File size: 4,119 Bytes
13ce173 | 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 | """Export the literal Electric Slide count map and 50 Hz joint references."""
from __future__ import annotations
import argparse
import csv
import json
import math
from pathlib import Path
import sys
import numpy as np
sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
from choreography import BEAT_SECONDS, CONTROL_HZ, SHOW_SECONDS, STAND_POSE
from literal_choreography import (
LITERAL_COUNTS,
command_vector,
count_phase,
joint_bias,
)
JOINT_ORDER = (
"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",
)
def main() -> None:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("output_dir", type=Path)
args = parser.parse_args()
output_dir = args.output_dir.resolve()
output_dir.mkdir(parents=True, exist_ok=True)
jsonl_path = output_dir / "literal_joint_targets_50hz.jsonl"
sample_count = int(math.ceil(SHOW_SECONDS * CONTROL_HZ))
with jsonl_path.open("w", encoding="utf-8") as stream:
for sample in range(sample_count):
time_seconds = sample / CONTROL_HZ
wall, count, phase = count_phase(time_seconds)
spec = LITERAL_COUNTS[count]
bias = joint_bias(time_seconds).astype(float)
nominal = np.asarray(STAND_POSE, dtype=float) + bias
row = {
"sample": sample,
"time_seconds": time_seconds,
"beat": time_seconds / BEAT_SECONDS,
"wall": wall + 1,
"count": count + 1,
"phase": phase,
"label": spec.label,
"swing_foot": spec.swing,
"placement": spec.placement,
"weight_transfer": spec.weight_transfer,
"command_13d": command_vector(time_seconds).astype(float).tolist(),
"additive_joint_bias_14d": bias.tolist(),
"nominal_joint_target_14d": nominal.tolist(),
}
stream.write(json.dumps(row, separators=(",", ":")) + "\n")
csv_path = output_dir / "literal_18_count_choreography.csv"
with csv_path.open("w", newline="", encoding="utf-8") as stream:
writer = csv.DictWriter(
stream,
fieldnames=("count", "label", "swing_foot", "placement", "weight_transfer"),
)
writer.writeheader()
for index, spec in enumerate(LITERAL_COUNTS, start=1):
writer.writerow(
{
"count": index,
"label": spec.label,
"swing_foot": spec.swing,
"placement": spec.placement,
"weight_transfer": spec.weight_transfer,
}
)
summary = {
"version": "literal-v2",
"control_hz": CONTROL_HZ,
"bpm": 60.0 / BEAT_SECONDS,
"walls": 4,
"counts_per_wall": len(LITERAL_COUNTS),
"duration_seconds": SHOW_SECONDS,
"sample_count": sample_count,
"joint_order": JOINT_ORDER,
"stand_pose_14d": STAND_POSE,
"command_order_13d": (
"vx",
"vy",
"yaw_rate",
"neck_pitch",
"head_pitch",
"head_yaw",
"head_roll",
"body_x",
"body_y",
"body_z",
"body_roll",
"body_pitch",
"body_yaw",
),
"important": (
"nominal_joint_target_14d is STAND_POSE plus the literal choreography bias. "
"At runtime the official balance-policy action is added before joint-limit clipping. "
"The free root is never written after reset."
),
}
(output_dir / "literal_reference_summary.json").write_text(
json.dumps(summary, indent=2),
encoding="utf-8",
)
print(jsonl_path)
print(csv_path)
if __name__ == "__main__":
main()
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