Chunk 5: emit 6-channel foot_contacts in envelope (toe-end copies toe-base)

server.py

@@ -10,7 +10,11 @@ and returns a JSON envelope:
       "fps": 30,
       "rootTranslation": [[x,y,z], ...],     # [N, 3]
       "jointRotMats":    [[[[...]]]],        # [N, 30, 3, 3]
-      "footContacts":    [[lh, lt, rh, rt]], # [N, 4]  (optional)
+      "footContacts":    [[lh, lt, lte, rh, rt, rte]], # [N, 6]  (optional;
+                                              # SOMA-77 layout — toe-end copies
+                                              # toe-base contact, see
+                                              # kimodo.skeleton.definitions
+                                              # .output_to_SOMASkeleton77)
       "summary": str
     }
 
@@ -185,10 +189,17 @@ def kimodo_motion(
         foot_contacts_out = None
         if "foot_contacts" in output:
             fc = output["foot_contacts"]
-            # Drop the leading sample dim if present
+            # Drop the leading sample dim if present -> [T, 4]
             if fc.ndim == 3:
                 fc = fc[0]
-            foot_contacts_out = np.asarray(fc, dtype=np.float32).tolist()
+            fc = np.asarray(fc, dtype=np.float32)
+            # 4 -> 6 channel expand for SOMA-77 (mirrors
+            # kimodo.skeleton.definitions.output_to_SOMASkeleton77):
+            # [L_heel, L_toe, L_toe_end(=L_toe), R_heel, R_toe, R_toe_end(=R_toe)]
+            fc6 = np.concatenate(
+                [fc[..., :2], fc[..., 1:2], fc[..., 2:4], fc[..., 3:4]], axis=-1
+            )
+            foot_contacts_out = fc6.tolist()
 
         progress(1.0, desc="Done")
         return {
@@ -357,9 +368,17 @@ def kimodo_motion_seq(
         foot_contacts_out = None
         if "foot_contacts" in output:
             fc = output["foot_contacts"]
+            # Drop the leading sample dim if present -> [T, 4]
             if fc.ndim == 3:
                 fc = fc[0]
-            foot_contacts_out = np.asarray(fc, dtype=np.float32).tolist()
+            fc = np.asarray(fc, dtype=np.float32)
+            # 4 -> 6 channel expand for SOMA-77 (mirrors
+            # kimodo.skeleton.definitions.output_to_SOMASkeleton77):
+            # [L_heel, L_toe, L_toe_end(=L_toe), R_heel, R_toe, R_toe_end(=R_toe)]
+            fc6 = np.concatenate(
+                [fc[..., :2], fc[..., 1:2], fc[..., 2:4], fc[..., 3:4]], axis=-1
+            )
+            foot_contacts_out = fc6.tolist()
 
         progress(1.0, desc="Done")
         return {