chunk 6: emit SOMA-30 globalRotMats in motion envelopes

server.py

@@ -9,7 +9,11 @@ and returns a JSON envelope:
       "numFrames": int,
       "fps": 30,
       "rootTranslation": [[x,y,z], ...],     # [N, 3]
-      "jointRotMats":    [[[[...]]]],        # [N, 30, 3, 3]
+      "jointRotMats":    [[[[...]]]],        # [N, 30, 3, 3]  local rotations
+      "globalRotMats":   [[[[...]]]],        # [N, 30, 3, 3]  world-space rotations
+                                              # (kimodo's SOMA-77 FK output sliced
+                                              # to SOMA-30; finger-tip joints carry
+                                              # relaxed_hands_rest compounding)
       "footContacts":    [[lh, lt, lte, rh, rt, rte]], # [N, 6]  (optional;
                                               # SOMA-77 layout — toe-end copies
                                               # toe-base contact, see
@@ -169,6 +173,17 @@ def kimodo_motion(
             local_rot_mats_30 = local_rot_mats_30[0]
         local_rot_mats = local_rot_mats_30.detach().cpu().numpy().astype(np.float32)
 
+        # Step 2b: same slice on the global rotation tensor. from_SOMASkeleton77
+        # is just per-joint indexing (definitions.py:from_SOMASkeleton77), so it
+        # works on globals too. Webapp uses this for FK-parity validation.
+        joints_rot_t = torch.from_numpy(global_rot_mats[0]).to(device)
+        global_rot_mats_30_t = skeleton.from_SOMASkeleton77(joints_rot_t)
+        if global_rot_mats_30_t.ndim == 5 and global_rot_mats_30_t.shape[0] == 1:
+            global_rot_mats_30_t = global_rot_mats_30_t[0]
+        global_rot_mats_30 = (
+            global_rot_mats_30_t.detach().cpu().numpy().astype(np.float32)
+        )
+
         # Step 3: root translation = Hips (joint 0) in posed_joints.
         root_translation = (
             joints_pos_t[:, 0, :].detach().cpu().numpy().astype(np.float32)
@@ -208,6 +223,7 @@ def kimodo_motion(
             "fps": int(getattr(model, "fps", 30)),
             "rootTranslation": root_translation.tolist(),
             "jointRotMats": local_rot_mats.tolist(),
+            "globalRotMats": global_rot_mats_30.tolist(),
             "footContacts": foot_contacts_out,
             "summary": prompt.strip(),
         }
@@ -360,6 +376,16 @@ def kimodo_motion_seq(
         if local_rot_mats_30.ndim == 5 and local_rot_mats_30.shape[0] == 1:
             local_rot_mats_30 = local_rot_mats_30[0]
         local_rot_mats = local_rot_mats_30.detach().cpu().numpy().astype(np.float32)
+
+        # Same slice on global_rot_mats; webapp uses this for FK-parity validation.
+        joints_rot_t = torch.from_numpy(global_rot_mats[0]).to(device)
+        global_rot_mats_30_t = skeleton.from_SOMASkeleton77(joints_rot_t)
+        if global_rot_mats_30_t.ndim == 5 and global_rot_mats_30_t.shape[0] == 1:
+            global_rot_mats_30_t = global_rot_mats_30_t[0]
+        global_rot_mats_30 = (
+            global_rot_mats_30_t.detach().cpu().numpy().astype(np.float32)
+        )
+
         root_translation = joints_pos_t[:, 0, :].detach().cpu().numpy().astype(np.float32)
 
         T, J = local_rot_mats.shape[0], local_rot_mats.shape[1]
@@ -387,6 +413,7 @@ def kimodo_motion_seq(
             "fps": int(getattr(model, "fps", 30)),
             "rootTranslation": root_translation.tolist(),
             "jointRotMats": local_rot_mats.tolist(),
+            "globalRotMats": global_rot_mats_30.tolist(),
             "footContacts": foot_contacts_out,
             "summary": " → ".join(p.strip() for p in prompts),
             "segments": [{"prompt": p.strip(), "frames": int(n)} for p, n in zip(prompts, frames)],