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StepTimeData_msg

# global time (Unit:sec) float32 abs_step_time

# dsp_ratio >= 0.0 dsp_ratio < 1.0, recommand value is 0.2 float32 dsp_ratio

# 0.0 <= start_time_delay_ratio < 1.0 # 0.0 <= finish_time_advance_ratio < 1.0 # 0.0 <= start_time_delay_ratio + finish_time_advance_ratio < 1.0 # default value is 0.0 float32 start_time_delay_ratio_x float32 start_time_delay_ratio_y float32 start_time_delay_ratio_z float32 start_time_delay_ratio_roll float32 start_time_delay_ratio_pitch float32 start_time_delay_ratio_yaw float32 finish_time_advance_ratio_x float32 finish_time_advance_ratio_y float32 finish_time_advance_ratio_z float32 finish_time_advance_ratio_roll float32 finish_time_advance_ratio_pitch float32 finish_time_advance_ratio_yaw ```