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-
- MTN File Format
-
- - function
- Provides motion data information for a robot.
-
- - byte order
- little endian
-
- - data type definition
-
- type : Strings are composed by the following definition.
-
- offset size type contents data
- -------+-------+-------+-------------------------------+-------
- 0 1 uc length
- 1 x ch characters
-
- length:
- The number of characters in a string
- characters:
- String data
-
- - 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:
- file magic
-
- 1. Section 0
- Section0 is the header of fundamental items. It has a fixed
- length.
-
- offset size type contents data
- -------+-------+-------+-------------------------------+-------
- 0 4 lw Section Number 0
- 4 4 lw Section Size 24
- 8 4 lw Number of Sections 4
- 12 2 wd Major Version 1
- 14 2 wd Minor Version 2
- 16 2 wd Number of keyframes
- 18 2 wd Frame Rate 16
- 20 4 lw Reserved 0
-
- Section Number:
- Serial Number of this section
- Section Size:
- The size of this section (in bytes)
- Number of Sections:
- The number of sections contained in this file
- Major Version:
- The major version number of Format
- Minor Version:
- The minor version number of Format
- Number of keyframes:
- The number of keyframes in this file
- Frame Rate:
- Motion replay speed [msec/frame]
-
- 2. Section 1
- This header describes the fundamental names. It has a variable length.
- Note: Use padding when the Section Size is less than 4 bytes.
-
- 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:
- Serial Number of this section
- Section Size:
- The size of this section (in bytes)
- Motion Name:
- Motion Name is the file name without the mtn extension
- Creator:
- Author name
- Design Label:
- The design label of the robot
-
- 3. Section 2
- This header describes the Joint list. It has a variable length.
- Note: Use padding when the Section Size is less than 4 bytes.
-
- offset size type contents data
- -------+-------+-------+-------------------------------+-------
- 0 4 lw Section Number 2
- 4 4 lw Section Size
- 8 2 wd Number of Joints
- x x Strings PRM 0
- x x Strings PRM 1
- x x ....
- x x Strings PRM (Number of Joints -1)
- x 0-3 Padding 0
-
- Section Number:
- Serial Number of this section
- Section Size:
- The size of this section (in bytes)
- Number of Joints:
- The number of Joints used in this file
- PRM:
- The CPC Primitive Locator name of a Joint used in this file
-
- 9.4. Section 3
- This head describes the type of motion data. It has a variable length.
- Note: Use padding when the section Size is less than 4 bytes.
-
- 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:
- Serial Number of this section
- Section Size:
- The size of this section (in bytes)
- Data Type:
- The kind of Motion Data
- 0 : angle line data
-
- 4-1. Data Section
- The following is the data format when the Data Type is 0.
-
- [Roll] [Pitch] [Yaw]
- [Joint Data]
- {
- [Number of Interpolate frame]
- [Roll] [Pitch] [Yaw]
- [Joint Data]
- } X (Number of Keyframes - 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 Interpolation frames
- .....
- Roll:
- Robot's BODY roll (in Micro radian)
- (when it leans to the right, plus)
-
- Pitch:
- Robot's BODY pitch (in Micro radian)
- (when it leans backward, plus)
-
- Yaw:
- Robot's BODY yaw (in Micro radian)
- (when it turns to the left, plus)
-
- Joint Data Section:
- The joint data is associated with the corresponding PRM
- String in Section 2.
-
- Number of Interpolation frames:
- The number of interpolation frames with the former frame.
-
- 9.4-1-1. 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 Joints 窶1)
-
- Joint data:
- The position of a joint (in Micro radians)
-
- Example
-
- 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
- 00000210 : 6F 69 6E 74 32 3A 6A 33 14 50 52 4D 3A 2F 72 36 : oint2:j3.PRM:/r6
- 00000220 : 2F 63 31 2D 4A 6F 69 6E 74 32 3A 6A 31 14 50 52 : /c1-Joint2:j1.PR
- 00000230 : 4D 3A 2F 72 36 2F 63 32 2D 4A 6F 69 6E 74 32 3A : M:/r6/c2-Joint2:
- 00000240 : 6A 32 00 00 03 00 00 00 48 02 00 00 00 00 00 00 : j2......H.......
- 00000250 : 00 00 00 00 5A 88 00 00 00 00 00 00 00 00 00 00 : ....Z...........
- 00000260 : 00 00 00 00 00 00 00 00 78 33 FF FF 00 00 00 00 : ........x3......
- 00000270 : 00 00 00 00 3B 56 FD FF 00 00 00 00 50 FD 07 00 : ....;V......P...
- 00000280 : D3 BB FF FF 00 00 00 00 6D A8 06 00 3B 56 FD FF : ........m...;V..
- 00000290 : 00 00 00 00 51 FD 07 00 00 00 00 00 00 00 00 00 : ....Q...........
- 000002A0 : 6E A8 06 00 00 00 00 00 00 00 00 00 3C 00 00 00 : n...........<...
- 000002B0 : 00 00 00 00 F0 66 FE FF 00 00 00 00 28 36 F7 FF : .....f......(6..
- 000002C0 : 00 00 00 00 00 00 00 00 78 33 FF FF 00 00 00 00 : ........x3......
- 000002D0 : 00 00 00 00 BE 14 F5 FF 00 00 00 00 5D A0 1E 00 : ............]...
- 000002E0 : CD AD F6 FF 00 00 00 00 D2 4C 19 00 EB 58 F5 FF : .........L......
- 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 : .............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 : ................
- 000003A0 : AA 50 ED FF 00 00 00 00 05 92 25 00 B0 02 F8 FF : .P........%.....
- 000003B0 : 00 00 00 00 5D A0 1E 00 9B 5B ED FF 00 00 00 00 : ....]...........
- 000003C0 : 05 92 25 00 00 00 00 00 00 00 00 00 32 00 00 00 : ..%.........2...
- 000003D0 : 00 00 00 00 30 CB 04 00 00 00 00 00 70 C9 F8 FF : ....0.......p...
- 000003E0 : 00 00 00 00 00 00 00 00 78 33 FF FF 00 00 00 00 : ........x3......
- 000003F0 : 00 00 00 00 95 87 FA FF 00 00 00 00 B2 6F 15 00 : .............o..
- 00000400 : 78 C0 EA FF 00 00 00 00 21 C9 24 00 76 AC FA FF : x.......!.$.v...
- 00000410 : 00 00 00 00 2A 4E 15 00 15 C6 EA FF 00 00 00 00 : ....*N..........
- 00000420 : 21 C9 24 00 00 00 00 00 00 00 00 00 64 00 00 00 : !.$.........d...
- 00000430 : 00 00 00 00 AA 85 08 00 00 00 00 00 93 57 F9 FF : ................
- 00000440 : 00 00 00 00 00 00 00 00 78 33 FF FF 00 00 00 00 : ........x3......
- 00000450 : 00 00 00 00 00 00 00 00 00 00 00 00 C4 A9 02 00 : ................
- 00000460 : 12 08 E8 FF 00 00 00 00 E4 F3 23 00 19 D7 FF FF : ..........#.....
- 00000470 : 00 00 00 00 AE D2 02 00 0F 08 E8 FF 00 00 00 00 : ................
- 00000480 : EC F3 23 00 00 00 00 00 00 00 00 00 : ..#.........
- -------------------------------------------------
- +0 +1 +2 +3 +4 +5 +6 +7 +8 +9 +A +B +C +D +E +F
-