Align to Kimodo

comfy_extras/nodes_sam3d_body.py

@@ -34,6 +34,7 @@ from comfy_extras.sam3d_body.utils import image_to_uint8
 
 SAM3TrackData = io.Custom("SAM3_TRACK_DATA")
 MHRPoseData = io.Custom("MHR_POSE_DATA") # mhr_model_params, shape_params, expr_params, MHR70 keypoint layout, canonical_colors keyed to MHR mesh, hand_vert_mask from MHR LBS).
+KimodoPoseData = io.Custom("KIMODO_POSE_DATA") # external Y-up rig (ComfyUI-Kimodo); carries per-frame pred_vertices/pred_cam_t/canonical_colors so the mesh rasterizer is rig-agnostic.
 SAM3DBodyModel = io.Custom("SAM3D_BODY_MODEL")
 
 # Loader
@@ -827,10 +828,18 @@ class SAM3DBody_Render(io.ComfyNode):
     def define_schema(cls):
         return io.Schema(
             node_id="SAM3DBody_Render",
-            display_name="Render SAM3D Body",
+            display_name="Render 3D Body Pose",
+            search_aliases=["Render SAM3D Body", "sam3d render", "kimodo render"],
             category="image/detection",
             inputs=[
-                MHRPoseData.Input("mhr_pose_data"),
+                io.MultiType.Input(
+                    "pose_data", types=[MHRPoseData, KimodoPoseData],
+                    tooltip=(
+                        "MHR pose data, or external Y-up rig pose data (KimodoSample). "
+                        "All render styles work for external rigs that carry OpenPose "
+                        "joint maps in their _skeleton_override (KimodoSample does)."
+                    ),
+                ),
                 io.Image.Input(
                     "background",
                     optional=True,
@@ -882,11 +891,11 @@ class SAM3DBody_Render(io.ComfyNode):
 
 
     @classmethod
-    def execute(cls, mhr_pose_data, background=None, width=0, height=0, camera_info=None, render_style=None) -> io.NodeOutput:
+    def execute(cls, pose_data, background=None, width=0, height=0, camera_info=None, render_style=None) -> io.NodeOutput:
         render_style = render_style or {"render_style": "mesh"}
         mode_key = render_style.get("render_style", "mesh")
 
-        native_H, native_W = mhr_pose_data["image_size"]
+        native_H, native_W = pose_data["image_size"]
         new_W, new_H = int(width), int(height)
         if new_W == 0 and new_H == 0:
             H, W = native_H, native_W
@@ -896,14 +905,14 @@ class SAM3DBody_Render(io.ComfyNode):
                 new_W = max(1, round(native_W * new_H / native_H))
             elif new_H == 0:
                 new_H = max(1, round(native_H * new_W / native_W))
-            mhr_pose_data = _scale_pose_data(mhr_pose_data, new_H, new_W)
+            pose_data = _scale_pose_data(pose_data, new_H, new_W)
             H, W = new_H, new_W
             px_scale = min(new_W / native_W, new_H / native_H)
 
         if camera_info is not None:
-            mhr_pose_data = apply_camera_override(mhr_pose_data, camera_info, H, W)
+            pose_data = apply_camera_override(pose_data, camera_info, H, W)
 
-        B = len(mhr_pose_data["frames"])
+        B = len(pose_data["frames"])
         if B == 0:
             return io.NodeOutput(torch.zeros(1, H, W, 3, dtype=torch.float32))
 
@@ -951,11 +960,11 @@ class SAM3DBody_Render(io.ComfyNode):
             region = str(render_style.get("region", "full_body"))
 
             if region == "hands_only":
-                hand_mask = mhr_pose_data["hand_vert_mask"]
+                hand_mask = pose_data["hand_vert_mask"]
-                faces_full = np.asarray(mhr_pose_data["faces"])
+                faces_full = np.asarray(pose_data["faces"])
                 keep = hand_mask[faces_full].all(axis=1)
-                mhr_pose_data = dict(mhr_pose_data)
+                pose_data = dict(pose_data)
-                mhr_pose_data["faces"] = np.ascontiguousarray(
+                pose_data["faces"] = np.ascontiguousarray(
                     faces_full[keep], dtype=faces_full.dtype,
                 )
         else:  # silhouette — no shader/opacity controls, mask is binary
@@ -980,7 +989,7 @@ class SAM3DBody_Render(io.ComfyNode):
                 bg_f = bg_t[min(f, bg_t.shape[0] - 1)]
             if mode_key == "openpose_2d":
                 img = render_pose_data_openpose(
-                    mhr_pose_data, frame_idx=f, W=W, H=H,
+                    pose_data, frame_idx=f, W=W, H=H,
                     background=bg_f,
                     composite=composite,
                     marker_radius_px=marker_radius_px,
@@ -993,7 +1002,7 @@ class SAM3DBody_Render(io.ComfyNode):
                 )
             elif mode_key == "openpose_3d":
                 img = render_pose_data_capsules(
-                    mhr_pose_data, frame_idx=f, W=W, H=H,
+                    pose_data, frame_idx=f, W=W, H=H,
                     background=bg_f,
                     composite=composite,
                     radius_m=op3d_radius_m,
@@ -1005,7 +1014,7 @@ class SAM3DBody_Render(io.ComfyNode):
             elif mode_key == "scail":
                 # SCAIL renders body as 3D capsules + 2D openpose hands on top
                 img = render_pose_data_capsules(
-                    mhr_pose_data, frame_idx=f, W=W, H=H,
+                    pose_data, frame_idx=f, W=W, H=H,
                     background=bg_f,
                     composite=composite,
                     radius_m=cap_radius_m,
@@ -1017,7 +1026,7 @@ class SAM3DBody_Render(io.ComfyNode):
                     scail_overlay_px = max(1, int(round(4 * px_scale)))
                     scail_face_px = max(1, int(round(1 * px_scale)))
                     img = render_pose_data_openpose(
-                        mhr_pose_data, frame_idx=f, W=W, H=H,
+                        pose_data, frame_idx=f, W=W, H=H,
                         background=img,
                         composite="over",
                         include_body=False,
@@ -1031,7 +1040,7 @@ class SAM3DBody_Render(io.ComfyNode):
                     )
             else:
                 img = render_pose_data(
-                    mhr_pose_data, frame_idx=f, W=W, H=H,
+                    pose_data, frame_idx=f, W=W, H=H,
                     background=bg_f, composite=composite, opacity=opacity,
                     shader_preset=shader_key,
                     rainbow_tilt_x_deg=rainbow_tilt_x,

comfy_extras/nodes_save_3d.py

@@ -684,8 +684,13 @@ class BuildPoseFile(IO.ComfyNode):
         fmt = format.get("format", "glb")
 
         if fmt == "bvh":
-            if sam3d_body_model is None:
+            # External rigs (e.g. Kimodo) supply pose_data["_skeleton_override"]
-                raise ValueError("Create 3D Animation: 'bvh' format needs the `sam3d_body_model` input.")
+            has_external_rig = isinstance(pose_data, dict) and ("_skeleton_override" in pose_data)
+            if sam3d_body_model is None and not has_external_rig:
+                raise ValueError(
+                    "Create 3D Animation: 'bvh' format needs the `sam3d_body_model` input OR a "
+                    "`_skeleton_override` dict in pose_data (e.g. from KimodoSample)."
+                )
             # BVH carries one skeleton; -1 (all tracks) collapses to the first.
             ti = int(track_index)
             if ti < 0:

comfy_extras/sam3d_body/export/bvh.py

@@ -16,10 +16,9 @@ from typing import Any, Dict, List
 import numpy as np
 
 from .glb_shared import (
-    bind_skel_state,
+    Rig,
     bone_locals_from_globals,
     collect_tracks,
-    extract_rig_static,
     global_skel_state_from_pose_data,
     quat_sign_fix_per_joint,
     unflip,
@@ -49,9 +48,14 @@ def _quat_to_zxy_euler_deg(quat: np.ndarray) -> np.ndarray:
     return out.astype(np.float32)
 
 
-def _find_bvh_root(parents: np.ndarray) -> int:
+def _find_bvh_root(parents: np.ndarray, is_external: bool = False) -> int:
     """First child of the rig's world anchor so the static origin→body stick
-    bone gets left out. Falls back to the first root joint."""
+    bone gets left out. Falls back to the first root joint.
+
+    MHR's joint 0 is a static world anchor whose single child is the pelvis, so
+    skipping it is correct. External rigs (e.g. SOMA-77) whose root is already
+    the articulated body root with multiple child chains must keep the root —
+    descending into one child would drop the sibling limbs from the BVH."""
     NJ = parents.shape[0]
     world_anchors = [j for j in range(NJ)
                      if not (0 <= int(parents[j]) < NJ and int(parents[j]) != j)]
@@ -64,6 +68,8 @@ def _find_bvh_root(parents: np.ndarray) -> int:
             children[p].append(j)
     wa = world_anchors[0]
     if children[wa]:
+        if is_external and len(children[wa]) > 1:
+            return wa
         return children[wa][0]
     return wa
 
@@ -80,7 +86,7 @@ def _build_children_map(parents: np.ndarray) -> List[List[int]]:
 
 def build_bvh(
     pose_data: Dict[str, Any],
-    model: Any,
+    model: Any = None,
     *,
     fps: float = 24.0,
     camera_translation: str = "off",
@@ -89,6 +95,10 @@ def build_bvh(
 ) -> bytes:
     """Build a BVH file from pose_data. Returns UTF-8 encoded text bytes.
 
+    `model` may be None when pose_data carries a `_skeleton_override` (external
+    rigs, e.g. Kimodo); the rig hierarchy/offsets/bind are read from the
+    override instead of the MHR model.
+
     `units` is "cm" (default, standard mocap convention) or "m". Affects the
     OFFSET and root-position values; rotations are independent of units.
     """
@@ -96,9 +106,10 @@ def build_bvh(
         raise ValueError(f"build_bvh: units must be 'cm' or 'm', got {units!r}")
     unit_scale = 100.0 if units == "cm" else 1.0
 
-    rig_static = extract_rig_static(model)
+    rig = Rig.from_pose_data(pose_data, model)
-    NJ = int(rig_static["num_joints"])
+    is_external = not rig.can_rerun_fk
-    parents = rig_static["parents"]
+    NJ = rig.num_joints
+    parents = rig.parents
     frames = pose_data["frames"]
 
     tracks = collect_tracks(pose_data, track_index)
@@ -109,16 +120,16 @@ def build_bvh(
     if n_frames == 0:
         raise ValueError("build_bvh: track has zero frames")
 
-    body_root = _find_bvh_root(parents)
+    body_root = _find_bvh_root(parents, is_external)
     children_map = _build_children_map(parents)
 
     # Bone OFFSETs come from MHR's translation_offsets (joint position
     # relative to parent in parent's local-bind frame). For the BVH root,
     # we use its bind world position so the skeleton sits at the right
     # spot when imported.
-    bind_global = bind_skel_state(model)                     # (NJ, 8) cm
+    bind_global = rig.bind_global_cm                         # (NJ, 8) cm
     bind_pos_m = bind_global[:, :3].astype(np.float64) * 0.01  # (NJ, 3) m
-    offset_m = rig_static["joint_translation_offsets"].astype(np.float64) * 0.01
+    offset_m = rig.joint_offsets_cm.astype(np.float64) * 0.01
 
     # DFS order rooted at body_root — matches per-frame channel order.
     bvh_order: List[int] = []
@@ -133,6 +144,7 @@ def build_bvh(
     # treated as the hierarchy root in BVH-space.
     rig_global_m = global_skel_state_from_pose_data(
         pose_data, frame_indices, person_k, NJ,
+        joint_coords_y_down=rig.per_frame_y_down,
     )
     rig_global_m[..., 3:7] = quat_sign_fix_per_joint(rig_global_m[..., 3:7])
     bvh_parents = parents.copy()

comfy_extras/sam3d_body/export/capsules.py

@@ -18,13 +18,11 @@ import comfy.model_management
 
 from .glb_shared import (
     OPENPOSE_18_PAIRS,
-    OPENPOSE18_TO_MHR70,
     OPENPOSE_RAINBOW_18,
     SCAIL_LIMB_COLORS_17,
     OPENPOSE_HAND_PAIRS,
-    OPENPOSE_HAND21_TO_MHR70_R,
-    OPENPOSE_HAND21_TO_MHR70_L,
     OPENPOSE_HAND_COLORS_21,
+    openpose_render_keypoints,
 )
 
 
@@ -37,6 +35,7 @@ def _limb_palette_rgb01(palette: str) -> np.ndarray:
 
 def _build_specs_from_pose(
     persons: List[Dict[str, Any]],
+    pose_data: Dict[str, Any],
     *,
     include_hands: bool,
     palette: str,
@@ -61,17 +60,14 @@ def _build_specs_from_pose(
     falloff = max(0.0, min(1.0, float(person_brightness_falloff)))
 
     for k, person in enumerate(persons):
-        kp2d_full = person.get("pred_keypoints_3d")
         cam_t = person.get("pred_cam_t")
-        if kp2d_full is None or cam_t is None:
+        body_op = openpose_render_keypoints(person, pose_data, "body", dim=3)
-            continue
+        if body_op is None or cam_t is None:
-        kp = np.asarray(kp2d_full, dtype=np.float32)
-        if kp.ndim != 2 or kp.shape[1] != 3 or kp.shape[0] < 70:
             continue
         cam_t_np = np.asarray(cam_t, dtype=np.float32).reshape(3)
-        # pred_keypoints_3d is camera frame (Y-down post-flip); add cam_t to
+        # op-keypoints are camera frame (Y-down); add cam_t to place the
-        # place the subject in front of the camera.
+        # subject in front of the camera.
-        kp_cam = kp + cam_t_np[None, :]
+        body_kp = body_op + cam_t_np[None, :]
 
         pastel = 0.0 if k == 0 else (1.0 - falloff ** k)
 
@@ -83,7 +79,6 @@ def _build_specs_from_pose(
         # SCAIL skips face bones (13..16) and redirects limb 12 into a short
         # head stub blending spine + neck→nose direction.
         body_limb_count = 13 if palette == "scail" else len(OPENPOSE_18_PAIRS)
-        body_kp = kp_cam[OPENPOSE18_TO_MHR70]
         spine_dir = None
         if palette == "scail":
             mid_hip = 0.5 * (body_kp[8] + body_kp[11])  # 8=RHip, 11=LHip
@@ -117,10 +112,11 @@ def _build_specs_from_pose(
                                    dtype=np.float32))
 
         if include_hands:
-            r_kp = kp_cam[OPENPOSE_HAND21_TO_MHR70_R]
+            hand_ops = [openpose_render_keypoints(person, pose_data, p, dim=3)
-            l_kp = kp_cam[OPENPOSE_HAND21_TO_MHR70_L]
+                        for p in ("hand_r", "hand_l")]
+            hand_kps = [h + cam_t_np[None, :] for h in hand_ops if h is not None]
             for limb_i, (a, b) in enumerate(OPENPOSE_HAND_PAIRS):
-                for hand_kp in (r_kp, l_kp):
+                for hand_kp in hand_kps:
                     sa, sb = hand_kp[a], hand_kp[b]
                     if not (np.all(np.isfinite(sa)) and np.all(np.isfinite(sb))):
                         continue
@@ -380,7 +376,7 @@ def render_pose_data_capsules(
     cx, cy = W * 0.5, H * 0.5
 
     starts_np, ends_np, colors_np, is_hand_np = _build_specs_from_pose(
-        persons, include_hands=include_hands, palette=palette,
+        persons, pose_data, include_hands=include_hands, palette=palette,
         person_brightness_falloff=person_brightness_falloff,
     )
 

comfy_extras/sam3d_body/export/glb_openpose.py

@@ -40,6 +40,7 @@ from .glb_shared import (
     gaussian_smooth_positions,
     make_lit_material,
     quat_sign_fix_per_joint,
+    resolve_openpose_keypoints_from_joints,
     rotation_align,
     rotmat_to_quat_np,
     select_face_landmark_vert_ids,
@@ -109,7 +110,7 @@ def _openpose_bind_at_rig_rest(
     rest_pos = np.asarray(override["bind_global_m"], dtype=np.float32)[:, :3]
     op18_w = override.get("openpose18_joint_weights")
     parts: List[np.ndarray] = [
-        _resolve_openpose_keypoints_from_joints(
+        resolve_openpose_keypoints_from_joints(
             rest_pos, np.asarray(op18, dtype=np.int64),
             weights=None if op18_w is None else np.asarray(op18_w, dtype=np.float32),
         )
@@ -121,11 +122,11 @@ def _openpose_bind_at_rig_rest(
             return None
         op21_r_w = override.get("openpose_hand21_r_joint_weights")
         op21_l_w = override.get("openpose_hand21_l_joint_weights")
-        parts.append(_resolve_openpose_keypoints_from_joints(
+        parts.append(resolve_openpose_keypoints_from_joints(
             rest_pos, np.asarray(op21_r, dtype=np.int64),
             weights=None if op21_r_w is None else np.asarray(op21_r_w, dtype=np.float32),
         ))
-        parts.append(_resolve_openpose_keypoints_from_joints(
+        parts.append(resolve_openpose_keypoints_from_joints(
             rest_pos, np.asarray(op21_l, dtype=np.int64),
             weights=None if op21_l_w is None else np.asarray(op21_l_w, dtype=np.float32),
         ))
@@ -137,39 +138,6 @@ def _openpose_bind_at_rig_rest(
     return np.concatenate(parts, axis=0).astype(np.float32)
 
 
-def _resolve_openpose_keypoints_from_joints(
-    joints: np.ndarray, mapping: np.ndarray,
-    weights: Optional[np.ndarray] = None,
-) -> np.ndarray:
-    """Resolve a `(K, 2)` joint-index → keypoint mapping against a per-frame
-    `(J, 3)` joint-position array.
-
-    Row `(a, b)` with `b == -1` uses `joints[a]` directly (any weight ignored).
-    Row `(a, b)` with `b >= 0` returns `w * joints[a] + (1 - w) * joints[b]`:
-      - default (weights=None): `w = 0.5` → plain midpoint, useful for
-        keypoints that genuinely lie between two joints (Nose ≈ midpoint of
-        eyes).
-      - explicit `w` outside [0, 1] EXTRAPOLATES past the line segment, which
-        is how we approximate landmarks that have no rig joint AND no
-        in-between joint pair (Ears ≈ RightEye + (RightEye − LeftEye), i.e.
-        `w_a = 2.0` along the eye→ear axis)."""
-    a = mapping[:, 0].astype(np.int64)
-    b = mapping[:, 1].astype(np.int64)
-    pos_a = joints[a]
-    has_b = b >= 0
-    if not has_b.any():
-        return pos_a.astype(np.float32, copy=False)
-    b_safe = np.where(has_b, b, a)
-    pos_b = joints[b_safe]
-    if weights is None:
-        w_a = np.where(has_b, 0.5, 1.0).astype(np.float32)
-    else:
-        w_a = np.where(has_b, np.asarray(weights, dtype=np.float32), 1.0)
-    w_b = (1.0 - w_a).astype(np.float32)
-    out = pos_a * w_a[:, None] + pos_b * w_b[:, None]
-    return out.astype(np.float32, copy=False)
-
-
 def _extract_openpose_keypoints(
     pose_data: Dict[str, Any], frame_indices: List[int], person_k: int,
 ) -> np.ndarray:
@@ -219,7 +187,7 @@ def _extract_openpose_keypoints(
                     f"missing at frame={t}, track={person_k}."
                 )
             joints = np.asarray(person["pred_joint_coords"], dtype=np.float32)
-            out[t_idx] = _resolve_openpose_keypoints_from_joints(
+            out[t_idx] = resolve_openpose_keypoints_from_joints(
                 joints, op18, weights=op18_w,
             )
         return out
@@ -306,10 +274,10 @@ def _extract_openpose_hand_keypoints(
                     "per-frame `pred_joint_coords` for hands."
                 )
             joints = np.asarray(person["pred_joint_coords"], dtype=np.float32)
-            out[t_idx, :21] = _resolve_openpose_keypoints_from_joints(
+            out[t_idx, :21] = resolve_openpose_keypoints_from_joints(
                 joints, op21_r, weights=op21_r_w,
             )
-            out[t_idx, 21:] = _resolve_openpose_keypoints_from_joints(
+            out[t_idx, 21:] = resolve_openpose_keypoints_from_joints(
                 joints, op21_l, weights=op21_l_w,
             )
         return out

comfy_extras/sam3d_body/export/glb_shared.py

@@ -16,6 +16,7 @@ from __future__ import annotations
 
 import json
 import struct
+from dataclasses import dataclass, field
 from typing import Any, Dict, List, Optional, Tuple
 
 import numpy as np
@@ -505,9 +506,15 @@ def extract_rig_static(model: Any, pose_data: Optional[Dict[str, Any]] = None) -
         # so we don't need MHR's PCA pose / expression bases.
         parents = np.asarray(override["parents"], dtype=np.int32)
         rest_v = np.asarray(override["rest_verts_m"], dtype=np.float32)
+        # BVH needs parent-relative bone OFFSETs (cm). MHR ships these directly;
+        # external rigs only give bind globals, so derive locals from them.
+        bind_global_m = np.asarray(override["bind_global_m"], dtype=np.float32)
+        local_bind = bone_locals_from_globals(bind_global_m[None], parents)[0]
+        joint_translation_offsets = (local_bind[:, :3] * 100.0).astype(np.float32)
         return {
             "parents": parents,
             "parents_pmi": parents,
+            "joint_translation_offsets": joint_translation_offsets,  # (NJ, 3) cm
             "lbs_compact_joints": np.asarray(override["lbs_compact_joints"], dtype=np.uint16),
             "lbs_compact_weights": np.asarray(override["lbs_compact_weights"], dtype=np.float32),
             "lbs_compact_max_inf": int(override.get("lbs_compact_max_inf", 4)),
@@ -737,6 +744,77 @@ def bind_skel_state(model: Any, pose_data: Optional[Dict[str, Any]] = None) -> n
     return global_skel_state_per_frame(model, zero_mp)[0]
 
 
+@dataclass
+class Rig:
+    """Normalized static rig for the GLB/BVH exporters, independent of where it
+    came from: an MHR model (`Rig.from_pose_data(pose_data, model)`) or an inline
+    `pose_data["_skeleton_override"]` (external rigs, e.g. ComfyUI-Kimodo).
+
+    Consumers read these fields and never branch on the source. The only
+    source-dependent operation is `rest_verts_m` — MHR rest verts depend on the
+    subject's `shape_params`; external rigs ship fixed rest verts.
+    """
+    parents: np.ndarray             # (NJ,) int32, -1 = root
+    joint_offsets_cm: np.ndarray    # (NJ, 3) parent-relative bind offsets, cm
+    bind_global_cm: np.ndarray      # (NJ, 8) bind global [t cm | q xyzw | s]
+    lbs_joints: np.ndarray          # (V, 8) uint16 — compacted skin influences
+    lbs_weights: np.ndarray         # (V, 8) f32
+    lbs_max_inf: int                # ≤ 8; lets callers skip JOINTS_1 when ≤ 4
+    faces: np.ndarray               # (F, 3) uint32
+    num_joints: int
+    num_verts: int
+    num_expr: int                   # 0 = no face morphs
+    per_frame_y_down: bool          # pred_joint_coords stored y-down (MHR) vs y-up (external)
+    can_rerun_fk: bool              # True = per-frame FK re-runnable from mhr_model_params
+    expr_basis: Optional[np.ndarray] = None      # (E, V, 3) cm — MHR only
+    _model: Any = None
+    _rest_override: Optional[np.ndarray] = None  # (V, 3) m — external only
+
+    @property
+    def bind_global_m(self) -> np.ndarray:
+        b = self.bind_global_cm.astype(np.float32).copy()
+        b[:, :3] *= 0.01
+        return b
+
+    def rest_verts_m(self, shape_params: np.ndarray) -> np.ndarray:
+        """Zero-pose rest verts (V, 3) in rig-native Y-up metres."""
+        if self._rest_override is not None:
+            return self._rest_override
+        return zero_pose_rest_verts(self._model, shape_params)
+
+    @classmethod
+    def from_pose_data(cls, pose_data: Optional[Dict[str, Any]], model: Any = None) -> "Rig":
+        rs = extract_rig_static(model, pose_data)
+        external = bool(rs.get("_external", False))
+        if external:
+            joints8 = np.asarray(rs["lbs_compact_joints"], dtype=np.uint16)
+            weights8 = np.asarray(rs["lbs_compact_weights"], dtype=np.float32)
+            max_inf = int(rs["lbs_compact_max_inf"])
+            override = _get_skeleton_override(pose_data) or {}
+            per_y_down = bool(override.get("per_frame_y_down", False))
+            rest_override = np.asarray(override["rest_verts_m"], dtype=np.float32)
+            expr_basis = None
+        else:
+            joints8, weights8, max_inf = compact_skin_to_n(
+                rs["lbs_skin_indices"], rs["lbs_vert_indices"],
+                rs["lbs_skin_weights"], int(rs["num_verts"]), max_inf=8,
+            )
+            per_y_down = True
+            rest_override = None
+            expr_basis = rs["expr_basis"] if int(rs["num_expr"]) > 0 else None
+        return cls(
+            parents=np.asarray(rs["parents"], dtype=np.int32),
+            joint_offsets_cm=np.asarray(rs["joint_translation_offsets"], dtype=np.float32),
+            bind_global_cm=np.asarray(bind_skel_state(model, pose_data), dtype=np.float32),
+            lbs_joints=joints8, lbs_weights=weights8, lbs_max_inf=max_inf,
+            faces=np.asarray(rs["faces"], dtype=np.uint32),
+            num_joints=int(rs["num_joints"]), num_verts=int(rs["num_verts"]),
+            num_expr=int(rs["num_expr"]),
+            per_frame_y_down=per_y_down, can_rerun_fk=not external,
+            expr_basis=expr_basis, _model=model, _rest_override=rest_override,
+        )
+
+
 def ibp_from_bind_global(bind_skel_state_m: np.ndarray) -> np.ndarray:
     """Inverse-bind MAT4 by inverting the rig's bind global (meters). Guarantees
     IBP[j] = inverse(FK over bind local TRS) — exactly what glTF skinning
@@ -1069,6 +1147,87 @@ DWPOSE_HAND_COLORS_21 = np.tile(
 )
 
 
+def resolve_openpose_keypoints_from_joints(
+    joints: np.ndarray, mapping: np.ndarray, weights: Optional[np.ndarray] = None,
+) -> np.ndarray:
+    """(K, 2) joint-index map resolved against (J, D) joint positions -> (K, D).
+    Row (a, b): b == -1 uses joints[a]; b >= 0 returns w*joints[a]+(1-w)*joints[b]
+    (w defaults 0.5 = midpoint; w outside [0, 1] extrapolates past the segment)."""
+    a = mapping[:, 0].astype(np.int64)
+    b = mapping[:, 1].astype(np.int64)
+    pos_a = joints[a]
+    has_b = b >= 0
+    if not has_b.any():
+        return pos_a.astype(np.float32, copy=False)
+    b_safe = np.where(has_b, b, a)
+    pos_b = joints[b_safe]
+    if weights is None:
+        w_a = np.where(has_b, 0.5, 1.0).astype(np.float32)
+    else:
+        w_a = np.where(has_b, np.asarray(weights, dtype=np.float32), 1.0)
+    w_b = (1.0 - w_a).astype(np.float32)
+    out = pos_a * w_a[:, None] + pos_b * w_b[:, None]
+    return out.astype(np.float32, copy=False)
+
+
+# part -> (override map key, override weight key, MHR70 reindex map)
+_OPENPOSE_RENDER_MAPS = {
+    "body": ("openpose18_joint_indices", "openpose18_joint_weights", OPENPOSE18_TO_MHR70),
+    "hand_r": ("openpose_hand21_r_joint_indices", "openpose_hand21_r_joint_weights", OPENPOSE_HAND21_TO_MHR70_R),
+    "hand_l": ("openpose_hand21_l_joint_indices", "openpose_hand21_l_joint_weights", OPENPOSE_HAND21_TO_MHR70_L),
+}
+
+
+def openpose_render_keypoints(
+    person: Dict[str, Any], pose_data: Optional[Dict[str, Any]], part: str,
+    *, dim: int, H: int = 0, W: int = 0,
+) -> Optional[np.ndarray]:
+    """OpenPose keypoints for one person, in op-layout, CAMERA frame (Y-down).
+    `part` in {'body','hand_r','hand_l'}. dim=3 -> (K, 3) metres pre-cam_t-add;
+    dim=2 -> (K, 2) image pixels. Returns None when the source data is missing.
+
+    External rigs (override carries the joint-index map) resolve from per-frame
+    `pred_joint_coords` (rig-native Y-up -> flipped to camera Y-down, matching
+    the pred_vertices convention). MHR reindexes the stored
+    `pred_keypoints_{3d,2d}` via the MHR70 map."""
+    map_key, w_key, mhr_map = _OPENPOSE_RENDER_MAPS[part]
+    override = _get_skeleton_override(pose_data)
+    ext_map = override.get(map_key) if override is not None else None
+
+    if ext_map is not None:
+        joints = person.get("pred_joint_coords")
+        if joints is None:
+            return None
+        w = override.get(w_key)
+        kp3d = resolve_openpose_keypoints_from_joints(
+            np.asarray(joints, dtype=np.float32),
+            np.asarray(ext_map, dtype=np.int64),
+            None if w is None else np.asarray(w, dtype=np.float32),
+        ).copy()
+        kp3d[:, 1] *= -1.0   # rig-native Y-up -> camera Y-down
+        kp3d[:, 2] *= -1.0
+        if dim == 3:
+            return kp3d
+        cam_t = person.get("pred_cam_t")
+        focal = person.get("focal_length")
+        if cam_t is None or focal is None:
+            return None
+        pts3 = kp3d + np.asarray(cam_t, dtype=np.float32).reshape(1, 3)
+        z = np.maximum(pts3[:, 2:3], 1e-6)
+        f = float(np.asarray(focal, dtype=np.float32).reshape(-1)[0])
+        xy = pts3[:, :2] * f + np.array([W * 0.5, H * 0.5], dtype=np.float32)[None, :] * z
+        return (xy / z).astype(np.float32)
+
+    key = "pred_keypoints_3d" if dim == 3 else "pred_keypoints_2d"
+    kp_full = person.get(key)
+    if kp_full is None:
+        return None
+    kp_full = np.asarray(kp_full, dtype=np.float32)
+    if kp_full.ndim != 2 or kp_full.shape[0] < 70:
+        return None
+    return kp_full[mhr_map]
+
+
 # Face landmarks from the MHR rig (option `face_source="rig"`).
 # MHR has no face bones — face deforms via expr_params morphs — so landmarks
 # are sourced from `pred_vertices` at fixed vertex IDs picked by NN against

comfy_extras/sam3d_body/export/glb_skeletal.py

@@ -24,14 +24,12 @@ import numpy as np
 
 from .glb_shared import (
     GLBWriter,
+    Rig,
     bake_vertex_colors,
-    bind_skel_state,
     bone_locals_from_globals,
     collect_tracks,
-    compact_skin_to_n,
     compute_normals,
     compute_pastel_mix,
-    extract_rig_static,
     flat_shade_mesh,
     gaussian_smooth_quats,
     global_skel_state_from_pose_data,
@@ -41,7 +39,6 @@ from .glb_shared import (
     quat_sign_fix_per_joint,
     rotation_align,
     unflip,
-    zero_pose_rest_verts,
 )
 
 from comfy_extras.sam3d_body.utils import jet_colormap
@@ -220,30 +217,22 @@ def build_glb_skeletal(
     if not tracks:
         raise ValueError("build_glb_skeletal: no valid tracks in pose_data")
 
-    rig_static = extract_rig_static(model, pose_data)
+    rig = Rig.from_pose_data(pose_data, model)
-    NJ = rig_static["num_joints"]
+    NJ = rig.num_joints
-    NV = rig_static["num_verts"]
+    NV = rig.num_verts
-    NEXPR = rig_static["num_expr"]
+    NEXPR = rig.num_expr
-    parents = rig_static["parents"]
+    parents = rig.parents
-    is_external = bool(rig_static.get("_external", False))
+    if not rig.can_rerun_fk:
-    if is_external:
         # External rigs have no PCA pose params to re-run; only stored globals
-        # are available, and kimodo stores joint coords already Y-up.
+        # are available, and they store joint coords already Y-up.
         use_stored_global_rots = True
-    joint_coords_y_down = not is_external
+    joint_coords_y_down = rig.per_frame_y_down
-    # Compact sparse skinning to 8 influences per vertex into glTF's two
+    # Skinning is already compacted to ≤8 influences per vertex (MHR averages
-    # JOINTS_*/WEIGHTS_* sets. MHR averages ~2.8 influences/vert but some
+    # ~2.8 but some shoulder/hip verts hit 5-8; keeping only 4 there leaks
-    # shoulder/hip verts have 5-8 where multiple joints cancel — keeping only
+    # per-bone rotation noise into the rendered mesh).
-    # 4 there leaks per-bone rotation noise into the rendered mesh.
+    joints_8 = rig.lbs_joints
-    if is_external:
+    weights_8 = rig.lbs_weights
-        joints_8 = rig_static["lbs_compact_joints"]
+    actual_max_inf = rig.lbs_max_inf
-        weights_8 = rig_static["lbs_compact_weights"]
-        actual_max_inf = rig_static["lbs_compact_max_inf"]
-    else:
-        joints_8, weights_8, actual_max_inf = compact_skin_to_n(
-            rig_static["lbs_skin_indices"], rig_static["lbs_vert_indices"],
-            rig_static["lbs_skin_weights"], NV, max_inf=8,
-        )
     joints_set0 = np.ascontiguousarray(joints_8[:, :4])
     weights_set0 = np.ascontiguousarray(weights_8[:, :4])
     use_set1 = actual_max_inf > 4
@@ -252,10 +241,8 @@ def build_glb_skeletal(
     # Derive bone locals from the rig's bind globals rather than recomputing
     # FK ourselves, so any mismatch between `parents` and the rig's actual FK
     # is absorbed into the local TRS instead of producing wrong globals.
-    bind_global_cm = bind_skel_state(model, pose_data)
+    bind_global_m = rig.bind_global_m
-    bind_global_m = bind_global_cm.copy().astype(np.float32)
+    bind_local = bone_locals_from_globals(bind_global_m[None], parents)[0]
-    bind_global_m[:, :3] *= 0.01
-    bind_local = bone_locals_from_globals(bind_global_m[None], rig_static["parents"])[0]
 
     # IBP = inverse of bind global. With bone defaults set to bind_local and
     # FK composed via `parents`, skin_matrix at rest = identity.
@@ -280,7 +267,7 @@ def build_glb_skeletal(
 
     expr_morph_accs: List[int] = []
     if include_face_morphs and NEXPR > 0:
-        eb = rig_static["expr_basis"].astype(np.float32) * 0.01
+        eb = rig.expr_basis.astype(np.float32) * 0.01
         for e in range(NEXPR):
             expr_morph_accs.append(w.add_vec3_f32_no_minmax(eb[e]))
 
@@ -329,16 +316,14 @@ def build_glb_skeletal(
         body_mesh_node_idx: Optional[int] = None
 
         if include_body:
-            # External rigs have no PCA shape — `zero_pose_rest_verts` short-
+            # MHR rest verts depend on the subject's shape_params; external rigs
-            # circuits to `pose_data["_skeleton_override"]["rest_verts_m"]`,
+            # ship fixed rest verts and ignore the arg (so the empty external
-            # so zeroed shape_params is safe there.
+            # `shape_params` is harmless).
-            if is_external:
+            shape_params_arr = np.asarray(
-                shape_params_arr = np.zeros(0, dtype=np.float32)
+                frames[frame_indices[0]][person_k].get("shape_params", []),
-            else:
+                dtype=np.float32,
-                shape_params_arr = np.asarray(
+            )
-                    frames[frame_indices[0]][person_k]["shape_params"], dtype=np.float32,
+            rest_v = rig.rest_verts_m(shape_params_arr)
-                )
-            rest_v = zero_pose_rest_verts(model, shape_params_arr, pose_data=pose_data)
             normals = compute_normals(rest_v, faces_native)
             positions_acc = w.add_vec3_f32(rest_v)
             normals_acc = w.add_vec3_f32(normals)
@@ -393,7 +378,7 @@ def build_glb_skeletal(
             color_idx_per_vert: Optional[np.ndarray] = None
             hw = float(bone_vis_radius_m)
             bv_v, bv_n, bv_f, bv_j, bv_w, child_per_vert = _build_bone_octahedrons_mesh(
-                bind_global_m[:, :3], rig_static["parents"], half_width_m=hw,
+                bind_global_m[:, :3], parents, half_width_m=hw,
             )
             if bv_v.shape[0] > 0:
                 F = bv_f.shape[0]
@@ -458,7 +443,7 @@ def build_glb_skeletal(
         # local translation (t_local inherits parent sign via q_parent_inv)
         # and produces visible "axis resets" mid-animation.
         rig_global_m[..., 3:7] = quat_sign_fix_per_joint(rig_global_m[..., 3:7])
-        bone_local_anim = bone_locals_from_globals(rig_global_m, rig_static["parents"])
+        bone_local_anim = bone_locals_from_globals(rig_global_m, parents)
         local_t = bone_local_anim[..., :3].astype(np.float32)
         local_q = bone_local_anim[..., 3:7].astype(np.float32)
         local_s = bone_local_anim[..., 7].astype(np.float32)

comfy_extras/sam3d_body/export/openpose_2d.py

@@ -19,10 +19,8 @@ from PIL import Image
 from comfy_extras.pose.keypoint_draw import KeypointDraw
 
 from .glb_shared import (
-    OPENPOSE18_TO_MHR70,
-    OPENPOSE_HAND21_TO_MHR70_L,
-    OPENPOSE_HAND21_TO_MHR70_R,
     OPENPOSE_HAND_COLORS_21,
+    openpose_render_keypoints,
     select_face_landmark_vert_ids,
 )
 
@@ -53,32 +51,31 @@ def _project_face_landmarks_2d(
 
 
 def _pack_dwpose_134(
-    person: Dict[str, Any], *, include_body: bool, include_hands: bool,
+    person: Dict[str, Any], pose_data: Dict[str, Any], *,
+    include_body: bool, include_hands: bool, H: int, W: int,
 ) -> Tuple[np.ndarray, np.ndarray]:
     """Pack a SAM3D person dict into (kp, scores): (134, 2) DWPose-layout
     coords + (134,) confidence. Face slot (24-91) is left zeroed; face dots
     are drawn separately so SAM3D's 238-sapiens / rig-fallback counts work.
-    Non-finite or out-of-band entries get score=0 and are filtered downstream."""
+    Non-finite or out-of-band entries get score=0 and are filtered downstream.
+
+    Keypoints come from the shared provider: MHR reindexes `pred_keypoints_2d`,
+    external rigs (Kimodo) resolve + project from `pred_joint_coords`."""
     kp = np.zeros((134, 2), dtype=np.float32)
     scores = np.zeros(134, dtype=np.float32)
 
-    kp2d_full = person.get("pred_keypoints_2d")
-    if kp2d_full is None:
-        return kp, scores
-    kp2d = np.asarray(kp2d_full, dtype=np.float32)
-    if kp2d.ndim != 2 or kp2d.shape[1] != 2 or kp2d.shape[0] < 70:
-        return kp, scores
-
     if include_body:
-        body_xy = kp2d[OPENPOSE18_TO_MHR70]
+        body_xy = openpose_render_keypoints(person, pose_data, "body", dim=2, H=H, W=W)
-        finite = np.isfinite(body_xy).all(axis=1)
+        if body_xy is not None:
-        kp[:18][finite] = body_xy[finite]
+            finite = np.isfinite(body_xy).all(axis=1)
-        scores[:18][finite] = 1.0
+            kp[:18][finite] = body_xy[finite]
+            scores[:18][finite] = 1.0
 
     if include_hands:
-        for slot_start, mhr_idx in ((92, OPENPOSE_HAND21_TO_MHR70_R),
+        for slot_start, part in ((92, "hand_r"), (113, "hand_l")):
-                                    (113, OPENPOSE_HAND21_TO_MHR70_L)):
+            hand_xy = openpose_render_keypoints(person, pose_data, part, dim=2, H=H, W=W)
-            hand_xy = kp2d[mhr_idx]
+            if hand_xy is None:
+                continue
             finite = np.isfinite(hand_xy).all(axis=1)
             kp[slot_start:slot_start + 21][finite] = hand_xy[finite]
             scores[slot_start:slot_start + 21][finite] = 1.0
@@ -190,7 +187,8 @@ def render_pose_data_openpose(
         pre = canvas.copy() if pastel > 0 else None
 
         kp134, scores134 = _pack_dwpose_134(
-            person, include_body=include_body, include_hands=include_hands,
+            person, pose_data, include_body=include_body,
+            include_hands=include_hands, H=H, W=W,
         )
         _KD.draw_wholebody_keypoints(
             canvas, kp134, scores=scores134, threshold=0.5,

comfy_extras/sam3d_body/utils.py

@@ -178,6 +178,12 @@ def apply_camera_override(mhr_pose_data: Dict[str, Any], camera_info: Dict[str,
 
     center = np.array([W * 0.5, H * 0.5], dtype=np.float32)
     reproj = {"pred_keypoints_3d": "pred_keypoints_2d", "pred_face_keypoints_3d": "pred_face_keypoints_2d"}
+    # External rigs (e.g. Kimodo) store pred_joint_coords rig-native Y-up; the
+    # render openpose/scail keypoint provider resolves from them and flips Y/Z.
+    # Transform them through the camera too (in camera space, then back to Y-up)
+    # so those keypoints follow the override instead of staying in the old frame.
+    override = mhr_pose_data.get("_skeleton_override")
+    joints_y_up = override is not None and not bool(override.get("per_frame_y_down", False))
     new_frames: List[List[Dict[str, Any]]] = []
     for frame in mhr_pose_data["frames"]:
         scaled = []
@@ -197,6 +203,17 @@ def apply_camera_override(mhr_pose_data: Dict[str, Any], camera_info: Dict[str,
                 if k in reproj:  # re-project the new 3D to 2D image coords
                     z = np.maximum(cam[..., 2:3], 1e-6)
                     p[reproj[k]] = (cam[..., :2] * new_focal / z + center).astype(np.float32)
+            jc = p.get("pred_joint_coords")
+            if jc is not None:
+                jc = np.asarray(jc, dtype=np.float32).copy()
+                if joints_y_up:
+                    jc[..., 1] *= -1.0
+                    jc[..., 2] *= -1.0
+                jc = (jc + cam_t - eye) @ R.T
+                if joints_y_up:
+                    jc[..., 1] *= -1.0
+                    jc[..., 2] *= -1.0
+                p["pred_joint_coords"] = jc.astype(np.float32)
             p["pred_cam_t"] = np.zeros(3, dtype=np.float32)
             p["focal_length"] = np.array(new_focal, dtype=np.float32)
             scaled.append(p)