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feat(dsl): skeletal motion DSL — walk, reach and wave gaits for COCO-17 #98

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feat(dsl): skeletal motion DSL — walk, reach and wave gaits for COCO-17 #98

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8e84b5d
Add skeletal-motion DSL: walk/reach/wave gaits for COCO-17
Nitjsefnie Jul 31, 2026
ca9d778
Test gaits: joint completeness, continuity, root translation, manifest
Nitjsefnie Jul 31, 2026
d686334
Document the gait layer in DESIGN.md
Nitjsefnie Jul 31, 2026
1d13de1
Make gait limbs rigid via closed-form two-link IK
Nitjsefnie Jul 31, 2026
baa6904
Test limb rigidity, measured-root continuity, golden joint positions
Nitjsefnie Jul 31, 2026
d5898d3
Note rigid two-link IK in the DESIGN.md gait section
Nitjsefnie Jul 31, 2026
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19 changes: 19 additions & 0 deletions DESIGN.md
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Expand Up @@ -375,3 +375,22 @@ cameras that still see it, and use the occluded views as held-out difficulty.
extension point: implement the `MeshBackend` ABC to emit a `PoseTrajectory`, and
the projection/occlusion/manifest path is unchanged. No mesh backend is
implemented in this layer.

### Skeletal-motion DSL (gaits)

`src/multicam_sim/dsl/gait.py` *generates* pose trajectories so a skeleton does
not have to be hand-authored per frame. Three parametric gaits — `walk`
(periodic legs + opposite-phase arms), `reach` (one arm smoothsteps to a
body-local target), `wave` (raised forearm oscillation) — each produce
body-local joint offsets as a function of wall-clock time. A **root path** (any
existing `PathUnion` from the motion DSL) translates the whole skeleton:
`world joint = root.at_time(t) + local offset`. Limbs are rigid: knees and the
reaching elbow are placed by closed-form two-link inverse kinematics with
segment lengths fixed from `height`, so every COCO-17 edge keeps a constant
length on every frame. Frame compilation is driven
through the motion DSL's own `compile_frames`, so `over(seconds)` /
`at_speed` / untimed stretch-to-scene behave exactly as they do for a single
point, and the gait layer adds no second timing model. Everything is kinematic
and fully deterministic (no RNG); the output is a plain `PoseTrajectory`, so
the manifest path above is unchanged.

5 changes: 5 additions & 0 deletions src/multicam_sim/dsl/__init__.py
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Expand Up @@ -12,6 +12,7 @@
from ..noise import CalibrationDrift, NoiseModel, PixelNoise
from .behavior import Behavior, PathBehavior, WaypointBehavior
from .builder import SceneBuilder
from .gait import Gait, ReachGait, WalkGait, WaveGait
from .motion import (
BezierPath,
CirclePath,
Expand All @@ -31,6 +32,7 @@
"CalibrationDrift",
"CameraRig",
"CirclePath",
"Gait",
"HandSweep",
"LinearPath",
"NoiseModel",
Expand All @@ -40,10 +42,13 @@
"PathUnion",
"PixelNoise",
"PoseOverride",
"ReachGait",
"RepeatPath",
"SceneBuilder",
"SequencePath",
"StationView",
"WalkGait",
"WaveGait",
"WaypointBehavior",
"WaypointPath",
]
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