
        MTNt@CtH[}bg

@\
- Robotp[Vf[^񋟂

byte order
        little endian

f[^^`

type:Strings ͈ȉ̂悤ȍ\ƂȂĂD

      offset  size    type    contents                        data
      -------+-------+-------+-------------------------------+-------
         0      1     uc      length
         1      x     ch      characters

    length:
        ̕
    characters:
        f[^ 

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:
        t@C}WbN


    1. Section 0 
    Section0 ͊{Iȍڂ̃wb_ŁCŒ蒷łD

      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:
        SectioñVANo.
    Section Size:
        Section̑傫(byte)
    Number of Section:
        t@CɊ܂܂Section
    Major Version:
        Format̃W[o[Wԍ
    Minor Version:
        Format̃}Ci[o[Wԍ
    Number of keyframe:
        t@Ckeyframe̐
    Frame Rate:
        Motion̍Đx [msec/frame]


    2. Section 1
    Section1 ͊{IȖ̂Lq̃wb_ŁCϒłD
    ӁFSection Size 4 byte؂蓙ɂȂȂꍇɂ́CpaddingD

      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:
        SectioñVANo.
    Section Size:
        Section̑傫(byte)
    Motion Name:
        Motion NaméCmtnt@C̊gqO̕
    Creator:
        Җ
    Design Label:
        {bg̃fUCx


    3. Section 2
    Section2 Joint ListLq̃wb_ŁCϒłD
    ӁFSection Size 4 byte؂蓙ɂȂȂꍇɂ́CpaddingD

      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:
        SectioñVANo.
    Section Size:
        Section̑傫(byte)
    Number of Joint:
        t@CňJoint̐
    PRM:
        t@CňJointCPC Primitive LocatorD


    4. Section 3
    Section3 ɂMotion DataLqCϒłD
    ӁFSection Size 4 byte؂蓙ɂȂȂꍇɂ́CpaddingD

      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:
        SectioñVANo.
    Section Size:
        Section̑傫(byte)
    Data Type:
        Motion Data ̎(݁A0 ݂̂T|[gj
        0: pxf[^
        1: OՃf[^

    4-1. Data Section
    Data Type 0 ̏ꍇCData Fomrat͈ȉ̂悤ȍ\ƂȂD

    [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 BODYWnroll [Micro radian]iEɌXƐj
    Pitch:
        Robot BODYWnpitch  [Micro radian]iɌXƐj
    Yaw:
        Robot BODYWnyaw  [Micro radian]iɌƐj
    Joint Data Section:
        WCgf[^̒lSection 2Strings PRM ̏
        Lq
    Number of Interpolate frame:
        Ot[Ƃ̕ԃt[

    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:
        WCg̃f[^ ̒l[Micro radian]ŋLqD



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          -------------------------------------------------
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