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.
       !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.