• 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.
         foot_z_wap

    • float32 body_z_swap
         The swept distance by the body on the Z axis while THORMANG3 is walking. Unit in meter.
         body_z_wap

    • 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.