StepPositionData_msg
-
File:
thormang3_walking_module_msgs/StepPositionData.msg
-
Message Definition
int16 moving_foot
int16 LFootMove = 1 # Left foot constant
int16 RFootMove = 2 # Right foot constant
int16 NFootMove = 3 # No foot constant
### Unit [meter, rad]
float32 foot_z_swap
float32 body_z_swap
float32 torso_yaw_angle_rad
PoseXYZRPY left_foot_pose
PoseXYZRPY right_foot_pose
PoseZRPY body_pose
- Description Position related Step Data Parameters
-
int16 moving_foot
Flag for Moving Foot The flag should be set to one of the following values. - LFootMove : constant for the left foot move - RFootMove : constant for the right foot move - NFootMove : constant for no foot move - ` float32 foot_z_swap` The swept distance by the foot on the Z axis while THORMANG3 is walking. Unit in meter.
- ` float32 body_z_swap` The swept distance by the body on the Z axis while THORMANG3 is walking. Unit in meter.
-
` float32 torso_yaw_angle_rad`
Waist target angle for upcoming step. Unit in rad(Not supported. This parameter is not used.) -
PoseXYZRPY left_foot_pose
(thormang3_walking_module_msgs/PoseXYZRPY) Target pose of the left foot for upcoming step. Unit in meter, rad. -
PoseXYZRPY right_foot_pose
(thormang3_walking_module_msgs/PoseXYZRPY) Target pose of the right foot for upcoming step. Unit in meter, rad. -
PoseZRPY body_pose
(thormang3_walking_module_msgs/PoseZRPY) The target COB for upcoming step. Unit in meter, rad.