Let's start a new thread to discuss the revival and extentions to humanoid_msgs. It seems like Vigor's StepTarget.msg has parameters that more closely match what most groups are commonly using. An RVIz plugin sounds like a great idea! Most packages are using Visualization Markers for footsteps, but that has been pretty limited in my opinion. As for humanoid kinematics/dynamics, it seems like [Simox VirtualRobot](https://gitlab.com/Simox/simox/wikis/home) is a lightweight and actively maintained library that has these calculations. There is an example ZMP preview controller based on it https://github.com/TheMarex/libbipedal. --- [Visit Topic](https://discourse.ros.org/t/jsks-use-of-humanoids/2107/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: