diff --git a/web-server/src/preprocess/assimp.ts b/web-server/src/preprocess/assimp.ts
new file mode 100644
index 0000000..dbef9f5
--- /dev/null
+++ b/web-server/src/preprocess/assimp.ts
@@ -0,0 +1,62 @@
+import { BadRequestException } from '@nestjs/common';
+import { execFile } from 'node:child_process';
+import { existsSync } from 'node:fs';
+import { basename, extname, join } from 'node:path';
+import { promisify } from 'node:util';
+
+const execFileAsync = promisify(execFile);
+
+export const ASSIMP_CONVERT_TIMEOUT_MS = 120_000;
+
+/**
+ * 使用外部 Assimp 可执行文件把 FBX / glTF 转换为 BVH。
+ * Assimp 是**可选**依赖（契约 model-formats.md §2）：
+ * 未安装时抛出可读错误，由调用方落为 preprocessState=failed，不影响 BVH 通路。
+ */
+export async function convertToBvhWithAssimp(
+  inputPath: string,
+  outputDir: string,
+  assimpBin: string,
+): Promise<string> {
+  if (!existsSync(inputPath)) {
+    throw new BadRequestException(`源文件不存在：${inputPath}`);
+  }
+  const outPath = join(outputDir, `${basename(inputPath, extname(inputPath))}-assimp.bvh`);
+
+  try {
+    await execFileAsync(assimpBin, ['export', inputPath, outPath], {
+      timeout: ASSIMP_CONVERT_TIMEOUT_MS,
+      maxBuffer: 8 * 1024 * 1024,
+    });
+  } catch (error) {
+    const err = error as NodeJS.ErrnoException & { stderr?: string };
+    if (err.code === 'ENOENT') {
+      throw new BadRequestException(
+        `未找到 Assimp 可执行文件「${assimpBin}」。FBX / glTF 动作预处理需要 Assimp（BSD-3-Clause），` +
+          '请安装后设置 ASSIMP_BIN 环境变量；BVH 动作无需 Assimp。',
+      );
+    }
+    const detail = (err.stderr ?? err.message ?? '').toString().trim().slice(0, 500);
+    throw new BadRequestException(`Assimp 转换失败：${detail || '未知错误'}`);
+  }
+
+  if (!existsSync(outPath)) {
+    throw new BadRequestException('Assimp 未产出 BVH 文件，可能源文件中不含骨骼动画');
+  }
+  return outPath;
+}
+
+/** 探测 Assimp 是否可用（用于 /health 与部署自检） */
+export async function detectAssimp(assimpBin: string): Promise<{ available: boolean; version?: string; error?: string }> {
+  try {
+    const { stdout } = await execFileAsync(assimpBin, ['version'], { timeout: 10_000 });
+    const version = stdout.split(/\r?\n/).find((line) => line.toLowerCase().includes('assimp')) ?? stdout.trim();
+    return { available: true, version: version.trim() };
+  } catch (error) {
+    const err = error as NodeJS.ErrnoException;
+    return {
+      available: false,
+      error: err.code === 'ENOENT' ? `未安装（${assimpBin}）` : (err.message ?? '未知错误'),
+    };
+  }
+}
diff --git a/web-server/src/preprocess/bvh-parser.ts b/web-server/src/preprocess/bvh-parser.ts
new file mode 100644
index 0000000..d0823bf
--- /dev/null
+++ b/web-server/src/preprocess/bvh-parser.ts
@@ -0,0 +1,227 @@
+import { BadRequestException } from '@nestjs/common';
+import { Mat3, Vec3, composeRotation, IDENTITY3, matMul, matVec } from './math3d';
+
+export interface BvhJoint {
+  name: string;
+  offset: Vec3;
+  channels: string[];
+  /** 在该帧通道值数组中的起始下标 */
+  channelIndex: number;
+  parent: BvhJoint | null;
+  children: BvhJoint[];
+}
+
+export interface BvhMotion {
+  root: BvhJoint;
+  /** 先序展开的全部关节（不含 End Site） */
+  joints: BvhJoint[];
+  frameCount: number;
+  frameTime: number;
+  /** frames[frameIndex][channelIndex] = 通道值 */
+  frames: number[][];
+  channelCount: number;
+  /** 关节名（小写）→ 关节 */
+  byName: Map<string, BvhJoint>;
+}
+
+const CHANNEL_AXIS = /^([XYZ])(position|rotation)$/i;
+
+function tokenize(text: string): string[] {
+  const tokens = text.match(/[^\s{}]+|[{}]/g);
+  return tokens ?? [];
+}
+
+/**
+ * BVH 解析器（纯 TypeScript，无原生依赖）。
+ * 仅支持标准 BVH：HIERARCHY + MOTION，End Site 视为叶子不产生关节。
+ */
+export function parseBvh(text: string): BvhMotion {
+  const tokens = tokenize(text);
+  let pos = 0;
+
+  const peek = (): string | undefined => tokens[pos];
+  const next = (): string => {
+    const token = tokens[pos];
+    if (token === undefined) throw new BadRequestException('BVH 解析失败：内容意外结束');
+    pos += 1;
+    return token;
+  };
+  const expect = (value: string): void => {
+    const token = next();
+    if (token !== value) {
+      throw new BadRequestException(`BVH 解析失败：期望 "${value}"，实际 "${token}"`);
+    }
+  };
+
+  if ((peek() ?? '').toUpperCase() !== 'HIERARCHY') {
+    throw new BadRequestException('BVH 解析失败：缺少 HIERARCHY 段');
+  }
+  next();
+
+  const joints: BvhJoint[] = [];
+  let channelCursor = 0;
+
+  const parseNode = (parent: BvhJoint | null): BvhJoint => {
+    const kind = next().toUpperCase();
+    if (kind !== 'ROOT' && kind !== 'JOINT') {
+      throw new BadRequestException(`BVH 解析失败：期望 ROOT/JOINT，实际 ${kind}`);
+    }
+    const name = next();
+    const joint: BvhJoint = {
+      name,
+      offset: [0, 0, 0],
+      channels: [],
+      channelIndex: channelCursor,
+      parent,
+      children: [],
+    };
+    if (parent) parent.children.push(joint);
+    joints.push(joint);
+
+    expect('{');
+    for (;;) {
+      const token = next();
+      const upper = token.toUpperCase();
+      if (upper === '}') break;
+      if (upper === 'OFFSET') {
+        joint.offset = [Number(next()), Number(next()), Number(next())];
+        if (joint.offset.some((n) => !Number.isFinite(n))) {
+          throw new BadRequestException(`BVH 解析失败：关节 ${name} 的 OFFSET 非法`);
+        }
+      } else if (upper === 'CHANNELS') {
+        const count = Number(next());
+        if (!Number.isInteger(count) || count <= 0) {
+          throw new BadRequestException(`BVH 解析失败：关节 ${name} 的通道数非法`);
+        }
+        const list: string[] = [];
+        for (let i = 0; i < count; i += 1) {
+          const channel = next();
+          if (!CHANNEL_AXIS.test(channel)) {
+            throw new BadRequestException(`BVH 解析失败：未知通道 ${channel}`);
+          }
+          list.push(channel);
+        }
+        joint.channels = list;
+        joint.channelIndex = channelCursor;
+        channelCursor += count;
+      } else if (upper === 'JOINT') {
+        pos -= 1;
+        parseNode(joint);
+      } else if (upper === 'END') {
+        // End Site { OFFSET x y z }
+        expect('Site');
+        expect('{');
+        for (;;) {
+          const inner = next();
+          if (inner === '}') break;
+          if (inner.toUpperCase() === 'OFFSET') {
+            next();
+            next();
+            next();
+          }
+        }
+      } else {
+        throw new BadRequestException(`BVH 解析失败：关节 ${name} 中出现未知标记 ${token}`);
+      }
+    }
+    return joint;
+  };
+
+  const root = parseNode(null);
+
+  expect('MOTION');
+  expect('Frames:');
+  const frameCount = Number(next());
+  expect('Frame');
+  expect('Time:');
+  const frameTime = Number(next());
+  if (!Number.isInteger(frameCount) || frameCount <= 0) {
+    throw new BadRequestException('BVH 解析失败：Frames 数量非法');
+  }
+  if (!Number.isFinite(frameTime) || frameTime <= 0) {
+    throw new BadRequestException('BVH 解析失败：Frame Time 非法');
+  }
+
+  const flat: number[] = [];
+  while (pos < tokens.length) {
+    const value = Number(tokens[pos]);
+    pos += 1;
+    if (Number.isFinite(value)) flat.push(value);
+  }
+
+  const expected = frameCount * channelCursor;
+  if (flat.length < expected) {
+    throw new BadRequestException(
+      `BVH 解析失败：期望 ${expected} 个通道值（${frameCount} 帧 × ${channelCursor} 通道），实际 ${flat.length}`,
+    );
+  }
+
+  const frames: number[][] = [];
+  for (let f = 0; f < frameCount; f += 1) {
+    frames.push(flat.slice(f * channelCursor, (f + 1) * channelCursor));
+  }
+
+  const byName = new Map<string, BvhJoint>();
+  for (const joint of joints) {
+    const key = joint.name.toLowerCase();
+    if (!byName.has(key)) byName.set(key, joint);
+  }
+
+  return { root, joints, frameCount, frameTime, frames, channelCount: channelCursor, byName };
+}
+
+export interface JointWorld {
+  name: string;
+  position: Vec3;
+  rotation: Mat3;
+}
+
+/** 读取关节在某帧的通道值，并按通道名拆分为平移/旋转 */
+function readChannels(joint: BvhJoint, frame: number[]): { translation: Vec3; rotations: Array<{ axis: string; value: number }> } {
+  const translation: Vec3 = [0, 0, 0];
+  const rotations: Array<{ axis: string; value: number }> = [];
+  joint.channels.forEach((channel, i) => {
+    const match = CHANNEL_AXIS.exec(channel);
+    const value = frame[joint.channelIndex + i] ?? 0;
+    if (!match) return;
+    const axis = match[1].toUpperCase();
+    if (match[2].toLowerCase() === 'position') {
+      if (axis === 'X') translation[0] = value;
+      else if (axis === 'Y') translation[1] = value;
+      else translation[2] = value;
+    } else {
+      rotations.push({ axis, value });
+    }
+  });
+  return { translation, rotations };
+}
+
+/**
+ * 逐帧前向运动学，返回关节世界坐标。
+ * 世界变换 = 父世界变换 × T(offset + 自身平移) × R(通道旋转)。
+ */
+export function forwardKinematics(motion: BvhMotion, frameIndex: number): Map<string, JointWorld> {
+  const frame = motion.frames[frameIndex];
+  const out = new Map<string, JointWorld>();
+
+  const walk = (joint: BvhJoint, parentR: Mat3, parentT: Vec3): void => {
+    const { translation, rotations } = readChannels(joint, frame);
+    const localR = composeRotation(rotations);
+    // 旋转矩阵相乘：worldR = parentR × localR
+    const worldR = matMul(parentR, localR);
+    const offset = joint.offset;
+    const shifted: Vec3 = [
+      offset[0] + translation[0],
+      offset[1] + translation[1],
+      offset[2] + translation[2],
+    ];
+    const rotated = matVec(parentR, shifted);
+    const worldT: Vec3 = [parentT[0] + rotated[0], parentT[1] + rotated[1], parentT[2] + rotated[2]];
+
+    out.set(joint.name.toLowerCase(), { name: joint.name, position: worldT, rotation: worldR });
+    for (const child of joint.children) walk(child, worldR, worldT);
+  };
+
+  walk(motion.root, IDENTITY3, [0, 0, 0]);
+  return out;
+}
diff --git a/web-server/src/preprocess/joint-map.ts b/web-server/src/preprocess/joint-map.ts
new file mode 100644
index 0000000..66da627
--- /dev/null
+++ b/web-server/src/preprocess/joint-map.ts
@@ -0,0 +1,31 @@
+import { MP } from './mediapipe33';
+
+/**
+ * 默认 BVH 关节名映射 —— 契约 model-formats.md §2.2。
+ * 按序匹配（不区分大小写），第一个命中的关节被采用。
+ * 实际项目中可在本表追加；追加不改变契约，仅提升映射覆盖率。
+ */
+export const DEFAULT_JOINT_MAP: Readonly<Record<number, readonly string[]>> = Object.freeze({
+  [MP.NOSE]: ['head', 'head_nub', 'neck1', 'skull'],
+  [MP.LEFT_SHOULDER]: ['leftshoulder', 'leftarm', 'lshoulder', 'shoulder_l', 'l_arm'],
+  [MP.RIGHT_SHOULDER]: ['rightshoulder', 'rightarm', 'rshoulder', 'shoulder_r', 'r_arm'],
+  [MP.LEFT_ELBOW]: ['leftforearm', 'leftelbow', 'lelbow', 'forearm_l'],
+  [MP.RIGHT_ELBOW]: ['rightforearm', 'rightelbow', 'relbow', 'forearm_r'],
+  [MP.LEFT_WRIST]: ['lefthand', 'leftwrist', 'lhand', 'wrist_l'],
+  [MP.RIGHT_WRIST]: ['righthand', 'rightwrist', 'rhand', 'wrist_r'],
+  [MP.LEFT_HIP]: ['leftupleg', 'lefthip', 'lhipjoint', 'hip_l', 'l_thigh'],
+  [MP.RIGHT_HIP]: ['rightupleg', 'righthip', 'rhipjoint', 'hip_r', 'r_thigh'],
+  [MP.LEFT_KNEE]: ['leftleg', 'leftknee', 'lknee', 'knee_l', 'l_shin'],
+  [MP.RIGHT_KNEE]: ['rightleg', 'rightknee', 'rknee', 'knee_r', 'r_shin'],
+  [MP.LEFT_ANKLE]: ['leftfoot', 'leftankle', 'lankle', 'ankle_l'],
+  [MP.RIGHT_ANKLE]: ['rightfoot', 'rightankle', 'rankle', 'ankle_r'],
+  [MP.LEFT_FOOT_INDEX]: ['lefttoebase', 'lefttoe', 'ltoe', 'toe_l'],
+  [MP.RIGHT_FOOT_INDEX]: ['righttoebase', 'righttoe', 'rtoe', 'toe_r'],
+});
+
+/** 直接映射的置信度 */
+export const CONF_DIRECT = 1.0;
+/** 由父节点推算的置信度 —— 契约 model-formats.md §2.2 */
+export const CONF_DERIVED = 0.5;
+/** 完全无法推算 */
+export const CONF_MISSING = 0.0;
diff --git a/web-server/src/preprocess/keypoint-codec.ts b/web-server/src/preprocess/keypoint-codec.ts
new file mode 100644
index 0000000..c34820b
--- /dev/null
+++ b/web-server/src/preprocess/keypoint-codec.ts
@@ -0,0 +1,147 @@
+import { BadRequestException } from '@nestjs/common';
+import { KEYPOINT_COUNT, KEYPOINT_FORMAT, KeypointFrame } from './mediapipe33';
+
+/** 二进制帧总长度 —— 契约 websocket-keypoints.md §2（冻结） */
+export const BINARY_FRAME_BYTES = 239;
+export const MAGIC = 0x4f44; // 'OD'
+export const PROTOCOL_VERSION = 0x01;
+const SCALE = 32767;
+
+export interface DecodedPoseFrame {
+  flags: number;
+  frameId: number;
+  points: Array<[number, number, number, number]>;
+}
+
+const clampInt16 = (v: number): number => (v < -32768 ? -32768 : v > 32767 ? 32767 : Math.round(v));
+
+/** 编码 239 字节二进制帧 —— Android 端参考实现 */
+export function encodeBinaryFrame(frameId: number, points: Array<[number, number, number, number]>, flags = 0): Buffer {
+  if (points.length !== KEYPOINT_COUNT) {
+    throw new BadRequestException(`关键点数量必须为 ${KEYPOINT_COUNT}，实际 ${points.length}`);
+  }
+  const buf = Buffer.alloc(BINARY_FRAME_BYTES);
+  buf.writeUInt16LE(MAGIC, 0);
+  buf.writeUInt8(PROTOCOL_VERSION, 2);
+  buf.writeUInt8(flags & 0xff, 3);
+  buf.writeUInt32LE(frameId >>> 0, 4);
+  for (let i = 0; i < KEYPOINT_COUNT; i += 1) {
+    const offset = 8 + i * 7;
+    const [x, y, z, conf] = points[i];
+    buf.writeInt16LE(clampInt16(x * SCALE), offset);
+    buf.writeInt16LE(clampInt16(y * SCALE), offset + 2);
+    buf.writeInt16LE(clampInt16(z * SCALE), offset + 4);
+    buf.writeUInt8(Math.max(0, Math.min(255, Math.round(conf * 255))), offset + 6);
+  }
+  return buf;
+}
+
+/** 解码 239 字节二进制帧 —— Windows 端参考实现（T-WIN-004） */
+export function decodeBinaryFrame(buf: Buffer): DecodedPoseFrame {
+  if (buf.length !== BINARY_FRAME_BYTES) {
+    throw new BadRequestException(`帧长度必须为 ${BINARY_FRAME_BYTES} 字节，实际 ${buf.length}`);
+  }
+  const magic = buf.readUInt16LE(0);
+  if (magic !== MAGIC) throw new BadRequestException('帧 magic 校验失败');
+  const version = buf.readUInt8(2);
+  if (version !== PROTOCOL_VERSION) {
+    throw new BadRequestException(`不支持的协议版本 ${version}`);
+  }
+  const flags = buf.readUInt8(3);
+  const frameId = buf.readUInt32LE(4);
+  const points: Array<[number, number, number, number]> = [];
+  for (let i = 0; i < KEYPOINT_COUNT; i += 1) {
+    const offset = 8 + i * 7;
+    points.push([
+      buf.readInt16LE(offset) / SCALE,
+      buf.readInt16LE(offset + 2) / SCALE,
+      buf.readInt16LE(offset + 4) / SCALE,
+      buf.readUInt8(offset + 6) / 255,
+    ]);
+  }
+  return { flags, frameId, points };
+}
+
+/** 关键点序列 → NDJSON（契约 model-formats.md §2.1） */
+export function serializeFramesNdjson(frames: KeypointFrame[]): string {
+  return frames
+    .map((frame) =>
+      JSON.stringify({
+        frame: frame.frame,
+        timeMs: frame.timeMs,
+        points: frame.points,
+        angles: frame.angles,
+      }),
+    )
+    .join('\n')
+    .concat('\n');
+}
+
+export function parseFramesNdjson(text: string): KeypointFrame[] {
+  return text
+    .split(/\r?\n/)
+    .filter((line) => line.trim().length > 0)
+    .map((line, index) => {
+      let parsed: unknown;
+      try {
+        parsed = JSON.parse(line);
+      } catch {
+        throw new BadRequestException(`NDJSON 第 ${index + 1} 行不是合法 JSON`);
+      }
+      return validateFrame(parsed, index);
+    });
+}
+
+function validateFrame(input: unknown, index: number): KeypointFrame {
+  const obj = input as Partial<KeypointFrame>;
+  if (!obj || typeof obj !== 'object') {
+    throw new BadRequestException(`第 ${index} 帧不是对象`);
+  }
+  if (!Array.isArray(obj.points) || obj.points.length !== KEYPOINT_COUNT) {
+    throw new BadRequestException(`第 ${index} 帧的 points 必须为 ${KEYPOINT_COUNT} 项`);
+  }
+  const points = obj.points.map((point, i) => {
+    if (!Array.isArray(point) || point.length !== 4 || point.some((v) => typeof v !== 'number')) {
+      throw new BadRequestException(`第 ${index} 帧第 ${i} 个点必须为 [x, y, z, confidence] 四个数字`);
+    }
+    return [point[0], point[1], point[2], point[3]] as [number, number, number, number];
+  });
+  const angles = Array.isArray(obj.angles) && obj.angles.every((v) => typeof v === 'number')
+    ? (obj.angles as number[])
+    : new Array(9).fill(0);
+  return {
+    frame: typeof obj.frame === 'number' ? obj.frame : index,
+    timeMs: typeof obj.timeMs === 'number' ? obj.timeMs : 0,
+    points,
+    angles,
+  };
+}
+
+/**
+ * 校验并规范化「已是 mediapipe33 结构」的 JSON 关键点文件。
+ * 接受两种形态：{ format, fps, frames: [...] } 或裸数组。
+ */
+export function parseKeypointsJson(text: string): { frames: KeypointFrame[]; fps?: number } {
+  let parsed: unknown;
+  try {
+    parsed = JSON.parse(text);
+  } catch {
+    throw new BadRequestException('关键点 JSON 解析失败');
+  }
+
+  if (Array.isArray(parsed)) {
+    return { frames: parsed.map((f, i) => validateFrame(f, i)) };
+  }
+
+  const obj = parsed as { format?: string; fps?: number; frames?: unknown };
+  if (!Array.isArray(obj.frames)) {
+    throw new BadRequestException('关键点 JSON 必须为数组或包含 frames 数组的对象');
+  }
+  if (obj.format && obj.format !== KEYPOINT_FORMAT) {
+    throw new BadRequestException(`不支持的 keypointFormat：${obj.format}，期望 ${KEYPOINT_FORMAT}`);
+  }
+  return {
+    frames: obj.frames.map((f, i) => validateFrame(f, i)),
+    fps: typeof obj.fps === 'number' ? obj.fps : undefined,
+  };
+}
diff --git a/web-server/src/preprocess/math3d.ts b/web-server/src/preprocess/math3d.ts
new file mode 100644
index 0000000..928b972
--- /dev/null
+++ b/web-server/src/preprocess/math3d.ts
@@ -0,0 +1,109 @@
+export type Vec3 = [number, number, number];
+
+/** 3×3 行主序矩阵 */
+export type Mat3 = [number, number, number, number, number, number, number, number, number];
+
+export const IDENTITY3: Mat3 = [1, 0, 0, 0, 1, 0, 0, 0, 1];
+
+export function vAdd(a: Vec3, b: Vec3): Vec3 {
+  return [a[0] + b[0], a[1] + b[1], a[2] + b[2]];
+}
+
+export function vSub(a: Vec3, b: Vec3): Vec3 {
+  return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
+}
+
+export function vScale(a: Vec3, s: number): Vec3 {
+  return [a[0] * s, a[1] * s, a[2] * s];
+}
+
+export function vMid(a: Vec3, b: Vec3): Vec3 {
+  return [(a[0] + b[0]) / 2, (a[1] + b[1]) / 2, (a[2] + b[2]) / 2];
+}
+
+export function vLen(a: Vec3): number {
+  return Math.hypot(a[0], a[1], a[2]);
+}
+
+export function vNorm(a: Vec3): Vec3 {
+  const len = vLen(a);
+  if (len < 1e-9) return [0, 0, 0];
+  return [a[0] / len, a[1] / len, a[2] / len];
+}
+
+export function vDot(a: Vec3, b: Vec3): number {
+  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+
+/** 向量 ba 与 bc 夹角的余弦，落在 [-1, 1] —— 契约 skeleton-topology.md §5 */
+export function angleCos(a: Vec3, b: Vec3, c: Vec3): number {
+  const ba = vSub(a, b);
+  const bc = vSub(c, b);
+  const denom = vLen(ba) * vLen(bc);
+  if (denom < 1e-9) return 0;
+  return Math.max(-1, Math.min(1, vDot(ba, bc) / denom));
+}
+
+export function matMul(a: Mat3, b: Mat3): Mat3 {
+  const out = new Array<number>(9);
+  for (let r = 0; r < 3; r += 1) {
+    for (let c = 0; c < 3; c += 1) {
+      out[r * 3 + c] = a[r * 3] * b[c] + a[r * 3 + 1] * b[3 + c] + a[r * 3 + 2] * b[6 + c];
+    }
+  }
+  return out as Mat3;
+}
+
+export function matVec(m: Mat3, v: Vec3): Vec3 {
+  return [
+    m[0] * v[0] + m[1] * v[1] + m[2] * v[2],
+    m[3] * v[0] + m[4] * v[1] + m[5] * v[2],
+    m[6] * v[0] + m[7] * v[1] + m[8] * v[2],
+  ];
+}
+
+const DEG2RAD = Math.PI / 180;
+
+/** 绕单轴旋转矩阵，axis ∈ {X, Y, Z} */
+export function rotationMatrix(axis: string, degrees: number): Mat3 {
+  const rad = degrees * DEG2RAD;
+  const c = Math.cos(rad);
+  const s = Math.sin(rad);
+  switch (axis.toUpperCase()) {
+    case 'X':
+      return [1, 0, 0, 0, c, -s, 0, s, c];
+    case 'Y':
+      return [c, 0, s, 0, 1, 0, -s, 0, c];
+    case 'Z':
+      return [c, -s, 0, s, c, 0, 0, 0, 1];
+    default:
+      return IDENTITY3;
+  }
+}
+
+/**
+ * 由通道序列合成局部旋转矩阵。
+ * BVH 约定：按通道声明顺序依次左乘，即 R = R1 × R2 × R3（内旋）。
+ */
+export function composeRotation(channels: ReadonlyArray<{ axis: string; value: number }>): Mat3 {
+  let out: Mat3 = IDENTITY3;
+  for (const { axis, value } of channels) {
+    out = matMul(out, rotationMatrix(axis, value));
+  }
+  return out;
+}
+
+/** 世界变换：旋转 + 平移 */
+export interface Transform {
+  r: Mat3;
+  t: Vec3;
+}
+
+export const IDENTITY_TRANSFORM: Transform = { r: IDENTITY3, t: [0, 0, 0] };
+
+export function applyTransform(parent: Transform, offset: Vec3, localR: Mat3, extraT?: Vec3): Transform {
+  return {
+    r: matMul(parent.r, localR),
+    t: vAdd(parent.t, matVec(parent.r, vAdd(offset, extraT ?? [0, 0, 0]))),
+  };
+}
diff --git a/web-server/src/preprocess/mediapipe33.ts b/web-server/src/preprocess/mediapipe33.ts
new file mode 100644
index 0000000..1c6912d
--- /dev/null
+++ b/web-server/src/preprocess/mediapipe33.ts
@@ -0,0 +1,117 @@
+/** 33 点索引常量 —— 契约 skeleton-topology.md §1 */
+export const MP = {
+  NOSE: 0,
+  LEFT_EYE_INNER: 1,
+  LEFT_EYE: 2,
+  LEFT_EYE_OUTER: 3,
+  RIGHT_EYE_INNER: 4,
+  RIGHT_EYE: 5,
+  RIGHT_EYE_OUTER: 6,
+  LEFT_EAR: 7,
+  RIGHT_EAR: 8,
+  MOUTH_LEFT: 9,
+  MOUTH_RIGHT: 10,
+  LEFT_SHOULDER: 11,
+  RIGHT_SHOULDER: 12,
+  LEFT_ELBOW: 13,
+  RIGHT_ELBOW: 14,
+  LEFT_WRIST: 15,
+  RIGHT_WRIST: 16,
+  LEFT_PINKY: 17,
+  RIGHT_PINKY: 18,
+  LEFT_INDEX: 19,
+  RIGHT_INDEX: 20,
+  LEFT_THUMB: 21,
+  RIGHT_THUMB: 22,
+  LEFT_HIP: 23,
+  RIGHT_HIP: 24,
+  LEFT_KNEE: 25,
+  RIGHT_KNEE: 26,
+  LEFT_ANKLE: 27,
+  RIGHT_ANKLE: 28,
+  LEFT_HEEL: 29,
+  RIGHT_HEEL: 30,
+  LEFT_FOOT_INDEX: 31,
+  RIGHT_FOOT_INDEX: 32,
+} as const;
+
+export const KEYPOINT_COUNT = 33;
+
+/** 虚拟关节索引 —— skeleton-topology.md §2 */
+export const VIRTUAL = { NECK: 33, PELVIS: 34 } as const;
+
+/** 父节点表 —— skeleton-topology.md §3，索引到 34 */
+export const PARENT_TABLE: readonly number[] = [
+  33, // 0  nose
+  0, // 1  left_eye_inner
+  0, // 2  left_eye
+  0, // 3  left_eye_outer
+  0, // 4  right_eye_inner
+  0, // 5  right_eye
+  0, // 6  right_eye_outer
+  3, // 7  left_ear
+  6, // 8  right_ear
+  0, // 9  mouth_left
+  0, // 10 mouth_right
+  33, // 11 left_shoulder
+  33, // 12 right_shoulder
+  11, // 13 left_elbow
+  12, // 14 right_elbow
+  13, // 15 left_wrist
+  14, // 16 right_wrist
+  15, // 17 left_pinky
+  16, // 18 right_pinky
+  15, // 19 left_index
+  16, // 20 right_index
+  15, // 21 left_thumb
+  16, // 22 right_thumb
+  34, // 23 left_hip
+  34, // 24 right_hip
+  23, // 25 left_knee
+  24, // 26 right_knee
+  25, // 27 left_ankle
+  26, // 28 right_ankle
+  27, // 29 left_heel
+  28, // 30 right_heel
+  29, // 31 left_foot_index
+  30, // 32 right_foot_index
+  34, // 33 neck
+  -1, // 34 pelvis (world root)
+];
+
+/** 关节角特征使用的 (a, b, c) 三元组，顺序冻结 —— skeleton-topology.md §5 */
+export const ANGLE_TRIPLETS: ReadonlyArray<readonly [number, number, number]> = [
+  [MP.LEFT_ELBOW, MP.LEFT_SHOULDER, MP.LEFT_HIP], // shoulder_L
+  [MP.RIGHT_ELBOW, MP.RIGHT_SHOULDER, MP.RIGHT_HIP], // shoulder_R
+  [MP.LEFT_SHOULDER, MP.LEFT_ELBOW, MP.LEFT_WRIST], // elbow_L
+  [MP.RIGHT_SHOULDER, MP.RIGHT_ELBOW, MP.RIGHT_WRIST], // elbow_R
+  [MP.LEFT_SHOULDER, MP.LEFT_HIP, MP.LEFT_KNEE], // hip_L
+  [MP.RIGHT_SHOULDER, MP.RIGHT_HIP, MP.RIGHT_KNEE], // hip_R
+  [MP.LEFT_HIP, MP.LEFT_KNEE, MP.LEFT_ANKLE], // knee_L
+  [MP.RIGHT_HIP, MP.RIGHT_KNEE, MP.RIGHT_ANKLE], // knee_R
+  [MP.NOSE, VIRTUAL.NECK, VIRTUAL.PELVIS], // spine/neck
+];
+
+export const ANGLE_NAMES = [
+  'shoulder_L',
+  'shoulder_R',
+  'elbow_L',
+  'elbow_R',
+  'hip_L',
+  'hip_R',
+  'knee_L',
+  'knee_R',
+  'spine',
+] as const;
+
+/** 单帧关键点：[x, y, z, confidence] */
+export type Keypoint = [number, number, number, number];
+
+export interface KeypointFrame {
+  frame: number;
+  timeMs: number;
+  points: Keypoint[];
+  angles: number[];
+}
+
+export const KEYPOINT_FORMAT = 'mediapipe33@0.1.0';
diff --git a/web-server/src/preprocess/preprocess.module.ts b/web-server/src/preprocess/preprocess.module.ts
new file mode 100644
index 0000000..62a2c98
--- /dev/null
+++ b/web-server/src/preprocess/preprocess.module.ts
@@ -0,0 +1,12 @@
+import { Module } from '@nestjs/common';
+import { TypeOrmModule } from '@nestjs/typeorm';
+import { Motion } from '../entities/motion.entity';
+import { StorageModule } from '../storage/storage.module';
+import { PreprocessService } from './preprocess.service';
+
+@Module({
+  imports: [TypeOrmModule.forFeature([Motion]), StorageModule],
+  providers: [PreprocessService],
+  exports: [PreprocessService],
+})
+export class PreprocessModule {}
diff --git a/web-server/src/preprocess/preprocess.service.ts b/web-server/src/preprocess/preprocess.service.ts
new file mode 100644
index 0000000..be4edf1
--- /dev/null
+++ b/web-server/src/preprocess/preprocess.service.ts
@@ -0,0 +1,144 @@
+import { BadRequestException, Injectable, Logger, NotFoundException } from '@nestjs/common';
+import { InjectRepository } from '@nestjs/typeorm';
+import { mkdtemp, readFile, rm } from 'node:fs/promises';
+import { tmpdir } from 'node:os';
+import { join } from 'node:path';
+import { Repository } from 'typeorm';
+import { AssetKind, MotionFormat, PreprocessState } from '../common/enums';
+import { AppConfig } from '../config/configuration';
+import { Motion } from '../entities/motion.entity';
+import { StorageService } from '../storage/storage.service';
+import { parseBvh } from './bvh-parser';
+import { parseKeypointsJson, serializeFramesNdjson } from './keypoint-codec';
+import { KEYPOINT_FORMAT, KeypointFrame } from './mediapipe33';
+import { bvhToKeypointFrames } from './retarget';
+import { convertToBvhWithAssimp } from './assimp';
+
+export interface PreprocessOutcome {
+  frames: number;
+  fps: number;
+  durationMs: number;
+  format: string;
+}
+
+/**
+ * T-WEB-006：BVH / FBX → MediaPipe 33 点关键点序列预处理。
+ *
+ * - BVH：内置纯 TS 解析器 + FK + 重定向，无外部依赖
+ * - glTF / GLB / FBX：调用可选的外部 Assimp 转为 BVH 后再走同一通路
+ * - keypoints-json：直通校验与规范化
+ */
+@Injectable()
+export class PreprocessService {
+  private readonly logger = new Logger(PreprocessService.name);
+
+  constructor(
+    @InjectRepository(Motion) private readonly motions: Repository<Motion>,
+    private readonly storage: StorageService,
+    private readonly config: AppConfig,
+  ) {}
+
+  /** 执行预处理并落库；异常会被记录到 preprocessError 后重新抛出 */
+  async run(motion: Motion): Promise<Motion> {
+    const started = Date.now();
+    motion.preprocessState = PreprocessState.Running;
+    motion.preprocessError = null;
+    await this.motions.save(motion);
+
+    try {
+      const result = await this.convert(motion);
+      const ndjson = serializeFramesNdjson(result.frames);
+
+      const stored = await this.storage.persistBuffer(
+        AssetKind.Keypoints,
+        ndjson,
+        `motion-${motion.id}.ndjson`,
+        'application/x-ndjson',
+      );
+
+      motion.keypointFormat = KEYPOINT_FORMAT;
+      motion.keypointAssetId = stored.asset.id;
+      motion.keypointFrames = result.frames.length;
+      motion.fps = result.fps;
+      motion.frameCount = result.frames.length;
+      motion.durationMs = result.durationMs;
+      motion.preprocessState = PreprocessState.Done;
+      motion.preprocessError = null;
+
+      const saved = await this.motions.save(motion);
+      this.logger.log(
+        `动作 #${motion.id} 预处理完成：${result.frames.length} 帧，${Date.now() - started}ms`,
+      );
+      return saved;
+    } catch (error) {
+      const message = error instanceof Error ? error.message : String(error);
+      motion.preprocessState = PreprocessState.Failed;
+      motion.preprocessError = message.slice(0, 2000);
+      await this.motions.save(motion);
+      this.logger.error(`动作 #${motion.id} 预处理失败：${message}`);
+      throw error;
+    }
+  }
+
+  /** 读取已完成预处理的关键点 NDJSON */
+  async readKeypointsNdjson(motion: Motion): Promise<string> {
+    if (motion.preprocessState !== PreprocessState.Done || !motion.keypointAssetId) {
+      throw new BadRequestException('该动作尚未完成关键点预处理，请先调用 /preprocess');
+    }
+    const asset = await this.storage.findById(motion.keypointAssetId);
+    if (!asset) throw new NotFoundException('关键点文件已丢失');
+    return this.storage.readAssetText(asset);
+  }
+
+  private async convert(
+    motion: Motion,
+  ): Promise<{ frames: KeypointFrame[]; fps: number; durationMs: number }> {
+    const asset = await this.storage.findById(motion.fileAssetId);
+    if (!asset) throw new BadRequestException('动作源文件缺失，无法预处理');
+    const sourcePath = this.storage.absolutePath(asset);
+
+    let workDir: string | null = null;
+    try {
+      if (motion.format === MotionFormat.Bvh) {
+        const text = await readFile(sourcePath, 'utf8');
+        return this.fromBvh(text, motion.fps ?? undefined);
+      }
+
+      if (motion.format === MotionFormat.KeypointsJson) {
+        const text = await readFile(sourcePath, 'utf8');
+        const { frames, fps } = parseKeypointsJson(text);
+        if (frames.length === 0) throw new BadRequestException('关键点 JSON 中没有任何帧');
+        const effectiveFps = fps ?? motion.fps ?? 30;
+        return {
+          frames: frames.map((frame, index) => ({
+            ...frame,
+            frame: index,
+            timeMs: frame.timeMs || Math.round((index / effectiveFps) * 1000 * 1000) / 1000,
+          })),
+          fps: effectiveFps,
+          durationMs: Math.round((frames.length / effectiveFps) * 1000),
+        };
+      }
+
+      // FBX / glTF / GLB：交给可选的外部 Assimp
+      workDir = await mkdtemp(join(tmpdir(), 'opendance-assimp-'));
+      const bvhPath = await convertToBvhWithAssimp(sourcePath, workDir, this.config.assimpBin);
+      const text = await readFile(bvhPath, 'utf8');
+      return this.fromBvh(text, motion.fps ?? undefined);
+    } finally {
+      if (workDir) await rm(workDir, { recursive: true, force: true });
+    }
+  }
+
+  private fromBvh(text: string, fpsOverride?: number): { frames: KeypointFrame[]; fps: number; durationMs: number } {
+    const motion = parseBvh(text);
+    if (motion.frameCount === 0) throw new BadRequestException('BVH 中没有帧');
+    const frames = bvhToKeypointFrames(motion, { fps: fpsOverride });
+    const fps = fpsOverride && fpsOverride > 0 ? fpsOverride : 1 / motion.frameTime;
+    return {
+      frames,
+      fps: Math.round(fps * 1000) / 1000,
+      durationMs: Math.round((frames.length / fps) * 1000),
+    };
+  }
+}
diff --git a/web-server/src/preprocess/retarget.ts b/web-server/src/preprocess/retarget.ts
new file mode 100644
index 0000000..9583361
--- /dev/null
+++ b/web-server/src/preprocess/retarget.ts
@@ -0,0 +1,317 @@
+import { Vec3, vAdd, vMid, vNorm, vScale, vSub, angleCos, vLen } from './math3d';
+import { BvhMotion, forwardKinematics } from './bvh-parser';
+import { CONF_DERIVED, CONF_DIRECT, CONF_MISSING, DEFAULT_JOINT_MAP } from './joint-map';
+import {
+  ANGLE_TRIPLETS,
+  KEYPOINT_COUNT,
+  KeypointFrame,
+  MP,
+  VIRTUAL,
+} from './mediapipe33';
+
+export interface RetargetOptions {
+  /** 源帧率；缺省由 frameTime 推导 */
+  fps?: number;
+  /** 自适应缩放系数：投影后关键点范围为 ±scaleFactor */
+  scaleFactor?: number;
+  /** 关节名映射覆盖（可选） */
+  jointMap?: Record<number, readonly string[]>;
+}
+
+interface RawPoint {
+  p: Vec3;
+  conf: number;
+}
+
+const clamp01 = (v: number): number => (v < 0 ? 0 : v > 1 ? 1 : v);
+const clampPm1 = (v: number): number => (v < -1 ? -1 : v > 1 ? 1 : v);
+
+/** 规范化单人骨骼体积内的合理躯干长度，避免退化输入导致除零 */
+const MIN_TORSO = 1e-3;
+
+/**
+ * BVH 动作 → MediaPipe 33 点关键点序列。
+ *
+ * 流程：逐帧 FK → 直接映射 15 个主关节点 → 按层级推算其余点 →
+ * 骨盆归零 → 全局自适应缩放 → 投影到 MediaPipe 归一化图像空间 → 计算 9 个关节角。
+ */
+export function bvhToKeypointFrames(motion: BvhMotion, options: RetargetOptions = {}): KeypointFrame[] {
+  const jointMap = options.jointMap ?? DEFAULT_JOINT_MAP;
+  const scaleFactor = options.scaleFactor ?? 0.35;
+  const fps = options.fps && options.fps > 0 ? options.fps : 1 / motion.frameTime;
+
+  // 第一遍：逐帧解算原始 3D 位置（骨盆归零前）
+  const rawFrames: RawPoint[][] = [];
+  let maxAbs = 0;
+
+  for (let f = 0; f < motion.frameCount; f += 1) {
+    const world = forwardKinematics(motion, f);
+    const positions = new Map<string, Vec3>();
+    for (const [name, joint] of world) positions.set(name, joint.position);
+
+    const points = resolveFrame(positions, jointMap);
+
+    // 骨盆归零
+    const pelvis = points[VIRTUAL.PELVIS].p;
+    for (const point of points) point.p = vSub(point.p, pelvis);
+
+    for (const point of points) {
+      maxAbs = Math.max(maxAbs, Math.abs(point.p[0]), Math.abs(point.p[1]), Math.abs(point.p[2]));
+    }
+    rawFrames.push(points);
+  }
+
+  const scale = maxAbs > 1e-9 ? scaleFactor / maxAbs : 1;
+
+  // 第二遍：投影 + 关节角
+  const frames: KeypointFrame[] = [];
+  for (let f = 0; f < rawFrames.length; f += 1) {
+    const points = rawFrames[f];
+    const positions = points.map((entry) => entry.p);
+
+    // points 含 33 个真实点 + 2 个虚拟关节（neck=33 / pelvis=34），
+    // 虚拟关节只参与关节角计算，不进入输出序列。
+    const projected = points.slice(0, KEYPOINT_COUNT).map(({ p, conf }): [number, number, number, number] => [
+      clamp01(0.5 + p[0] * scale),
+      clamp01(0.5 - p[1] * scale),
+      clampPm1(-p[2] * scale),
+      conf,
+    ]);
+
+    const angles = ANGLE_TRIPLETS.map(([a, b, c]) => {
+      const pa = positions[a];
+      const pb = positions[b];
+      const pc = positions[c];
+      if (!pa || !pb || !pc) return 0;
+      return angleCos(pa, pb, pc);
+    });
+
+    frames.push({
+      frame: f,
+      timeMs: Math.round((f / fps) * 1000 * 1000) / 1000,
+      points: projected,
+      angles,
+    });
+  }
+
+  return frames;
+}
+
+/**
+ * 解算单帧的 **35** 项：索引 0..32 为 MediaPipe 33 点，33 = neck、34 = pelvis 为虚拟关节。
+ * 调用方只输出前 33 项，虚拟关节用于关节角特征。
+ * 依赖顺序：躯干 → 肩髋 → 肘/膝 → 腕/踝 → 头/手足末端。
+ */
+function resolveFrame(
+  world: Map<string, Vec3>,
+  jointMap: Record<number, readonly string[]>,
+): RawPoint[] {
+  const lookup = (index: number): Vec3 | null => {
+    const candidates = jointMap[index];
+    if (!candidates) return null;
+    for (const name of candidates) {
+      const position = world.get(name);
+      if (position) return position;
+    }
+    return null;
+  };
+
+  const points: Array<RawPoint | null> = new Array<RawPoint | null>(VIRTUAL.PELVIS + 1).fill(null);
+  const put = (index: number, p: Vec3, conf: number): void => {
+    if (!points[index]) points[index] = { p, conf };
+  };
+
+  // ---- 1. 直接映射 ----
+  for (const key of Object.keys(jointMap)) {
+    const index = Number(key);
+    const p = lookup(index);
+    if (p) put(index, p, CONF_DIRECT);
+  }
+
+  // 根关节兜底（多数 BVH 的 Hips）
+  const rootFallback =
+    world.get('hips') ?? world.get('root') ?? world.get('pelvis') ?? firstValue(world);
+  if (!rootFallback) throw new Error('BVH 中找不到任何关节位置');
+
+  // ---- 2. 躯干 ----
+  if (!points[MP.LEFT_HIP]) put(MP.LEFT_HIP, vAdd(rootFallback, [torsoGuess(world) * 0.09, 0, 0]), CONF_DERIVED);
+  if (!points[MP.RIGHT_HIP]) put(MP.RIGHT_HIP, vAdd(rootFallback, [-torsoGuess(world) * 0.09, 0, 0]), CONF_DERIVED);
+
+  const pelvis = vMid(points[MP.LEFT_HIP]!.p, points[MP.RIGHT_HIP]!.p);
+  put(VIRTUAL.PELVIS, pelvis, Math.min(points[MP.LEFT_HIP]!.conf, points[MP.RIGHT_HIP]!.conf));
+
+  // 肩：缺失时按直立姿态从骨盆向上、向两侧推算
+  const rawTorso = vLen(vSub(pelvis, vMid(
+    points[MP.LEFT_SHOULDER]?.p ?? pelvis,
+    points[MP.RIGHT_SHOULDER]?.p ?? pelvis,
+  )));
+  const torso = rawTorso > MIN_TORSO ? rawTorso : torsoGuess(world);
+
+  if (!points[MP.LEFT_SHOULDER]) {
+    put(MP.LEFT_SHOULDER, vAdd(pelvis, [torso * 0.22, torso * 0.95, 0]), CONF_DERIVED);
+  }
+  if (!points[MP.RIGHT_SHOULDER]) {
+    put(MP.RIGHT_SHOULDER, vAdd(pelvis, [-torso * 0.22, torso * 0.95, 0]), CONF_DERIVED);
+  }
+
+  const neck = vMid(points[MP.LEFT_SHOULDER]!.p, points[MP.RIGHT_SHOULDER]!.p);
+  put(
+    VIRTUAL.NECK,
+    neck,
+    Math.min(points[MP.LEFT_SHOULDER]!.conf, points[MP.RIGHT_SHOULDER]!.conf),
+  );
+
+  const up: Vec3 = (() => {
+    const candidate = vNorm(vSub(neck, pelvis));
+    return vLen(candidate) > 0 ? candidate : [0, 1, 0];
+  })();
+
+  // ---- 3. 头 ----
+  if (!points[MP.NOSE]) {
+    put(MP.NOSE, vAdd(neck, vScale(up, torso * 0.45)), CONF_DERIVED);
+  }
+  const nose = points[MP.NOSE]!.p;
+  const headScale = torso * 0.30;
+  const headOffsets: Array<[number, [number, number, number]]> = [
+    [MP.LEFT_EYE_INNER, [0.16, 0.06, -0.20]],
+    [MP.LEFT_EYE, [0.26, 0.06, -0.16]],
+    [MP.LEFT_EYE_OUTER, [0.36, 0.06, -0.10]],
+    [MP.RIGHT_EYE_INNER, [-0.16, 0.06, -0.20]],
+    [MP.RIGHT_EYE, [-0.26, 0.06, -0.16]],
+    [MP.RIGHT_EYE_OUTER, [-0.36, 0.06, -0.10]],
+    [MP.LEFT_EAR, [0.48, 0.0, 0.04]],
+    [MP.RIGHT_EAR, [-0.48, 0.0, 0.04]],
+    [MP.MOUTH_LEFT, [0.16, -0.18, -0.24]],
+    [MP.MOUTH_RIGHT, [-0.16, -0.18, -0.24]],
+  ];
+  for (const [index, offset] of headOffsets) {
+    if (!points[index]) {
+      put(
+        index,
+        vAdd(nose, [offset[0] * headScale, offset[1] * headScale, offset[2] * headScale]),
+        CONF_DERIVED,
+      );
+    }
+  }
+
+  // ---- 4. 四肢：肘 / 膝（缺失时沿规范方向推算）----
+  const armLen = { upper: torso * 0.62, fore: torso * 0.55, hand: torso * 0.22 };
+  const legLen = { thigh: torso * 0.92, shin: torso * 0.88, foot: torso * 0.38 };
+
+  const limbChains: Array<{
+    proximal: number;
+    mid: number;
+    distal: number;
+    end: number;
+    sign: number;
+    lens: { a: number; b: number; c: number };
+  }> = [
+    {
+      proximal: MP.LEFT_SHOULDER,
+      mid: MP.LEFT_ELBOW,
+      distal: MP.LEFT_WRIST,
+      end: MP.LEFT_INDEX,
+      sign: 1,
+      lens: { a: armLen.upper, b: armLen.fore, c: armLen.hand },
+    },
+    {
+      proximal: MP.RIGHT_SHOULDER,
+      mid: MP.RIGHT_ELBOW,
+      distal: MP.RIGHT_WRIST,
+      end: MP.RIGHT_INDEX,
+      sign: -1,
+      lens: { a: armLen.upper, b: armLen.fore, c: armLen.hand },
+    },
+    {
+      proximal: MP.LEFT_HIP,
+      mid: MP.LEFT_KNEE,
+      distal: MP.LEFT_ANKLE,
+      end: MP.LEFT_FOOT_INDEX,
+      sign: 1,
+      lens: { a: legLen.thigh, b: legLen.shin, c: legLen.foot },
+    },
+    {
+      proximal: MP.RIGHT_HIP,
+      mid: MP.RIGHT_KNEE,
+      distal: MP.RIGHT_ANKLE,
+      end: MP.RIGHT_FOOT_INDEX,
+      sign: -1,
+      lens: { a: legLen.thigh, b: legLen.shin, c: legLen.foot },
+    },
+  ];
+
+  for (const chain of limbChains) {
+    if (!points[chain.mid]) {
+      const dir = vNorm([chain.sign * 0.22, -1, 0]);
+      put(chain.mid, vAdd(points[chain.proximal]!.p, vScale(dir, chain.lens.a)), CONF_DERIVED);
+    }
+    if (!points[chain.distal]) {
+      const dir = vNorm(vSub(points[chain.mid]!.p, points[chain.proximal]!.p));
+      const fallback: Vec3 = vLen(dir) > 0 ? dir : [chain.sign * 0.2, -1, 0];
+      put(chain.distal, vAdd(points[chain.mid]!.p, vScale(fallback, chain.lens.b)), CONF_DERIVED);
+    }
+  }
+
+  // ---- 5. 手部末端（小指 / 食指 / 拇指）----
+  const handChains: Array<{ wrist: number; elbow: number; sign: number; pinky: number; index: number; thumb: number }> = [
+    { wrist: MP.LEFT_WRIST, elbow: MP.LEFT_ELBOW, sign: 1, pinky: MP.LEFT_PINKY, index: MP.LEFT_INDEX, thumb: MP.LEFT_THUMB },
+    { wrist: MP.RIGHT_WRIST, elbow: MP.RIGHT_ELBOW, sign: -1, pinky: MP.RIGHT_PINKY, index: MP.RIGHT_INDEX, thumb: MP.RIGHT_THUMB },
+  ];
+  for (const chain of handChains) {
+    const wrist = points[chain.wrist]!.p;
+    const elbow = points[chain.elbow]!.p;
+    const dir = vNorm(vSub(wrist, elbow));
+    const forward: Vec3 = vLen(dir) > 0 ? dir : [chain.sign * 0.2, -1, 0];
+    const hand = torso * 0.20;
+    if (!points[chain.pinky]) {
+      put(chain.pinky, vAdd(wrist, vAdd(vScale(forward, hand * 0.35), [chain.sign * hand * 0.25, -hand * 0.2, 0])), CONF_DERIVED);
+    }
+    if (!points[chain.index]) {
+      put(chain.index, vAdd(wrist, vAdd(vScale(forward, hand * 0.55), [chain.sign * hand * 0.1, -hand * 0.08, 0])), CONF_DERIVED);
+    }
+    if (!points[chain.thumb]) {
+      put(chain.thumb, vAdd(wrist, vAdd(vScale(forward, hand * 0.25), [chain.sign * -hand * 0.3, -hand * 0.1, 0])), CONF_DERIVED);
+    }
+  }
+
+  // ---- 6. 足跟（足尖已在链尾解算）----
+  const footChains: Array<{ ankle: number; toe: number; heel: number; sign: number }> = [
+    { ankle: MP.LEFT_ANKLE, toe: MP.LEFT_FOOT_INDEX, heel: MP.LEFT_HEEL, sign: 1 },
+    { ankle: MP.RIGHT_ANKLE, toe: MP.RIGHT_FOOT_INDEX, heel: MP.RIGHT_HEEL, sign: -1 },
+  ];
+  for (const chain of footChains) {
+    if (!points[chain.toe]) {
+      const ankle = points[chain.ankle]!.p;
+      put(chain.toe, vAdd(ankle, [chain.sign * torso * 0.04, -legLen.foot * 0.5, -legLen.foot * 0.6]), CONF_DERIVED);
+    }
+    if (!points[chain.heel]) {
+      const ankle = points[chain.ankle]!.p;
+      put(chain.heel, vAdd(ankle, [chain.sign * torso * 0.03, -legLen.foot * 0.5, legLen.foot * 0.35]), CONF_DERIVED);
+    }
+  }
+
+  // ---- 7. 兜底 ----
+  for (let i = 0; i <= VIRTUAL.PELVIS; i += 1) {
+    if (!points[i]) {
+      points[i] = { p: [...pelvis] as Vec3, conf: CONF_MISSING };
+    }
+  }
+
+  return points as RawPoint[];
+}
+
+function firstValue(map: Map<string, Vec3>): Vec3 | undefined {
+  for (const value of map.values()) return value;
+  return undefined;
+}
+
+/** 无躯干信息时的尺度兜底：取根关节到最远关节的距离 */
+function torsoGuess(world: Map<string, Vec3>): number {
+  const root = world.get('hips') ?? world.get('root') ?? world.get('pelvis');
+  if (!root) return 1;
+  let maxDistance = 0;
+  for (const position of world.values()) {
+    maxDistance = Math.max(maxDistance, vLen(vSub(position, root)));
+  }
+  return maxDistance > MIN_TORSO ? maxDistance : 1;
+}
diff --git a/web-server/test/fixtures/generate-sample-bvh.mjs b/web-server/test/fixtures/generate-sample-bvh.mjs
new file mode 100644
index 0000000..3f37b41
--- /dev/null
+++ b/web-server/test/fixtures/generate-sample-bvh.mjs
@@ -0,0 +1,197 @@
+/**
+ * 生成用于测试与验收的 BVH 样例（60 帧挥手 + 深蹲）。
+ * 用法：node test/fixtures/generate-sample-bvh.mjs [输出路径]
+ */
+import { writeFileSync } from 'node:fs';
+import { dirname, join } from 'node:path';
+import { fileURLToPath } from 'node:url';
+
+const here = dirname(fileURLToPath(import.meta.url));
+const outPath = process.argv[2] ?? join(here, 'sample.bvh');
+
+const HIERARCHY = `HIERARCHY
+ROOT Hips
+{
+  OFFSET 0.0 0.0 0.0
+  CHANNELS 6 Xposition Yposition Zposition Zrotation Xrotation Yrotation
+  JOINT Spine
+  {
+    OFFSET 0.0 12.0 0.0
+    CHANNELS 3 Zrotation Xrotation Yrotation
+    JOINT Neck
+    {
+      OFFSET 0.0 14.0 0.0
+      CHANNELS 3 Zrotation Xrotation Yrotation
+      JOINT Head
+      {
+        OFFSET 0.0 8.0 0.0
+        CHANNELS 3 Zrotation Xrotation Yrotation
+        End Site
+        {
+          OFFSET 0.0 8.0 0.0
+        }
+      }
+    }
+    JOINT LeftShoulder
+    {
+      OFFSET 6.0 10.0 0.0
+      CHANNELS 3 Zrotation Xrotation Yrotation
+      JOINT LeftArm
+      {
+        OFFSET 12.0 0.0 0.0
+        CHANNELS 3 Zrotation Xrotation Yrotation
+        JOINT LeftForeArm
+        {
+          OFFSET 22.0 0.0 0.0
+          CHANNELS 3 Zrotation Xrotation Yrotation
+          JOINT LeftHand
+          {
+            OFFSET 20.0 0.0 0.0
+            CHANNELS 3 Zrotation Xrotation Yrotation
+            End Site
+            {
+              OFFSET 8.0 0.0 0.0
+            }
+          }
+        }
+      }
+    }
+    JOINT RightShoulder
+    {
+      OFFSET -6.0 10.0 0.0
+      CHANNELS 3 Zrotation Xrotation Yrotation
+      JOINT RightArm
+      {
+        OFFSET -12.0 0.0 0.0
+        CHANNELS 3 Zrotation Xrotation Yrotation
+        JOINT RightForeArm
+        {
+          OFFSET -22.0 0.0 0.0
+          CHANNELS 3 Zrotation Xrotation Yrotation
+          JOINT RightHand
+          {
+            OFFSET -20.0 0.0 0.0
+            CHANNELS 3 Zrotation Xrotation Yrotation
+            End Site
+            {
+              OFFSET -8.0 0.0 0.0
+            }
+          }
+        }
+      }
+    }
+  }
+  JOINT LeftUpLeg
+  {
+    OFFSET 5.0 -3.0 0.0
+    CHANNELS 3 Zrotation Xrotation Yrotation
+    JOINT LeftLeg
+    {
+      OFFSET 0.0 -26.0 0.0
+      CHANNELS 3 Zrotation Xrotation Yrotation
+      JOINT LeftFoot
+      {
+        OFFSET 0.0 -25.0 0.0
+        CHANNELS 3 Zrotation Xrotation Yrotation
+        JOINT LeftToeBase
+        {
+          OFFSET 0.0 -4.0 10.0
+          CHANNELS 3 Zrotation Xrotation Yrotation
+          End Site
+          {
+            OFFSET 0.0 -2.0 6.0
+          }
+        }
+      }
+    }
+  }
+  JOINT RightUpLeg
+  {
+    OFFSET -5.0 -3.0 0.0
+    CHANNELS 3 Zrotation Xrotation Yrotation
+    JOINT RightLeg
+    {
+      OFFSET 0.0 -26.0 0.0
+      CHANNELS 3 Zrotation Xrotation Yrotation
+      JOINT RightFoot
+      {
+        OFFSET 0.0 -25.0 0.0
+        CHANNELS 3 Zrotation Xrotation Yrotation
+        JOINT RightToeBase
+        {
+          OFFSET 0.0 -4.0 10.0
+          CHANNELS 3 Zrotation Xrotation Yrotation
+          End Site
+          {
+            OFFSET 0.0 -2.0 6.0
+          }
+        }
+      }
+    }
+  }
+}
+MOTION
+`;
+
+/** 通道顺序（与上面的 HIERARCHY 一致）：Hips 6 通道 + 19 个关节各 3 通道 */
+const JOINT_ORDER = [
+  'Hips',
+  'Spine',
+  'Neck',
+  'Head',
+  'LeftShoulder',
+  'LeftArm',
+  'LeftForeArm',
+  'LeftHand',
+  'RightShoulder',
+  'RightArm',
+  'RightForeArm',
+  'RightHand',
+  'LeftUpLeg',
+  'LeftLeg',
+  'LeftFoot',
+  'LeftToeBase',
+  'RightUpLeg',
+  'RightLeg',
+  'RightFoot',
+  'RightToeBase',
+];
+const CHANNELS = 6 + 3 * (JOINT_ORDER.length - 1);
+const FRAMES = 60;
+const FRAME_TIME = 1 / 30;
+
+const lines = [];
+for (let f = 0; f < FRAMES; f += 1) {
+  const t = f / FRAMES;
+  const phase = Math.sin(t * Math.PI * 2);
+  const squat = (1 - Math.cos(t * Math.PI * 2)) / 2;
+
+  const values = [];
+  for (const joint of JOINT_ORDER) {
+    if (joint === 'Hips') {
+      values.push(0, -squat * 12, 0); // Xposition Yposition Zposition
+      values.push(phase * 6, 0, 0); // Zrotation Xrotation Yrotation
+      continue;
+    }
+    const rot = { z: 0, x: 0, y: 0 };
+    if (joint === 'LeftArm') rot.z = 20 + phase * 55;
+    if (joint === 'RightArm') rot.z = -20 - phase * 55;
+    if (joint === 'LeftForeArm') rot.x = -25 - phase * 30;
+    if (joint === 'RightForeArm') rot.x = -25 + phase * 30;
+    if (joint === 'LeftUpLeg') rot.x = -squat * 35;
+    if (joint === 'RightUpLeg') rot.x = -squat * 35;
+    if (joint === 'LeftLeg') rot.x = squat * 60;
+    if (joint === 'RightLeg') rot.x = squat * 60;
+    if (joint === 'LeftFoot') rot.x = -squat * 25;
+    if (joint === 'RightFoot') rot.x = -squat * 25;
+    if (joint === 'Spine') rot.z = phase * 5;
+    if (joint === 'Neck') rot.z = -phase * 3;
+    values.push(rot.z, rot.x, rot.y);
+  }
+  if (values.length !== CHANNELS) throw new Error(`帧 ${f} 通道数错误：${values.length}`);
+  lines.push(values.map((v) => v.toFixed(4)).join(' '));
+}
+
+const text = `${HIERARCHY}Frames: ${FRAMES}\nFrame Time: ${FRAME_TIME.toFixed(7)}\n${lines.join('\n')}\n`;
+writeFileSync(outPath, text, 'utf8');
+console.log(`已生成 ${outPath}（${FRAMES} 帧，${CHANNELS} 通道，${text.length} 字节）`);
diff --git a/web-server/test/fixtures/sample.bvh b/web-server/test/fixtures/sample.bvh
new file mode 100644
index 0000000..13d7430
--- /dev/null
+++ b/web-server/test/fixtures/sample.bvh
@@ -0,0 +1,184 @@
+HIERARCHY
+ROOT Hips
+{
+  OFFSET 0.0 0.0 0.0
+  CHANNELS 6 Xposition Yposition Zposition Zrotation Xrotation Yrotation
+  JOINT Spine
+  {
+    OFFSET 0.0 12.0 0.0
+    CHANNELS 3 Zrotation Xrotation Yrotation
+    JOINT Neck
+    {
+      OFFSET 0.0 14.0 0.0
+      CHANNELS 3 Zrotation Xrotation Yrotation
+      JOINT Head
+      {
+        OFFSET 0.0 8.0 0.0
+        CHANNELS 3 Zrotation Xrotation Yrotation
+        End Site
+        {
+          OFFSET 0.0 8.0 0.0
+        }
+      }
+    }
+    JOINT LeftShoulder
+    {
+      OFFSET 6.0 10.0 0.0
+      CHANNELS 3 Zrotation Xrotation Yrotation
+      JOINT LeftArm
+      {
+        OFFSET 12.0 0.0 0.0
+        CHANNELS 3 Zrotation Xrotation Yrotation
+        JOINT LeftForeArm
+        {
+          OFFSET 22.0 0.0 0.0
+          CHANNELS 3 Zrotation Xrotation Yrotation
+          JOINT LeftHand
+          {
+            OFFSET 20.0 0.0 0.0
+            CHANNELS 3 Zrotation Xrotation Yrotation
+            End Site
+            {
+              OFFSET 8.0 0.0 0.0
+            }
+          }
+        }
+      }
+    }
+    JOINT RightShoulder
+    {
+      OFFSET -6.0 10.0 0.0
+      CHANNELS 3 Zrotation Xrotation Yrotation
+      JOINT RightArm
+      {
+        OFFSET -12.0 0.0 0.0
+        CHANNELS 3 Zrotation Xrotation Yrotation
+        JOINT RightForeArm
+        {
+          OFFSET -22.0 0.0 0.0
+          CHANNELS 3 Zrotation Xrotation Yrotation
+          JOINT RightHand
+          {
+            OFFSET -20.0 0.0 0.0
+            CHANNELS 3 Zrotation Xrotation Yrotation
+            End Site
+            {
+              OFFSET -8.0 0.0 0.0
+            }
+          }
+        }
+      }
+    }
+  }
+  JOINT LeftUpLeg
+  {
+    OFFSET 5.0 -3.0 0.0
+    CHANNELS 3 Zrotation Xrotation Yrotation
+    JOINT LeftLeg
+    {
+      OFFSET 0.0 -26.0 0.0
+      CHANNELS 3 Zrotation Xrotation Yrotation
+      JOINT LeftFoot
+      {
+        OFFSET 0.0 -25.0 0.0
+        CHANNELS 3 Zrotation Xrotation Yrotation
+        JOINT LeftToeBase
+        {
+          OFFSET 0.0 -4.0 10.0
+          CHANNELS 3 Zrotation Xrotation Yrotation
+          End Site
+          {
+            OFFSET 0.0 -2.0 6.0
+          }
+        }
+      }
+    }
+  }
+  JOINT RightUpLeg
+  {
+    OFFSET -5.0 -3.0 0.0
+    CHANNELS 3 Zrotation Xrotation Yrotation
+    JOINT RightLeg
+    {
+      OFFSET 0.0 -26.0 0.0
+      CHANNELS 3 Zrotation Xrotation Yrotation
+      JOINT RightFoot
+      {
+        OFFSET 0.0 -25.0 0.0
+        CHANNELS 3 Zrotation Xrotation Yrotation
+        JOINT RightToeBase
+        {
+          OFFSET 0.0 -4.0 10.0
+          CHANNELS 3 Zrotation Xrotation Yrotation
+          End Site
+          {
+            OFFSET 0.0 -2.0 6.0
+          }
+        }
+      }
+    }
+  }
+}
+MOTION
+Frames: 60
+Frame Time: 0.0333333
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+0.0000 -0.5187 0.0000 2.4404 0.0000 0.0000 2.0337 0.0000 0.0000 -1.2202 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 42.3705 0.0000 0.0000 0.0000 -37.2021 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 -42.3705 0.0000 0.0000 0.0000 -12.7979 0.0000 0.0000 0.0000 0.0000 0.0000 -1.5130 0.0000 0.0000 2.5936 0.0000 0.0000 -1.0807 0.0000 0.0000 0.0000 0.0000 0.0000 -1.5130 0.0000 0.0000 2.5936 0.0000 0.0000 -1.0807 0.0000 0.0000 0.0000 0.0000
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+0.0000 -1.5411 0.0000 4.0148 0.0000 0.0000 3.3457 0.0000 0.0000 -2.0074 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 56.8022 0.0000 0.0000 0.0000 -45.0739 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 -56.8022 0.0000 0.0000 0.0000 -4.9261 0.0000 0.0000 0.0000 0.0000 0.0000 -4.4950 0.0000 0.0000 7.7057 0.0000 0.0000 -3.2107 0.0000 0.0000 0.0000 0.0000 0.0000 -4.4950 0.0000 0.0000 7.7057 0.0000 0.0000 -3.2107 0.0000 0.0000 0.0000 0.0000
+0.0000 -1.9852 0.0000 4.4589 0.0000 0.0000 3.7157 0.0000 0.0000 -2.2294 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 60.8730 0.0000 0.0000 0.0000 -47.2943 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 -60.8730 0.0000 0.0000 0.0000 -2.7057 0.0000 0.0000 0.0000 0.0000 0.0000 -5.7902 0.0000 0.0000 9.9261 0.0000 0.0000 -4.1359 0.0000 0.0000 0.0000 0.0000 0.0000 -5.7902 0.0000 0.0000 9.9261 0.0000 0.0000 -4.1359 0.0000 0.0000 0.0000 0.0000
+0.0000 -2.4733 0.0000 4.8541 0.0000 0.0000 4.0451 0.0000 0.0000 -2.4271 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 64.4959 0.0000 0.0000 0.0000 -49.2705 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 -64.4959 0.0000 0.0000 0.0000 -0.7295 0.0000 0.0000 0.0000 0.0000 0.0000 -7.2138 0.0000 0.0000 12.3664 0.0000 0.0000 -5.1527 0.0000 0.0000 0.0000 0.0000 0.0000 -7.2138 0.0000 0.0000 12.3664 0.0000 0.0000 -5.1527 0.0000 0.0000 0.0000 0.0000
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+0.0000 -0.2937 0.0000 -1.8541 0.0000 0.0000 -1.5451 0.0000 0.0000 0.9271 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 3.0041 0.0000 0.0000 0.0000 -15.7295 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 -3.0041 0.0000 0.0000 0.0000 -34.2705 0.0000 0.0000 0.0000 0.0000 0.0000 -0.8565 0.0000 0.0000 1.4683 0.0000 0.0000 -0.6118 0.0000 0.0000 0.0000 0.0000 0.0000 -0.8565 0.0000 0.0000 1.4683 0.0000 0.0000 -0.6118 0.0000 0.0000 0.0000 0.0000
+0.0000 -0.1311 0.0000 -1.2475 0.0000 0.0000 -1.0396 0.0000 0.0000 0.6237 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 8.5649 0.0000 0.0000 0.0000 -18.7626 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 -8.5649 0.0000 0.0000 0.0000 -31.2374 0.0000 0.0000 0.0000 0.0000 0.0000 -0.3824 0.0000 0.0000 0.6556 0.0000 0.0000 -0.2732 0.0000 0.0000 0.0000 0.0000 0.0000 -0.3824 0.0000 0.0000 0.6556 0.0000 0.0000 -0.2732 0.0000 0.0000 0.0000 0.0000
+0.0000 -0.0329 0.0000 -0.6272 0.0000 0.0000 -0.5226 0.0000 0.0000 0.3136 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 14.2509 0.0000 0.0000 0.0000 -21.8641 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 -14.2509 0.0000 0.0000 0.0000 -28.1359 0.0000 0.0000 0.0000 0.0000 0.0000 -0.0959 0.0000 0.0000 0.1643 0.0000 0.0000 -0.0685 0.0000 0.0000 0.0000 0.0000 0.0000 -0.0959 0.0000 0.0000 0.1643 0.0000 0.0000 -0.0685 0.0000 0.0000 0.0000 0.0000
diff --git a/web-server/test/preprocess.spec.ts b/web-server/test/preprocess.spec.ts
new file mode 100644
index 0000000..377cb14
--- /dev/null
+++ b/web-server/test/preprocess.spec.ts
@@ -0,0 +1,252 @@
+import { readFileSync } from 'node:fs';
+import { join } from 'node:path';
+import { describe, expect, it } from 'vitest';
+import { forwardKinematics, parseBvh } from '../src/preprocess/bvh-parser';
+import { bvhToKeypointFrames } from '../src/preprocess/retarget';
+import {
+  BINARY_FRAME_BYTES,
+  decodeBinaryFrame,
+  encodeBinaryFrame,
+  parseFramesNdjson,
+  serializeFramesNdjson,
+} from '../src/preprocess/keypoint-codec';
+import { ANGLE_TRIPLETS, KEYPOINT_COUNT, MP, PARENT_TABLE, VIRTUAL } from '../src/preprocess/mediapipe33';
+import { angleCos } from '../src/preprocess/math3d';
+import { CONTRACT_VERSIONS, parseVersionFile } from '../src/config/contract-versions';
+
+const samplePath = join(__dirname, 'fixtures', 'sample.bvh');
+const sampleText = readFileSync(samplePath, 'utf8');
+
+describe('BVH 解析器', () => {
+  it('解析层级、帧数与通道数', () => {
+    const motion = parseBvh(sampleText);
+    expect(motion.frameCount).toBe(60);
+    expect(motion.channelCount).toBe(63);
+    expect(motion.frameTime).toBeCloseTo(1 / 30, 6);
+    expect(motion.root.name).toBe('Hips');
+    expect(motion.frames).toHaveLength(60);
+    expect(motion.frames[0]).toHaveLength(63);
+    expect(motion.byName.get('leftforearm')).toBeDefined();
+  });
+
+  it('前向运动学给出有限且随帧变化的世界坐标', () => {
+    const motion = parseBvh(sampleText);
+    const first = forwardKinematics(motion, 0);
+    const last = forwardKinematics(motion, 59);
+    const hipsFirst = first.get('hips')!.position;
+    expect(hipsFirst.every((v) => Number.isFinite(v))).toBe(true);
+
+    const handFirst = first.get('lefthand')!.position;
+    const handLast = last.get('lefthand')!.position;
+    expect(handFirst).not.toEqual(handLast);
+  });
+
+  it('拒绝非法输入', () => {
+    expect(() => parseBvh('不是 BVH')).toThrow();
+    expect(() => parseBvh('HIERARCHY\nMOTION\n')).toThrow();
+  });
+
+  it('通道值与帧数不匹配时报错', () => {
+    const broken = sampleText.replace('Frames: 60', 'Frames: 61');
+    expect(() => parseBvh(broken)).toThrow(/期望 3843 个通道值/);
+  });
+});
+
+describe('MediaPipe33 拓扑常量', () => {
+  it('父节点表覆盖 33 点 + 2 个虚拟关节', () => {
+    expect(PARENT_TABLE).toHaveLength(35);
+    expect(PARENT_TABLE[VIRTUAL.PELVIS]).toBe(-1);
+    expect(PARENT_TABLE[VIRTUAL.NECK]).toBe(VIRTUAL.PELVIS);
+    expect(PARENT_TABLE[MP.NOSE]).toBe(VIRTUAL.NECK);
+  });
+
+  it('父节点索引不产生环（除根外均指向更大的层级）', () => {
+    // 从任意点沿父链上溯必须能终止在 -1
+    for (let i = 0; i <= VIRTUAL.PELVIS; i += 1) {
+      let cursor = i;
+      let hops = 0;
+      while (cursor !== -1) {
+        cursor = PARENT_TABLE[cursor];
+        hops += 1;
+        expect(hops).toBeLessThan(64);
+      }
+    }
+  });
+
+  it('关节角三元组共 9 组且索引合法', () => {
+    expect(ANGLE_TRIPLETS).toHaveLength(9);
+    for (const [a, b, c] of ANGLE_TRIPLETS) {
+      for (const index of [a, b, c]) {
+        expect(index).toBeGreaterThanOrEqual(0);
+        expect(index).toBeLessThanOrEqual(VIRTUAL.PELVIS);
+      }
+    }
+  });
+});
+
+describe('BVH → MediaPipe33 重定向', () => {
+  const motion = parseBvh(sampleText);
+  const frames = bvhToKeypointFrames(motion);
+
+  it('每帧输出 33 个关键点（虚拟关节不外泄）', () => {
+    expect(frames).toHaveLength(60);
+    for (const frame of frames) {
+      expect(frame.points).toHaveLength(KEYPOINT_COUNT);
+      expect(frame.angles).toHaveLength(9);
+    }
+  });
+
+  it('坐标落在 MediaPipe 归一化范围', () => {
+    for (const frame of frames) {
+      for (const [x, y, z, conf] of frame.points) {
+        expect(x).toBeGreaterThanOrEqual(0);
+        expect(x).toBeLessThanOrEqual(1);
+        expect(y).toBeGreaterThanOrEqual(0);
+        expect(y).toBeLessThanOrEqual(1);
+        expect(z).toBeGreaterThanOrEqual(-1);
+        expect(z).toBeLessThanOrEqual(1);
+        expect(conf).toBeGreaterThanOrEqual(0);
+        expect(conf).toBeLessThanOrEqual(1);
+      }
+    }
+  });
+
+  it('髋部相对骨盆居中（左右髋对称于中心附近）', () => {
+    const x = frames[0].points[MP.LEFT_HIP][0];
+    const y = frames[0].points[MP.RIGHT_HIP][0];
+    expect(Math.abs(x - y)).toBeLessThan(0.2);
+  });
+
+  it('直接映射的点置信度为 1，推算点为 0.5', () => {
+    const confs = new Set(frames[0].points.map((p) => p[3]));
+    expect(confs.has(1)).toBe(true);
+    expect(confs.has(0.5)).toBe(true);
+    for (const conf of confs) expect([1, 0.5, 0]).toContain(conf);
+  });
+
+  it('时间戳按帧率推进', () => {
+    expect(frames[0].timeMs).toBe(0);
+    expect(frames[30].timeMs).toBeCloseTo(1000, 1);
+  });
+
+  it('关节角余弦在 [-1,1] 且非全零', () => {
+    const nonZero = frames.some((f) => f.angles.some((v) => Math.abs(v) > 1e-6));
+    expect(nonZero).toBe(true);
+    for (const frame of frames) {
+      for (const value of frame.angles) {
+        expect(value).toBeGreaterThanOrEqual(-1.0001);
+        expect(value).toBeLessThanOrEqual(1.0001);
+      }
+    }
+  });
+
+  it('动作随时间变化（不是静止序列）', () => {
+    const firstHand = frames[0].points[MP.LEFT_WRIST];
+    const lastHand = frames[59].points[MP.LEFT_WRIST];
+    const delta = Math.hypot(firstHand[0] - lastHand[0], firstHand[1] - lastHand[1]);
+    expect(delta).toBeGreaterThan(0.01);
+  });
+});
+
+describe('角度计算', () => {
+  it('直角余弦为 0，同向为 1，反向为 -1', () => {
+    const b: [number, number, number] = [0, 0, 0];
+    expect(angleCos([1, 0, 0], b, [0, 1, 0])).toBeCloseTo(0, 6);
+    expect(angleCos([1, 0, 0], b, [2, 0, 0])).toBeCloseTo(1, 6);
+    expect(angleCos([1, 0, 0], b, [-1, 0, 0])).toBeCloseTo(-1, 6);
+  });
+
+  it('退化向量返回 0 而不产生 NaN', () => {
+    expect(angleCos([0, 0, 0], [0, 0, 0], [1, 0, 0])).toBe(0);
+  });
+});
+
+describe('239 字节二进制帧编解码（契约 websocket-keypoints.md）', () => {
+  const makePoints = (): Array<[number, number, number, number]> =>
+    Array.from({ length: KEYPOINT_COUNT }, (_, i) => [
+      (i % 33) / 32,
+      1 - (i % 33) / 32,
+      ((i % 7) - 3) / 10,
+      i % 2 === 0 ? 1 : 0.5,
+    ]);
+
+  it('编码结果恰好 239 字节且 magic/版本正确', () => {
+    const buf = encodeBinaryFrame(42, makePoints(), 1);
+    expect(buf).toHaveLength(BINARY_FRAME_BYTES);
+    expect(buf.readUInt16LE(0)).toBe(0x4f44);
+    expect(buf.readUInt8(2)).toBe(1);
+    expect(buf.readUInt8(3)).toBe(1);
+    expect(buf.readUInt32LE(4)).toBe(42);
+  });
+
+  it('编解码往返误差小于定点精度', () => {
+    const points = makePoints();
+    const decoded = decodeBinaryFrame(encodeBinaryFrame(7, points, 0));
+    expect(decoded.frameId).toBe(7);
+    expect(decoded.points).toHaveLength(33);
+    points.forEach((original, i) => {
+      for (let axis = 0; axis < 3; axis += 1) {
+        expect(decoded.points[i][axis]).toBeCloseTo(original[axis], 3);
+      }
+      expect(decoded.points[i][3]).toBeCloseTo(original[3], 2);
+    });
+  });
+
+  it('拒绝错误长度与错误 magic', () => {
+    expect(() => decodeBinaryFrame(Buffer.alloc(238))).toThrow(/239/);
+    const bad = Buffer.alloc(BINARY_FRAME_BYTES);
+    expect(() => decodeBinaryFrame(bad)).toThrow(/magic/);
+  });
+
+  it('极值不会溢出 int16', () => {
+    const points = makePoints();
+    points[0] = [1, 1, -1, 1];
+    points[1] = [0, 0, 1, 0];
+    const decoded = decodeBinaryFrame(encodeBinaryFrame(0, points));
+    expect(decoded.points[0][0]).toBeCloseTo(1, 4);
+    expect(decoded.points[0][2]).toBeCloseTo(-1, 4);
+  });
+});
+
+describe('NDJSON 关键点序列', () => {
+  it('序列化后可解析回原结构', () => {
+    const motion = parseBvh(sampleText);
+    const frames = bvhToKeypointFrames(motion).slice(0, 5);
+    const ndjson = serializeFramesNdjson(frames);
+    expect(ndjson.trim().split('\n')).toHaveLength(5);
+
+    const parsed = parseFramesNdjson(ndjson);
+    expect(parsed).toHaveLength(5);
+    // JSON 往返会把 -0 变成 0，因此逐元素按精度比较
+    parsed[0].points.forEach((point, i) => {
+      point.forEach((value, axis) => {
+        expect(value).toBeCloseTo(frames[0].points[i][axis], 10);
+      });
+    });
+    parsed[4].angles.forEach((value, i) => {
+      expect(value).toBeCloseTo(frames[4].angles[i], 10);
+    });
+    expect(parsed[4].points).toHaveLength(KEYPOINT_COUNT);
+  });
+
+  it('拒绝点数不足的帧', () => {
+    expect(() => parseFramesNdjson('{"frame":0,"timeMs":0,"points":[[0,0,0,1]],"angles":[]}')).toThrow(/33/);
+  });
+
+  it('拒绝非法 JSON 行', () => {
+    expect(() => parseFramesNdjson('{oops}')).toThrow(/合法 JSON/);
+  });
+});
+
+describe('契约版本一致性', () => {
+  it('解析 contracts/VERSION 的键值', () => {
+    const parsed = parseVersionFile('# 注释\nrest-api: 0.1.0\n\ndatabase: 0.1.0\n');
+    expect(parsed).toEqual({ 'rest-api': '0.1.0', database: '0.1.0' });
+  });
+
+  it('代码内常量与 contracts/VERSION 完全一致（否则 npm run contracts:check 会失败）', () => {
+    const versionFile = join(__dirname, '..', '..', 'contracts', 'VERSION');
+    const fileVersions = parseVersionFile(readFileSync(versionFile, 'utf8'));
+    expect(fileVersions).toEqual({ ...CONTRACT_VERSIONS });
+  });
+});