dsh-notch 0.3.1

package/tools/desktop-shell/renderer-recovery.test.mjs

@@ -0,0 +1,24 @@
+import {test} from 'node:test'
+import assert from 'node:assert/strict'
+import {EventEmitter} from 'node:events'
+import {installRendererRecovery} from './renderer-recovery.mjs'
+
+function fixture(options={}) {
+ const app=new EventEmitter(),window=new EventEmitter(),contents=new EventEmitter(),rows=[],failures=[];
+ let reloaded=0,destroyed=false,pid=17,loading=false,clock=0,seq=0;
+ const jobs=new Map();
+ window.webContents=contents;window.isDestroyed=()=>destroyed;
+ contents.isDestroyed=()=>destroyed;contents.getOSProcessId=()=>pid;
+ contents.isLoading=()=>loading;contents.reload=()=>{reloaded++;loading=true;contents.emit('did-start-loading')};
+ const scheduler={setTimeout:(fn,ms)=>{const id=++seq;jobs.set(id,{fn,at:clock+ms});return id},clearTimeout:id=>jobs.delete(id)};
+ const dispose=installRendererRecovery({app,window,write:(event,data)=>rows.push({event,...data}),onUnavailable:reason=>failures.push(reason),repaint:()=>rows.push({event:'repaint'}),now:()=>clock,scheduler,...options});
+ const tick=ms=>{const end=clock+ms;while(true){const ready=[...jobs].filter(([,j])=>j.at<=end).sort((a,b)=>a[1].at-b[1].at)[0];if(!ready)break;clock=ready[1].at;jobs.delete(ready[0]);ready[1].fn()}clock=end};
+ return {app,window,contents,rows,failures,dispose,tick,jobs,get reloads(){return reloaded},gone(reason='clean-exit'){pid=0;loading=false;contents.emit('render-process-gone',{}, {reason,exitCode:0,url:'private-token'})},loaded(){pid=18;loading=false;contents.emit('did-finish-load')},destroy(){destroyed=true;window.emit('closed')}}
+}
+test('unexpected clean exit reloads original contents and completes recovery',()=>{const f=fixture();f.gone();f.tick(300);assert.equal(f.reloads,1);f.loaded();assert.equal(f.rows.at(-1).event,'renderer-recovery-complete');assert.ok(f.rows.some(r=>r.event==='repaint'));assert.ok(!JSON.stringify(f.rows).includes('private-token'));f.dispose()})
+test('duplicate exit before scheduled reload does not consume another attempt',()=>{const f=fixture();f.gone();f.gone();f.tick(300);assert.equal(f.reloads,1);f.loaded();f.dispose()})
+test('normal quit and closed windows never resurrect a renderer',()=>{for(const stop of [f=>f.app.emit('before-quit'),f=>f.destroy()]){const f=fixture();f.gone();stop(f);f.tick(20000);assert.equal(f.reloads,0);f.dispose()}})
+test('crash loop is bounded, including repeated clean exits',()=>{const f=fixture();for(let i=0;i<3;i++){f.gone();f.tick(300);f.loaded()}assert.equal(f.reloads,2);assert.equal(f.failures.length,1);f.tick(60000);f.gone();f.tick(300);assert.equal(f.reloads,3);f.dispose()})
+test('manual reload wins over queued automatic recovery',()=>{const f=fixture();f.gone();f.contents.reload();f.loaded();f.tick(20000);assert.equal(f.reloads,1);assert.equal(f.failures.length,0);f.dispose()})
+test('load timeout is reported once; late load may still recover',()=>{const f=fixture();f.gone();f.tick(20000);assert.equal(f.reloads,1);assert.deepEqual(f.failures,['load-timeout']);f.loaded();assert.equal(f.rows.at(-1).event,'renderer-recovery-complete');f.dispose()})
+test('disposal cancels work and removes all owned listeners',()=>{const f=fixture();f.gone();f.dispose();f.tick(20000);assert.equal(f.reloads,0);assert.equal(f.jobs.size,0);assert.equal(f.contents.listenerCount('render-process-gone'),0);assert.equal(f.app.listenerCount('before-quit'),0)})

package/tools/diagnostics/completion-watch.py

@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+"""Read-only process/status correlation. Stops with the selected DSH app."""
+import datetime
+import json
+import os
+from pathlib import Path
+import subprocess
+import sys
+import time
+import urllib.parse
+import urllib.request
+
+
+def counts(snapshot):
+    rows = snapshot.get('rows', [])
+    result = {'doing': 0, 'done': 0, 'error': 0, 'decision': 0}
+    for row in rows:
+        if row.get('ask') or row.get('approval'):
+            result['decision'] += 1
+        elif row.get('busy'):
+            result['doing'] += 1
+        elif (row.get('lastTurn') or {}).get('failed'):
+            result['error'] += 1
+        elif row.get('unread'):
+            result['done'] += 1
+    result['sidebarFresh'] = isinstance(snapshot.get('sidebarSyncedAt'), (int, float))
+    return result
+
+
+def status(runtime):
+    file = json.loads(runtime.read_text())
+    origin = urllib.parse.urlsplit(file['origin'])
+    if origin.scheme != 'http' or origin.hostname not in ('127.0.0.1', 'localhost', '::1'):
+        raise ValueError('not loopback')
+    request = urllib.request.Request(file['origin'] + '/dsh-notch/status', headers={'Authorization': 'Bearer ' + file['token']})
+    # Never send local credentials through a machine proxy or follow redirects.
+    class NoRedirect(urllib.request.HTTPRedirectHandler):
+        def redirect_request(self, *args, **kwargs):
+            return None
+    opener = urllib.request.build_opener(urllib.request.ProxyHandler({}), NoRedirect())
+    with opener.open(request, timeout=1) as response:
+        snapshot = json.load(response)
+    if snapshot.get('ok') is not True:
+        raise ValueError('invalid snapshot')
+    return counts(snapshot)
+
+
+def processes(app_pid, base):
+    result = []
+    output = subprocess.check_output(['ps', '-axo', 'pid=,ppid=,rss=,comm='], text=True, timeout=2)
+    for line in output.splitlines():
+        fields = line.strip().split(None, 3)
+        if len(fields) != 4:
+            continue
+        pid, parent, rss, command = fields
+        if command.startswith(base) or (int(parent) == app_pid and command.endswith('/node')):
+            role = ('renderer' if 'DSH Helper (Renderer)' in command else
+                    'notch' if command.endswith('/dsh-notch') else
+                    'app' if int(pid) == app_pid else
+                    'host' if command.endswith('/node') else 'helper')
+            result.append({'pid': int(pid), 'role': role, 'rssKB': int(rss)})
+    return result
+
+
+def main():
+    app_pid, app_path, output = int(sys.argv[1]), Path(sys.argv[2]), Path(sys.argv[3])
+    runtime = Path.home() / '.dsh/dsh-notch/runtime.json'
+    output.parent.mkdir(parents=True, exist_ok=True)
+    previous = None
+    heartbeat = 0
+    while True:
+        began = time.monotonic()
+        try:
+            rows = processes(app_pid, str(app_path / 'Contents') + '/')
+            alive = any(row['pid'] == app_pid and row['role'] == 'app' for row in rows)
+            try:
+                board = status(runtime) if alive else {'unavailable': 'app-ended'}
+            except Exception as error:
+                board = {'unavailable': type(error).__name__}
+            signature = ([(r['pid'], r['role']) for r in rows], board)
+            if signature != previous or began - heartbeat >= 30:
+                event = {'at': datetime.datetime.now(datetime.timezone.utc).isoformat(),
+                         'event': 'state-change' if signature != previous else 'heartbeat',
+                         'appPid': app_pid, 'processes': rows, 'notch': board,
+                         'sampleDurationMs': round((time.monotonic()-began)*1000),
+                         'exitReason': 'unavailable-to-external-observer'}
+                if output.exists() and output.stat().st_size >= 1024 * 1024:
+                    os.replace(output, str(output) + '.1')
+                with output.open('a') as file:
+                    file.write(json.dumps(event) + '\n')
+                os.chmod(output, 0o600)
+                previous, heartbeat = signature, began
+            if not alive:
+                return
+        except (OSError, subprocess.SubprocessError):
+            pass
+        time.sleep(max(.1, 1 - (time.monotonic() - began)))
+
+
+if __name__ == '__main__':
+    main()

package/tools/diagnostics/completion-watch.test.py

@@ -0,0 +1,17 @@
+import importlib.util
+from pathlib import Path
+import json
+import unittest
+spec=importlib.util.spec_from_file_location('watch',Path(__file__).with_name('completion-watch.py'))
+watch=importlib.util.module_from_spec(spec);spec.loader.exec_module(watch)
+class Tests(unittest.TestCase):
+    def test_counts_match_native_precedence_and_redact(self):
+        snapshot={'rows':[{'title':'secret','id':'secret','unread':True} for _ in range(5)]+[
+            {'busy':True,'unread':True}, {'lastTurn':{'failed':True},'unread':True},
+            {'ask':{'id':'secret'},'busy':True}], 'sidebarSyncedAt':123,'token':'secret'}
+        result=watch.counts(snapshot)
+        self.assertEqual(result,{'doing':1,'done':5,'error':1,'decision':1,'sidebarFresh':True})
+        self.assertNotIn('secret',json.dumps(result))
+    def test_expired_mirror_recorded_separately(self):
+        self.assertEqual(watch.counts({'rows':[]})['sidebarFresh'],False)
+if __name__=='__main__':unittest.main()

package/tools/diagnostics/renderer-diagnostics.mjs

@@ -0,0 +1,56 @@
+import {appendFileSync, mkdirSync, renameSync, statSync} from 'node:fs'
+import {dirname} from 'node:path'
+import {freemem,totalmem} from 'node:os'
+
+// Deliberately excludes URLs, page text, tokens and arbitrary error messages.
+export function createDiagnosticLog(path, {maxBytes=1024*1024}={}) {
+  return (event, data={}) => {
+    try {
+      mkdirSync(dirname(path),{recursive:true,mode:0o700})
+      try {if(statSync(path).size>=maxBytes)renameSync(path,path+'.1')} catch {}
+      appendFileSync(path,JSON.stringify({at:new Date().toISOString(),event,...data})+'\n',{mode:0o600})
+    } catch {} // Diagnostic failure must never break the shell.
+  }
+}
+export function installRendererDiagnostics({app,contents,window,powerMonitor,write,related=()=>({}),intervalMs=30000}) {
+  const disposers=[]
+  const on=(emitter,event,fn)=>{emitter.on(event,fn);disposers.push(()=>emitter.removeListener(event,fn))}
+  let lastRendererPid=null, loadedAt=null
+  const read=(object,method)=>{try{return object?.[method]?.()}catch{return undefined}}
+  const snapshot=()=>{
+    let processes=[]
+    try {processes=app.getAppMetrics().map(p=>({pid:p.pid,type:p.type,cpu:p.cpu?.percentCPUUsage,rssKB:p.memory?.workingSetSize,peakKB:p.memory?.peakWorkingSetSize}))}catch{}
+    let rendererPid=null
+    try{rendererPid=contents.getOSProcessId()}catch{}
+    if(rendererPid>0)lastRendererPid=rendererPid
+    return {appPid:process.pid,contentsId:contents.id,rendererPid,lastRendererPid,
+      pageAgeMs:loadedAt===null?null:Date.now()-loadedAt,
+      systemIdleSeconds:read(powerMonitor,'getSystemIdleTime'),
+      windowVisible:read(window,'isVisible'),windowMinimized:read(window,'isMinimized'),
+      windowFocused:read(window,'isFocused'),appHidden:read(app,'isHidden'),
+      loading:read(contents,'isLoading'),backgroundThrottling:read(contents,'getBackgroundThrottling'),
+      processes,freeMemoryBytes:freemem(),totalMemoryBytes:totalmem(),...related()}
+  }
+  const record=(event,data={})=>{try{write(event,{...snapshot(),...data})}catch{}}
+  on(contents,'render-process-gone',(_event,details)=>record('renderer-exited',{reason:details.reason,exitCode:details.exitCode}))
+  on(contents,'unresponsive',()=>record('renderer-unresponsive'))
+  on(contents,'responsive',()=>record('renderer-responsive'))
+  on(contents,'did-start-loading',()=>record('page-loading'))
+  on(contents,'did-finish-load',()=>{loadedAt=Date.now();record('page-loaded')})
+  on(contents,'did-fail-load',(_event,errorCode,_description,_url,isMainFrame)=>record('page-load-failed',{errorCode,isMainFrame}))
+  on(app,'child-process-gone',(_event,details)=>record('child-exited',{type:details.type,reason:details.reason,exitCode:details.exitCode}))
+  // No URLs, navigation arguments, input text or session content are recorded.
+  for(const event of ['render-view-deleted','render-view-ready','dom-ready','will-prevent-unload'])
+    on(contents,event,()=>record(event))
+  if(window)for(const event of ['show','hide','minimize','restore','focus','blur','resize','close','closed'])
+    on(window,event,()=>record('window-'+event))
+  if(powerMonitor)for(const event of ['suspend','resume','lock-screen','unlock-screen'])
+    on(powerMonitor,event,()=>record('system-'+event))
+  on(app,'before-quit',()=>record('app-before-quit'))
+  const timer=setInterval(()=>record('heartbeat'),intervalMs);timer.unref?.()
+  let disposed=false
+  function dispose(){if(disposed)return;disposed=true;clearInterval(timer);for(const fn of disposers)fn()}
+  on(contents,'destroyed',()=>{record('contents-destroyed');dispose()})
+  record('diagnostics-attached')
+  return dispose
+}

package/tools/diagnostics/renderer-diagnostics.test.mjs

@@ -0,0 +1,32 @@
+import {test} from 'node:test';import assert from 'node:assert/strict';import {EventEmitter} from 'node:events';
+import {mkdtempSync,readFileSync,rmSync,existsSync} from 'node:fs';import {tmpdir} from 'node:os';
+import {createDiagnosticLog,installRendererDiagnostics} from './renderer-diagnostics.mjs';
+function fixture(){const app=new EventEmitter(),contents=new EventEmitter();app.getAppMetrics=()=>[{pid:7,type:'Tab',memory:{workingSetSize:123}}];contents.id=3;contents.getOSProcessId=()=>7;return {app,contents}}
+test('renderer termination retains reason and exit code, strips secrets',()=>{const f=fixture(),rows=[];const dispose=installRendererDiagnostics({...f,write:(event,data)=>rows.push({event,...data})});f.contents.emit('render-process-gone',{}, {reason:'oom',exitCode:137,url:'secret',message:'secret'});const row=rows.at(-1);assert.equal(row.event,'renderer-exited');assert.equal(row.reason,'oom');assert.equal(row.exitCode,137);assert.equal(row.rendererPid,7);assert.ok(!JSON.stringify(rows).includes('secret'));dispose();assert.equal(f.contents.listenerCount('render-process-gone'),0)})
+test('secondary process and loading events exclude URLs and messages',()=>{const f=fixture(),rows=[];const dispose=installRendererDiagnostics({...f,write:(e,d)=>rows.push({e,...d})});f.contents.emit('did-fail-load',{},-2,'secret','token-url',true);f.app.emit('child-process-gone',{}, {type:'GPU',reason:'crashed',exitCode:1,name:'secret'});assert.equal(rows.at(-1).type,'GPU');assert.ok(!JSON.stringify(rows).includes('secret'));assert.ok(!JSON.stringify(rows).includes('token-url'));dispose()})
+test('diagnostic errors cannot break shell, destruction cleans up',()=>{const f=fixture();installRendererDiagnostics({...f,write:()=>{throw Error('disk full')}});assert.doesNotThrow(()=>f.contents.emit('render-process-gone',{}, {reason:'crashed',exitCode:1}));f.contents.emit('destroyed');assert.equal(f.app.listenerCount('child-process-gone'),0)})
+test('rotates log at limit',()=>{const dir=mkdtempSync(tmpdir()+'/notch-diag-');try{const path=dir+'/events.jsonl',write=createDiagnosticLog(path,{maxBytes:1});write('one');write('two');assert.ok(existsSync(path+'.1'));assert.equal(JSON.parse(readFileSync(path,'utf8')).event,'two')}finally{rmSync(dir,{recursive:true,force:true})}})
+test('idle renderer loss preserves departed PID and window state without private event arguments',()=>{
+  const f=fixture(),window=new EventEmitter(),powerMonitor=new EventEmitter(),rows=[];
+  window.isVisible=()=>true;window.isMinimized=()=>false;window.isFocused=()=>false;
+  powerMonitor.getSystemIdleTime=()=>7200;
+  const dispose=installRendererDiagnostics({...f,window,powerMonitor,write:(event,data)=>rows.push({event,...data})});
+  f.contents.emit('did-finish-load');
+  f.contents.getOSProcessId=()=>0;
+  f.contents.emit('render-process-gone',{}, {reason:'clean-exit',exitCode:0});
+  const row=rows.at(-1);
+  assert.equal(row.rendererPid,0);assert.equal(row.lastRendererPid,7);
+  assert.equal(row.systemIdleSeconds,7200);assert.equal(row.windowFocused,false);
+  assert.ok(row.pageAgeMs>=0);
+  powerMonitor.emit('suspend','private');window.emit('hide','private');
+  assert.equal(rows.at(-2).event,'system-suspend');assert.equal(rows.at(-1).event,'window-hide');
+  assert.ok(!JSON.stringify(rows).includes('private'));
+  dispose();assert.equal(window.listenerCount('hide'),0);assert.equal(powerMonitor.listenerCount('suspend'),0);
+});
+test('unsupported or destroyed window and power APIs do not break remaining evidence',()=>{
+  const f=fixture(),window=new EventEmitter(),powerMonitor=new EventEmitter(),rows=[];
+  window.isVisible=()=>{throw Error('destroyed')};powerMonitor.getSystemIdleTime=()=>{throw Error('unsupported')};
+  const dispose=installRendererDiagnostics({...f,window,powerMonitor,write:(event,data)=>rows.push({event,...data})});
+  f.contents.emit('render-process-gone',{}, {reason:'killed',exitCode:15});
+  assert.equal(rows.at(-1).reason,'killed');assert.equal(rows.at(-1).systemIdleSeconds,undefined);dispose();
+});

package/tools/idle/LICENSE.open-bot-motion

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 Open Bot Motion Contributors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

package/tools/idle/export.mjs

@@ -0,0 +1,40 @@
+import {homedir} from 'node:os';
+import {fileURLToPath,pathToFileURL} from 'node:url';
+const {launchPinnedChromium}=await import(pathToFileURL(homedir()+'/.codex/playwright-runtime/runtime.mjs'));
+import {writeFile,mkdir} from 'node:fs/promises';
+const out=fileURLToPath(new URL('../../macos/Sources/Resources/Idle',import.meta.url));await mkdir(out,{recursive:true});
+const b=await launchPinnedChromium();const p=await b.newPage();await p.goto(new URL('./index.html',import.meta.url).href);
+await p.evaluate(()=>window.capture=true);
+for(const id of (process.argv.slice(2).length?process.argv.slice(2):['blink','scan','tilt','nod','stretch','hop','balance','sneeze','sleep','dance','satellite-out','satellite-in','cube-in'])){
+ const data=await p.evaluate(id=>{
+ const fps=30,duration=id==='dance'?20.783:id==='satellite-out'?.8:id==='satellite-in'?.82:id==='cube-in'?1.05:id==='sleep'?9:7,frames=[],proj=new OpenBotMotion.SvgProjector({viewportSize:280});
+ const path=document.createElementNS('http://www.w3.org/2000/svg','path');
+ for(let i=0;i<Math.ceil(duration*fps);i++){
+ const pose=poseFor(id,i/fps).bot,res=proj.projectRoundedCube(pose);path.setAttribute('d',res.bodyPath);const len=path.getTotalLength();
+ // SVG hull start vertices change with rotation. Sample a fixed angular grid
+ // around the bounds center, so index k always represents the same direction.
+ const outline=Array.from({length:768},(_,k)=>path.getPointAtLength(k*len/768));
+ const cx=(Math.min(...outline.map(p=>p.x))+Math.max(...outline.map(p=>p.x)))/2;
+ const cy=(Math.min(...outline.map(p=>p.y))+Math.max(...outline.map(p=>p.y)))/2;
+ const points=Array.from({length:192},(_,k)=>{
+   const angle=2*Math.PI*k/192,dx=Math.cos(angle),dy=Math.sin(angle);
+   let radius=Infinity;
+   for(let j=0;j<outline.length;j++) {
+     const a=outline[j],b=outline[(j+1)%outline.length];
+     const ex=b.x-a.x,ey=b.y-a.y,den=dx*ey-dy*ex;
+     if(Math.abs(den)<1e-10) continue;
+     const ax=a.x-cx,ay=a.y-cy;
+     const r=(ax*ey-ay*ex)/den,u=(ax*dy-ay*dx)/den;
+     if(r>=0 && u>=-1e-8 && u<=1+1e-8) radius=Math.min(radius,r);
+   }
+   if(!Number.isFinite(radius)) throw new Error('Missing contour intersection');
+   return [Math.round((cx+dx*radius)*1000)/1000,Math.round((cy+dy*radius)*1000)/1000];
+ });
+ const eyeSource=res.eyes.length===2?res.eyes:[{cx:-12,cy:0,w:1,h:1,rx:.5,angle:0,opacity:0},{cx:12,cy:0,w:1,h:1,rx:.5,angle:0,opacity:0}];
+ const eyes=eyeSource.map(e=>({x:e.cx,y:e.cy,w:e.w,h:e.h,r:e.rx,angle:e.angle,opacity:e.opacity??1}));
+ frames.push({points,eyes,body:pose.bodyColor,eye:pose.eyeColor});
+ }
+ return {fps,duration,frames};
+ },id);await writeFile(`${out}/${id}.json`,JSON.stringify(data));console.log(id,data.frames.length);
+}
+await b.close();

package/tools/idle/index.html

@@ -0,0 +1,4 @@
+<!doctype html><meta charset="utf-8"><title>Notch · 九个基础待机动作</title>
+<style>*{box-sizing:border-box}body{margin:0;background:#ededf0;color:#24242a;font-family:-apple-system,BlinkMacSystemFont,sans-serif}main{width:660px;padding:24px}h1{font-size:22px;margin:0 0 8px}p{font-size:13px;color:#7d7d84;margin:0 0 20px}#grid{display:grid;grid-template-columns:repeat(3,1fr);gap:12px}article{background:black;border-radius:20px;height:192px;display:flex;align-items:center;flex-direction:column}label{font-size:13px;color:#c6c6ce;margin-top:-8px}label span{color:#73737e;font-size:11px;margin-right:5px}.bot{width:166px;height:166px}footer{font-size:12px;color:#8b8b94;margin-top:16px}#dance{margin-top:30px;display:flex;gap:12px}#dance article{width:300px;height:220px}#dance label{margin-top:10px}</style>
+<main><section id="nine"><h1>九个基础动作，各有一点小性格</h1><p>同步展示便于比较；正式待机每次只触发一个动作。</p><div id="grid"></div><footer>保留双眼的统一形状，通过视线、身体和节奏表达情绪。</footer></section><section id="dance"><article><div data-motion="dance-old"></div><label>之前：0.65 倍速</label></article><article><div data-motion="dance"></div><label>原库：原速 · 原弹跳 · 原色彩</label></article></section></main>
+<script src="renderer.js"></script><script src="motions.js"></script>

package/tools/idle/motions.js

@@ -0,0 +1,83 @@
+const clamp=x=>Math.max(0,Math.min(1,x));
+const ease=x=>{x=clamp(x);return x*x*x*(x*(x*6-15)+10)};
+const pulse=(t,a,b,c,d)=>ease((t-a)/(b-a))*(1-ease((t-c)/(d-c)));
+const neutral=()=>({visible:true,scale:1,scaleX:1,scaleY:1,x:0,y:0,yaw:0,pitch:0,roll:0,eyeShiftX:0,eyeShiftY:0,eyeShiftYL:0,eyeShiftYR:0,eyeGap:.24,eyeScaleXL:1,eyeScaleXR:1,eyeScaleYL:1,eyeScaleYR:1,eyeSlantL:0,eyeSlantR:0,squint:0,bodyColor:0xe5e5e7,eyeColor:0x171719});
+window.poseFor=(id,time)=>{
+ if(id==='cube-in') {
+  const result=OpenBotMotion.getBot5State(2.22+Math.min(time,1.05));
+  result.bot.visible=true;result.bot.scale=Math.max(.015,result.bot.scale);
+  result.bot.bodyColor=0xe5e5e7;result.bot.eyeColor=0x171719;
+  // Rear-facing phases retain two invisible eye slots for native interpolation.
+  return result;
+ }
+ if(id==='satellite-out'||id==='satellite-in') {
+  const t=id==='satellite-out'?2+Math.min(time,.8):7.04+Math.min(time,.82);
+  const result=OpenBotMotion.getBot7State(t);
+  result.bot.bodyColor=0xe5e5e7;result.bot.eyeColor=0x171719;
+  if(id==='satellite-out') {
+   // #7 supplies anticipation; add a real backward revolution before collapse.
+   const turn=ease((time-.20)/.38);
+   result.bot.pitch=-Math.PI*2*turn;
+   result.bot.yaw=.26*Math.sin(Math.PI*turn);
+   result.bot.scale=1-.48*ease((time-.40)/.22);
+   result.bot.y+=.065*Math.sin(Math.PI*turn);
+   result.bot.showEyes=true;
+  }
+  // Keep topology stable even while #7 hides its eyes.
+  if(result.bot.showEyes===false){result.bot.showEyes=true;result.bot.eyeScaleY=.01;}
+  return result;
+ }
+ if(id==='dance')return OpenBotMotion.getBot3State(time);
+ if(id==='dance-old')return OpenBotMotion.getBot3State(time*.65);
+ const t=time%(id==='sleep'?9:7),p=neutral();
+ const close=v=>{p.eyeScaleYL=1-.94*v;p.eyeScaleYR=1-.94*v};
+ switch(id){
+ case 'blink': {
+  close(pulse(t,1.1,1.22,1.31,1.52)+pulse(t,1.8,1.94,2.01,2.2));
+  const wake=pulse(t,2.35,2.7,3.1,3.9);p.eyeScaleYL+=.16*wake;p.eyeScaleYR+=.16*wake;p.y=.018*wake;break;
+ }
+ case 'scan': {
+  const left=pulse(t,.8,1.25,1.8,2.3),right=pulse(t,2.5,3,3.6,4.2);
+  p.eyeShiftX=.18*(right-left);p.yaw=.22*(pulse(t,1,1.5,1.8,2.5)*-1+pulse(t,2.7,3.2,3.6,4.4));break;
+ }
+ case 'tilt': {
+  const first=pulse(t,1,1.7,2.4,3),second=pulse(t,3.2,3.8,4.15,4.9);
+  p.roll=-.27*first+.14*second;p.eyeShiftY=.035*first;p.pitch=-.08*first;close(.38*pulse(t,4.8,4.92,5.01,5.18));break;
+ }
+ case 'nod': {
+  const hello=pulse(t,.8,1.2,1.45,1.85)+.65*pulse(t,2.0,2.3,2.5,2.95);
+  p.pitch=.3*hello;p.y=-.045*hello;p.scaleY=1-.07*hello;p.scaleX=1+.025*hello;close(.35*hello);break;
+ }
+ case 'stretch': {
+  const prep=pulse(t,.8,1.2,1.4,1.8),up=pulse(t,1.5,2.3,3.3,4.35);
+  p.scaleY=1-.16*prep+.22*up;p.scaleX=1+.1*prep-.12*up;p.y=.025*up;close(.72*up);p.roll=.035*Math.sin(t*4)*up;break;
+ }
+ case 'hop': {
+  const prep=pulse(t,.8,1.15,1.3,1.55);p.scaleY-=.23*prep;p.scaleX+=.16*prep;
+  if(t>=1.5&&t<2.35){const u=(t-1.5)/.85;p.y=.32*Math.sin(Math.PI*u);p.scaleY+=.12*Math.sin(Math.PI*u);p.scaleX-=.07*Math.sin(Math.PI*u);}
+  const land=pulse(t,2.3,2.46,2.51,2.84);p.scaleY-=.20*land;p.scaleX+=.14*land;
+  if(t>=2.8&&t<3.25)p.y=.065*Math.sin(Math.PI*(t-2.8)/.45);
+  const settle=pulse(t,3.2,3.3,3.33,3.6);p.scaleY-=.05*settle;p.scaleX+=.03*settle;break;
+ }
+ case 'balance': {
+  const w=pulse(t,.7,1.3,3.8,4.7);p.roll=.24*Math.sin((t-.7)*3.5)*w;p.x=.05*Math.sin((t-.7)*3.5)*w;p.eyeShiftX=-.10*Math.sin((t-.7)*3.5)*w;break;
+ }
+ case 'sneeze': {
+  const inhale=pulse(t,.7,1.5,1.75,2.15);p.scaleY+=.13*inhale;p.scaleX-=.065*inhale;p.pitch=-.15*inhale;close(.6*inhale);
+  const sneeze=pulse(t,1.9,2.05,2.13,2.4);p.scaleY-=.30*sneeze;p.scaleX+=.18*sneeze;p.pitch+=.40*sneeze;p.y-=.035*sneeze;close(Math.max(.6*inhale,sneeze));
+  p.roll=.045*Math.sin((t-2.4)*12)*pulse(t,2.4,2.55,2.7,3.2);
+  const surprise=pulse(t,3.3,3.6,3.95,4.6);p.eyeScaleYL+=.15*surprise;p.eyeScaleYR+=.15*surprise;break;
+ }
+ case 'sleep': {
+  const drowse=pulse(t,.6,1.7,5.7,6.2);close(drowse);p.scaleY-=.10*drowse;p.scaleX+=.035*drowse;p.roll=.12*drowse;p.y=-.035*drowse;
+  const droop=pulse(t,2.4,3.1,5.4,6.0);p.pitch=.2*droop;p.y-=.025*droop;
+  const wake=pulse(t,5.95,6.2,6.32,6.9);p.y+=.05*wake;p.scaleY+=.06*wake;p.eyeScaleYL+=.22*wake;p.eyeScaleYR+=.22*wake;break;
+ }
+ }
+ return {botId:1,type:'bot1',label:id,bot:p,dots:[]};
+};
+const items=[['blink','01','眨眼回神'],['scan','02','左右巡视'],['tilt','03','歪头琢磨'],['nod','04','点头招呼'],['stretch','05','伸个懒腰'],['hop','06','果冻小跳'],['balance','07','摇摇平衡'],['sneeze','08','憋个喷嚏'],['sleep','09','打盹惊醒']];
+for(const [id,n,label] of items){const card=document.createElement('article');card.innerHTML=`<div class="bot" data-motion="${id}"></div><label><span>${n}</span> ${label}</label>`;document.querySelector('#grid').append(card)}
+const bots=[...document.querySelectorAll('[data-motion]')].map(el=>OpenBotMotion.mount(el,{bot:1,size:166,autoplay:false,loop:false}));
+window.frame=t=>{window.previewTime=t;bots.forEach(b=>b.seek(t));};
+let start=performance.now();function tick(t){if(!window.capture)frame((t-start)/1000);requestAnimationFrame(tick)}requestAnimationFrame(tick);