| """Ultra-simple 16-count Electric Slide retargeted for Microduck. |
| |
| The sequence follows the morphology-specific choreography supplied by the |
| user: three travelling steps and a tap/bob in each direction, three steps |
| back and a tap, then rock forward/back, step forward, and pivot left. The |
| official 50 Hz walking policy remains active throughout; these functions only |
| provide dance commands and small additive joint-space targets. The free root |
| is never written after reset. |
| """ |
|
|
| from __future__ import annotations |
|
|
| from dataclasses import dataclass |
| import math |
|
|
| import numpy as np |
|
|
| from choreography import BEAT_SECONDS |
|
|
|
|
| COUNTS_PER_WALL = 16 |
| WALLS = 4 |
| SHOW_BEATS = COUNTS_PER_WALL * WALLS |
| SHOW_SECONDS = SHOW_BEATS * BEAT_SECONDS |
|
|
|
|
| @dataclass(frozen=True) |
| class SimpleCount: |
| label: str |
| swing: str |
| placement: str |
| weight_transfer: bool = True |
|
|
|
|
| SIMPLE_COUNTS = ( |
| SimpleCount("right step right", "right", "side_right"), |
| SimpleCount("left follows right", "left", "follow_right"), |
| SimpleCount("right step right", "right", "side_right"), |
| SimpleCount("left tap + beak-snap head bob", "left", "touch_bob", False), |
| SimpleCount("left step left", "left", "side_left"), |
| SimpleCount("right follows left", "right", "follow_left"), |
| SimpleCount("left step left", "left", "side_left"), |
| SimpleCount("right tap + beak-snap head bob", "right", "touch_bob", False), |
| SimpleCount("right step back", "right", "back"), |
| SimpleCount("left step back", "left", "back"), |
| SimpleCount("right step back", "right", "back"), |
| SimpleCount("left tap", "left", "touch", False), |
| SimpleCount("rock forward", "none", "lean_forward", False), |
| SimpleCount("rock back", "none", "lean_back", False), |
| SimpleCount("left step forward", "left", "forward"), |
| SimpleCount("right scuff + pivot 90 degrees left", "right", "turn_scuff"), |
| ) |
|
|
|
|
| def _smoothstep(value: float) -> float: |
| value = max(0.0, min(1.0, float(value))) |
| return value * value * (3.0 - 2.0 * value) |
|
|
|
|
| def count_phase(time_seconds: float) -> tuple[int, int, float]: |
| beat = max(0.0, time_seconds) / BEAT_SECONDS |
| whole = int(math.floor(beat)) |
| return whole // COUNTS_PER_WALL, whole % COUNTS_PER_WALL, beat - whole |
|
|
|
|
| def policy_for_time(time_seconds: float) -> str: |
| """Keep a single continuous balance policy for the complete phrase.""" |
| return "walk" |
|
|
|
|
| def command_vector(time_seconds: float) -> np.ndarray: |
| """Return the official walking policy's 13D command block.""" |
| wall, count, phase = count_phase(time_seconds) |
| spec = SIMPLE_COUNTS[count] |
| command = np.zeros(13, dtype=np.float32) |
| groove = math.sin(2.0 * math.pi * phase) |
| pulse = math.sin(math.pi * phase) |
|
|
| command[3] = 0.030 * groove |
| command[4] = -0.025 * groove |
| command[5] = 0.070 * groove |
| command[6] = 0.055 * groove |
| command[9] = -0.004 * abs(groove) |
| command[10] = 0.020 * groove |
|
|
| if spec.placement == "turn_scuff": |
| command[2] = 4.9 |
| elif spec.placement == "forward": |
| command[0] = 0.32 |
| elif spec.placement == "lean_forward": |
| amount = _smoothstep(min(1.0, phase / 0.55)) * _smoothstep(min(1.0, (1.0 - phase) / 0.22)) |
| command[11] += 0.075 * amount |
| command[3] += 0.080 * amount |
| command[4] -= 0.060 * amount |
| command[9] -= 0.008 * amount |
| elif spec.placement == "lean_back": |
| amount = _smoothstep(min(1.0, phase / 0.55)) * _smoothstep(min(1.0, (1.0 - phase) / 0.22)) |
| command[11] -= 0.070 * amount |
| command[3] -= 0.060 * amount |
| command[4] += 0.050 * amount |
|
|
| if spec.placement == "touch_bob": |
| snap = math.sin(math.pi * min(1.0, phase / 0.52)) ** 2 |
| command[3] += 0.145 * snap |
| command[4] -= 0.125 * snap |
| command[9] -= 0.010 * snap |
|
|
| if spec.weight_transfer and spec.placement != "turn_scuff": |
| stance_side = 1.0 if spec.swing == "right" else -1.0 |
| transition_scale = 0.80 if count == 0 and wall > 0 else 1.0 |
| command[8] = 0.020 * stance_side * pulse * transition_scale |
| command[10] += 0.045 * stance_side * pulse * transition_scale |
| return command |
|
|
|
|
| def joint_bias(time_seconds: float) -> np.ndarray: |
| """Return a 14D morphology-aware additive joint target.""" |
| wall, count, phase = count_phase(time_seconds) |
| spec = SIMPLE_COUNTS[count] |
| bias = np.zeros(14, dtype=np.float32) |
| pulse = math.sin(math.pi * max(0.0, min(1.0, phase))) |
| accent = math.sin(math.pi * _smoothstep(min(1.0, phase / 0.82))) |
| transition_scale = 0.80 if count == 0 and wall > 0 else 1.0 |
| p = pulse * transition_scale |
|
|
| if spec.swing != "none" and spec.placement != "turn_scuff": |
| lift = 0.30 if spec.placement in ("touch", "touch_bob") else 0.75 |
| if spec.swing == "left": |
| bias[3] += lift * pulse |
| bias[4] += lift * 0.80 * pulse |
| else: |
| bias[12] -= lift * pulse |
| bias[13] -= lift * 0.80 * pulse |
|
|
| if spec.placement == "side_right": |
| bias[10] -= 0.20 * p |
| bias[9] -= 0.05 * p |
| elif spec.placement == "follow_right": |
| bias[0] -= 0.12 * p |
| bias[1] -= 0.15 * p |
| elif spec.placement == "side_left": |
| bias[1] += 0.20 * p |
| bias[0] += 0.05 * p |
| elif spec.placement == "follow_left": |
| bias[9] += 0.12 * p |
| bias[10] += 0.15 * p |
| elif spec.placement == "back": |
| if spec.swing == "left": |
| bias[0] -= 0.08 * p |
| bias[2] += 0.30 * p |
| else: |
| bias[9] += 0.08 * p |
| bias[11] -= 0.30 * p |
| elif spec.placement == "forward": |
| bias[0] += 0.05 * p |
| bias[2] -= 0.24 * p |
| elif spec.placement in ("touch", "touch_bob"): |
| if spec.swing == "left": |
| bias[2] += 0.10 * accent |
| bias[3] += 0.10 * accent |
| bias[4] += 0.08 * accent |
| else: |
| bias[11] -= 0.10 * accent |
| bias[12] -= 0.10 * accent |
| bias[13] -= 0.08 * accent |
| elif spec.placement == "lean_forward": |
| bias[2] -= 0.055 * pulse |
| bias[11] += 0.055 * pulse |
| bias[4] += 0.030 * pulse |
| bias[13] -= 0.030 * pulse |
| elif spec.placement == "lean_back": |
| bias[2] += 0.050 * pulse |
| bias[11] -= 0.050 * pulse |
| bias[4] -= 0.025 * pulse |
| bias[13] += 0.025 * pulse |
| elif spec.placement == "turn_scuff": |
| bias[12] -= 0.04 * pulse |
| bias[13] -= 0.03 * pulse |
| bias[7] += 0.22 * pulse |
|
|
| return bias |
|
|
|
|
| __all__ = [ |
| "COUNTS_PER_WALL", "SHOW_BEATS", "SHOW_SECONDS", "SIMPLE_COUNTS", |
| "SimpleCount", "command_vector", "count_phase", "joint_bias", "policy_for_time", |
| ] |
|
|
