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PROGRESS.md: Lane B checked off with the session-5 outcome; SESSION 5 DONE block (all 6 orders) + explicit Lane C handoff (BVH axes, skel_to_mixamorig map, camera root_space, --from-params). B_ENGINE_SETUP.md: pose_engine.py usage + the engine facts learned (SKEL 46-q, rest-aware FK ~4cm, Y-down camera fix, mobilenet detector). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
132 lines
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Markdown
132 lines
10 KiB
Markdown
# MOCAPGOD progress ledger
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One lane per session. Tick on completion. See PLAN.md for acceptance checks.
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- [x] **Lane 0** — bootstrap. git + .gitignore, docs/LICENSES.md skeleton,
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spec/mixamorig_bones.json (65 bones, `mixamorig:` colon-prefixed). — 2026-07-17
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- [x] **Lane A** — capture + ingest. docs/CAPTURE.md protocol, ingest.py
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(probe → 30fps normalize → rename → rsync to m3ultra queue → LEDGER.tsv). — 2026-07-17
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- [x] **Lane B** — pose engine. **DONE session 5 (2026-07-17).** `pose_engine.py` ships:
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queue video → HSMR/SKEL → SKEL-24 BVH@fps + `motion.json` sidecar (`root_space:"camera"`),
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`spec/skel_to_mixamorig.json` name-map for Lane C. Verified on the demo clip: Blender import
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= 24 bones, **upright** (1.59 m), motion present, FK self-consistency **0.0 mm**; queue of 6
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drained unattended (2 bad clips failed gracefully, 4 valid BVH, heartbeat per clip); runtime
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**~1.6× realtime** steady-state (under the <2× bar). mobilenet detector + detect-every-20 +
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single-subject box reuse retired the CPU-detector wall-clock finding. Axis fix: HSMR emits
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Y-down (OpenCV) → `diag(1,-1,-1)` → Y-up/faces-−Z. **History (sessions 2–4):**
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**Decision made session 3: Path B** — engine =
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**HSMR → SKEL**, run local, ship rig-motion only, John accepts NC-licence risk
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(`docs/DECISIONS.md` Decision 1 RESOLVED). Env up in `.engine/HSMR` (uv venv, torch 2.13
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**MPS green**, ungated weights pulled). **Detector RESOLVED (session 4):** torchvision
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Faster R-CNN drop-in replaces the unbuildable detectron2; `test_detector.py` is green today
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(7/7 demo imgs → 15 patches, **no SKEL needed**). `smoke_test.py` now runs real detection +
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patch-crop and reaches the **exact SKEL gate**; chumpy cleared as a non-blocker. **Only open
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before B ships:** (1) John downloads gated **SKEL v1.1.1** so
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`.engine/HSMR/data_inputs/body_models/skel/skel_male.pkl` (+ `skel_female.pkl`) exist;
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(2) run the forward-pass smoke test (MPS / timing <2× / NaN check); then B2 (service-ize →
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BVH) + B3 (jitter). Lanes C and D remain blocked on B.
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- [ ] **Lane C** — retarget + cleanup (Blender). bvh → mixamorig FBX + QC turntable.
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- [ ] **Lane D** — clip factory. `mocap` CLI end-to-end; games + Unreal integration.
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- [ ] Lane E — ML upgrades (post-v1, gated).
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- [ ] Lane F — UX (optional).
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## SESSION 5 — DONE (2026-07-17). All six orders executed; Lane B ships.
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1. ✅ **Durable-ized** the ARM fixes → `engine_patches/` + `setup_hsmr.sh --patch`. Verified: fresh
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clone + `--patch` → `test_detector.py` green, no hand edits.
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2. ✅ **Path-A email** drafted in `docs/DECISIONS.md` (John sends to ps-license@tue.mpg.de).
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3. ✅ **Queue reconciled**: `ingest.py` defaults to local `queue/` on ultra; `--remote-queue` keeps
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the m3ultra path. PLAN Ground-rule-1 deviation noted; CAPTURE.md updated.
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4. ✅ **Treaty amended**: `root_space` (camera|world) is a REQUIRED sidecar field; Lane C reads it.
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5. ✅ **B2 + B3**: `pose_engine.py` (SKEL-24 BVH + sidecar + jitter) + `spec/skel_to_mixamorig.json`.
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Detector swapped to mobilenet; detect-every-20 + box reuse; build-once + per-video isolation.
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Ran the smoke test's SKEL forward on real params — no re-verify needed (smoke already PASSED).
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**HANDOFF TO LANE C (retarget + cleanup, Blender, on ultra):**
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- Input is `out/<name>/motion.bvh` (SKEL-24 skeleton, **Y-up, metres, faces −Z**) + `motion.json`.
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Import in Blender with `import_anim.bvh(axis_forward='-Z', axis_up='Y')` (verified upright).
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- Constraint-map SKEL→mixamorig via **`spec/skel_to_mixamorig.json`** (20 mapped, 4 null=twist/heel;
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Spine1 interpolated, Head follows Neck, fingers are Lane E). mixamorig canon: `mixamorig:` colon.
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- **`root_space` is `"camera"`** → root is NOT world-grounded (HSMR is per-frame). In-place clips are
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first-class; for traveling clips derive a world root from foot contacts (PLAN Lane C task).
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- Rest pose is a clean T-pose at zero rotation; T-pose bookends only exist if John filmed the protocol
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(demo clips don't have them) — Lane C's trim must tolerate their absence.
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- Re-run the SKEL→BVH stage cheaply with `pose_engine.py <clip> --from-params` (skips HMR) when
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tuning; raw params are saved at `out/<name>/params.npz`.
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## SESSION 5 ORDERS — from Fable's review (2026-07-17, supersede older notes where they conflict)
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Review verdict: Lanes 0/A solid; session 2's reversal of the B1 animal-model blunder was the
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right call, well executed; ARM engineering verified independently (test_detector.py re-run
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green 7/7 by reviewer). Proceed as follows, in order:
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1. **Durable-ize the gitignored engine fixes (do first, ~30 min).** The torchvision detector,
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`_headless.py`, `test_detector.py`, `smoke_test.py` exist ONLY on ultra's disk inside the
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gitignored `.engine/`. Move canonical copies into git at `engine_patches/` and make
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`setup_hsmr.sh` apply them after clone. Acceptance: fresh clone in a temp dir + script →
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`test_detector.py` green with no hand edits.
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2. **Draft the Path-A email (parallel risk-retirement, ~15 min).** Write the SKEL indie
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commercial-license request to ps-license@tue.mpg.de into `docs/DECISIONS.md` (project
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description, solo Australian dev, indie revenue, SKEL-in-pipeline-not-redistributed usage).
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John sends it himself. Path B continues meanwhile; a granted license converts B→A with zero
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rework. Do not wait on the reply.
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3. **Reconcile the split-brain queue (~30 min).** Lane A's ingest.py rsyncs to m3ultra's queue,
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but the engine (and MPS verification) is on ultra — nothing consumes that queue. For v1:
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default ingest to LOCAL `queue/` on ultra (`--remote-queue` flag preserves the m3ultra path),
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note the deviation from PLAN Ground-rule 1 in PLAN.md with a `# ponytail: v1 inference on
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ultra; migrate to m3ultra when a real throughput need appears` marker. Update CAPTURE.md.
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4. **Treaty amendment (small, load-bearing).** `motion.json` sidecar gains REQUIRED field
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`root_space: "camera" | "world"`. HSMR emits `"camera"`. Lane C must read it and, for
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locomotion clips, derive world root from foot contacts (already in notes). v1 quality bar:
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in-place clips are first-class; traveling clips best-effort until a grounding pass exists.
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**SMOKE TEST RAN 2026-07-17 (Fable, after John's SKEL v1.1.1 download landed — installed at
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the expected path): PASSED with findings.** device=mps, 263 frames → 1315 patches, recovery
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31.2 fps, **nan=False**, `data_outputs/smoke/params.npz` written. Findings for B2: (1) the
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CPU Faster R-CNN detector is the wall-clock hog (~1 fps, 4min of the 5min run) — B2 MUST add
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detect-every-Nth-frame + box reuse/IoU tracking (single-subject footage makes this easy) or
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the mobilenet swap; HMR itself is faster than realtime so the <2× acceptance is reachable.
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(2) `prepare_mesh` MPS→numpy crash fixed in smoke_test.py (`.detach().cpu()`) — carry the
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same pattern into pose_engine.py. Item 5 below is now UNBLOCKED (skip re-verifying: smoke
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is done; go straight to B2/B3).
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5. **If (and only if) SKEL v1.1.1 files are in place** (`data_inputs/body_models/skel/
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skel_male.pkl`): run smoke_test.py — MPS forward pass, runtime <2× realtime on demo video,
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NaN check — then proceed straight into B2 (params.npz → `spec/skel_to_mixamorig.json` map →
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BVH@30fps + sidecar per treaty) and B3 (One-Euro/Sav-Gol jitter pass, root smoothed
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separately). If SKEL absent: finish items 1–4, verify Decision-3 footage status, stop clean.
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**John's homework (all three block different things):**
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- SKEL v1.1.1 download (the ONLY hard blocker; instructions in `docs/B_ENGINE_SETUP.md`).
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- Film walk / dance / pick-up-object per `docs/CAPTURE.md`, drop in `capture/inbox/` (blocks
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the honest quality verdict + all of B's acceptance).
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- Reboot m3ultra when convenient (applies staged 26.5.2 security update; housekeeping).
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## Notes for the next lane
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- **Lane D can't be started until B + C ship + test footage exists** — it's the CLI that wraps
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ingest → pose_engine.py → retarget.py, and the latter two don't exist yet. Session 3 (the
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"Lane D" session) correctly built nothing; it locked Decision 1 and de-risked MPS instead.
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- **SKEL version trap:** HSMR needs **v1.1.1** exactly (`changelog_v1.1.1.txt`); older = silent
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incompat. Source: `.engine/HSMR/docs/SETUP.md` (register skel.is.tue.mpg.de → download.php).
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- **Engine wiring + ARM bypasses live in `docs/B_ENGINE_SETUP.md`** — all three ARM landmines
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are now cleared (session 4): detectron2 → **torchvision drop-in** (real detection, not a
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full-frame stub), the pyrender/EGL fake is centralized in `.engine/HSMR/_headless.py`, and
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chumpy is confirmed a non-blocker. `test_detector.py` proves the detector path green, SKEL-free.
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- **World-grounded gap (important):** HSMR is per-frame → root is camera-space `cam_t`, NOT the
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treaty's world-grounded trajectory. Fine for in-place DJ moves; walking/locomotion needs Lane C
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to derive root from foot-contact (or a grounding pass). Carry into Lane C design.
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- **HSMR is installed on ultra, not m3ultra** (PLAN Ground-Rule 1 puts the pose engine on
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m3ultra). Likely because m3ultra's disk reclaim waits on the reboot (Decision 2). Next B
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session decides: move it to m3ultra, or consciously host inference on ultra.
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- **VOID** (was: "MoCapAnything is BVH-direct, skip the retarget rig"). Reversed — the model
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is animal-only and not our engine. Whatever human model we pick emits **SMPL or SKEL, not
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mixamorig**, so **Lane C's constraint-retarget IS required** and
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`spec/{smpl,skel}_to_mixamorig.json` is back on the menu. HSMR's SKEL output (a biomechanical
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skeleton) is the likely source format if John goes SKEL.
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- **Check MPS + global-trajectory FIRST** for whichever human model John's decision unlocks
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(HSMR has an HF Space + demo to smoke-test before John's footage). These two risks are
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unchanged by the engine swap.
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- Ground-truth skeleton naming is **`mixamorig:`** (colon), armature object named `Armature`.
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Lane C's name-map must handle colon vs underscore variants (PLAN warned about this).
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- Blender headless entrypoint: `/Applications/Blender.app/Contents/MacOS/Blender --background --python <script>`.
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- House style for Blender scripts: `~/Documents/character_kit/scripts/merge_anims.py`
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(note its units warning: mixamorig head sits at ~0.0505 native units — don't rescale via parent).
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