This thread is to discuss a new set of standard message definitions for humanoid robots. The current standard is humanoid_msgs, but it is not widely adopted and is currently limited to bipedal footstep planning/execution. As a starting point, I will propose modifications to StepTarget.msg to extend functionality for 3D terrain, and include commonly used step parameters: # Target for a single stepping motion of a humanoid's leg geometry_msgs/Pose pose # step pose as relative offset to last leg uint8 swing_leg # which leg to use (left/right, see below) float32 swing_duration # the duration spent in single support phase float32 step_duration # the duration spend in double support phase float32 swing_height # the max height of the swing foot relative to the stance foot uint8 RIGHT_LEG=0 uint8 LEFT_LEG=1 @k-okada @stumpf Could JSK and Vigir footstep planning be made compatible with something like this? --- [Visit Topic](https://discourse.ros.org/t/humanoid-msgs-definitions/2119/1) 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: