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op3_walkingparam_msg

 ####### walking init pose #######
 float32 init_x_offset
 float32 init_y_offset
 float32 init_z_offset
 float32 init_roll_offset
 float32 init_pitch_offset
 float32 init_yaw_offset

 ####### time parameter #####
 float32 period_time
 float32 dsp_ratio
 float32 step_fb_ratio

 ########## walking parameter ########
 float32 x_move_amplitude
 float32 y_move_amplitude
 float32 z_move_amplitude
 float32 angle_move_amplitude
 bool move_aim_on

 ########## balance parameter ##########
 bool balance_enable
 float32 balance_hip_roll_gain
 float32 balance_knee_gain
 float32 balance_ankle_roll_gain
 float32 balance_ankle_pitch_gain
 float32 y_swap_amplitude
 float32 z_swap_amplitude
 float32 arm_swing_gain
 float32 pelvis_offset
 float32 hip_pitch_offset

 ########## gain parameter ##########
 int32 p_gain
 int32 i_gain
 int32 d_gain

walking init pose

time parameter

walking parameter

balance parameter

gain parameter