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

Structure

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