Add Phase 9 shared motion adapters

.github/workflows/release.yml

@@ -112,7 +112,7 @@ jobs:
           set -euo pipefail
           sudo apt-get update
           sudo apt-get install -y --no-install-recommends libx11-dev libxt-dev
-      - name: Bootstrap ost 0.22.10 (pinned release asset, checksum-verified)
+      - name: Bootstrap ost 0.23.2 (pinned release asset, checksum-verified)
         shell: bash
         run: |
           set -euo pipefail
@@ -123,7 +123,7 @@ jobs:
             *) echo "::error title=ost bootstrap::no ost release asset for ${RUNNER_OS}-${RUNNER_ARCH}" ; exit 1 ;;
           esac
           asset="ost-cli-${triple}.${ext}"
-          base="https://github.com/animu-sphere/open-strata/releases/download/v0.22.10"
+          base="https://github.com/animu-sphere/open-strata/releases/download/v0.23.2"
           curl -fsSLo "$asset" "$base/$asset"
           curl -fsSLo "$asset.sha256" "$base/$asset.sha256"
           actual="$( (command -v sha256sum > /dev/null && sha256sum "$asset" || shasum -a 256 "$asset") | cut -d' ' -f1 )"
@@ -155,8 +155,8 @@ jobs:
             version="$(ost --version)"
           fi
           echo "$version"
-          if [ "$version" != "ost 0.22.10" ]; then
-            echo "::error title=ost bootstrap::expected 'ost 0.22.10', got '$version'" ; exit 1
+          if [ "$version" != "ost 0.23.2" ]; then
+            echo "::error title=ost bootstrap::expected 'ost 0.23.2', got '$version'" ; exit 1
           fi
       # Restore only: the pull request lanes own these entries, and a release
       # run must not write a cache a later pull request would trust.
@@ -165,7 +165,7 @@ jobs:
         uses: actions/cache/restore@55cc8345863c7cc4c66a329aec7e433d2d1c52a9 # v6.1.0
         with:
           path: .ost-ci-home/artifacts
-          key: ost-registry-0.22.10-${{ runner.os }}-${{ runner.arch }}-${{ matrix.cache_cell }}-${{ matrix.runtime_artifact }}
+          key: ost-registry-0.23.2-${{ runner.os }}-${{ runner.arch }}-${{ matrix.cache_cell }}-${{ matrix.runtime_artifact }}
       # The cache-hit test is the same predicate as the gate below, so a cached
       # record that would fail the gate drops through to a fresh pull.
       - name: Pull the pinned runtime SDK from its remote reference
@@ -189,6 +189,9 @@ jobs:
             --require-openusd "${{ matrix.require_openusd }}" --require-openusd-version 26.08
           ost runtime pull cy2026 --profile usd --from-artifact "${{ matrix.runtime_artifact }}" --force
           ost runtime validate cy2026 --profile usd --json > /dev/null
+      - name: Pull digest-pinned external library artifacts
+        shell: bash
+        run: ost library pull --target cy2026 --profile usd --json
       - name: Set up host Python
         uses: actions/setup-python@ece7cb06caefa5fff74198d8649806c4678c61a1 # v6.3.0
         with:

.gitignore

@@ -10,6 +10,7 @@ strata.lock
 # its OST_HOME (the materialized runtime).
 /.ost-ci/
 /.ost-ci-home/
+/.ost-*/
 
 # Built plugin libraries are staged into each bundle's lib/ by the build, and
 # tools into their own bin/.

CHANGELOG.md

@@ -17,6 +17,23 @@ Stage-contract version: **1**, authored since the Phase 0 importer.
 
 ### Added
 
+- **Phase 9 shared-motion adapters.** `mmdSkeletonAdapter` implements role-table
+  version 1 and builds the PMX stage's `SkeletonDescriptor`, source rest and
+  target `RetargetMap`; `mmdMotionAdapter` samples `mmdControl` over an explicit
+  time range into evaluated `MotionClip` poses, root motion, namespaced MMD
+  morph channels and a reserved visibility channel. Non-finite evaluated
+  values are rejected at the shared boundary rather than replaced. Their
+  manifests consume digest-pinned `motionCore` and
+  `motionRetarget` v0.5.0 artifacts, and unit, boundary and installed-consumer
+  tests cover both edges. Source and release CI pin `ost` 0.23.2 so those
+  external artifacts are parsed, pulled and composed into root builds. CI
+  also forwards the host-resolved Python development paths into the clean
+  installed-consumer configure, provisions Python for Windows runtime
+  validation, and recognizes the complete macOS OpenUSD foundation closure.
+  `mmdMotionBinding` now preserves the VMD model name
+  as provenance. End-to-end retarget and `UsdSkelAnimation` authoring remains
+  Phase 9 work. (`MOTION_CONTRACT.md` §10, §12.)
+
 - **Physics runtime integration direction.** A proposed focused contract now
   fixes the future boundary: the existing `/Asset/physics` stage remains the
   hand-off, MMD bone/body coupling stays in this repository, generic
@@ -76,13 +93,14 @@ Stage-contract version: **1**, authored since the Phase 0 importer.
   (`MOTION_CONTRACT.md` §9, §10, §12; `DESIGN_POLICY.md` §5.7, §14, §20.1;
   `WORKSPACE.md` §1.2, §2, §2.4; `DEPENDENCIES.md` §6.)
 
-- **The shared-motion edge is split by responsibility.** The planned
-  `mmdMotionAdapter` now emits only fully evaluated `MotionPose`/`MotionClip`
-  data. A separate planned `mmdSkeletonAdapter` exposes
+- **The shared-motion edge is split by responsibility.** The
+  `mmdMotionAdapter` emits only fully evaluated `MotionPose`/`MotionClip`
+  data. A separate `mmdSkeletonAdapter` exposes
   `SkeletonDescriptor`, `RetargetMap` and `SourceRestPose` and owns the
   versioned MMD humanoid mapping. Both remain narrow consumers of
-  `usd-motion-plugins`; neither implements generic retargeting. Documentation
-  only; no component or manifest exists yet. (`MOTION_CONTRACT.md` §10, §12;
+  `usd-motion-plugins`; neither implements generic retargeting. This boundary
+  was decided in documentation first and implemented by the adapter change above.
+  (`MOTION_CONTRACT.md` §10, §12;
   `DESIGN_POLICY.md` §5.7; `WORKSPACE.md` §1.2, §2.4.)
 
 - **The design documents follow the `usd-motion-plugins` design policy.**

CMakeLists.txt

@@ -66,6 +66,15 @@ add_subdirectory("tools/vmdInspect")
 find_package(pxr REQUIRED CONFIG)
 include("${CMAKE_CURRENT_SOURCE_DIR}/cmake/UsdMmdOpenUsd.cmake")
 
+# The two Phase 9 adapters are the only libraries that cross into the shared
+# motion packages. Resolve them after OpenUSD so motionCore/motionRetarget can
+# reuse the already-defined foundation targets, then add the adapters in their
+# dependency order.
+find_package(motionCore 0.5 CONFIG REQUIRED)
+find_package(motionRetarget 0.5 CONFIG REQUIRED)
+add_subdirectory("libs/mmdSkeletonAdapter")
+add_subdirectory("libs/mmdMotionAdapter")
+
 # The interpreter the integration tests import OpenUSD's Python bindings into.
 # It must be the Python OpenUSD was built against, and pxrConfig.cmake names
 # that one -- it sets Python3_EXECUTABLE unless it is already defined -- so the

README.md

@@ -14,9 +14,10 @@ assets: PMX models, and VMD motion bound to them.
 > identifiers, and `mmd_inspect` reports what a file contains. A VMD is read
 > without a model and reported by `vmd_inspect`, and bound to a model by MMD's
 > own name rule. Phase 9 now evaluates MMD's IK and append transforms over a
-> bound motion; next its motion and skeleton adapters hand evaluated clips and
+> bound motion, and its motion and skeleton adapters hand evaluated clips and
 > PMX rig descriptions to `usd-motion-plugins`, which retargets and authors
-> `UsdSkelAnimation`. Future physics execution consumes the existing static
+> `UsdSkelAnimation`. End-to-end retarget and authoring acceptance remains.
+> Future physics execution consumes the existing static
 > stage through `usd-physics-plugins`; the importer remains solver-free. The
 > [capability matrix](docs/reference/CAPABILITY_MATRIX.md) is the only page
 > that says what is implemented, and [the roadmap](docs/roadmap/current.md)
@@ -45,7 +46,7 @@ VMD bytes ─→ motionVmd ─→ mmdMotionBinding (+ mmdModel) ─→ a bound m
              syntax,      by source name, in the model's
              tracks       basis
           ─→ mmdControl ─→ mmdMotionAdapter ─→ MotionClip ─→ usd-motion-plugins
-             IK, append,   (Phase 9, planned)                retarget, record, UsdSkelAnimation
+             IK, append,                                    retarget, record, UsdSkelAnimation
              bone morphs
 
 PMX skeleton ─→ mmdSkeletonAdapter ─→ SkeletonDescriptor / RetargetMap
@@ -77,8 +78,8 @@ contract is [docs/design/PHYSICS_INTEGRATION.md](docs/design/PHYSICS_INTEGRATION
 | `motionVmd` | plain C++ library | VMD syntax, CP932 names and tracks — no dependency at all | reads every section |
 | `mmdMotionBinding` | plain C++ library | binds a VMD motion to a canonical model by source name, in the model's basis — no OpenUSD, nothing evaluated | exists |
 | `mmdControl` | plain C++ library | evaluates a bound motion at an explicit time over MMD's control rig — Bézier curves, bone morphs, appends, IK — into deformation-joint transforms; no OpenUSD, scheduled by a runtime | exists |
-| `mmdSkeletonAdapter` | planned plain C++ library | exposes the PMX skeleton, source rest and versioned humanoid map to `usd-motion-plugins`; no retarget algorithm | waits for installable `motionRetarget` |
-| `mmdMotionAdapter` | planned plain C++ library | turns fully evaluated MMD poses into `MotionClip`; no target-avatar knowledge | waits for installable `motionCore` and `motionRetarget` |
+| `mmdSkeletonAdapter` | plain C++ library | exposes the PMX skeleton, source rest and versioned humanoid map to `usd-motion-plugins`; no retarget algorithm | exists |
+| `mmdMotionAdapter` | plain C++ library | turns fully evaluated MMD poses into `MotionClip`; no target-avatar knowledge | exists |
 | `vmd_inspect` | CLI | what a VMD contains, without a model or USD | exists ([guide](docs/guides/inspecting.md)) |
 
 `mmdSchema` exists only if an MMD API schema passes the

docs/README.md

@@ -4,7 +4,7 @@ Documentation is organized by responsibility: each category answers one class
 of question. The layout is the one `usd-vrm-plugins`, `open-strata` and
 `hydra-merlin` use, so the repositories read the same way.
 
-**The tree holds Phases 0–7 (2026-09-17):** the PMX structural parser reads
+**The tree holds Phases 0–7 and most of Phase 9 (2026-09-21):** the PMX structural parser reads
 every table of a PMX 2.0 or 2.1 file, `mmd_inspect` reports on it, and `.pmx`
 opens as the canonical stage — mesh, UVs, material prims and subsets,
 skeleton and skinning, Y-up, in meters. Phase 3 adds canonical MMD material
@@ -15,9 +15,10 @@ chains, append relations, axes — under `/Asset/rig`, solving nothing, and
 Phase 6 every rigid body and joint under `/Asset/physics`, as `UsdPhysics`
 where it matches, simulating nothing. Phase 7 reads VMD motion without a
 model (`motionVmd`, `vmd_inspect`) and binds it to one by MMD's name rule
-(`mmdMotionBinding`), baking nothing. Phase 9, in progress, evaluates MMD's
-control rig over a bound motion (`mmdControl`, done) and will hand the result
-to `usd-motion-plugins`, through separate motion and skeleton adapters. Future
+(`mmdMotionBinding`), baking nothing. Phase 9 evaluates MMD's control rig over
+a bound motion (`mmdControl`) and hands the result to `usd-motion-plugins`
+through `mmdMotionAdapter` and `mmdSkeletonAdapter`. End-to-end retarget and
+animation authoring acceptance remains. Future
 physics execution consumes the existing static stage through
 `usd-physics-plugins`, with MMD coupling kept here and simulation outside the
 importer. Everything

docs/architecture/DEPENDENCIES.md

@@ -15,7 +15,7 @@ component links it yet. §7 records the proposed optional runtime edge to
 | | |
 | --- | --- |
 | Pin | OpenUSD **26.08**, exactly (`PXR_VERSION` 2608), enforced by [cmake/UsdMmdOpenUsd.cmake](../../cmake/UsdMmdOpenUsd.cmake) for `ost` and plain-CMake builds alike and declared as `runtime.openusd: "==26.08"` in the bundle manifest; the release the rest of the ecosystem pins (`usd-vrm-plugins` too), because `usd-avatar-runtime` composes every plugin into one OpenUSD process |
-| Used by | `usdMmdFileFormat` (and later `mmdSchema`, `usdVmdFileFormat`) only; later `mmdMotionAdapter` too, for the foundation types (`gf`, `tf`, `vt`) `usd-motion-plugins`' `motionCore` and `motionRetarget` expose, and no stage (§6) |
+| Used by | `usdMmdFileFormat`; `mmdMotionAdapter` and `mmdSkeletonAdapter` use only the foundation types (`gf`, `tf`, `vt`) exposed through the shared motion packages, and no stage (§6) |
 | Modules | linked today: `arch`, `tf`, `gf`, `vt`, `ar`, `sdf`, `usd`, `usdGeom`, `usdPhysics`, `usdShade`, `usdSkel`, `kind` (`usdShade` and `usdSkel` since Phase 2, `usdPhysics` since Phase 6) |
 | Not used | OpenExec, Hydra, `usdImaging` — nothing is evaluated or rendered here, so unlike `usd-vrm-plugins`' pin module this one probes for no OpenExec |
 | CI runtimes | the OpenUSD 26.08 leaves of OpenStrata's runtime matrix, the same digests `usd-vrm-plugins` pins ([openstrata.ci.yaml](../../openstrata.ci.yaml)) |
@@ -38,7 +38,7 @@ calls the MaterialX library. The MaterialX document version it declares
 | Compilers | MSVC on Windows, Clang on macOS (arm64), GCC on Linux — the three hosted lanes `usd-vrm-plugins` runs |
 | Windows flags | `/utf-8`, `NOMINMAX`, applied by `usdmmd_target_defaults()` in [cmake/UsdMmdTargets.cmake](../../cmake/UsdMmdTargets.cmake) ([WORKSPACE.md §5](WORKSPACE.md#5-build-modes)) |
 | Python | the Python OpenUSD was built against — 3.13 for the 26.08 runtimes — for stage tests and tooling. The root project finds the interpreter *after* OpenUSD, so it inherits the one `pxrConfig.cmake` names |
-| OpenStrata | `ost` **0.22.10**, pinned in `openstrata.ci.yaml` |
+| OpenStrata | `ost` **0.23.2**, pinned in `openstrata.ci.yaml`; required for digest-pinned external-library artifacts in root builds |
 | Unit-test framework | **none**, as in `usd-vrm-plugins`: each suite is a plain executable that checks with `assert()`, compiled with `NDEBUG` undefined so Release builds still check, and registered with CTest |
 | Sanitizers and fuzzing | Clang 18's AddressSanitizer, UndefinedBehaviorSanitizer and libFuzzer, from Ubuntu 24.04's packages, in [parser-sanitizers.yml](../../.github/workflows/parser-sanitizers.yml) only; `mmdPmx`'s `MMDPMX_SANITIZERS` and `MMDPMX_BUILD_FUZZER` options, and the matching `MMDMODEL_`, `MOTIONVMD_` and `MMDMOTIONBINDING_` ones, switch them on, and nothing shipped is built with them. Toolchain runtimes, not dependencies: no code is vendored and nothing links them outside that lane |
 
@@ -95,20 +95,16 @@ exact version, and listed in `THIRD_PARTY_NOTICES.md`.
 
 The shared motion core: vendor- and avatar-format-neutral poses and clips,
 humanoid joint semantics, sampling, retargeting, recording and the
-`UsdSkelAnimation` bridge. Planned, not linked. Its first tag,
-`v0.1.0-alpha.1` (2026-09-19), is a source-only pre-release of `motionCore`
-alone, and its notes say it is not `v0.1.0`. Its `main` has since received
-`motionRetarget` — `SkeletonDescriptor`, `RetargetMap`, `SourceRestPose`,
-the root-motion policy and the retarget diagnostics — imported from
-`usd-vrm-plugins` on 2026-09-19 ahead of the `v0.2.0` that ships it. Nothing
-here links either until each is released.
+`UsdSkelAnimation` bridge. v0.5.0 was published on 2026-09-20 with installable
+`motionCore` and `motionRetarget`; the two adapters consume their per-target,
+digest-pinned OpenStrata artifacts.
 
 | | |
 | --- | --- |
 | Packages | `motionCore` (`HumanJoint`, `MotionPose`, `RootMotion`, `MotionClip`) and `motionRetarget` (`SkeletonDescriptor`, `RetargetMap`, `SourceRestPose`), each by `find_package(<name> CONFIG)` and linked as `<name>::<name>`; `motionUsd` only where [WORKSPACE.md §2.4](WORKSPACE.md#24-edges-out-of-this-repository) allows it |
-| Used by | `mmdMotionAdapter`; later perhaps `usdVmdFileFormat` (MOT-O2) |
+| Used by | `mmdMotionAdapter` (`motionCore`) and `mmdSkeletonAdapter` (`motionRetarget`); later perhaps `usdVmdFileFormat` (MOT-O2) |
 | Consumed as | an installed package, by `find_package` with a version range admitting the release it was verified against, the way siblings are ([WORKSPACE.md §5](WORKSPACE.md#5-build-modes)) |
-| Version | unset until its first release; its `v0.1.0` (core contract) carries `motionCore`, and `v0.2.0` (`motionRetarget`, with `motionUsd`'s reading half) is the one Phase 9 is designed against, since the adapter needs both |
+| Version | `>=0.5,<0.6`, verified against v0.5.0 |
 | OpenUSD | the same exact pin as §1 |
 | Direction | one way: `usd-motion-plugins` never depends on this repository |
 

docs/architecture/PACKAGE_CONTRACT.md

@@ -4,13 +4,13 @@ What each installed package promises a consumer: the name it is found by, the
 target it links, the headers it installs, and what it needs besides. A
 consumer relies on this page and on nothing else in the build tree; the
 installed-consumer lane
-([WORKSPACE.md §6](WORKSPACE.md#6-tests)) builds against a clean prefix to
-keep it true.
+([WORKSPACE.md §6](WORKSPACE.md#6-tests)) builds against a clean repository
+prefix plus the explicitly pinned external motion packages to keep it true.
 
-Status (2026-09-19): the two Phase 0 packages exist, `mmd_inspect` installs
+Status (2026-09-21): the two Phase 0 packages exist, `mmd_inspect` installs
 with the workspace since Phase 1, `mmdModel` since Phase 2, `motionVmd`,
-`mmdMotionBinding` and `vmd_inspect` since Phase 7, and `mmdControl` since
-Phase 9. Identities and
+`mmdMotionBinding` and `vmd_inspect` since Phase 7, and `mmdControl`,
+`mmdSkeletonAdapter` and `mmdMotionAdapter` since Phase 9. Identities and
 dependency edges are [WORKSPACE.md](WORKSPACE.md)'s; this page does not
 restate them.
 
@@ -110,6 +110,38 @@ builds a consumer that includes `mmdControl/Evaluator.h` and names
 five packages alone. The installed-consumer lane's `control_probe` finds
 `mmdControl` only, binds a VMD fixture to a PMX fixture and evaluates it.
 
+## `mmdSkeletonAdapter`
+
+| | |
+| --- | --- |
+| `find_package` | `find_package(mmdSkeletonAdapter 0.1 CONFIG REQUIRED)` |
+| Imported target | `mmdSkeletonAdapter::mmdSkeletonAdapter` (static library), which links `mmdModel::mmdModel` and `motionRetarget::motionRetarget` publicly |
+| Headers | `include/mmdSkeletonAdapter/` — `Adapter.h` |
+| Required packages | `mmdModel` and released `motionRetarget >=0.5,<0.6`; the external package finds `motionCore` and the same OpenUSD foundation runtime |
+| Language | C++20 (`cxx_std_20` is a usage requirement) |
+| Version compatibility | `SameMinorVersion`, as `mmdPmx` |
+| Installed files | `${CMAKE_INSTALL_LIBDIR}/` (the archive), `${CMAKE_INSTALL_LIBDIR}/cmake/mmdSkeletonAdapter/`, and `include/mmdSkeletonAdapter/` |
+
+Its manifest pins `motionRetarget` by archive and OCI digest for each supported
+target. The installed-consumer lane verifies the package from outside the
+source tree against that external package.
+
+## `mmdMotionAdapter`
+
+| | |
+| --- | --- |
+| `find_package` | `find_package(mmdMotionAdapter 0.1 CONFIG REQUIRED)` |
+| Imported target | `mmdMotionAdapter::mmdMotionAdapter` (static library), which links `mmdControl`, `mmdModel`, `mmdSkeletonAdapter` and `motionCore` publicly |
+| Headers | `include/mmdMotionAdapter/` — `Adapter.h`, `Codes.h` |
+| Required packages | the three repository packages above and released `motionCore >=0.5,<0.6` |
+| Language | C++20 (`cxx_std_20` is a usage requirement) |
+| Version compatibility | `SameMinorVersion`, as `mmdPmx` |
+| Installed files | `${CMAKE_INSTALL_LIBDIR}/` (the archive), `${CMAKE_INSTALL_LIBDIR}/cmake/mmdMotionAdapter/`, and `include/mmdMotionAdapter/` |
+
+Its manifest pins `motionCore` per target. The installed-consumer lane binds a
+generated VMD to a generated PMX, evaluates it, and builds a shared
+`MotionClip` through both installed adapters.
+
 ## `usdMmdFileFormat`
 
 A plugin bundle, found by OpenUSD's plug registry rather than by CMake. It