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:

• Robot walks forward

• Robot walks and drop a ball in a shelf