| """Export the ultra-simple 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, STAND_POSE |
| from simple_choreography import ( |
| SHOW_SECONDS, |
| SIMPLE_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 / "simple_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 = SIMPLE_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 / "simple_16_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(SIMPLE_COUNTS, start=1): |
| writer.writerow( |
| { |
| "count": index, |
| "label": spec.label, |
| "swing_foot": spec.swing, |
| "placement": spec.placement, |
| "weight_transfer": spec.weight_transfer, |
| } |
| ) |
|
|
| summary = { |
| "version": "simple-v3", |
| "control_hz": CONTROL_HZ, |
| "bpm": 60.0 / BEAT_SECONDS, |
| "walls": 4, |
| "counts_per_wall": len(SIMPLE_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 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." |
| ), |
| } |
| (output_dir / "simple_reference_summary.json").write_text( |
| json.dumps(summary, indent=2), encoding="utf-8" |
| ) |
| print(jsonl_path) |
| print(csv_path) |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
