@rmerriam The IHMC definition looks appealing to me. But is there any reason in general to provide the option for sole vs ankle relative coordinates? If I recall correctly, that was only to handle BDI's interface to the Atlas robot. And why are position/orientation split out into separate fields? @airballking We could talk multi-arm manipulation messages on this thread as well. I think we should expand to have humanoid_nav_msgs, humanoid_manipulation_msgs, etc. --- [Visit Topic](https://discourse.ros.org/t/humanoid-msgs-definitions/2119/4) 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: