rerun_arrow_target STATIC IMPORTED GLOBAL)
-        get_filename_component(RERUN_ARROW_LIB_NAME "/home/jeongseok/dev/momentum/momentum/build/cp313-cp313-linux_x86_64/arrow/lib/libarrow.a" NAME)
+        get_filename_component(RERUN_ARROW_LIB_NAME "/home/runner/work/momentum/momentum/build/cp313-cp313-linux_x86_64/arrow/lib/libarrow.a" NAME)
         set_target_properties(rerun_arrow_target PROPERTIES IMPORTED_LOCATION "${RERUN_LIB_DIR}/${RERUN_ARROW_LIB_NAME}")
     endif()
 
     # We have to explicitly opt in the arrow bundled dependencies, otherwise we're missing the symbols for mimalloc.
     if(NOT TARGET arrow_targetBundledDeps)
         add_library(arrow_targetBundledDeps STATIC IMPORTED)
-        get_filename_component(RERUN_ARROW_DEPS_LIB_NAME "/home/jeongseok/dev/momentum/momentum/build/cp313-cp313-linux_x86_64/arrow/lib/libarrow_bundled_dependencies.a" NAME)
+        get_filename_component(RERUN_ARROW_DEPS_LIB_NAME "/home/runner/work/momentum/momentum/build/cp313-cp313-linux_x86_64/arrow/lib/libarrow_bundled_dependencies.a" NAME)
         set_target_properties(arrow_targetBundledDeps PROPERTIES IMPORTED_LOCATION "${RERUN_LIB_DIR}/${RERUN_ARROW_DEPS_LIB_NAME}")
         target_link_libraries(rerun_arrow_target INTERFACE arrow_targetBundledDeps)
     endif()

pymomentum/torch/character.py

@@ -485,6 +485,40 @@ class Mesh(torch.nn.Module):
         )
 
 
+class BlendShape(torch.nn.Module):
+    def __init__(
+        self,
+        character: pym_geometry.Character,
+        *,
+        dtype: torch.dtype = torch.float32,
+    ) -> None:
+        super().__init__()
+
+        assert character.blend_shape is not None
+        self.register_buffer(
+            "base_shape",
+            torch.tensor(character.blend_shape.base_shape, dtype=dtype)
+            .clone()
+            .detach(),
+        )
+
+        assert character.blend_shape is not None
+        self.register_buffer(
+            "shape_vectors",
+            torch.tensor(character.blend_shape.shape_vectors, dtype=dtype)
+            .clone()
+            .detach(),
+        )
+
+    def forward(self, coeffs: torch.Tensor) -> torch.Tensor:
+        if not hasattr(self, "base_shape"):
+            raise RuntimeError("Character has no blendshapes")
+        return (
+            torch.einsum("nvd, ...n -> ...vd", self.shape_vectors, coeffs)
+            + self.base_shape
+        )
+
+
 class ParameterTransform(torch.nn.Module):
     def __init__(
         self,
@@ -735,6 +769,9 @@ class Character(torch.nn.Module):
                 character.parameter_limits, dtype=dtype
             )
 
+        if has_rest_mesh and character.blend_shape is not None:
+            self.blend_shape: BlendShape = BlendShape(character, dtype=dtype)
+
     def joint_parameters_to_local_skeleton_state(
         self, joint_parameters: torch.Tensor
     ) -> torch.Tensor:
@@ -782,6 +819,16 @@ class Character(torch.nn.Module):
             self.model_parameters_to_joint_parameters(model_parameters)
         )
 
+    def model_parameters_to_blendshape_coefficients(
+        self, model_parameters: torch.Tensor
+    ) -> torch.Tensor:
+        return model_parameters[..., self.parameter_transform.blendshape_parameters]
+
+    def bind_pose(self) -> torch.Tensor:
+        return self.joint_parameters_to_skeleton_state(
+            torch.zeros((1, len(self.skeleton.joint_names), 7))
+        )
+
     def skin_points(
         self,
         skel_state: torch.Tensor,

{pymomentum_cpu-0.1.80.post0.dist-info → pymomentum_cpu-0.1.82.post0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymomentum-cpu
-Version: 0.1.80.post0
+Version: 0.1.82.post0
 Summary: A library providing foundational algorithms for human kinematic motion and numerical optimization solvers to apply human motion in various applications (CPU-only version for Linux, macOS Intel, and macOS ARM)
 Keywords: kinematics,motion,optimization,human-motion,inverse-kinematics,forward-kinematics,body-tracking,motion-capture,character-animation,robotics,cpu
 Author-Email: Meta Reality Labs Research <jeongseok@meta.com>
@@ -86,7 +86,7 @@ conda install -c conda-forge momentum-cpp
 ```bash
 # Install and run
 pip install pymomentum-cpu
-python -c "import pymomentum as pm; print(pm.__version__)"
+python -c "import pymomentum.geometry as geom; print(dir(geom))"
 ```
 
 ### Building from Source

{pymomentum_cpu-0.1.80.post0.dist-info → pymomentum_cpu-0.1.82.post0.dist-info}/RECORD

@@ -59,9 +59,9 @@ include/momentum/character_sequence_solver/multipose_solver.h,sha256=24p495xvB_y
 include/momentum/character_sequence_solver/multipose_solver_function.h,sha256=D94Ogh8_vIIfoOoAEugO452M63kmivXmaMwqfqTcmCE,2674
 include/momentum/character_sequence_solver/sequence_error_function.h,sha256=HppyeWso5FYrvblK96uZa-GZ0fgQzhCLWnzS3cVxVsY,3277
 include/momentum/character_sequence_solver/sequence_solver.h,sha256=YftMwRqsXfapUK-VZi849wtUEKEOl8t25oL4oHBooJc,4395
-include/momentum/character_sequence_solver/sequence_solver_function.h,sha256=jpt9-Hlcvs8cRXPO9dOtJBSgCCNkRzkxOGTvdwWxKMM,4695
+include/momentum/character_sequence_solver/sequence_solver_function.h,sha256=s1D4-Tx7HLq8o8rB24d04_2DQqOLL4HgIYfPMd15jWU,4707
 include/momentum/character_sequence_solver/state_sequence_error_function.h,sha256=FwGpDfnBfjXTUQ1vcGd1nWEil76xUigFcwdQSZ_waxk,4126
-include/momentum/character_sequence_solver/vertex_sequence_error_function.h,sha256=zlVqvcTNdqVptwgJ2BAhHrmqBGhRnDYTCL4jP11vwGM,4613
+include/momentum/character_sequence_solver/vertex_sequence_error_function.h,sha256=G074FNXYPk612dBdZ_WYFeYekFGlxWGwZU1cFgyCK4c,4319
 include/momentum/character_solver/aim_error_function.h,sha256=2ol3INOlR-io7nqHMJtjldzSwD-gn45dAznDt6DWhaQ,4068
 include/momentum/character_solver/collision_error_function.h,sha256=YXvptjE-72jiuP1SN2sVaKk0qgsB3Xp4Qv6h4rcbPLI,2598
 include/momentum/character_solver/collision_error_function_stateless.h,sha256=ru4zLDHKxkx1CrfGsAAT-twVsGVyxpHKezhSwPgwfN4,2409
@@ -88,7 +88,7 @@ include/momentum/character_solver/simd_position_error_function.h,sha256=7s4tBadx
 include/momentum/character_solver/skeleton_error_function.h,sha256=seAbE1XfQvCbNuMBXMXcx5epuvrNIX0E1yjFy0q9_pw,4477
 include/momentum/character_solver/skeleton_solver_function.h,sha256=OYrfGUdfNB6tuhb5VvVi7qIrDLuUT73gKtNj2ZD8UXY,3084
 include/momentum/character_solver/skinned_locator_error_function.h,sha256=IG8CbBJxMCf0mm0-YCq7vNbwtwm9eF2m_H4Hl1CLvug,6525
-include/momentum/character_solver/skinned_locator_triangle_error_function.h,sha256=6v5CudtVwMU8lfjBlfOyjF3HwpIHACW9k9iaBjUJdLw,5235
+include/momentum/character_solver/skinned_locator_triangle_error_function.h,sha256=54ipdFT2OjmXL3WLBIaFO2zjMP_rAOFrlagWipDJRMo,5148
 include/momentum/character_solver/skinning_weight_iterator.h,sha256=O5A9dnKmG8_q7MCjAnImEp_1XfTKVDaS76p0PLePJQk,2406
 include/momentum/character_solver/state_error_function.h,sha256=qkgPgKcn0FLahMsCZIHg2_10Ht9tcUQoNgKZtkSeN6I,2895
 include/momentum/character_solver/transform_pose.h,sha256=PCmBQ8FcXfcR4udOlgUC7-gO7UDCJobCumG7PTlrgy4,3213
@@ -136,10 +136,10 @@ include/momentum/io/gltf/utils/accessor_utils.h,sha256=r4ACjFdlRieXNNoM4bnuTtcbw
 include/momentum/io/gltf/utils/coordinate_utils.h,sha256=NFxsPzEeyfM5_ffehKAnUPd_XZ-kCYQztjah034oKts,1517
 include/momentum/io/gltf/utils/json_utils.h,sha256=yg1sNvZ1HK6tUvgVHjiGzwkdrf8OG1O8K14SwXD_W8k,3785
 include/momentum/io/legacy_json/legacy_json_io.h,sha256=KIWTWIYw7hl9OKv55fh6TmvvqbcdSWUo6tEoRHxJPho,2684
-include/momentum/io/marker/c3d_io.h,sha256=N--o65fl4q8jsDS-HnZ88ke-M2vMwa9v_4w7_3Sf2Qc,1094
+include/momentum/io/marker/c3d_io.h,sha256=ocMAsu7kx--9gE0SYI0slpr8oVMk0WhlAz32UHadX5I,1150
 include/momentum/io/marker/conversions.h,sha256=mzXsulY04aR8XKOFBnPHaYnUck_hPbbdfAUQqL_X5GE,2603
 include/momentum/io/marker/coordinate_system.h,sha256=oy72AnwBisqq0loM7mxbNio9OCwIe0mjGdtVry5rKqw,780
-include/momentum/io/marker/marker_io.h,sha256=TmLMF5mfRk8LeGX-sPaLMTYG3fjZdugPbCKKdpNsUAc,2318
+include/momentum/io/marker/marker_io.h,sha256=Aa0kJQXaCG7hjCeDDifVEcz7AO934_pKFdNzjjn6tJU,2430
 include/momentum/io/marker/trc_io.h,sha256=Gvx9SJvhkXgs4eMkqUFANA-eqGnHftsbMzaEy-6F0uU,1046
 include/momentum/io/motion/mmo_io.h,sha256=S6ZMWw7xSvMrEf0a3z5LWvaX0Z5whmQWgpN999bemK8,3572
 include/momentum/io/shape/blend_shape_io.h,sha256=IEKxC5m9EkVfQ8BfDmyyoeFSqz0Dipubwaf4iGWMwfc,2827
@@ -450,60 +450,60 @@ include/rerun/datatypes/video_timestamp.hpp,sha256=Mfhprerr84G31EZcSt_82b1GT-XFI
 include/rerun/datatypes/view_coordinates.hpp,sha256=qoKlxS-oQDx4_8SE1kGUJvV0LtSy2ckJGSNRlq6xUU8,3032
 include/rerun/datatypes/visible_time_range.hpp,sha256=6HIjxAUOXtv7I7g0GflgaRTwLbHHO2WXcyZtMZGqBWk,1778
 include/rerun/third_party/cxxopts.hpp,sha256=zp6SePNC9y1tAD7ryAodVydRCo0leWDwZRmcf4TbWEc,71577
-lib/libarrow.a,sha256=Jdj4Gf6N8SKdhtIdOIECmx16n0b15JHdgkxk1iU76J4,33273022
-lib/libarrow_bundled_dependencies.a,sha256=RaDMF47CVNIxc-VqDqGXc3xx823sSHS_OQzDNXb5alc,244362
+lib/libarrow.a,sha256=FixSTyNSBUOq5vsrq5uAD13HKIdxxPFtmVq3xnKAzDw,33272926
+lib/libarrow_bundled_dependencies.a,sha256=0JI65ue2sM7hqtvBobHnFPZ_ulc2QKyyWoLFEx0t3b0,244362
+lib/libaxel.a,sha256=VaO-dqNSr2lZhI2GJQ1EMW9x8b4WHYtUKu7SsFQ_f_4,1225348
+lib/libmomentum_app_utils.a,sha256=t6wr3an3ykhkld93-h5rkAhoOKIghuwY-awfYhSygxI,731204
+lib/libmomentum_character.a,sha256=udQnta-f2dSjnMOmZ6Yx8_M7l1l7p1oU11Z4T2ljxYk,2558960
+lib/libmomentum_character_sequence_solver.a,sha256=1r83gGH_znIai6bIhIHzON0MZ9kZvqhpGGB9xXVszqc,3304392
+lib/libmomentum_character_solver.a,sha256=WWLCcidNrWCGjX6Y49v7_TIPxpuYRQO4JSKwPqc9Tc8,9012882
+lib/libmomentum_common.a,sha256=fwYAAWz9lMitLRrA7zy51NAUV_clguQsdbj2iplknW0,812114
+lib/libmomentum_diff_ik.a,sha256=aCq7a5ubf5cWmR56rDKEsNNYvE-bqbXJoOGPcevL-rI,4673132
+lib/libmomentum_io.a,sha256=y-6yD_SAkAGWzNMXHdxD5JxBrZ1OPLLWlO-DDD7n5q8,207354
+lib/libmomentum_io_common.a,sha256=xs-o9GojPQKmyaLRiR9Ai3rDCDRcEg1zC001v2QjsI4,202526
+lib/libmomentum_io_fbx.a,sha256=MKfGD-r2an-4_f6M8GA8r-iUui5XzfqIyHFj31YUTmI,1849894
+lib/libmomentum_io_gltf.a,sha256=9jMDFCoXancM3xQ_LA9pqZEDWjRXetBE1kYXdAQwn44,4281270
+lib/libmomentum_io_legacy_json.a,sha256=ankjcJpCVesHtUkFt2hvsInPctM0h3uJjTTpjEuUgLQ,714782
+lib/libmomentum_io_marker.a,sha256=m3BlXtVYqMfeEunIG5Pfp_PT-ELwpu3U9OiX6mYzsaM,2287056
+lib/libmomentum_io_motion.a,sha256=IDlOhasLLrZKVCQqnEnUF2B3XZexFHnJRJxPHJqc0ew,793718
+lib/libmomentum_io_shape.a,sha256=GYCrH6XAAex__tHUj4GSP0uTcxe510A7p3dm_AQ6gD0,1365814
+lib/libmomentum_io_skeleton.a,sha256=2OM7ljYj7i-oJJ8u7wRftPTCh1NNBZM79eFehguknik,2684638
+lib/libmomentum_io_urdf.a,sha256=O7_tt5pgpFqLZHj3B-FOBHIRyAb9A65ASDiTqCvjwis,313770
+lib/libmomentum_marker_tracker.a,sha256=PCw5lKs1dgGZQaCq4WKTbtr5TpRIaACbrzvgk6sOhAo,1963812
+lib/libmomentum_math.a,sha256=DQBPk4h8Q3uW9k4y9DTow4QX26nDqB6DAMlt67S9UTQ,1641786
+lib/libmomentum_online_qr.a,sha256=d1tmwac1ZYvrcMBB2ZbtMUfB9qOF3kC9WP2SEIxOX34,229302
+lib/libmomentum_process_markers.a,sha256=fNq36GathgCVHXQSF6hlokUHQlDyP6AsacNhZaWldrU,1251670
+lib/libmomentum_rerun.a,sha256=Q2ytEatSAl-QCq50AqsmwBkLoE7MCaCrcgWp91tvp5s,1137038
+lib/libmomentum_simd_constraints.a,sha256=SWCK0GPEJmj1K3BJJaRbeNTX7P34gRHmDf3JSZ7OWlQ,776086
+lib/libmomentum_simd_generalized_loss.a,sha256=mi4moDAYUnPGMisoQZuX44I8E3yOohL4WJ2lOQ9ccmA,753012
+lib/libmomentum_skeleton.a,sha256=XT6QkACRAxgvWq8PJY61kgcmszbemdAqkLKn6oxJb_s,789844
+lib/libmomentum_solver.a,sha256=nZ3ulRAy82FjdQyM3bDXTzReIZlf__Kee4DP90SaQNU,1610354
 lib/librerun_c__linux_x64.a,sha256=JadrhPNhNjgRXq7eo8ZpwZJb4lpOSnvb__ds-OhYPfA,125411548
-lib/librerun_sdk.a,sha256=FIZYN7I0AE4KjxCwpkaexXMWhgCwF_pZxoQX0Tv5c-M,5552506
-lib/cmake/rerun_sdk/rerun_sdkConfig.cmake,sha256=Q-pxHnbFc3Ok6T-gxRglfZSsMigx5dCurCzO0H_peD4,3346
+lib/librerun_sdk.a,sha256=GUU1Iz3vBBXaer-N8lv-BDYlVPg6jZ9kk1ic35vo_iM,5552506
+lib/cmake/axel/axel-config.cmake,sha256=gTDQ-zK9pDcMzFmSoKorPKVbCaeUhK6JVGMmui1QX64,1372
+lib/cmake/axel/axelTargets-release.cmake,sha256=70WWJMCgKdg3q_qvXHWlwSwJhQzdjJTY5IbCxFkMMPU,819
+lib/cmake/axel/axelTargets.cmake,sha256=gtHQernEzZl5Kc1GmxzmFX_IXfDNhuXscPsfxzz4fkI,4231
+lib/cmake/momentum/Findre2.cmake,sha256=bKFmT9xqyT87uOjOojiR3uAzIx09X1jVVtMtw8feDM4,1290
+lib/cmake/momentum/momentum-config.cmake,sha256=Ma8BDkEqOBeFAuKj5HaZY8HP2_vXGfI1v3WFI325SJA,1993
+lib/cmake/momentum/momentumTargets-release.cmake,sha256=0BHjhHRjBcvgrfmKjv0Rj0i6HEs17V5ohKghuvBSDG0,13417
+lib/cmake/momentum/momentumTargets.cmake,sha256=-ZocI6gx3eZTRDo4Ynz5TwiFXwZOBF9JqPAtTq0Mx3c,15954
+lib/cmake/rerun_sdk/rerun_sdkConfig.cmake,sha256=kQEvxD3iAxGnuyMLBRs57Mi4eTMqjVMGGZKGt9iGf8A,3340
 lib/cmake/rerun_sdk/rerun_sdkConfigVersion.cmake,sha256=pkP-Dk2ua51-lUaTXsyrol2-gkTmJ9cVmQBOc_YBBXk,3252
 lib/cmake/rerun_sdk/rerun_sdkTargets-release.cmake,sha256=oJmUbA8vo_Af5olAGr7JcaiuRPU4dihtdClmCq11ADY,824
 lib/cmake/rerun_sdk/rerun_sdkTargets.cmake,sha256=BNlHggsz8G6CC3ypFIFo4xMQVy5c2aSaGJr7nQTmLIM,4255
-lib64/libaxel.a,sha256=z-YjMx-0G7UAQU3wZq58yDlPo8x01OhQPuaiAHFh9JE,1225348
-lib64/libmomentum_app_utils.a,sha256=kj_5btRrHbGwDxCAsFjVzhL1ASqv5HzH9qIgwD_LEno,731204
-lib64/libmomentum_character.a,sha256=sximUYL3o9dKAPwz_nPH2sGzwwzGhm2nsIv8geW2sf0,2558960
-lib64/libmomentum_character_sequence_solver.a,sha256=11bP-qhzOSuCJ2OKWSHGGWdZbYbJMi5OmxTsEv346VE,3344130
-lib64/libmomentum_character_solver.a,sha256=58wIHYLDOp1Q4v1eGZwe0WagSyBBVDQD1B4Ka4PXfZ0,9031550
-lib64/libmomentum_common.a,sha256=FjzgA_XVUFSvfAZqHhsxXfl4ELsiFoZDZ9eAtpuwBvc,812114
-lib64/libmomentum_diff_ik.a,sha256=i_g20-b6ztmvVqrRqcvdlyLHjOthXLjCNUYVvFNNGyg,4673132
-lib64/libmomentum_io.a,sha256=ROzZQ35gAfp1qMqSV3NRVHLKnW_eb13PruUAJ8rGNvU,207354
-lib64/libmomentum_io_common.a,sha256=-FjH6ycGNxPfdd0pg6wYjh3qOiUh5ItX-jf0HqiW0yI,202526
-lib64/libmomentum_io_fbx.a,sha256=iYMh2BcGSqwK4BZzDE07oPyEmT7ol7um2svqDNRTA_U,1849894
-lib64/libmomentum_io_gltf.a,sha256=IIKYqIvrlEe2FaMaGY7aqs9Tk6BRvQEenktcrK31tRY,4281270
-lib64/libmomentum_io_legacy_json.a,sha256=wD6FzLRvcaHddBLBc9gdJjTws6fM5eYu7Zi28RYxlG8,714782
-lib64/libmomentum_io_marker.a,sha256=vaWb82YHzgjG5S5ewqFXbpS5VqjuNOb5se_fv0AUxLU,2283748
-lib64/libmomentum_io_motion.a,sha256=CvdcKZmRzNrVeEAccuV8Kjsf_9gjzBZLU4couQpVx2Y,793718
-lib64/libmomentum_io_shape.a,sha256=r04qFmKl3WARRIxj45KFjVzcVfDGQnYWRRD2scGmDF0,1365814
-lib64/libmomentum_io_skeleton.a,sha256=PkDJeKcDVXnVzNTwiv1OfXq-Dq4Q-qwbwom8mfKv3q0,2684638
-lib64/libmomentum_io_urdf.a,sha256=4pB4ZNeeGZD4ypAvSrTO9pjumL5JC2SYf4abHiLNxVg,313770
-lib64/libmomentum_marker_tracker.a,sha256=pDK1Ytr9mwq6b6W1nqLsg_KlJ7Up77c-bv-ZyAURsc8,1963772
-lib64/libmomentum_math.a,sha256=A5-2GoLzXV6MjNP87O3snlskUH3_KPC6jJws0NUInj8,1641786
-lib64/libmomentum_online_qr.a,sha256=MQIKdRgw3vMPTrjj2-_PXkRWcnqnAAVjCRluM2bWSFU,229302
-lib64/libmomentum_process_markers.a,sha256=P6xUpiBoSwNPt84l9VCM-ti3IoU-Rg3ydUWrMMdJrOE,1250318
-lib64/libmomentum_rerun.a,sha256=_Q9lQcD6CyoPqXkb4cJySX5hHztZN-HUIzyI42rpILw,1137038
-lib64/libmomentum_simd_constraints.a,sha256=IXH5brccs7jSkwoO8RFdqmyq6sKmvNLB8mTmItb1WXM,776086
-lib64/libmomentum_simd_generalized_loss.a,sha256=jyolAPX40xtpp1xFdJ5J8xA5sM7nQKDcDy9YI-ct-dw,753012
-lib64/libmomentum_skeleton.a,sha256=klLaYE2UnQCv-uDVtmUHgJR5yX5tFpHST6BN6DmJUzU,789844
-lib64/libmomentum_solver.a,sha256=7JdW902jiyZyQQvgXOriVj18Z1-OygT7650qj2HNowY,1610354
-lib64/cmake/axel/axel-config.cmake,sha256=gTDQ-zK9pDcMzFmSoKorPKVbCaeUhK6JVGMmui1QX64,1372
-lib64/cmake/axel/axelTargets-release.cmake,sha256=S6GMmgGs-IxZC0qBBz_ADcbD7GrHGS1UXSk4BLkz2JI,823
-lib64/cmake/axel/axelTargets.cmake,sha256=gtHQernEzZl5Kc1GmxzmFX_IXfDNhuXscPsfxzz4fkI,4231
-lib64/cmake/momentum/Findre2.cmake,sha256=bKFmT9xqyT87uOjOojiR3uAzIx09X1jVVtMtw8feDM4,1290
-lib64/cmake/momentum/momentum-config.cmake,sha256=Ma8BDkEqOBeFAuKj5HaZY8HP2_vXGfI1v3WFI325SJA,1993
-lib64/cmake/momentum/momentumTargets-release.cmake,sha256=1MnXwezsk-IVmp7XWZroPt-wd53biWQXOS2TMrCns_A,13517
-lib64/cmake/momentum/momentumTargets.cmake,sha256=-ZocI6gx3eZTRDo4Ynz5TwiFXwZOBF9JqPAtTq0Mx3c,15954
-pymomentum/axel.cpython-313-x86_64-linux-gnu.so,sha256=URcbyfzhgnlQEECA6W2ge1nk7kdJniud-dT1hp-xRtc,970273
-pymomentum/geometry.cpython-313-x86_64-linux-gnu.so,sha256=iN8ElCTJ1DpLmLt1ChzHm4_SD2dacJeY2R7k8wTCiiA,6421913
-pymomentum/marker_tracking.cpython-313-x86_64-linux-gnu.so,sha256=5KAuAzir2NjSqih8jE9OMJKimgM1GkJg2HNtNJx55mU,5515769
+pymomentum/axel.cpython-313-x86_64-linux-gnu.so,sha256=OKp1gbJqom6jngriqk_A-iH8U13U63q0-zk_0BfYRpY,970273
+pymomentum/geometry.cpython-313-x86_64-linux-gnu.so,sha256=rRlIec7JYF4Wq3wfhsHCTbKm6NClLaJAcZJ9Qw-QSBk,6434321
+pymomentum/marker_tracking.cpython-313-x86_64-linux-gnu.so,sha256=44J3FNw1x9kl20_8aYY-8ex2Mf09bgUEJcLTRP5sowg,5511769
 pymomentum/quaternion.py,sha256=-TB1iUxcAVjntIJZW2xS8Mc2uWBUZW_M4sj-CaoMvPY,26956
 pymomentum/skel_state.py,sha256=K2WTFxudHsxR3LuE3ZT5_zzvgjEbrD5KWpWEQXOzUGY,17769
-pymomentum/solver.cpython-313-x86_64-linux-gnu.so,sha256=9Zrd4qFKGHW4myF9BUNNNRQav1N5FuCEn22vuouxfSw,7379761
-pymomentum/solver2.cpython-313-x86_64-linux-gnu.so,sha256=M1rRG4n9t3BdGoAOJo0hl2EMl0womgvunrwtn9PCo-s,5480681
+pymomentum/solver.cpython-313-x86_64-linux-gnu.so,sha256=oezG8AIdOigndsGmjoQeYYA3O2-tEIF8pzvjw9AV7FE,7383857
+pymomentum/solver2.cpython-313-x86_64-linux-gnu.so,sha256=JuBTPs9FRnOHmMjUnagf7OiTAmFADJs60Hark1cDWrM,5464201
 pymomentum/trs.py,sha256=jwvOR2DDMpAqOE9zFh0TJnigsDpfRi2guUfayQklVqk,17624
 pymomentum/backend/__init__.py,sha256=6tzrxIJl9w1eM-gqf7YwTZ33WkJ6lnq9h4-TsTuOtuc,476
 pymomentum/backend/skel_state_backend.py,sha256=tsd2iqtkbyvC7kmvZcApKGu16QbkZuEq2_ysWv6p89Y,25883
 pymomentum/backend/trs_backend.py,sha256=iJLf4wvHcpZncR3mYs9FG48KvXcuuUPdAwwBpPXEK8Q,31076
 pymomentum/backend/utils.py,sha256=YdxBRmgzJYnFY11-YCS0dYlBpw8-9qBcOUghIbvbmM8,8321
-pymomentum/torch/character.py,sha256=y_Ov7tkTobKdmNP1b2oNwFpPuVBUj8sRCJ7G2J5jh-s,31550
+pymomentum/torch/character.py,sha256=M7fITsnVWl0h5uwuNJH5UH7VhQRtOfFL6F6-HBgOCag,33052
 pymomentum/torch/parameter_limits.py,sha256=Db89tUaJbsOjbOFqhJPFPbMPZDtErAf65ssZvxJ959c,19762
 pymomentum/torch/utility.py,sha256=_FsIVlhcQusSz_6aVLPKpRRHgSjIwmd0uCWxNVKqRtY,608
 pymomentum_cpu.libs/libabsl_base-86f3b38c.so.2505.0.0,sha256=kaihmdL_W7rqkTYkgLcJ2ZYUiTkDiwpENVlopyhHTQo,39897
@@ -545,11 +545,11 @@ pymomentum_cpu.libs/libabsl_utf8_for_code_point-de2a4d4a.so.2505.0.0,sha256=k6ny
 pymomentum_cpu.libs/libconsole_bridge-f26e11cc.so.1.0,sha256=LESGJ5BDYjZwzh0ya1edkKgxaOmbEN3kuwPXHRwJtxA,31641
 pymomentum_cpu.libs/libdeflate-577b71e3.so.0,sha256=k0lP-7Dojj9hx9cNwpNKtTFcuYv4HDNy8negVgyKmdU,104081
 pymomentum_cpu.libs/libdispenso-67ac1721.so.1.4.0,sha256=IFFamCzK4FpllpBwCYj_5murImZwgV0IhWnI5t10LWo,518977
-pymomentum_cpu.libs/libezc3d-4a95ab2c.so,sha256=aryLuqXyWoYK9vUVR2guVfBwnWMXInj4sHaUEPK4fko,596553
+pymomentum_cpu.libs/libezc3d-48face0b.so,sha256=S2si71XxwHYx0Cor3_Rq5yLBAbUpn3o45wLqDLhoyjQ,596505
 pymomentum_cpu.libs/libre2-985fb83c.so.11,sha256=XtGXahmFHO6kV-x1ROEAdIDmcZVlWGT70joU20kCLYg,718825
 pymomentum_cpu.libs/libtinyxml2-8d10763c.so.11.0.0,sha256=KoK7Wl1HGQLMYBc4NWufsGh6RqNvjpWBQVGKqUoXgrE,163353
 pymomentum_cpu.libs/liburdfdom_model-7b26ae88.so.4.0,sha256=OTjp8aTUsvzgCy4OvW3EWM5G8JP4miw_nYc7brW3U6g,227401
-pymomentum_cpu-0.1.80.post0.dist-info/METADATA,sha256=DObqHGmbFHWewE-kRojRGX67Al71s4TSzomfd3RHQqk,5803
-pymomentum_cpu-0.1.80.post0.dist-info/WHEEL,sha256=2ADbL3pVf9-n9sIiYH0qdS_3puCuND-aMQYo3y1sVjQ,118
-pymomentum_cpu-0.1.80.post0.dist-info/RECORD,,
-pymomentum_cpu-0.1.80.post0.dist-info/licenses/LICENSE,sha256=2m03A-0Ry-Qr0hLHJZV8mNojy_8ZmMBfpLPZdtGljpM,1088
+pymomentum_cpu-0.1.82.post0.dist-info/METADATA,sha256=v_HUsEH8L3zAanDxBPBj8kYNSL115m9k-Stao_akL88,5809
+pymomentum_cpu-0.1.82.post0.dist-info/WHEEL,sha256=2ADbL3pVf9-n9sIiYH0qdS_3puCuND-aMQYo3y1sVjQ,118
+pymomentum_cpu-0.1.82.post0.dist-info/RECORD,,
+pymomentum_cpu-0.1.82.post0.dist-info/licenses/LICENSE,sha256=2m03A-0Ry-Qr0hLHJZV8mNojy_8ZmMBfpLPZdtGljpM,1088