Format of serialized trajectory in YAML.

configuration: start_time: 0 dofs: ["/right/j1", "/right/j2", ...] type: spline spline: order: 3 data:

• coefficients: [1, 2, ...] duration: 0.1875 start_state: [3, 4, ...]
• coefficients: [5, 6, ...] duration: 0.1875 start_state: [7, 8, ...]