| { | |
| "name": "backward_10cm", | |
| "planner": "footstepnet_5cm.onnx", | |
| "frame": "start stance: origin midway between the start sole centres, x forward, y left; m, rad", | |
| "start": [ | |
| { | |
| "foot": "left", | |
| "x": 0.0, | |
| "y": 0.042, | |
| "yaw": 0.0 | |
| }, | |
| { | |
| "foot": "right", | |
| "x": 0.0, | |
| "y": -0.042, | |
| "yaw": 0.0 | |
| } | |
| ], | |
| "steps": [ | |
| { | |
| "foot": "left", | |
| "x": -0.04762859269976616, | |
| "y": 0.04896805544570088, | |
| "yaw": -0.04293408244848251 | |
| }, | |
| { | |
| "foot": "right", | |
| "x": -0.08543442626294431, | |
| "y": -0.0345324438159062, | |
| "yaw": 0.21956536918878553 | |
| }, | |
| { | |
| "foot": "left", | |
| "x": -0.10043731718672072, | |
| "y": 0.045801737387935894, | |
| "yaw": -0.023216210305690797 | |
| }, | |
| { | |
| "foot": "right", | |
| "x": -0.10264265904287861, | |
| "y": -0.04917266162199455, | |
| "yaw": -0.023216210305690797 | |
| } | |
| ] | |
| } |