File size: 7,846 Bytes
32502a8 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 | """Record a physically executed single-Microduck dance reference at 50 Hz."""
from __future__ import annotations
import argparse
import json
from pathlib import Path
import sys
import mujoco
import numpy as np
DANCE_DIR = Path(__file__).resolve().parents[1]
sys.path.insert(0, str(DANCE_DIR))
from choreography import SHOW_SECONDS # noqa: E402
from generate_scene import build_scene # noqa: E402
from physics_show import ( # noqa: E402
CONTROL_HZ,
DECIMATION,
DEFAULT_KICK_LEFT_POLICY,
DEFAULT_KICK_RIGHT_POLICY,
DEFAULT_POLICY,
PHYSICS_HZ,
ContactDiagnostics,
MultiDuckPolicy,
)
def run(args: argparse.Namespace) -> dict:
output = args.output.resolve()
output.parent.mkdir(parents=True, exist_ok=True)
scene = output.parent / "single_duck_reference_scene.xml"
build_scene(scene, grid=1, spacing=1.5)
model = mujoco.MjModel.from_xml_path(str(scene))
model.opt.timestep = 1.0 / PHYSICS_HZ
data = mujoco.MjData(model)
controller = MultiDuckPolicy(
model,
data,
args.policy.resolve(),
grid=1,
kick_left_path=args.kick_left_policy.resolve(),
kick_right_path=args.kick_right_policy.resolve(),
)
controller.reset()
for _ in range(int(round(args.warmup * CONTROL_HZ))):
controller.infer_and_apply(None)
for _ in range(DECIMATION):
mujoco.mj_step(model, data)
initial_xy = data.qpos[controller.free_qpos[0]:controller.free_qpos[0] + 2].copy()
diagnostics = ContactDiagnostics(controller, initial_xy[None, :])
steps = int(round(args.duration * CONTROL_HZ))
joint_pos = np.empty((steps, 14), dtype=np.float32)
joint_vel = np.empty((steps, 14), dtype=np.float32)
action = np.empty((steps, 14), dtype=np.float32)
command = np.empty((steps, 13), dtype=np.float32)
root_pos = np.empty((steps, 3), dtype=np.float32)
root_quat = np.empty((steps, 4), dtype=np.float32)
root_lin_vel = np.empty((steps, 3), dtype=np.float32)
root_ang_vel = np.empty((steps, 3), dtype=np.float32)
foot_pos = np.empty((steps, 2, 3), dtype=np.float32)
foot_contact = np.zeros((steps, 2), dtype=bool)
policy_code = np.empty(steps, dtype=np.int8)
teacher_observation = np.empty((steps, 61), dtype=np.float32)
phase_observation = np.empty((steps, 61), dtype=np.float32)
floor_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_GEOM, "dance_floor")
foot_ids = controller.foot_geom_ids[0]
foot_sites = np.array([
mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_SITE, "duck_00_left_foot"),
mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_SITE, "duck_00_right_foot"),
])
free_qpos = int(controller.free_qpos[0])
free_qvel = int(controller.free_qvel[0])
for index in range(steps):
show_time = index / CONTROL_HZ
policy_name = __import__("physics_choreography").policy_for_time(show_time)
teacher_command = controller.command_vector(show_time, 0, policy_name)
teacher_observation[index] = controller.observation(0, teacher_command)
phase = index / steps
phase_command = np.zeros(13, dtype=np.float32)
phase_command[0] = np.cos(2.0 * np.pi * phase)
phase_command[1] = np.sin(2.0 * np.pi * phase)
phase_observation[index] = controller.observation(0, phase_command)
controller.infer_and_apply(show_time)
for _ in range(DECIMATION):
mujoco.mj_step(model, data)
diagnostics.update()
joint_pos[index] = data.qpos[controller.joint_qpos[0]]
joint_vel[index] = data.qvel[controller.joint_qvel[0]]
action[index] = controller.last_actions[0]
command[index] = controller.command_vector(show_time, 0, policy_name)
root_pos[index] = data.qpos[free_qpos:free_qpos + 3]
root_quat[index] = data.qpos[free_qpos + 3:free_qpos + 7]
root_lin_vel[index] = data.qvel[free_qvel:free_qvel + 3]
root_ang_vel[index] = data.qvel[free_qvel + 3:free_qvel + 6]
foot_pos[index] = data.site_xpos[foot_sites]
policy_code[index] = {"walk": 0, "kick_left": 1, "kick_right": 2}[policy_name]
for contact_index in range(data.ncon):
contact = data.contact[contact_index]
pair = {int(contact.geom1), int(contact.geom2)}
for foot in range(2):
if floor_id in pair and int(foot_ids[foot]) in pair:
foot_contact[index, foot] = True
report = diagnostics.report(args.duration)
np.savez_compressed(
output,
time_seconds=np.arange(steps, dtype=np.float32) / CONTROL_HZ,
phase=np.arange(steps, dtype=np.float32) / steps,
joint_pos=joint_pos,
joint_vel=joint_vel,
action=action,
command_13d=command,
root_pos_w=root_pos,
root_quat_w=root_quat,
root_lin_vel_w=root_lin_vel,
root_ang_vel_w=root_ang_vel,
foot_pos_w=foot_pos,
foot_contact=foot_contact,
policy_code=policy_code,
teacher_observation_61d=teacher_observation,
phase_observation_61d=phase_observation,
policy_names=np.array(("walk", "kick_left", "kick_right")),
default_joint_pos=controller.default_pose,
action_scale=np.asarray(controller.action_scale),
joint_names=np.array((
"left_hip_yaw", "left_hip_roll", "left_hip_pitch", "left_knee", "left_ankle",
"neck_pitch", "head_pitch", "head_yaw", "head_roll",
"right_hip_yaw", "right_hip_roll", "right_hip_pitch", "right_knee", "right_ankle",
)),
control_hz=np.asarray(CONTROL_HZ),
physics_hz=np.asarray(PHYSICS_HZ),
)
with output.with_suffix(".jsonl").open("w", encoding="utf-8") as stream:
for index in range(steps):
stream.write(json.dumps({
"control_index": index,
"time_seconds": round(index / CONTROL_HZ, 6),
"phase": round(index / steps, 8),
"joint_pos_rad": [round(float(value), 7) for value in joint_pos[index]],
"joint_vel_rad_s": [round(float(value), 7) for value in joint_vel[index]],
"root_pos_w_m": [round(float(value), 7) for value in root_pos[index]],
"root_quat_wxyz": [round(float(value), 7) for value in root_quat[index]],
"foot_contact": [bool(value) for value in foot_contact[index]],
"policy": ("walk", "kick_left", "kick_right")[policy_code[index]],
}, separators=(",", ":")) + "\n")
summary = {
"schema_version": "1.0",
"duration_seconds": args.duration,
"control_hz": CONTROL_HZ,
"physics_hz": PHYSICS_HZ,
"frames": steps,
"root_pose_writes_after_reset": 0,
"diagnostics": report,
"files": {"npz": output.name, "jsonl": output.with_suffix(".jsonl").name},
}
output.with_name("physics_reference_summary.json").write_text(
json.dumps(summary, indent=2),
encoding="utf-8",
)
print(json.dumps(summary, indent=2))
if report["fallen_ducks"] or report["minimum_foot_liftoffs"] < 2:
raise SystemExit("Reference physics validation failed")
return summary
def main() -> None:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--output", type=Path, required=True)
parser.add_argument("--duration", type=float, default=SHOW_SECONDS)
parser.add_argument("--warmup", type=float, default=1.5)
parser.add_argument("--policy", type=Path, default=DEFAULT_POLICY)
parser.add_argument("--kick-left-policy", type=Path, default=DEFAULT_KICK_LEFT_POLICY)
parser.add_argument("--kick-right-policy", type=Path, default=DEFAULT_KICK_RIGHT_POLICY)
run(parser.parse_args())
if __name__ == "__main__":
main()
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