YAML format
The walking movement can be stored as a YAML file. This representation is independent from the underlying algorithm as it stores the algorithm results and not its input parameters.
Document structure
Here is a sample document:
start-with-left-foot: true
initial-position:
left-foot:
- [1, 0, 0, 0]
- [0, 1, 0, 0]
- [0, 0, 1, 0]
- [0, 0, 0, 1]
right-foot:
- [1, 0, 0, 0]
- [0, 1, 0, 0]
- [0, 0, 1, 0]
- [0, 0, 0, 1]
center-of-mass: [[0], [0], [0]]
posture:
[]
final-position:
left-foot:
- [1, 0, 0, 0]
- [0, 1, 0, 0]
- [0, 0, 1, 0]
- [0, 0, 0, 1]
right-foot:
- [1, 0, 0, 0]
- [0, 1, 0, 0]
- [0, 0, 1, 0]
- [0, 0, 0, 1]
center-of-mass: [[0], [0], [0]]
posture:
[]
footprints:
- beginTime: 19700101T000001
duration: 0.005
position: [[2.59035307647137], [4.91857920143176e-267], [4.91849232701925e-267]]
trajectories:
left-foot:
- duration: 0.005
position:
- [1, 0, 0, 0]
- [0, 1, 0, 0]
- [0, 0, 1, 0]
- [0, 0, 0, 1]
right-foot:
- duration: 0.005
position:
- [1, 0, 0, 0]
- [0, 1, 0, 0]
- [0, 0, 1, 0]
- [0, 0, 0, 1]
center-of-mass:
- duration: 0.005
position: [[0], [0], [0]]
zmp:
- duration: 0.005
position: [[0], [0]]
posture:
[]The keys in each dictionnary contained in this YAML document must exist. However, the posture positions and trajectories may be empty.
Additional data are ignored by the parsed provided by this package. No unit conversion is done during the serialization. The format only supports 2d footprints (X, Y, yaw) currently.
Additional examples
The following sample movements are available:
