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How does the LegMvt0.xml defines the legs movements?

April 26, 2017defines legs movements

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How does the LegMvt0.xml defines the legs movements?

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This file is used to define leg movements such as kicking, or putting the leg forward (for a forward walk for example). • The xml defines a list of movements : … • Each movement is defines as a • A movement is defined by a name (), and a list of unitary movements (). The name must be unique for each movement as it is used to address the movements. • Each Unitary Movement is defined as a , which contains a list of action on each joint of the leg (). • Each action on a joint defines a position target to reach for the joint (in radian). The joint has 3 parameters : (which must always have the value: Position), (which contains the angular target to reach in radians), and (which must always have the value: false). The joint order is from the top of the leg to the bottom of the leg: • Shoulder: moving forward and backward. • Shoulder: moving left and right