o rjA@sdZddlZddlZddlZddlZddlZddlZddlZddlZ ddl Z ej ej eZej ej edZej edddZej dej eddej dej edd ddlmZdd lmZdd lmZmZmZmZd Zd Zej edddeZ gdZ!e!e"eZ#e$e#Z%e$eZ&de'ddfde'ddfde'ddfe&de'de%fdZ(dZ)ddZ*ddZ+ddZ,e#fd d!Z-d"d#Z.d$d%Z/e0d&kre/dSdS)'uPublish one solo-dataset clip after a codec round-trip, in the E2E turn viewer. Diagnostic companion to `render_solo_gt_turn.py`. That script renders the preprocessed GT rotations with NO codec and NO generator; this one takes the SAME clip through `encoder -> continuous latent -> decoder` — the exact decode contract the solo generator is trained against — and renders the result. Because the two turns differ ONLY by the codec round-trip, comparing them in the viewer separates two causes of bad arms: GT already wrong -> preprocessing / rest-pose retargeting GT fine, round-trip wrong -> arms/fingers codec reconstruction `face.json` and `audio.wav` are copied byte-for-byte from the GT turn rather than re-rendered, so the body is provably the only difference. That also keeps this process free of the face package, whose `scripts` module collides with GestureVRM's (the same reason `infer_turn.py` runs the body in a subprocess). WRITER (2026-08-05, ceiling-gate A/B) — `vrma_writer.write_vrma` is NOT used. Its built-in generic skeleton has no upperChest, so that node is orphaned and shoulders/neck rewire onto chest; the published pose breaks (elbow 72°->149°, see render_solo_gt_turn.py docstring). The GT turn sidesteps this by shipping the baked vrma verbatim — which a round-trip cannot do, since its rotations are new. So we take that same baked vrma as the TEMPLATE and overwrite only the rotation floats, leaving hierarchy, humanoid map and node rests byte-identical: npz basis = inv(rest_node) o channel (vrma_to_npz.convert_humanoid) => channel = rest_node o basis (this writer) `--self-verify` (default on) re-writes the GT basis through the same path and asserts it reproduces the baked channels, so the writer is proven neutral before any codec output is judged. Measured 9.7e-08 max component error, i.e. float32 noise. Bones outside the 50-bone contract (eyes, toes) keep their GT channels; upperChest is absent from GG_11's humanoid map entirely. python render_solo_codec_roundtrip_turn.py --npz /data/mocap-convertor/datasets/solo_20260722_body_v1/processed/npz/test/solo_20260722_174736_seg000126.npz --gt-turn GT_15_restref_seg126 --id CODEC_15_roundtrip_seg126 N..zmotion-blender experimentsz wave-handsmotion GestureVRMlib)quaternion_to_rotation_6d) FINGER_BONES _accessor_qmul _read_glb#solo_body_v1__50b_vel__scratch__r02outputs gen_trainruns)hipsspinechest upperChestneckhead leftShoulder leftUpperArm leftLowerArmleftHand rightShoulder rightUpperArm rightLowerArm rightHand leftUpperLeg leftLowerLegleftFoot rightUpperLeg rightLowerLeg rightFoot$0'rarmslegsfingerscCst|ttjj|ddddd}|ttjj|ddddd}ttj||dddd}tdt|S) NTaxiskeepdims:0yE>r2?g@)npcliplinalgnormabssumdegreesarccos)abdotsrCl/home/gglabs/Desktop/service/kemix-engine/package/avatar-E2E-inference/./render_solo_codec_roundtrip_turn.pyangular_error_deg[s   rEc Cs*tttjtd}|dtkrtd|dtjtd}ii}}t D]d\}\}}tj |d|}| tj ttj sNtd|t|} | tj|ddd d | |||<ttj|d |d tjttj|d |d tjf||<q+|||fS)zKLoad the selected scratch codecs, refusing any checkpoint outside this run.zcodec_selection.jsonrun_idzforeign codec selection: mean_std checkpointsz%checkpoint escaped the isolated run: cpuF) map_location weights_onlynetvrm_z _mean.npyz_std.npy)jsonloadopenospathjoinRUN_ROOTRUN_ID RuntimeErrorPARTSitemsabspath startswithsepiv create_vqvaeload_state_dicttorchevaltor8astypefloat32) device selectionmeanstdmodelsstatspartdim_ckptmodelrCrCrD load_codecsbs$   "" rnc Cst|}| t}|r1tj|tj|dd|ddgdd}tj|tj|dd|ddgdd}t|}tt|tj}t |} |dd|dd| dd<|ddddf |d|ddddf |dtj|ddddf |d| gdd|dddt f |dd } i} t EtD]:} || \} }t | | | |d|}|| |}|| |dd dd}||| | | <qWdn1swYtj|t dftjd }| d  |dd|ddddf<| d  |dd|ddddf<| dddddf |dd|ddddf<| d |td|dddt f<tt|}| dddddf}t|}|d|d<|dtj|dddd|dd<|d||d|fS)at(T,NB,4) GT basis quats -> continuous codec round-trip -> (T,NB,4) + (T,3). The codec downsamples by CODEC_STRIDE, so T is edge-padded up to a multiple of it and trimmed back. The ceiling gate instead truncates; padding is used here so every published frame is codec output (a truncated tail spliced with GT would read as a pop at the loop boundary). r0Nrr5r&r(r*r+dtyperr,r-r%r.r))len CODEC_STRIDEr8 concatenaterepeatasarrayrrbrc zeros_likereshapeNBr_no_gradrW from_numpy unsqueezera map2latentdecoderpermuterInumpyzerosNFr\rotation_6d_to_quaternion empty_likecumsum)qtransrgrhrdTpadframesr6trans_vfeaturesrecrimeanstdxlatentoutrec_r6q_recrec_v trans_recrCrCrD roundtripysF &&  (  "$""2"  &rc st|\tddd}}dddd}|dfd d |d D}d } |d p6id} |d D]} | dddkrX| dd| krX| dd} q>d} fdd} t|D]b\}}||}|rx|dd uryqf|d}||vrqftj||dgdtjd}tj|d d |ftjd}|ttjj |ddddd }t t |t |df|}| |||| d7} qf|d ur| d ur| | tj|tj dtjddd }|d!t | d"7}t}|d#t | d"7}d$t |d%t |}t|d&6}|td'd(d)||td*t |d+|||td*t |d,||Wd | S1sKwY| S)-aCopy `template_vrma`, replacing only its rotation floats with `basis`. Returns the max |component| deviation the caller can use to self-verify. Bones absent from the humanoid map (upperChest on GG_11) or outside `bones` (eyes, toes) keep the template's own channels. nodes animationsr extensionsVRMC_vrm_animationhumanoid humanBonessamplerscs6i|]}|dddkr|dd|ddqS)targetrRrotationnodesampleroutputrC).0ch)rrCrD sz"write_channels..channelsNrrrrR translationrrcsd|}d|d}|dd}|dt|kr*td|ddt|tj|tjd }|j|d kr=td ||||j<d d |jddD|d<dd |j ddD|d<dS)N accessors bufferViews bufferView byteOffsetrcountzframe count differs: template z vs data rq byteLengthzbufferView length mismatchcSg|]}t|qSrCfloatrvrCrCrD z2write_channels.._store..r5mincSrrCrrrCrCrDrrmax) getrt ValueErrorr8ascontiguousarrayrcnbytestobytesrr)acc_idxvaluesaccbvstartdata)blobgltfrCrD_stores  zwrite_channels.._storer)r6r6r6r7rqr0Tr1r4ro),:) separatorszutf-8 r/r*rswbz<4sIIsglTFrpz|j5d?t6d@t|dAtt7dBd;dCd/dDdEdFdGdHdIdJ|dKtj8| dLt9dMdNdO|dPdQ|j dR|dSt:|dT| | tj8|j| | dUt:|dTt:t|dTdVdW}t4tj|dXdY}t3j;||dd$dZWdn 1sIwYt<|j d[t7d\| d]|d^d_|durpt. bone_names dataset_idsplit segment_type speech_ratioror/z expected (T,z,4) GT rotations, got z&dataset bone order does not match the z-bone contractrvrmaz.vrmazbaked vrma not found: )exist_okz body.vrmaz_writer_selfcheck.vrmagh㈵>zwriter is not neutral: z.3eu — A/B would be invalidzcuda:rIc spi|]4\}\}}|ttdd|fdd|ftttdd|fdd|fddqS)N_)mean_angle_deg p95_angle_deg)rrErr8 percentile)rrirkslq_gtrrCrDrGs ("zmain..r0gY@r num_framesidemotionfps face_frames body_framesfacebodyaudior body_source'codec_roundtrip_continuous_no_generator body_writerbaked_template_channel_rewrite writer_self_verify_max_componentbody_vrma_templaterF decode_mode continuous codec_sha256sha256 compare_withclip_angle_error_degz2codec velocity, integrated from the GT first framerpr6)face_sbody_stotal_s)root_translationtranslation_drift_cmr dataset_split source_npzr r timingz meta.jsonw) ensure_asciiindentz: z frames [z ], codec z.2fsu writer 자기검증 z.2eu (중립)z 8sz mean rz7.3fu° p95 rz8.3f°u 이동 종점 드리프트 cm)=argparseArgumentParser add_argumentint parse_argsrQrRrSHEREgt_turnisfileFileNotFoundErrorrexistsforceFileExistsErrortimer8rOnpzrbrcrrshaper{rBONESnormpathdirnamesplitextbasenamemakedirsno_self_verifyrrremoverVr_rdcuda is_availablegpurnrrWrXr:r;shutilcopyfilerNrPrFPSrtrYrUrounddumpprint)apargsgt_dirnameturn_dirstartedrr source_bonesrr r r baked body_path self_verifyproberdrgrhret0rcodec_sper_partdrift_cmrmetarrirowrCrrDmains        "   $       (  rj__main__)1__doc__r9rNrQrSrsysrErr8r_rRrJrY__file__r>rSKEMIXWHinsertscripts.infer_vrma infer_vrmar\dataloaders.vrm_datasetr vrma_to_npzrr r r rUrUrTBODY20listrHrtr{rslicerWrurErnrrrrj__name__rCrCrCrDsR(       3E