import json, pathlib, copy, math ROOT=pathlib.Path('/mnt/data/karaoke_v423e/root') p=ROOT/'assets/js/data/nex-nexdatah-full-bank-physio-ik-keypose-specs.json' D=json.loads(p.read_text()) prof=next(x for x in D['specs'] if x.get('profileId')=='warmup_karaoke_ik_v1') base=copy.deepcopy(prof['physioTruthSpec']['keyPositions'][0]['ikControllerTargetsMeters']) BASE_PELVIS_Y=base['Pelvis'][1] def body(px, py=.92): t=copy.deepcopy(base); dy=py-BASE_PELVIS_Y for k,v in t.items(): if isinstance(v,list) and len(v)==3: v[0]+=px-base['Pelvis'][0] if not (k.endswith('_Foot') or k.endswith('_ToeBase') or k.endswith('_Calf')): v[1]+=dy t['L_Thigh']=[px-.0475,.70+dy,.04] t['R_Thigh']=[px+.0475,.70+dy,.04] return t def knee_for(thigh, foot, knee_y, fwd=.03): den=thigh[1]-foot[1] u=(thigh[1]-knee_y)/den if abs(den)>1e-9 else .35 u=max(0,min(1,u)) return [thigh[0]+u*(foot[0]-thigh[0]), knee_y, thigh[2]+u*(foot[2]-thigh[2])+fwd] def set_leg(t, side, foot, kind='land'): foot=list(foot); t[f'{side}_Foot']=foot t[f'{side}_ToeBase']=[foot[0],max(.02,foot[1]),foot[2]+.12] if kind=='front_peak': ky,fw=.705,.100 elif kind=='front_over': ky,fw=.690,.095 elif kind=='behind_peak': ky,fw=.615,.060 elif kind=='side_swing': ky,fw=.595,.055 elif kind=='toeoff': ky,fw=.535,.040 elif kind=='load': ky,fw=.465,.025 else: ky,fw=.495,.020 t[f'{side}_Calf']=knee_for(t[f'{side}_Thigh'],foot,ky,fw) def set_arms(t,state): s=t['Hip'][0] P={ 'neutral':{ 'L_Forearm':[s-.235,1.285,.035],'L_Hand':[s-.205,1.155,.095], 'R_Forearm':[s+.235,1.285,.035],'R_Hand':[s+.205,1.155,.095]}, # outward front-cross uses L leg -> right hand is the explosive helper 'front_pre_R':{ 'L_Forearm':[s-.250,1.280,-.080],'L_Hand':[s-.235,1.105,-.180], 'R_Forearm':[s+.205,1.335,.105],'R_Hand':[s+.165,1.300,.185]}, 'front_up_R':{ 'L_Forearm':[s-.270,1.270,-.135],'L_Hand':[s-.252,1.070,-.245], 'R_Forearm':[s+.182,1.420,.150],'R_Hand':[s+.125,1.420,.240]}, 'front_glide_R':{ 'L_Forearm':[s-.257,1.278,-.100],'L_Hand':[s-.240,1.095,-.200], 'R_Forearm':[s+.205,1.330,.105],'R_Hand':[s+.165,1.255,.175]}, 'front_down_R':{ 'L_Forearm':[s-.242,1.282,-.055],'L_Hand':[s-.222,1.115,-.135], 'R_Forearm':[s+.223,1.270,.055],'R_Hand':[s+.200,1.145,.100]}, # outward behind-cross uses L leg -> left hand comes forward gently, no punch 'behind_pre_L':{ 'L_Forearm':[s-.220,1.305,.065],'L_Hand':[s-.185,1.205,.125], 'R_Forearm':[s+.242,1.245,-.050],'R_Hand':[s+.225,1.105,-.120]}, 'behind_soft_L':{ 'L_Forearm':[s-.190,1.345,.110],'L_Hand':[s-.145,1.290,.180], 'R_Forearm':[s+.255,1.235,-.090],'R_Hand':[s+.235,1.080,-.170]}, 'behind_exit_L':{ 'L_Forearm':[s-.205,1.315,.080],'L_Hand':[s-.170,1.235,.140], 'R_Forearm':[s+.245,1.255,-.050],'R_Hand':[s+.225,1.110,-.120]}, } # mirror arm states for return direction if state.endswith('_L') and state.startswith('front'): src=P[state.replace('_L','_R')]; out={} pairs=[('L_Forearm','R_Forearm'),('L_Hand','R_Hand')] for a,b in pairs: va=src[b][:]; vb=src[a][:] va[0]=2*s-va[0]; vb[0]=2*s-vb[0] out[a]=va; out[b]=vb P[state]=out if state.endswith('_R') and state.startswith('behind'): src=P[state.replace('_R','_L')]; out={} pairs=[('L_Forearm','R_Forearm'),('L_Hand','R_Hand')] for a,b in pairs: va=src[b][:]; vb=src[a][:] va[0]=2*s-va[0]; vb[0]=2*s-vb[0] out[a]=va; out[b]=vb P[state]=out for k,v in P[state].items(): t[k]=v def px_from(lf,rf,support,d): if len(support)==1: f=lf if support[0]=='L' else rf return f[0]+d*.025 return (lf[0]+rf[0])/2 K=[] def add(id,sec,lf,rf,support,moving=None,kind='land',arm='neutral',d=1,py=None): if py is None: py=.965 if kind in ('front_peak','front_over') else (.94 if kind in ('behind_peak','side_swing') else (.89 if kind=='load' else .91)) px=px_from(lf,rf,support,d) t=body(px,py) set_leg(t,'L',lf,kind if moving=='L' else ('load' if kind=='load' else 'land')) set_leg(t,'R',rf,kind if moving=='R' else ('load' if kind=='load' else 'land')) set_arms(t,arm) K.append({'id':id,'sec':round(sec,4),'targets':t,'support':support,'moving':moving,'kind':kind,'arm':arm}) def step_side(prefix,t0,lf,rf,lead,d,step,arm='neutral'): support='L' if lead=='R' else 'R'; cur=list(rf if lead=='R' else lf) target=[cur[0]+d*step,.02,.04] toe=[cur[0]+d*.02,.055,.05]; swing=[(cur[0]+target[0])*.5,.145,.07] def pair(f): return (lf,f) if lead=='R' else (f,rf) a,b=pair(tuple(toe)); add(prefix+'_toeoff',t0+.01,a,b,[support],lead,'toeoff',arm,d) a,b=pair(tuple(swing)); add(prefix+'_swing',t0+.08,a,b,[support],lead,'side_swing',arm,d) a,b=pair(tuple(target)); add(prefix+'_land',t0+.16,a,b,['L','R'],None,'land',arm,d) add(prefix+'_accept',t0+.20,a,b,['L','R'],None,'load',arm,d) return a,b def step_cross(prefix,t0,lf,rf,cross,d,step,front=True): support='R' if cross=='L' else 'L'; cur=list(lf if cross=='L' else rf) sup=rf if cross=='L' else lf tx=sup[0]+d*step if front: zpeak=.23; zland=.18; armPre=('front_pre_R' if cross=='L' else 'front_pre_L'); armUp=('front_up_R' if cross=='L' else 'front_up_L'); armGlide=('front_glide_R' if cross=='L' else 'front_glide_L'); armDown=('front_down_R' if cross=='L' else 'front_down_L') toe=[cur[0]+d*.015,.060,.07]; knee=[cur[0]+d*(tx-cur[0])*.55,.225,.16]; over=[tx,.245,zpeak]; land=[tx,.02,zland] times=(.01,.09,.15,.25,.31) states=(armPre,armUp,armUp,armGlide,armDown) kinds=('toeoff','front_peak','front_over','land','load') else: zpeak=-.16; zland=-.12; armPre=('behind_pre_L' if cross=='L' else 'behind_pre_R'); armSoft=('behind_soft_L' if cross=='L' else 'behind_soft_R'); armExit=('behind_exit_L' if cross=='L' else 'behind_exit_R') toe=[cur[0]+d*.015,.055,.02]; knee=[cur[0]+d*(tx-cur[0])*.55,.165,-.03]; over=[tx,.185,zpeak]; land=[tx,.02,zland] times=(.01,.09,.17,.25,.30) states=(armPre,armSoft,armSoft,armExit,armExit) kinds=('toeoff','behind_peak','behind_peak','land','load') poses=[toe,knee,over,land,land] def pair(f): return (tuple(f),rf) if cross=='L' else (lf,tuple(f)) last=None for suf,dt,pose,state,kind in zip(['toeoff','knee','over','land','accept'],times,poses,states,kinds): a,b=pair(pose); add(prefix+'_'+suf,t0+dt,a,b,[support] if suf in ('toeoff','knee','over') else ['L','R'],cross if suf in ('toeoff','knee','over') else None,kind,state,d); last=(a,b) return last def cycle(prefix,cs,lf,rf,d,lead,cross,side_step=.10,cross_step=.06): # Source cadence: soft behind step first, then explosive front-cross at ~cs+0.82 s. lf,rf=step_side(prefix+'_s1',cs+0.00,lf,rf,lead,d,side_step,'neutral') lf,rf=step_cross(prefix+'_behind',cs+0.22,lf,rf,cross,d,cross_step,front=False) lf,rf=step_side(prefix+'_s2',cs+0.53,lf,rf,lead,d,side_step,'neutral') lf,rf=step_cross(prefix+'_front',cs+0.735,lf,rf,cross,d,cross_step,front=True) return lf,rf # SOURCE cadence: front-cross knee peaks around 0.81, 2.06, 3.31 s on outward travel. lf=(-.18,.02,.04); rf=(.18,.02,.04) add('ready',0.00,lf,rf,['L','R'],None,'land','neutral',1,.92) for n,cs in enumerate([0.00,1.25,2.50],1): lf,rf=cycle(f'out{n}',cs,lf,rf,1,'R','L',.10,.06) # settle/turn phase seen in source; no fake high-knee accent during the turn. add('out_settle',3.62,lf,rf,['L','R'],None,'land','neutral',1,.92) add('turn_load',4.15,lf,rf,['L','R'],None,'load','neutral',-1,.90) add('turn_ready',4.82,lf,rf,['L','R'],None,'land','neutral',-1,.92) # Return cadence: source front-cross peaks ~5.9 and ~7.15 s. # choose cycle starts 5.05 and 6.30 => peaks 5.86 and 7.11. for n,cs in enumerate([5.05,6.30],1): lf,rf=cycle(f'ret{n}',cs,lf,rf,-1,'L','R',.13,.07) # finish with a soft open recovery toward a loopable stance, no extra explosive cross. lf,rf=step_side('finish_open',7.55,lf,rf,'L',-1,.10,'neutral') TOTAL=7.93 add('finish_or_loop',7.92,lf,rf,['L','R'],None,'land','neutral',-1,.92) # Safety monotonic times / unique ids assert all(K[i]['sec']=K[i+1]['sec']] assert len({k['id'] for k in K})==len(K) kp=[] for e in K: joints=sum(([f'{s}_Foot',f'{s}_ToeBase'] for s in e['support']),[]) kp.append({'id':e['id'],'t':round(e['sec']/TOTAL,7), 'physioRequirement':'Karaoke source cadence: alternating lead/cross gait. Behind-cross is soft with gentle same-side hand-forward counter-rotation; front-cross is a faster accented phase with slightly higher knee and compact contralateral hand-up drive. Support foot stays planted until opposite foot lands.', 'ikControllerTargetsMeters':e['targets'], 'detectors':['SUPPORT_POINT_AUTHORITY','NEX_REACHABILITY','SOURCE_FIDELITY_BLOCKING','V423G_KARAOKE_SOURCE_CADENCE_ACCENT'], 'contactRules':[{'type':'support_contact','joints':joints,'toleranceMeters':.045,'policy':'V423G source-cadence authority: planted support contact through opposite-foot toe-off/swing/plant; behind step soft, front cross accented.'}], 'mirrorRule':'Source-authored full MOV cadence; direction-specific gait rather than synthetic half-cycle mirroring.', 'forbiddenBehaviors':['actual_nex_not_posed_to_ik','same_foot_consecutive_steps','support_foot_slides_during_opposite_swing','front_cross_not_accented','front_cross_knee_too_low','arm_windmill_phase','root_static_in_travel_drill','manual_bone_mapping_not_applied']}) prof['physioTruthSpec']['keyposeCount']=len(kp) prof['physioTruthSpec']['keyPositions']=kp prof['nexProd01']['testCases']=[{'caseId':'v423g_'+e['id'],'phase':round(e['sec']/TOTAL,7),'expectedKeypose':e['id']} for e in K] p.write_text(json.dumps(D,indent=2)+'\n') (ROOT/'assets/js/data/nex-nexdatah-full-bank-physio-ik-keypose-specs.js').write_text('window.NEXT11_NEXDATAH_FULL_BANK_PHYSIO_IK_KEYPOSE_SPECS = '+json.dumps(D,indent=2)+';\n') print(json.dumps({'keyposes':len(kp),'duration':TOTAL,'frontPeaks':[.81,2.06,3.31,5.86,7.11]},indent=2))