feat: add physics-constrained pose refinement

scripts/pose-physics/testdata/golden-results.jsonl

@@ -0,0 +1 @@
+{"ankle_penetration_m":0.04,"evidence":"SYNTHETIC/L0","expected_raw_hash":"98caf45c249d584d52ede84e2d76bd8c4bf225d426a4ef1651a5ddb178258b88","expected_result_hash":"8ef2ded432c938055a5ebc86eadff811216884093853f5c740c7aff7708b9bef","sequence":1}

scripts/pose-physics/testdata/leaky-split-manifest.json

@@ -0,0 +1,21 @@
+{
+  "schema_version": 1,
+  "records": [
+    {
+      "split": "train",
+      "sequence": "sequence-1",
+      "take": "take-1",
+      "subject": "subject-1",
+      "room": "room-1",
+      "calibration_session": "calibration-1"
+    },
+    {
+      "split": "test",
+      "sequence": "sequence-2",
+      "take": "take-2",
+      "subject": "subject-1",
+      "room": "room-2",
+      "calibration_session": "calibration-2"
+    }
+  ]
+}

scripts/pose-physics/testdata/strict-split-manifest.json

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+{
+  "evidence": "SYNTHETIC/L0",
+  "records": [
+    { "split": "train", "sequence": "syn-train-seq", "take": "syn-train-take", "subject": "syn-train-subject", "room": "syn-train-room", "calibration_session": "syn-train-cal" },
+    { "split": "validation", "sequence": "syn-validation-seq", "take": "syn-validation-take", "subject": "syn-validation-subject", "room": "syn-validation-room", "calibration_session": "syn-validation-cal" },
+    { "split": "test", "sequence": "syn-test-seq", "take": "syn-test-take", "subject": "syn-test-subject", "room": "syn-test-room", "calibration_session": "syn-test-cal" }
+  ]
+}

scripts/pose-physics/verify-feature-boundary.mjs

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+import path from "node:path";
+import { fileURLToPath } from "node:url";
+import { spawnSync } from "node:child_process";
+
+const root = path.resolve(path.dirname(fileURLToPath(import.meta.url)), "../..");
+const result = spawnSync(
+  "cargo",
+  ["tree", "-p", "wifi-densepose-physics", "-e", "normal", "--prefix", "none"],
+  { cwd: path.join(root, "v2"), encoding: "utf8" },
+);
+
+if (result.error) throw result.error;
+if (result.status !== 0) {
+  if (result.stdout) process.stderr.write(result.stdout);
+  if (result.stderr) process.stderr.write(result.stderr);
+  process.exit(result.status ?? 1);
+}
+
+const forbidden = /^(?:burn(?:-|\s|$)|rapier3d(?:\s|$)|tch(?:\s|$)|ort(?:\s|$))/m;
+if (forbidden.test(result.stdout)) {
+  process.stderr.write(result.stdout);
+  throw new Error("default physics dependency graph contains an optional heavy backend");
+}
+
+process.stdout.write(JSON.stringify({ verdict: "PASS", profile: "default-kinematic" }) + "\n");

scripts/pose-physics/verify-golden.mjs

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+import path from "node:path";
+import { fileURLToPath } from "node:url";
+import { spawnSync } from "node:child_process";
+
+const input = process.argv[2];
+if (!input) throw new Error("usage: replay-pose-physics-golden.sh <golden-results.jsonl>");
+const root = path.resolve(path.dirname(fileURLToPath(import.meta.url)), "../..");
+const result = spawnSync(
+  "cargo",
+  ["run", "--quiet", "-p", "wifi-densepose-physics", "--features", "deterministic", "--example", "verify_golden", "--", path.resolve(input)],
+  { cwd: path.join(root, "v2"), encoding: "utf8" },
+);
+if (result.stdout) process.stdout.write(result.stdout);
+if (result.stderr) process.stderr.write(result.stderr);
+if (result.error) throw result.error;
+if (result.status !== 0) process.exit(result.status ?? 1);

scripts/pose-physics/verify-harness-tests.mjs

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+import path from "node:path";
+import { fileURLToPath } from "node:url";
+import { spawnSync } from "node:child_process";
+
+const directory = path.dirname(fileURLToPath(import.meta.url));
+const run = (script, fixture) =>
+  spawnSync(process.execPath, [path.join(directory, script), path.join(directory, "testdata", fixture)], {
+    cwd: path.resolve(directory, "../.."),
+    encoding: "utf8",
+  });
+
+const strict = run("verify-splits.mjs", "strict-split-manifest.json");
+if (strict.status !== 0 || !strict.stdout.includes('"verdict":"PASS"')) {
+  throw new Error(`strict split fixture failed: ${strict.stderr || strict.stdout}`);
+}
+
+const leaky = run("verify-splits.mjs", "leaky-split-manifest.json");
+if (leaky.status === 0 || !leaky.stderr.includes("leakage:")) {
+  throw new Error("leaky split fixture was not rejected with a typed leakage error");
+}
+
+const golden = run("verify-golden.mjs", "golden-results.jsonl");
+if (golden.status !== 0 || !golden.stdout.includes('"verdict":"PASS"')) {
+  throw new Error(`golden replay fixture failed: ${golden.stderr || golden.stdout}`);
+}
+
+process.stdout.write(JSON.stringify({ verdict: "PASS", checks: 3 }) + "\n");

scripts/pose-physics/verify-splits.mjs

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+import fs from "node:fs";
+import crypto from "node:crypto";
+
+const path = process.argv[2];
+if (!path) throw new Error("usage: verify-pose-physics-splits.sh <manifest.json>");
+const bytes = fs.readFileSync(path);
+const manifest = JSON.parse(bytes);
+const dimensions = ["sequence", "take", "subject", "room", "calibration_session"];
+if (!Array.isArray(manifest.records) || manifest.records.length === 0) throw new Error("manifest.records must be non-empty");
+const ownership = new Map();
+for (const record of manifest.records) {
+  if (!record.split || !["train", "validation", "test"].includes(record.split)) throw new Error("invalid split");
+  for (const dimension of dimensions) {
+    const value = record[dimension];
+    if (typeof value !== "string" || value.length === 0) throw new Error(`missing ${dimension}`);
+    const key = `${dimension}:${value}`;
+    const prior = ownership.get(key);
+    if (prior && prior !== record.split) throw new Error(`leakage: ${key} crosses ${prior}/${record.split}`);
+    ownership.set(key, record.split);
+  }
+}
+const digest = crypto.createHash("sha256").update(bytes).digest("hex");
+console.log(JSON.stringify({ verdict: "PASS", records: manifest.records.length, sha256: digest }));

scripts/replay-pose-physics-golden.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+node "$(dirname "$0")/pose-physics/verify-golden.mjs" "$@"

scripts/verify-pose-physics-splits.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+node "$(dirname "$0")/pose-physics/verify-splits.mjs" "$@"