| { | |
| "name": "forward_15cm", | |
| "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": 0.04309989344210214, | |
| "y": 0.05086197772514345, | |
| "yaw": 0.25944930945826294 | |
| }, | |
| { | |
| "foot": "right", | |
| "x": 0.10430812546582661, | |
| "y": -0.03839103814521548, | |
| "yaw": -0.05147338758291475 | |
| }, | |
| { | |
| "foot": "left", | |
| "x": 0.1468612185696449, | |
| "y": 0.04753686970450348, | |
| "yaw": 0.07466425646959074 | |
| }, | |
| { | |
| "foot": "right", | |
| "x": 0.15394773438899473, | |
| "y": -0.047198452607409846, | |
| "yaw": 0.07466425646959074 | |
| } | |
| ] | |
| } |