op3_walking_module_msgs/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
` float32 init_x_offset`
offset in the x-direction (front and back) [m]
time parameter
walking parameter
balance parameter
bool balance_enable
Turn on balance algorithm
` float32 balance_hip_roll_gain` Gain with respect to the gyroscope roll
` float32 balance_knee_gain` Gain with respect to the gyroscope pitch
` float32 balance_ankle_roll_gain` Gain with respect to the gyroscope roll
` float32 balance_ankle_pitch_gain` Gain with respect to the gyroscope pitch
` float32 arm_swing_gain` Arm swing gain with respect to Step forward/back. If the left foot moves forward then the right arm swings.
gain parameter
` int32 p_gain` not yet implemented
` int32 i_gain` not yet implemented
` int32 d_gain` not yet implemented