File size: 1,309 Bytes
05f9189 | 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 | {
"version": "simple-v3",
"control_hz": 50,
"bpm": 111.0,
"walls": 4,
"counts_per_wall": 16,
"duration_seconds": 34.5945945945946,
"sample_count": 1730,
"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"
],
"stand_pose_14d": [
0.0,
-0.08726646259971647,
-0.457924,
-0.00494,
0.452984,
0.3490658503988659,
0.3490658503988659,
0.0,
0.0,
0.0,
0.08726646259971647,
0.457924,
0.00494,
-0.452984
],
"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 v3 choreography bias. At runtime the official balance-policy action is added before joint-limit clipping. The beak-snap label is implemented through neck/head pitch because the official 14-actuator model has no jaw joint. The free root is never written."
} |