| |
| """Record the sim duck's exact state from the body server (op "read" on :7801) at N Hz into a jsonl. |
| |
| Read-only: "read" returns trunk position, quaternion, joint positions (wire order) and sim time, |
| and mutates nothing. No hello (the body server does not require it for reads). Stops on SIGTERM |
| or after --max-s seconds. |
| usage: duck-state-rec.py <out.jsonl> [--hz 30] [--max-s 180] [--port 7801] |
| """ |
| import argparse, json, signal, socket, sys, time |
|
|
| ap = argparse.ArgumentParser() |
| ap.add_argument("out") |
| ap.add_argument("--hz", type=float, default=30.0) |
| ap.add_argument("--max-s", type=float, default=180.0) |
| ap.add_argument("--port", type=int, default=7801) |
| a = ap.parse_args() |
|
|
| stop = False |
| def _term(*_): |
| global stop |
| stop = True |
| signal.signal(signal.SIGTERM, _term) |
| signal.signal(signal.SIGINT, _term) |
|
|
| s = socket.create_connection(("127.0.0.1", a.port), timeout=2) |
| f = s.makefile("rw") |
| period = 1.0 / a.hz |
| t0 = time.time() |
| nxt = t0 |
| n = 0 |
| with open(a.out, "w") as out: |
| while not stop and time.time() - t0 < a.max_s: |
| f.write('{"op":"read"}\n'); f.flush() |
| r = json.loads(f.readline()) |
| out.write(json.dumps({"wall": time.time(), "sim_time": r.get("sim_time"), "trunk": r.get("trunk"), |
| "quat": r["imu"]["quat"], "positions": r["positions"]}) + "\n") |
| n += 1 |
| nxt += period |
| d = nxt - time.time() |
| if d > 0: |
| time.sleep(d) |
| print(f"recorded {n} frames in {time.time() - t0:.1f} s", file=sys.stderr) |
|
|
