File: thormang3_walking_module_msgs/StepPositionData.msg
Raw Message Definition
#### Step Position Data
## MovingFootFlag
int16 moving_foot
int16 LEFT_FOOT_SWING = 1 # Left foot constant
int16 RIGHT_FOOT_SWING = 2 # Right foot constant
int16 STANDING = 3 # No foot constant
## Unit [meter, rad]
float32 foot_z_swap
float32 body_z_swap
float32 x_zmp_shift
float32 y_zmp_shift
float32 torso_yaw_angle_rad
PoseXYZRPY left_foot_pose
PoseXYZRPY right_foot_pose
PoseZRPY body_pose
Compact Message Definition