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.