diff --git a/CHANGELOG.md b/CHANGELOG.md
index ed100625..1e17eced 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,7 @@ Repository: **<git+https://github.com/vladmandic/human.git>**
 
 ### **HEAD -> main** 2021/03/28 mandic00@live.com
 
+- minor rotation calculation fix
 - remove debug output
 - new face rotation calculations
 - cleanup
diff --git a/demo/faces.json b/demo/facematch-faces.json
similarity index 100%
rename from demo/faces.json
rename to demo/facematch-faces.json
diff --git a/demo/facematch.js b/demo/facematch.js
index 875b6024..68f7a8e4 100644
--- a/demo/facematch.js
+++ b/demo/facematch.js
@@ -43,7 +43,7 @@ function log(...msg) {
 async function getFaceDB() {
   // download db with known faces
   try {
-    const res = await fetch('/demo/faces.json');
+    const res = await fetch('/demo/facematch-faces.json');
     db = (res && res.ok) ? await res.json() : [];
     for (const rec of db) {
       rec.embedding = rec.embedding.map((a) => parseFloat(a.toFixed(4)));
diff --git a/demo/favicon.ico b/demo/favicon.ico
new file mode 100644
index 00000000..1cbc0449
Binary files /dev/null and b/demo/favicon.ico differ
diff --git a/demo/gl-bench.js b/demo/helpers/gl-bench.js
similarity index 100%
rename from demo/gl-bench.js
rename to demo/helpers/gl-bench.js
diff --git a/demo/menu.js b/demo/helpers/menu.js
similarity index 83%
rename from demo/menu.js
rename to demo/helpers/menu.js
index bb68ee7d..999a1053 100644
--- a/demo/menu.js
+++ b/demo/helpers/menu.js
@@ -1,3 +1,5 @@
+// @ts-nocheck
+
 let instance = 0;
 let CSScreated = false;
 
@@ -80,7 +82,7 @@ class Menu {
     this.instance = instance;
     instance++;
     this._maxFPS = 0;
-    this.hidden = 0;
+    this.hidden = false;
   }
 
   createMenu(parent, title = '', position = { top: null, left: null, bottom: null, right: null }) {
@@ -109,9 +111,11 @@ class Menu {
     if (title) elTitle.innerHTML = `${title}${svg}`;
     this.menu.appendChild(elTitle);
     elTitle.addEventListener('click', () => {
-      this.container.classList.toggle('menu-container-fadeout');
-      this.container.classList.toggle('menu-container-fadein');
-      this.menu.style.borderStyle = this.container.classList.contains('menu-container-fadeout') ? 'none' : 'solid';
+      if (this.container && this.menu) {
+        this.container.classList.toggle('menu-container-fadeout');
+        this.container.classList.toggle('menu-container-fadein');
+        this.menu.style.borderStyle = this.container.classList.contains('menu-container-fadeout') ? 'none' : 'solid';
+      }
     });
 
     this.menu.appendChild(this.container);
@@ -129,40 +133,42 @@ class Menu {
   }
 
   get width() {
-    return this.menu.offsetWidth;
+    return this.menu?.offsetWidth || 0;
   }
 
   get height() {
-    return this.menu.offsetHeight;
+    return this.menu?.offsetHeight || 0;
   }
 
   hide() {
-    if (this.container.classList.contains('menu-container-fadein')) {
+    if (this.container && this.container.classList.contains('menu-container-fadein')) {
       this.container.classList.toggle('menu-container-fadeout');
       this.container.classList.toggle('menu-container-fadein');
     }
   }
 
   visible() {
-    return (this.container.classList.contains('menu-container-fadein'));
+    return (this.container ? this.container.classList.contains('menu-container-fadein') : false);
   }
 
   toggle(evt) {
-    this.container.classList.toggle('menu-container-fadeout');
-    this.container.classList.toggle('menu-container-fadein');
-    if (this.container.classList.contains('menu-container-fadein') && evt) {
-      const x = evt.x || (evt.touches && evt.touches[0] ? evt.touches[0].pageX : null);
-      // const y = evt.y || (evt.touches && evt.touches[0] ? evt.touches[0].pageY : null);
-      if (x) this.menu.style.left = `${x - (this.menu.offsetWidth / 2)}px`;
-      // if (y) this.menu.style.top = '5.5rem'; // `${evt.y + 55}px`;
-      if (this.menu.offsetLeft < 0) this.menu.style.left = 0;
-      if ((this.menu.offsetLeft + this.menu.offsetWidth) > window.innerWidth) {
-        this.menu.style.left = null;
-        this.menu.style.right = 0;
+    if (this.container && this.menu) {
+      this.container.classList.toggle('menu-container-fadeout');
+      this.container.classList.toggle('menu-container-fadein');
+      if (this.container.classList.contains('menu-container-fadein') && evt) {
+        const x = evt.x || (evt.touches && evt.touches[0] ? evt.touches[0].pageX : null);
+        // const y = evt.y || (evt.touches && evt.touches[0] ? evt.touches[0].pageY : null);
+        if (x) this.menu.style.left = `${x - (this.menu.offsetWidth / 2)}px`;
+        // if (y) this.menu.style.top = '5.5rem'; // `${evt.y + 55}px`;
+        if (this.menu.offsetLeft < 0) this.menu.style.left = '0';
+        if ((this.menu.offsetLeft + this.menu.offsetWidth) > window.innerWidth) {
+          this.menu.style.left = '';
+          this.menu.style.right = '0';
+        }
+        this.menu.style.borderStyle = 'solid';
+      } else {
+        this.menu.style.borderStyle = 'none';
       }
-      this.menu.style.borderStyle = 'solid';
-    } else {
-      this.menu.style.borderStyle = 'none';
     }
   }
 
@@ -171,7 +177,7 @@ class Menu {
     el.className = 'menu-title';
     el.id = this.newID;
     el.innerHTML = title;
-    this.menu.appendChild(el);
+    if (this.menu) this.menu.appendChild(el);
     el.addEventListener('click', () => {
       this.hidden = !this.hidden;
       const all = document.getElementsByClassName('menu');
@@ -187,7 +193,7 @@ class Menu {
     el.className = 'menu-item menu-label';
     el.id = this.newID;
     el.innerHTML = title;
-    this.container.appendChild(el);
+    if (this.container) this.container.appendChild(el);
     return el;
   }
 
@@ -195,10 +201,10 @@ class Menu {
     const el = document.createElement('div');
     el.className = 'menu-item';
     el.innerHTML = `<div class="menu-checkbox"><input class="menu-checkbox" type="checkbox" id="${this.newID}" ${object[variable] ? 'checked' : ''}/><label class="menu-checkbox-label" for="${this.ID}"></label></div>${title}`;
-    this.container.appendChild(el);
+    if (this.container) this.container.appendChild(el);
     el.addEventListener('change', (evt) => {
-      object[variable] = evt.target.checked;
-      if (callback) callback(evt.target.checked);
+      object[variable] = evt.target?.checked;
+      if (callback) callback(evt.target?.checked);
     });
     return el;
   }
@@ -215,9 +221,9 @@ class Menu {
     el.style.fontFamily = document.body.style.fontFamily;
     el.style.fontSize = document.body.style.fontSize;
     el.style.fontVariant = document.body.style.fontVariant;
-    this.container.appendChild(el);
+    if (this.container) this.container.appendChild(el);
     el.addEventListener('change', (evt) => {
-      if (callback) callback(items[evt.target.selectedIndex]);
+      if (callback) callback(items[evt.target?.selectedIndex]);
     });
     return el;
   }
@@ -226,11 +232,13 @@ class Menu {
     const el = document.createElement('div');
     el.className = 'menu-item';
     el.innerHTML = `<input class="menu-range" type="range" id="${this.newID}" min="${min}" max="${max}" step="${step}" value="${object[variable]}">${title}`;
-    this.container.appendChild(el);
+    if (this.container) this.container.appendChild(el);
     el.addEventListener('change', (evt) => {
-      object[variable] = parseInt(evt.target.value) === parseFloat(evt.target.value) ? parseInt(evt.target.value) : parseFloat(evt.target.value);
-      evt.target.setAttribute('value', evt.target.value);
-      if (callback) callback(evt.target.value);
+      if (evt.target) {
+        object[variable] = parseInt(evt.target?.value) === parseFloat(evt.target?.value) ? parseInt(evt.target?.value) : parseFloat(evt.target?.value);
+        evt.target.setAttribute('value', evt.target.value);
+        if (callback) callback(evt.target?.value);
+      }
     });
     el.input = el.children[0];
     return el;
@@ -241,7 +249,7 @@ class Menu {
     el.className = 'menu-item';
     el.id = this.newID;
     if (html) el.innerHTML = html;
-    this.container.appendChild(el);
+    if (this.container) this.container.appendChild(el);
     return el;
   }
 
@@ -254,7 +262,7 @@ class Menu {
     el.type = 'button';
     el.id = this.newID;
     el.innerText = titleOn;
-    this.container.appendChild(el);
+    if (this.container) this.container.appendChild(el);
     el.addEventListener('click', () => {
       if (el.innerText === titleOn) el.innerText = titleOff;
       else el.innerText = titleOn;
@@ -268,7 +276,7 @@ class Menu {
     el.className = 'menu-item';
     el.id = `menu-val-${title}`;
     el.innerText = `${title}: ${val}${suffix}`;
-    this.container.appendChild(el);
+    if (this.container) this.container.appendChild(el);
     return el;
   }
 
@@ -285,7 +293,7 @@ class Menu {
     el.className = 'menu-item menu-chart-title';
     el.id = this.newID;
     el.innerHTML = `<font color=${theme.chartColor}>${title}</font><canvas id="menu-canvas-${id}" class="menu-chart-canvas" width="${width}px" height="${height}px"></canvas>`;
-    this.container.appendChild(el);
+    if (this.container) this.container.appendChild(el);
     return el;
   }
 
diff --git a/demo/worker.js b/demo/index-worker.js
similarity index 100%
rename from demo/worker.js
rename to demo/index-worker.js
diff --git a/demo/index.html b/demo/index.html
index 507d334c..6f4821c4 100644
--- a/demo/index.html
+++ b/demo/index.html
@@ -14,9 +14,9 @@
   <link rel="shortcut icon" href="../favicon.ico" type="image/x-icon">
   <link rel="apple-touch-icon" href="../assets/icon.png">
     <!-- load compiled demo js -->
-    <script src="../dist/demo-browser-index.js"></script>
+    <!-- <script src="../dist/demo-browser-index.js"></script> -->
     <!-- alternatively load demo sources directly -->
-    <!-- <script src="./browser.js" type="module"></script> -->
+    <script src="./index.js" type="module"></script>
     <style>
       @font-face { font-family: 'Lato'; font-display: swap; font-style: normal; font-weight: 100; src: local('Lato'), url('../assets/lato-light.woff2') }
       @font-face { font-family: 'FA'; font-display: swap; font-style: normal; font-weight: 900; src: local('FA'), url('../assets/fa-solid-900.woff2'); }
diff --git a/demo/browser.js b/demo/index.js
similarity index 99%
rename from demo/browser.js
rename to demo/index.js
index 0f1ccaef..b62b8ba4 100644
--- a/demo/browser.js
+++ b/demo/index.js
@@ -1,7 +1,7 @@
-// import Human from '../dist/human.esm.js'; // equivalent of @vladmandic/human
-import Human from '../src/human';
-import Menu from './menu.js';
-import GLBench from './gl-bench.js';
+import Human from '../dist/human.esm.js'; // equivalent of @vladmandic/human
+// import Human from '../src/human'; // import sources directly
+import Menu from './helpers/menu.js';
+import GLBench from './helpers/gl-bench.js';
 
 const userConfig = { backend: 'webgl' }; // add any user configuration overrides
 
@@ -37,7 +37,7 @@ const ui = {
   columns: 2, // when processing sample images create this many columns
   facing: true, // camera facing front or back
   useWorker: false, // use web workers for processing
-  worker: 'worker.js',
+  worker: 'index-worker.js',
   samples: ['../assets/sample6.jpg', '../assets/sample1.jpg', '../assets/sample4.jpg', '../assets/sample5.jpg', '../assets/sample3.jpg', '../assets/sample2.jpg'],
   compare: '../assets/sample-me.jpg',
   console: true, // log messages to browser console
diff --git a/manifest.webmanifest b/demo/manifest.webmanifest
similarity index 100%
rename from manifest.webmanifest
rename to demo/manifest.webmanifest
diff --git a/package.json b/package.json
index 15978773..aa4a7489 100644
--- a/package.json
+++ b/package.json
@@ -57,12 +57,12 @@
     "@tensorflow/tfjs-node": "^3.3.0",
     "@tensorflow/tfjs-node-gpu": "^3.3.0",
     "@types/node": "^14.14.37",
-    "@typescript-eslint/eslint-plugin": "^4.19.0",
-    "@typescript-eslint/parser": "^4.19.0",
+    "@typescript-eslint/eslint-plugin": "^4.20.0",
+    "@typescript-eslint/parser": "^4.20.0",
     "@vladmandic/pilogger": "^0.2.15",
     "chokidar": "^3.5.1",
     "dayjs": "^1.10.4",
-    "esbuild": "^0.10.2",
+    "esbuild": "^0.11.0",
     "eslint": "^7.23.0",
     "eslint-config-airbnb-base": "^14.2.1",
     "eslint-plugin-import": "^2.22.1",
diff --git a/src/config.ts b/src/config.ts
index 5b2b3132..46dc9ad1 100644
--- a/src/config.ts
+++ b/src/config.ts
@@ -255,7 +255,8 @@ const config: Config = {
 
   body: {
     enabled: true,
-    modelPath: '../models/posenet.json', // can be 'posenet' or 'blazepose'
+    modelPath: '../models/posenet.json', // can be 'posenet', 'blazepose' or 'efficientpose'
+                             // 'blazepose' and 'efficientpose' are experimental
     maxDetections: 10,       // maximum number of people detected in the input
                              // should be set to the minimum number for performance
                              // only valid for posenet as blazepose only detects single pose
@@ -296,6 +297,7 @@ const config: Config = {
   object: {
     enabled: false,
     modelPath: '../models/nanodet.json',
+                             // 'nanodet' is experimental
     minConfidence: 0.20,     // threshold for discarding a prediction
     iouThreshold: 0.40,      // threshold for deciding whether boxes overlap too much
                              // in non-maximum suppression
diff --git a/tsconfig.json b/tsconfig.json
index 27ace3e0..59960cd3 100644
--- a/tsconfig.json
+++ b/tsconfig.json
@@ -21,7 +21,7 @@
     "allowJs": true
   },
   "formatCodeOptions": { "indentSize": 2, "tabSize": 2 },
-  "include": ["src/*", "src/***/*", "demo/*"],
+  "include": ["src/*", "src/***/*", "demo/*", "demo/helpers/gl-bench.js", "demo/helpers/menu.js"],
   "typedocOptions": {
     "excludePrivate": true,
     "excludeExternals": true,
diff --git a/wiki b/wiki
index aae30ba3..df23c6e6 160000
--- a/wiki
+++ b/wiki
@@ -1 +1 @@
-Subproject commit aae30ba3904eb7d76847895e11c55926e35ad00b
+Subproject commit df23c6e6fdd3aedd5da6ee08d90d61983a761e91