RobotSimulationData

Draft for Robot Simulation Data file format used by automated cloud simulation (CI), Hyperion supervisor and Atlas visualiser

Specifications

WARNING : .rbsd file format is currently in alpha phase. Subject to change !

Robot Simulation Data file or .rbsd is a deflated zip compressed file format that contains the following JSON files. It is designed to be lightweight and versatile.

example.rbsd
├── actions.json (required)
├── moves.json   (optional)
├──...           (reserved for future)
└── objects.json (required)

Examples

objects.json

{
  "ids": [
    {"name": "robot1", "id": 1, "type": "robot"},
    {"name": "ball", "id": 2, "type": "object"},
  ]
}

moves.json

{
 "frames":[
   {"time": 0, "poses":
     [
       {"id": 1, "translation":"0.29 0.1697 0.6699","rotation":"1 0 0 -1.5708"}
     ]
   }
 ]
}

actions.json

{
  "frames":[
    {"time": 0, "actions":
      [
        {"id": 1, "name":"start","description":"robot raised it's arm"}
      ]
    }
  ]
}