.. _march-gait-files-label:

march_gait_files
================

Introduction
------------
This is a static package that contains only information about the gaits. Most gaits are created by the
`gait generator <https://docs.projectmarch.nl/doc/using_the_march_exoskeleton/using_the_gait_generator.html>`,
but as they are simply text files they can also be edited manually.

Terminology
-----------

``Subgait folder``: A folder named after a physical movement. Contains multiple subgait files for different versions.

``Subgait file``: A text file containing a version of a subgait defined in
setpoints. The file is named ``<version>.subgait``.

``Gait folder``: A folder containing a gait file and the subgait folders that constitute the gait.

``Gait file``: A text file defining the gait's transitions from subgait to subgait.
`Example <march_gait_files/airgait-v/walk/walk.gait>`

``<gait_directory>`` is a folder used to group gaits together, some gaits are ready for a training, while some are only for airgaiting.
Example <march_gait_files/airgait-v>`

``default.yaml`` is required for each gait_directory. It specifies which versions of gaits are loaded by default when loading this gait_directory.
`Example <march_gait_files/airgait-v/default.yaml>`

Example:

====  ===========  =======
Gait  Subgait      Version
----  -----------  -------
walk  right_open   default
walk  right_open   slower
walk  left_swing   move_ankle_higher
sit   prepare_sit  now_a_bit_slower
====  ===========  =======

.. _march-gait-files-structure-label:

Structure
---------

.. code::

  march_gait_files
  ├─── <gait_directory>
  │    ├─── <gait_name>
  │    │    ├─── <subgait_name>
  │    │    │    └─── <version>.subgait
  |    │    └─── <gaint_name>.gait
  |    └─── default.yaml
  └─── airgait
       ├─── walk
       │    ├─── right_open
       │    │    ├─── normal.subgait
       │    │    └─── a_bit_slower.subgait
       │    ├─── left_swing
       │    │    ├─── normal.subgait
       │    │    └─── a_bit_faster.subgait
       │    └─── walk.gait
       └─── default.yaml