About this project¶
flom is a library to handle keyframed motion of robots in C++. The main issue with formely used representation-like plain csv or json (used in DeepMimic) with keyframes-is lack of interoperability. flom resolves that problem by providing basic functionalities to handle keyframed motion (looping, interpolation, etc) in one library.
Features¶
Obtain a frame correspond to arbitrary time point
Iterate over frames at arbitary fps
Import / Export the motion data
- can be converted to JSON
- the file format specification is represented in protobuf
Edit keyframes (insert/delete)
Effector support
- Effectors can express the reference pose of links
Relationship to MonoMotion¶
In the development of MonoMotion, we needed common representation of robot motion. flom is created for that purpose, but flom can be used for anything.