Я использую симулятор НАСА Tensegrity Robot Toolkit, который использует YAML для построения структуры. я подтвердил свою структуру от https://codebeautify.org/yaml-validator.
Он продолжает выдавать ошибку плохого преобразования в моем файле, в то же время прекрасно работает на предустановленной структуре yaml.
Это окно терминала:
tensegribuntu@TensegritBuntu-VM:~/NTRTsim$ build/yamlbuilder/BuildModel resources/YamlStructures/BaseStructures/SuperBall.yaml
Box Ground
setup graphics
tensegribuntu@TensegritBuntu-VM:~/NTRTsim$ build/yamlbuilder/BuildModel resources/YamlStructures/ZenStructures/30bar.yaml
Box Ground
setup graphics
terminate called after throwing an instance of 'YAML::TypedBadConversion<double>'
what(): yaml-cpp: error at line 0, column 0: bad conversion
Aborted (core dumped)
tensegribuntu@TensegritBuntu-VM:~/NTRTsim$
Есть идеи?
код:
nodes:
top1: [ 04.06 , 109.2 , 0.55 ]
bottom1: [-4.08 , 103.68 , -8.5]
top2: [-3.61 , 90.74 ,-2.06 ]
bottom2: [ 8.29, 96.3 , 4.53 ]
top3: [ -9.35 , 103.65 , 1.23 ]
bottom3: [ 1.76 , 109.21 , -3.73 ]
top4: [ -3.04, 109.3 , -2.78 ]
bottom4: [ -1.73 , 103.63 , 9.25 ]
top5: [ 5.74 , 92.49. , 3.68 ]
bottom5: [ 6.4 , 99.48 , -7.69 ]
top6: [ 8.29, 103.68, 4.5]
bottom6: [ 3.59 , 109.24 , 1.91 ]
top7: [ 0.84 , 109.8 , 4.05 ]
bottom7: [ 6.81 , 103.67 , -6.47 ]
top8: [ 3.61 , 102.34 , -9.15 ]
bottom8: [ -8.29 , 97.64 , -5.28 ]
top9: [ 9.38 , 100.55 , -3.92]
bottom9: [-1.74 , 107.44 , -6.68]
top10: [ 3.03 , 106.65 , -7.04 ]
bottom10: [1.73 , 93.35 , -7.42 ]
top11: [ -6.91 , 92.56 , 0.42 ]
bottom11: [ -0.75 , 99.48 , 10.06 ]
top12: [ 6.85 , 96.33 , 6.48 ]
bottom12: [.83 , 90.71, -4.05 ]
top13: [9.83 ,102.41 , 0.57 ]
bottom13: [2.53 ,97.62 ,-9.56 ]
top14: [ 6.56 , 100.5 , 7.68 ]
bottom14: [5.76 ,107.43 , -3.73 ]
top15: [ 07.61 , 93.35 , 0.65 ]
bottom15: [ 7.68 , 106.65, 0.73 ]
top16: [9.85 ,97.61 ,-0.56 ]
bottom16: [ 2.52 , 102.37, 9.56 ]
top17: [ -5.28, 100.53 , 8.64 ]
bottom17: [ 5.33 , 107.43 , 4.35 ]
top18: [ 1.67 , 0.53 , 7.48 ]
bottom18: [ 3.01 , 93.35 , 7.02 ]
top19: [ 3.56 , 97.57 , 9.2 ]
bottom19: [ -8.3 , 102.36 , 5.32 ]
top20: [ -9.87 , 97.61, 0.59 ]
bottom20: [ -2.47 , 107.47 , 6.36 ]
top21: [ -5.79 ,93.35 , 5.04 ]
bottom21: [ 6.62 , 106.64 , 3.9 ]
top22: [ 7.64 , 97.72 , 6.28 ]
bottom22: [ -7.6 ,102.35 , -6.26 ]
top23: [ -0.81 , 100.48 , -10.06 ]
bottom23: [ -6.87 , 107.45 , -0.4 ]
top24: [ -5.8, 106.05 , -5.08 ]
bottom24: [ -6.57 , 106.65 , -3.97 ]
top25: [ 5.34 , 92.59 , -4.36 ]
bottom25: [ -5.3 , 99.429 ,-8.66 ]
top26: [ -4.09 , 96.27 , 8.52 ]
bottom26: [ 4.09 , 90.73 , -4.9 ]
top27: [ -1.75 , 92.56, 6.67]
bottom27: [ 9.38 , 99.43 , 3.88 ]
top28: [ -1.71 , 96.25 , -9.31 ]
bottom28: [ -3.03 ,90.7 , 2.79 ]
top29: [ 1.72 , 90.71 , 3.72 ]
bottom29: [ -9.35 , 96.31 , -1.26 ]
top30: [ -9.84 , 99.45 , 2.38 ]
bottom30: [ -2.47 , 93.63 , -7.47 ]
pair_groups:
rod:
- [bottom1,top1]
- [bottom2,top2]
- [bottom3,top3]
- [bottom4,top4]
- [bottom5,top5]
- [bottom6,top6]
- [bottom7,top7]
- [bottom8,top8]
- [bottom9,top9]
- [bottom10,top10]
- [bottom11,top11]
- [bottom12,top12]
- [bottom13,top13]
- [bottom14,top14]
- [bottom15,top15]
- [bottom16,top16]
- [bottom17,top17]
- [bottom18,top18]
- [bottom19,top19]
- [bottom20,top20]
- [bottom21,top21]
- [bottom22,top22]
- [bottom23,top23]
- [bottom24,top24]
- [bottom25,top25]
- [bottom26,top26]
- [bottom27,top27]
- [bottom28,top28]
- [bottom29,top29]
- [bottom30,top30]
string:
- [top1,bottom3]
- [top1,top7]
- [top1,bottom14]
- [bottom1,bottom9]
- [bottom1,top23]
- [bottom1,top24]
- [top2,bottom12]
- [top2,bottom28]
- [top2,bottom30]
- [bottom2,top5]
- [bottom2,top15]
- [bottom2,top25]
- [top3,top20]
- [top3,bottom21]
- [top3,bottom23]
- [bottom3,top4]
- [bottom3,bottom9]
- [top4,bottom6]
- [top4,bottom23]
- [bottom4,bottom20]
- [bottom4,top17 ]
- [bottom4,top18]
- [top5,top9]
- [top5,bottom13]
- [bottom5,top12]
- [bottom5,top15]
- [bottom5,bottom26]
- [top6,top14]
- [top6,bottom15]
- [top6,bottom17]
- [bottom6,top7]
- [bottom6,bottom20]
- [top7,bottom17]
- [bottom7,top9]
- [bottom7,top10]
- [bottom7,bottom14]
- [top8,top10]
- [top8,bottom13]
- [top8,top23]
- [bottom8,bottom22]
- [bottom8,bottom24]
- [bottom8,bottom25]
- [top9,top13]
- [bottom9,top10]
- [bottom10,bottom13]
- [bottom10,top25]
- [bottom10,top28]
- [top11,bottom29 ]
- [top11,bottom28]
- [top11,top21]
- [bottom11,top19]
- [bottom11,top26]
- [bottom11,top17]
- [top12,bottom18]
- [top12,bottom27]
- [bottom12,top25]
- [bottom12,bottom26]
- [top13,bottom15]
- [top13,top16]
- [top14,bottom16]
- [top14,bottom27]
- [bottom14,bottom15]
- [top15,top16]
- [top16,bottom27]
- [bottom16,top18]
- [bottom16,top19]
- [top17,bottom19]
- [bottom17,top18]
- [bottom18,top19]
- [bottom18,top27]
- [bottom19,bottom21]
- [bottom19,top22]
- [top20,top30]
- [top20,bottom22]
- [bottom20,bottom21]
- [top21,top22]
- [top21,top26]
- [top22,top30]
- [bottom22,top24]
- [bottom22,top20]
- [top23,bottom25]
- [bottom23,top24]
- [bottom24,bottom29]
- [bottom24,bottom30]
- [bottom25,top28]
- [top26,top27]
- [bottom26,top29]
- [bottom27,top29]
- [top28,bottom30]
- [bottom28,top29]
- [bottom29,top30]
builders:
rod:
class: tgRodInfo
parameters:
density: 0.688
radius: 0.31
friction: 0.99
roll_friction: 0.01
restitution: 0.0
string:
class: tgBasicActuatorInfo
parameters:
stiffness: 613.0
damping: 200.0
pretension: 2452.0
history: 0
max_tension: 100000
target_velocity: 10000