MTNファイルフォーマット ■機能 - Robot用モーションデータ情報を提供する ■byte order little endian ■データ型定義 type:Strings は以下のような構成となっている． offset size type contents data -------+-------+-------+-------------------------------+------- 0 1 uc length 1 x ch characters length: 文字列の文字数 characters: 文字列データ ■File Format offset size type contents data -------+-------+-------+-------------------------------+------- 0 1 ch magic 0 'O' 1 1 ch magic 1 'M' 2 1 ch magic 2 'T' 3 1 ch magic 3 'N' 4 24 cp Section 0 28 x cp Section 1 x x cp Section 2 x x cp Section 3 magic 0-3: ファイルマジック 1. Section 0 Section0 は基本的な項目のヘッダで，固定長である． offset size type contents data -------+-------+-------+-------------------------------+------- 0 4 lw Section Number 0 4 4 lw Section Size 24 8 4 lw Number of Section 4 12 2 wd Major Version 1 14 2 wd Minor Version 2 16 2 wd Number of keyframe 18 2 wd Frame Rate 16 20 4 lw Reserved 0 Section Number: SectionのシリアルNo. Section Size: Sectionの大きさ(byte) Number of Section: ファイルに含まれるSection数 Major Version: Formatのメジャーバージョン番号 Minor Version: Formatのマイナーバージョン番号 Number of keyframe: ファイル内のkeyframeの数 Frame Rate: Motionの再生速度 [msec/frame] 2. Section 1 Section1 は基本的な名称を記述するのヘッダで，可変長である． ◆注意：Section Sizeが 4 byte区切り等にならない場合には，paddingする． offset size type contents data -------+-------+-------+-------------------------------+------- 0 4 lw Section Number 1 4 4 lw Section Size 8 x Strings Motion Name x x Strings Creator x x Strings Design Label x 0-3 Padding 0 Section Number: SectionのシリアルNo. Section Size: Sectionの大きさ(byte) Motion Name: Motion Nameは，mtnファイル名の拡張子より前の文字列 Creator: 作者名 Design Label: ロボットのデザインラベル 3. Section 2 Section2 はJoint Listを記述するのヘッダで，可変長である． ◆注意：Section Sizeが 4 byte区切り等にならない場合には，paddingする． offset size type contents data -------+-------+-------+-------------------------------+------- 0 4 lw Section Number 2 4 4 lw Section Size 8 2 wd Number of Joint x x Strings PRM 0 x x Strings PRM 1 x x .... x x Strings PRM (Number of Joint -1) x 0-3 Padding 0 Section Number: SectionのシリアルNo. Section Size: Sectionの大きさ(byte) Number of Joint: ファイル内で扱うJointの数 PRM: ファイル内で扱うJointのCPC Primitive Locator名． 4. Section 3 Section3 にはMotion Dataを記述し，可変長である． ◆注意：Section Sizeが 4 byte区切り等にならない場合には，paddingする． offset size type contents data -------+-------+-------+-------------------------------+------- 0 4 lw Section Number 3 4 4 lw Section Size 8 4 lw Data Type 0 12 x cp Data Section Section Number: SectionのシリアルNo. Section Size: Sectionの大きさ(byte) Data Type: Motion Data の種類(現在、0 のみをサポート） 0: 角度列データ 1: 軌跡データ 4-1. Data Section Data Type 0 の場合，Data Fomratは以下のような構成となる． [Roll] [Pitch] [Yaw] [Joint Data] { [Number of Interpolate frame] [Roll] [Pitch] [Yaw] [Joint Data] } X (Number of Keyframe - 1) offset size type contents data -------+-------+-------+-------------------------------+------- 0 4 lw Roll 4 4 lw Pitch 8 4 lw Yaw 12 x cp Joint Data Section x 4 lw Number of Interpolate frame ..... Roll: Robot BODY座標系のroll [Micro radian]（右に傾くと正） Pitch: Robot BODY座標系pitch [Micro radian]（後に傾くと正） Yaw: Robot BODY座標系のyaw [Micro radian]（左に向くと正） Joint Data Section: ジョイントデータの値がSection 2のStrings PRM の順序で 記述される Number of Interpolate frame: 前フレームとの補間フレーム数 4-1-1. Joint Data Section offset size type contents data -------+-------+-------+-------------------------------+------- 0 4 lw Joint Data 0 4 4 lw Joint Data 1 ..... x 4 lw Joint Data [Number of Joint] Joint data: ジョイントのデータ の値を[Micro radian]で記述する． ■実例 ADDRESS : +0 +1 +2 +3 +4 +5 +6 +7 +8 +9 +A +B +C +D +E +F 0123456789ABCDEF +0 +1 +2 +3 +4 +5 +6 +7 +8 +9 +A +B +C +D +E +F ------------------------------------------------- 00000000 : 4F 4D 54 4E 00 00 00 00 18 00 00 00 04 00 00 00 : OMTN............ 00000010 : 01 00 02 00 06 00 10 00 00 00 00 00 01 00 00 00 : ................ 00000020 : 30 00 00 00 0D 61 5F 73 74 61 6E 64 23 73 69 74 : 0....a_stand#sit 00000030 : 5F 53 10 53 6F 6E 79 20 43 6F 72 70 6F 72 61 74 : _S.Sony Corporat 00000040 : 69 6F 6E 07 44 52 58 2D 39 31 30 00 02 00 00 00 : ion.DRX-910..... 00000050 : F8 01 00 00 14 00 14 50 52 4D 3A 2F 72 31 2F 63 : .......PRM:/r1/c 00000060 : 31 2D 4A 6F 69 6E 74 32 3A 6A 31 17 50 52 4D 3A : 1-Joint2:j1.PRM: 00000070 : 2F 72 31 2F 63 31 2F 63 32 2D 4A 6F 69 6E 74 32 : /r1/c1/c2-Joint2 00000080 : 3A 6A 32 1A 50 52 4D 3A 2F 72 31 2F 63 31 2F 63 : :j2.PRM:/r1/c1/c 00000090 : 32 2F 63 33 2D 4A 6F 69 6E 74 32 3A 6A 33 1D 50 : 2/c3-Joint2:j3.P 000000A0 : 52 4D 3A 2F 72 31 2F 63 31 2F 63 32 2F 63 33 2F : RM:/r1/c1/c2/c3/ 000000B0 : 63 34 2D 4A 6F 69 6E 74 32 3A 6A 34 1D 50 52 4D : c4-Joint2:j4.PRM 000000C0 : 3A 2F 72 31 2F 63 31 2F 63 32 2F 63 33 2F 65 31 : :/r1/c1/c2/c3/e1 000000D0 : 2D 4A 6F 69 6E 74 33 3A 6A 35 1D 50 52 4D 3A 2F : -Joint3:j5.PRM:/ 000000E0 : 72 31 2F 63 31 2F 63 32 2F 63 33 2F 65 32 2D 4A : r1/c1/c2/c3/e2-J 000000F0 : 6F 69 6E 74 33 3A 6A 36 14 50 52 4D 3A 2F 72 32 : oint3:j6.PRM:/r2 00000100 : 2F 63 31 2D 4A 6F 69 6E 74 32 3A 6A 31 17 50 52 : /c1-Joint2:j1.PR 00000110 : 4D 3A 2F 72 32 2F 63 31 2F 63 32 2D 4A 6F 69 6E : M:/r2/c1/c2-Join 00000120 : 74 32 3A 6A 32 1A 50 52 4D 3A 2F 72 32 2F 63 31 : t2:j2.PRM:/r2/c1 00000130 : 2F 63 32 2F 63 33 2D 4A 6F 69 6E 74 32 3A 6A 33 : /c2/c3-Joint2:j3 00000140 : 14 50 52 4D 3A 2F 72 33 2F 63 31 2D 4A 6F 69 6E : .PRM:/r3/c1-Join 00000150 : 74 32 3A 6A 31 17 50 52 4D 3A 2F 72 33 2F 63 31 : t2:j1.PRM:/r3/c1 00000160 : 2F 63 32 2D 4A 6F 69 6E 74 32 3A 6A 32 1A 50 52 : /c2-Joint2:j2.PR 00000170 : 4D 3A 2F 72 33 2F 63 31 2F 63 32 2F 63 33 2D 4A : M:/r3/c1/c2/c3-J 00000180 : 6F 69 6E 74 32 3A 6A 33 14 50 52 4D 3A 2F 72 34 : oint2:j3.PRM:/r4 00000190 : 2F 63 31 2D 4A 6F 69 6E 74 32 3A 6A 31 17 50 52 : /c1-Joint2:j1.PR 000001A0 : 4D 3A 2F 72 34 2F 63 31 2F 63 32 2D 4A 6F 69 6E : M:/r4/c1/c2-Join 000001B0 : 74 32 3A 6A 32 1A 50 52 4D 3A 2F 72 34 2F 63 31 : t2:j2.PRM:/r4/c1 000001C0 : 2F 63 32 2F 63 33 2D 4A 6F 69 6E 74 32 3A 6A 33 : /c2/c3-Joint2:j3 000001D0 : 14 50 52 4D 3A 2F 72 35 2F 63 31 2D 4A 6F 69 6E : .PRM:/r5/c1-Join 000001E0 : 74 32 3A 6A 31 17 50 52 4D 3A 2F 72 35 2F 63 31 : t2:j1.PRM:/r5/c1 000001F0 : 2F 63 32 2D 4A 6F 69 6E 74 32 3A 6A 32 1A 50 52 : /c2-Joint2:j2.PR 00000200 : 4D 3A 2F 72 35 2F 63 31 2F 63 32 2F 63 33 2D 4A : M:/r5/c1/c2/c3-J 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............]... 000002E0 : CD AD F6 FF 00 00 00 00 D2 4C 19 00 EB 58 F5 FF : .........L..X.. 000002F0 : 00 00 00 00 5D A0 1E 00 CE AD F6 FF 00 00 00 00 : ....]........... 00000300 : D2 4C 19 00 00 00 00 00 00 00 00 00 32 00 00 00 : .L..........2... 00000310 : 00 00 00 00 A8 FE 03 00 00 00 00 00 28 36 F7 FF : ............(6.. 00000320 : 00 00 00 00 00 00 00 00 78 33 FF FF 00 00 00 00 : ........x3...... 00000330 : 00 00 00 00 CE AD F6 FF 00 00 00 00 0D A3 16 00 : ................ 00000340 : 26 AF F2 FF 00 00 00 00 08 26 27 00 CE AD F6 FF : &........&'..... 00000350 : 00 00 00 00 0D A3 16 00 26 AF F2 FF 00 00 00 00 : ........&....... 00000360 : 08 26 27 00 00 00 00 00 00 00 00 00 28 00 00 00 : .&'.........(... 00000370 : 00 00 00 00 E2 54 01 00 00 00 00 00 80 43 F8 FF : ....禝.......C.. 00000380 : 00 00 00 00 00 00 00 00 78 33 FF FF 00 00 00 00 : ........x3...... 00000390 : 00 00 00 00 11 F6 F7 FF 00 00 00 00 99 D9 1E 00 : .....・.....叨.. 000003A0 : AA 50 ED FF 00 00 00 00 05 92 25 00 B0 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