cozyclay 2.1.0 → 3.0.0

package/tools/ardy/npz.mjs

@@ -1,414 +0,0 @@
-/**
- * Pure-Node writer for numpy .npz archives: v1.0 .npy members inside a
- * STORED (uncompressed) zip. No numpy on the workstation and no new
- * dependencies -- .npy is a 10-byte prefix plus a little-endian float32
- * payload, and STORED zip keeps CRC-32 and sizes trivial to compute.
- *
- * The only consumer today is the ARDY constrained generator:
- *
- *   --pose-from <npz> <src-frame> <dst-frame>
- *
- * cclay_constrained_generate.load_poses reads exactly two float32 members,
- * local_rot_mats (frames, 27, 3, 3) and posed_joints (frames, 27, 3), then
- * runs its own FK. poseArraysToNpzMembers turns one CozyClay frame into
- * that exact 1-frame member set, so a hand-blocked pose can be materialized
- * as a standalone npz without ever hardcoding a rest skeleton: proportions
- * come from the base clip (deriveBoneOffsets), the 8 joints CozyClay does not
- * author stay IDENTITY, and an optional int32 rotation mask prevents those
- * identity placeholders from becoming rotation constraints.
- */
-import { writeFileSync } from "node:fs";
-
-const ZIP_LOCAL_SIG = 0x04034b50; // PK\x03\x04
-const ZIP_CENTRAL_SIG = 0x02014b50; // PK\x01\x02
-const ZIP_EOCD_SIG = 0x06054b50; // PK\x05\x06
-
-// --- CRC-32 (IEEE 802.3, reflected, polynomial 0xEDB88320) ----------------
-
-const CRC_TABLE = (() => {
-	const table = new Uint32Array(256);
-	for (let n = 0; n < 256; n += 1) {
-		let c = n;
-		for (let k = 0; k < 8; k += 1) c = c & 1 ? 0xedb88320 ^ (c >>> 1) : c >>> 1;
-		table[n] = c >>> 0;
-	}
-	return table;
-})();
-
-function crc32(buf) {
-	let c = 0xffffffff;
-	for (let i = 0; i < buf.length; i += 1) c = CRC_TABLE[(c ^ buf[i]) & 0xff] ^ (c >>> 8);
-	return (c ^ 0xffffffff) >>> 0;
-}
-
-// --- .npy v1.0 -------------------------------------------------------------
-
-/**
- * The ASCII dict header, matching numpy's own text byte for byte:
- *   {'descr': '<f4', 'fortran_order': False, 'shape': (1, 27, 3, 3), }
- * Shape tuples follow Python repr: `()` for 0-d, `(n,)` for a single
- * element, `(a, b, c)` otherwise.
- */
-function npyHeader(shape, descr = "<f4") {
-	const tuple =
-		shape.length === 0 ? "()" : `(${shape.join(", ")}${shape.length === 1 ? "," : ""})`;
-	const dict = `{'descr': '${descr}', 'fortran_order': False, 'shape': ${tuple}, }`;
-	// Pad so magic(6) + version(2) + len(2) + header is a multiple of 64,
-	// i.e. the header-with-newline is 54 mod 64. numpy's loader only reads
-	// the length field and ast.literal_eval's the dict, so it accepts either
-	// alignment; this repo's convention is that the whole prefix aligns.
-	const pad = (53 - (dict.length % 64) + 64) % 64;
-	return dict + " ".repeat(pad) + "\n";
-}
-
-function buildNpy(data, shape) {
-	const descr = data instanceof Float32Array ? "<f4" : data instanceof Int32Array ? "<i4" : null;
-	if (!descr) throw new Error(`buildNpy: unsupported typed array ${data?.constructor?.name ?? typeof data}`);
-	const header = npyHeader(shape, descr);
-	const prefix = Buffer.alloc(10);
-	prefix.writeUInt8(0x93, 0);
-	prefix.write("NUMPY", 1, "ascii");
-	prefix.writeUInt8(1, 6); // version 1.0
-	prefix.writeUInt8(0, 7);
-	prefix.writeUInt16LE(header.length, 8);
-	// Float32Array is little-endian on every platform this repo runs on;
-	// the view (not a copy) is safe: writeNpz builds the payload and the
-	// archive in the same synchronous call.
-	const payload = Buffer.from(data.buffer, data.byteOffset, data.byteLength);
-	return Buffer.concat([prefix, Buffer.from(header, "ascii"), payload]);
-}
-
-// --- ZIP (STORED) -----------------------------------------------------------
-
-/**
- * Build the archive: local headers + payloads, central directory, EOCD.
- * Every size is known up front, so the whole file is one Buffer.
- */
-function buildZip(entries) {
-	const chunks = [];
-	const central = [];
-	let offset = 0;
-	for (const { name, payload } of entries) {
-		const nameBuf = Buffer.from(name, "ascii");
-		const crc = crc32(payload);
-		const local = Buffer.alloc(30);
-		local.writeUInt32LE(ZIP_LOCAL_SIG, 0);
-		local.writeUInt16LE(20, 4); // version needed to extract
-		local.writeUInt16LE(0, 6); // general purpose flags
-		local.writeUInt16LE(0, 8); // method: STORED
-		local.writeUInt16LE(0, 10); // last mod time
-		local.writeUInt16LE(0x21, 12); // last mod date (1980-01-01)
-		local.writeUInt32LE(crc, 14);
-		local.writeUInt32LE(payload.length, 18); // compressed size
-		local.writeUInt32LE(payload.length, 22); // uncompressed size
-		local.writeUInt16LE(nameBuf.length, 26);
-		local.writeUInt16LE(0, 28); // extra field length
-		chunks.push(local, nameBuf, payload);
-		central.push({ name: nameBuf, crc, size: payload.length, offset });
-		offset += 30 + nameBuf.length + payload.length;
-	}
-	const centralDirStart = offset;
-	const centralChunks = [];
-	let centralDirSize = 0;
-	for (const entry of central) {
-		const c = Buffer.alloc(46);
-		c.writeUInt32LE(ZIP_CENTRAL_SIG, 0);
-		c.writeUInt16LE(20, 4); // version made by
-		c.writeUInt16LE(20, 6); // version needed to extract
-		c.writeUInt16LE(0, 8); // general purpose flags
-		c.writeUInt16LE(0, 10); // method: STORED
-		c.writeUInt16LE(0, 12); // last mod time
-		c.writeUInt16LE(0x21, 14); // last mod date
-		c.writeUInt32LE(entry.crc, 16);
-		c.writeUInt32LE(entry.size, 20); // compressed size
-		c.writeUInt32LE(entry.size, 24); // uncompressed size
-		c.writeUInt16LE(entry.name.length, 28);
-		c.writeUInt16LE(0, 30); // extra field length
-		c.writeUInt16LE(0, 32); // file comment length
-		c.writeUInt16LE(0, 34); // disk number start
-		c.writeUInt16LE(0, 36); // internal attributes
-		c.writeUInt32LE(0, 38); // external attributes
-		c.writeUInt32LE(entry.offset, 42); // local header offset
-		centralChunks.push(c, entry.name);
-		centralDirSize += 46 + entry.name.length;
-	}
-	const eocd = Buffer.alloc(22);
-	eocd.writeUInt32LE(ZIP_EOCD_SIG, 0);
-	eocd.writeUInt16LE(0, 4); // disk number
-	eocd.writeUInt16LE(0, 6); // disk with central directory
-	eocd.writeUInt16LE(entries.length, 8); // entries on this disk
-	eocd.writeUInt16LE(entries.length, 10); // total entries
-	eocd.writeUInt32LE(centralDirSize, 12);
-	eocd.writeUInt32LE(centralDirStart, 16);
-	eocd.writeUInt16LE(0, 20); // comment length
-	return Buffer.concat([...chunks, ...centralChunks, eocd]);
-}
-
-// --- public API -------------------------------------------------------------
-
-/**
- * Write a numpy .npz archive: one STORED zip entry `<key>.npy` per member.
- * Each member is { data: Float32Array, shape: number[] } in C order.
- * Throws on an empty member set, a member whose shape product does not
- * match its data length, a non-finite value, or a member name that would
- * not make a flat zip entry.
- */
-export function writeNpz(path, arrays) {
-	const names = Object.keys(arrays);
-	if (names.length === 0) {
-		throw new Error("writeNpz: refusing to write an npz with no members");
-	}
-	const entries = names.map((name) => {
-		if (!/^[A-Za-z0-9][A-Za-z0-9_.-]*$/.test(name)) {
-			throw new Error(`writeNpz: invalid member name ${JSON.stringify(name)}`);
-		}
-		const member = arrays[name];
-		if (
-			!member ||
-			(!(member.data instanceof Float32Array) && !(member.data instanceof Int32Array)) ||
-			!Array.isArray(member.shape)
-		) {
-			throw new Error(
-				`writeNpz: member ${JSON.stringify(name)} must be { data: Float32Array|Int32Array, shape: number[] }`
-			);
-		}
-		const { data, shape } = member;
-		const size = shape.reduce((n, d) => n * d, 1);
-		if (size !== data.length) {
-			throw new Error(
-				`writeNpz: member ${JSON.stringify(name)} shape ${JSON.stringify(shape)} ` +
-					`has ${size} elements but data has ${data.length}`
-			);
-		}
-		for (let i = 0; i < data.length; i += 1) {
-			if (!Number.isFinite(data[i])) {
-				throw new Error(
-					`writeNpz: member ${JSON.stringify(name)}[${i}] is not finite: ${data[i]}`
-				);
-			}
-		}
-		return { name: `${name}.npy`, payload: buildNpy(data, shape) };
-	});
-	writeFileSync(path, buildZip(entries));
-}
-
-/**
- * Turn one CozyClay frame of plain nested arrays into the exact 1-frame
- * members load_poses expects: local_rot_mats [1, 27, 3, 3] and posed_joints
- * [1, 27, 3], both float32 C order. Inputs are the ardy.frame.v1 fixture
- * shapes: local_rot_mats [27][3][3] and posed_joints [27][3]. The leading 1
- * is the frames axis, so the generator's `[frame]` / `[frame, root_idx]`
- * indexing works unchanged.
- */
-export function poseArraysToNpzMembers({
-	local_rot_mats,
-	posed_joints,
-	rotation_constraint_indices,
-}) {
-	const members = {
-		local_rot_mats: {
-			data: flattenToF32(local_rot_mats, [27, 3, 3], "local_rot_mats"),
-			shape: [1, 27, 3, 3],
-		},
-		posed_joints: {
-			data: flattenToF32(posed_joints, [27, 3], "posed_joints"),
-			shape: [1, 27, 3],
-		},
-	};
-	if (rotation_constraint_indices !== undefined) {
-		if (
-			!Array.isArray(rotation_constraint_indices) ||
-			rotation_constraint_indices.some(
-				(index) => !Number.isInteger(index) || index < 0 || index >= 27
-			)
-		) {
-			throw new Error(
-				"poseArraysToNpzMembers: rotation_constraint_indices must contain joint indices in 0..26"
-			);
-		}
-		members.rotation_constraint_indices = {
-			data: Int32Array.from(rotation_constraint_indices),
-			shape: [rotation_constraint_indices.length],
-		};
-	}
-	return members;
-}
-
-/**
- * Depth-first flatten of a nested number array against an expected shape.
- * Throws on a structural mismatch or a non-finite value so a bad pose can
- * never silently serialize.
- */
-function flattenToF32(value, dims, name) {
-	const out = [];
-	const walk = (node, depth, path) => {
-		if (depth === dims.length) {
-			if (typeof node !== "number") {
-				throw new Error(
-					`poseArraysToNpzMembers: ${name}${path} is not a number: ${node}`
-				);
-			}
-			if (!Number.isFinite(node)) {
-				throw new Error(
-					`poseArraysToNpzMembers: ${name}${path} is not finite: ${node}`
-				);
-			}
-			out.push(node);
-			return;
-		}
-		if (!Array.isArray(node) || node.length !== dims[depth]) {
-			throw new Error(
-				`poseArraysToNpzMembers: ${name}${path} must be an array of length ` +
-					`${dims[depth]} (expected shape ${JSON.stringify(dims)})`
-			);
-		}
-		for (let i = 0; i < node.length; i += 1) walk(node[i], depth + 1, `${path}[${i}]`);
-	};
-	walk(value, 0, "");
-	return Float32Array.from(out);
-}
-
-
-/**
- * Convert decoded ARDY motion arrays into writer members.
- *
- * `personScale` (the filmed performer's leg length as a fraction of the
- * canonical body, from bvhToCskel27Motion) is written as a `person_scale`
- * scalar when the source estimated one. It has to live IN the archive: the
- * conversion already divided the root translation by it, so the trajectory is
- * only metrically right once the character is scaled by the same number. A
- * take whose stature travelled separately from its frames replays a filmed
- * stride at canonical size and skates the feet.
- *
- * The member is APPENDED and only when present: an ARDY-generated take has no
- * filmed performer, so its archive stays byte-identical to before, and a
- * reader that ignores the extra member (numpy, dump-npz.py, the generators)
- * sees the original four unchanged and in the original order.
- */
-export function motionArraysToNpzMembers({ frames, fps, rotMats, rootPos, posedJoints, personScale, boneScale }) {
-	if (!Number.isInteger(frames) || frames < 1) throw new Error("motionArraysToNpzMembers: frames must be positive");
-	if (!Number.isInteger(fps) || fps < 1) throw new Error("motionArraysToNpzMembers: fps must be positive");
-	const requireLength = (array, length, label) => {
-		if (!(array instanceof Float32Array) || array.length !== length) {
-			throw new Error(`motionArraysToNpzMembers: ${label} must be Float32Array(${length})`);
-		}
-	};
-	requireLength(rotMats, frames * 27 * 9, "rotMats");
-	requireLength(rootPos, frames * 3, "rootPos");
-	requireLength(posedJoints, frames * 27 * 3, "posedJoints");
-	const members = {
-		local_rot_mats: { data: rotMats, shape: [frames, 27, 3, 3] },
-		root_positions: { data: rootPos, shape: [frames, 3] },
-		posed_joints: { data: posedJoints, shape: [frames, 27, 3] },
-		fps: { data: Int32Array.of(fps), shape: [] },
-	};
-	if (personScale !== undefined && personScale !== null) {
-		if (!Number.isFinite(personScale) || personScale <= 0) {
-			throw new Error(
-				`motionArraysToNpzMembers: personScale must be a positive finite number, got ${personScale}`
-			);
-		}
-		// 1 is the canonical body — the reader's own default — so recording it
-		// would add a member that says nothing. Keeping it out means a
-		// generated take that passes through a decode/edit/rewrite round trip
-		// (bridge.mjs's motion edit reads person_scale back as 1) still writes
-		// the same four members it always did.
-		// float32 scalar, same 0-d shape convention as fps.
-		if (personScale !== 1) members.person_scale = { data: Float32Array.of(personScale), shape: [] };
-	}
-	// `boneScale` (mocap): the performer's bone lengths as a factor per cskel27
-	// joint over the canonical body. posedJoints were grown with these, so the
-	// take is only geometrically consistent when playback stretches the bones
-	// it drives by rotation alone by the same factors — it has to ride in the
-	// archive. All-ones is the canonical body, the reader's default, and is
-	// left out for the same reason person_scale 1 is.
-	if (boneScale !== undefined && boneScale !== null) {
-		if (!(boneScale instanceof Float32Array) || boneScale.length !== 27 || !boneScale.every((v) => Number.isFinite(v) && v > 0)) {
-			throw new Error("motionArraysToNpzMembers: boneScale must be a Float32Array(27) of positive finite factors");
-		}
-		if (boneScale.some((v) => v !== 1)) members.bone_scale = { data: boneScale, shape: [27] };
-	}
-	return members;
-}
-
-/** Concatenate contiguous, already world-aligned generated blocks. */
-export function stitchMotionSegments(segments) {
-	if (!Array.isArray(segments) || segments.length === 0) {
-		throw new Error("stitchMotionSegments: at least one segment is required");
-	}
-	const fps = segments[0].fps;
-	if (!segments.every((segment) => segment.fps === fps)) {
-		throw new Error("stitchMotionSegments: every segment must use the same fps");
-	}
-	// One performer per stitch: the segments are consecutive blocks of the same
-	// body, so two different statures here means two different people were
-	// concatenated into one trajectory and the travel of at least one is wrong.
-	const scales = new Set(segments.map((segment) => segment.personScale).filter((value) => Number.isFinite(value)));
-	if (scales.size > 1) {
-		throw new Error("stitchMotionSegments: segments disagree on personScale");
-	}
-	const frames = segments.reduce((sum, segment) => sum + segment.frames, 0);
-	const concat = (key, stride) => {
-		const out = new Float32Array(frames * stride);
-		let offset = 0;
-		for (const segment of segments) {
-			const values = segment[key];
-			if (!(values instanceof Float32Array) || values.length !== segment.frames * stride) {
-				throw new Error(`stitchMotionSegments: invalid ${key} length for ${segment.frames}-frame segment`);
-			}
-			out.set(values, offset);
-			offset += values.length;
-		}
-		return out;
-	};
-	const stitched = {
-		frames,
-		fps,
-		rotMats: concat("rotMats", 27 * 9),
-		rootPos: concat("rootPos", 3),
-		posedJoints: concat("posedJoints", 27 * 3),
-	};
-	if (scales.size === 1) stitched.personScale = [...scales][0];
-	if (segments[0].boneScale) stitched.boneScale = segments[0].boneScale;
-	return stitched;
-}
-
-/** Return a copy of a motion with one equal-fps replacement written at startFrame. */
-export function replaceMotionSegment(base, replacement, startFrame) {
-	if (!Number.isInteger(startFrame) || startFrame < 0) {
-		throw new Error("replaceMotionSegment: startFrame must be a non-negative integer");
-	}
-	if (!base || !replacement || base.fps !== replacement.fps) {
-		throw new Error("replaceMotionSegment: motions must use the same fps");
-	}
-	if (startFrame + replacement.frames > base.frames) {
-		throw new Error("replaceMotionSegment: replacement extends past the base motion");
-	}
-	const copyAndReplace = (key, stride) => {
-		const source = base[key];
-		const patch = replacement[key];
-		if (
-			!(source instanceof Float32Array) ||
-			source.length !== base.frames * stride ||
-			!(patch instanceof Float32Array) ||
-			patch.length !== replacement.frames * stride
-		) {
-			throw new Error(`replaceMotionSegment: invalid ${key} array`);
-		}
-		const out = new Float32Array(source);
-		out.set(patch, startFrame * stride);
-		return out;
-	};
-	const edited = {
-		frames: base.frames,
-		fps: base.fps,
-		rotMats: copyAndReplace("rotMats", 27 * 9),
-		rootPos: copyAndReplace("rootPos", 3),
-		posedJoints: copyAndReplace("posedJoints", 27 * 3),
-	};
-	// The base clip is still the same body after an edited span is written into
-	// it, and its root travel is still expressed against that stature.
-	if (Number.isFinite(base.personScale)) edited.personScale = base.personScale;
-	if (base.boneScale) edited.boneScale = base.boneScale;
-	return edited;
-}

package/tools/ardy/pose-to-npz.mjs

@@ -1,106 +0,0 @@
-#!/usr/bin/env node
-/**
- * CozyClayPoseV1 -> a one-frame ARDY pose npz.
- *
- * `cclay_constrained_generate.load_poses` reads exactly two arrays out of a pose
- * source, `local_rot_mats` and `posed_joints`, and its docstring is blunt about
- * why the file has to exist at all: "A FullBodyConstraintSet needs all 27
- * joints, so the pose has to come from an existing npz -- 27 rotations are not
- * authorable by hand." CozyClay authors 19 of them. This fills the remaining 8
- * with identity (ARDY rest) and says so out loud rather than pretending the
- * whole skeleton was blocked.
- *
- * Proportions and root come from the base clip's own reference frame, never from
- * a hardcoded rest skeleton -- same reasoning as
- * `motion_constraints.derive_bone_offsets`, which derives offsets from the clip
- * so it stays correct if ARDY ever reproportions cskel27.
- */
-import { readFileSync, mkdirSync } from "node:fs";
-import { dirname, basename, resolve } from "node:path";
-import { poseToCskel27 } from "../../src/ardy/to-cskel27.js";
-import { poseArraysToNpzMembers, writeNpz } from "./npz.mjs";
-
-const HERE = new URL(".", import.meta.url).pathname;
-const REPO = resolve(HERE, "../..");
-
-function usage(message) {
-	if (message) process.stderr.write(`pose-to-npz: ${message}\n\n`);
-	process.stderr.write(
-		`usage: pose-to-npz.mjs <pose.json> [--reference <frame.json>] [--rest <rest.json>] [--out <npz>]\n\n` +
-		`  <pose.json>   a CozyClayPoseV1 export from the app\n` +
-			`  --reference   optional ardy.frame.v1 skeleton-proportion reference; placement always\n` +
-			`                comes from pose.root or the floor-aligned canonical neutral skeleton.\n` +
-			`  --rest        cskel27 rest rotations (default public/ardy/cskel27-rest.json)\n` +
-			`  --out         destination npz (default tools/ardy/out/<pose-basename>.npz)\n`,
-	);
-	process.exit(2);
-}
-
-const argv = process.argv.slice(2);
-if (argv.length === 0 || argv.includes("-h") || argv.includes("--help")) usage();
-
-let posePath = "";
-let referencePath = "";
-let restPath = resolve(REPO, "public/ardy/cskel27-rest.json");
-let outPath = "";
-for (let i = 0; i < argv.length; i += 1) {
-	const a = argv[i];
-	const next = () => {
-		if (i + 1 >= argv.length) usage(`${a} needs a value`);
-		i += 1;
-		return argv[i];
-	};
-	if (a === "--reference") referencePath = next();
-	else if (a === "--rest") restPath = next();
-	else if (a === "--out") outPath = next();
-	else if (a.startsWith("-")) usage(`unknown option ${a}`);
-	else if (!posePath) posePath = a;
-	else usage(`unexpected argument ${a}`);
-}
-if (!posePath) usage("missing <pose.json>");
-
-const readJson = (p, label) => {
-	try {
-		return JSON.parse(readFileSync(p, "utf8"));
-	} catch (error) {
-		process.stderr.write(`pose-to-npz: cannot read ${label} at ${p}: ${error.message}\n`);
-		process.exit(1);
-	}
-};
-
-const pose = readJson(posePath, "pose");
-const rest = readJson(restPath, "rest table");
-const reference = referencePath ? readJson(referencePath, "reference frame") : undefined;
-
-if (reference && reference.schema !== "ardy.frame.v1") {
-	process.stderr.write(`pose-to-npz: --reference must be schema ardy.frame.v1, got ${reference.schema}\n`);
-	process.exit(1);
-}
-
-if (!outPath) {
-	outPath = resolve(REPO, "tools/ardy/out", `${basename(posePath).replace(/\.json$/i, "")}.npz`);
-}
-
-let result;
-try {
-	result = poseToCskel27({ pose, rest, reference });
-} catch (error) {
-	process.stderr.write(`pose-to-npz: ${error.message}\n`);
-	process.exit(1);
-}
-
-mkdirSync(dirname(outPath), { recursive: true });
-writeNpz(outPath, poseArraysToNpzMembers(result));
-
-const root = result.posed_joints[0];
-process.stdout.write(
-	`pose-to-npz: wrote ${outPath}\n` +
-		`pose-to-npz: rig ${pose.source?.rig ?? "unknown"}, slate ${JSON.stringify(pose.slate ?? "")}\n` +
-		(reference
-			? `pose-to-npz: skeleton proportions from ${reference.source_npz} frame ${reference.frame}\n`
-			: `pose-to-npz: skeleton proportions from floor-aligned canonical neutral\n`) +
-		`pose-to-npz: root [${root.map((v) => v.toFixed(4)).join(", ")}]\n` +
-		`pose-to-npz: ${result.filled_identity.length} joint(s) left at ARDY rest: ` +
-		`${result.filled_identity.map((f) => f.joint).join(", ")}\n` +
-		`pose-to-npz: --pose-from pins full-body shape, root XYZ, and heading at its destination frame\n`,
-);

package/tools/ardy/prompt-limits.mjs

@@ -1,5 +0,0 @@
-// Shared ARDY prompt and duration limits. Keep this module dependency-free so
-// browser tooling, the bridge, and the Workers API can import the same values.
-export const PROMPT_MAX_CHARS = 500;
-export const DURATION_MIN = 0.15;
-export const DURATION_MAX = 1200;

package/tools/ardy/run-edit-on-box.sh

@@ -1,73 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-
-HERE="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-HOST="${CCLAY_ARDY_HOST:-}"
-REMOTE="${CCLAY_ARDY_REPO:-\$HOME/ardy}"
-VENV_PY="${CCLAY_ARDY_VENV:-~/ardy/.venv-cuda/bin/python}"
-SCRIPT="$HERE/cclay_motion_edit.py"
-SOURCE=""
-MANIFEST=""
-PROMPT=""
-OUTPUT=""
-SEED=""
-CONTEXT_BEFORE=40
-CONTEXT_AFTER=20
-POSES=()
-
-SSH_OPTS=(-o BatchMode=yes -o ConnectTimeout=10 -o ServerAliveInterval=30 -o ServerAliveCountMax=240)
-SCP_OPTS=(-o BatchMode=yes -o ConnectTimeout=10)
-
-usage() {
-  echo "usage: run-edit-on-box.sh --source motion.npz --manifest edits.json --prompt TEXT --output out.npz [--seed N] [--context-before N] [--context-after N]" >&2
-  exit 2
-}
-
-while [[ $# -gt 0 ]]; do
-  case "$1" in
-    --source) SOURCE="${2:-}"; shift 2 ;;
-    --manifest) MANIFEST="${2:-}"; shift 2 ;;
-    --prompt) PROMPT="${2:-}"; shift 2 ;;
-    --output) OUTPUT="${2:-}"; shift 2 ;;
-    --seed) SEED="${2:-}"; shift 2 ;;
-    --context-before) CONTEXT_BEFORE="${2:-}"; shift 2 ;;
-    --context-after) CONTEXT_AFTER="${2:-}"; shift 2 ;;
-    --pose) POSES+=("${2:-}"); shift 2 ;;
-    *) usage ;;
-  esac
-done
-
-[[ -n "$HOST" ]] || {
-  echo "run-edit-on-box: CCLAY_ARDY_HOST is required (for example: user@ardy-host)" >&2
-  exit 2
-}
-
-[[ -f "$SOURCE" && -f "$MANIFEST" && -f "$SCRIPT" && -n "$PROMPT" && -n "$OUTPUT" ]] || usage
-[[ ${#POSES[@]} -gt 0 ]] || usage
-[[ "$CONTEXT_BEFORE" =~ ^[0-9]+$ && "$CONTEXT_AFTER" =~ ^[0-9]+$ ]] || usage
-[[ -z "$SEED" || "$SEED" =~ ^[0-9]+$ ]] || usage
-
-mkdir -p "$(dirname "$OUTPUT")"
-REMOTE_TMP="$(ssh "${SSH_OPTS[@]}" "$HOST" "mktemp -d" </dev/null)"
-[[ "$REMOTE_TMP" == /* ]] || { echo "run-edit-on-box: unsafe remote temp path" >&2; exit 1; }
-trap 'ssh "${SSH_OPTS[@]}" "$HOST" "rm -rf ${REMOTE_TMP}" </dev/null >/dev/null 2>&1 || true' EXIT
-
-scp -q "${SCP_OPTS[@]}" "$SOURCE" "$HOST:${REMOTE_TMP}/source.npz"
-scp -q "${SCP_OPTS[@]}" "$MANIFEST" "$HOST:${REMOTE_TMP}/manifest.json"
-scp -q "${SCP_OPTS[@]}" "$SCRIPT" "$HOST:${REMOTE_TMP}/edit.py"
-for ((i = 0; i < ${#POSES[@]}; i += 1)); do
-  [[ -f "${POSES[$i]}" ]] || { echo "run-edit-on-box: missing pose ${POSES[$i]}" >&2; exit 1; }
-  scp -q "${SCP_OPTS[@]}" "${POSES[$i]}" "$HOST:${REMOTE_TMP}/pose-${i}.npz"
-done
-
-CMD="cd ${REMOTE} && ${VENV_PY} ${REMOTE_TMP}/edit.py"
-CMD+=" --source ${REMOTE_TMP}/source.npz --manifest ${REMOTE_TMP}/manifest.json"
-CMD+=" --prompt $(printf '%q' "$PROMPT") --output ${REMOTE_TMP}/out.npz"
-CMD+=" --context-before ${CONTEXT_BEFORE} --context-after ${CONTEXT_AFTER}"
-[[ -z "$SEED" ]] || CMD+=" --seed ${SEED}"
-
-echo "run-edit-on-box: editing with ARDY history and sparse constraints ..."
-ssh "${SSH_OPTS[@]}" "$HOST" "$CMD" </dev/null
-scp -q "${SCP_OPTS[@]}" "$HOST:${REMOTE_TMP}/out.npz" "$OUTPUT"
-[[ -s "$OUTPUT" ]] || { echo "run-edit-on-box: empty output" >&2; exit 1; }
-echo "run-edit-on-box: done - ${OUTPUT} ($(wc -c < "$OUTPUT" | tr -d ' ') bytes)"