Thanks for initiating this discussion. We have also been working in this area and have established a [generic interface for the control of legged](https://github.com/leggedrobotics/free_gait) robots (independent of the number of legs). Specifically, a [footstep](https://github.com/leggedrobotics/free_gait/blob/master/free_gait_msgs/msg/Footstep.msg) as mention above is implemented as:

    # Step defined by foothold position and swing profile.
    
    # Leg name ('LF_LEG', 'RH_LEG' etc.).
    string name

    # Target position of the foot by the end of the motion.
    geometry_msgs/PointStamped target

    # Step apex swing heights in control frame.
    # If 0, default is used.
    float64 profile_height

    # Average velocity of the foot motion [m/s].
    # If 0, default is used.
    float64 average_velocity

    # Type of the swing trajectory ('triangle', 'square', etc.).
    # If empty, default is used.
    string profile_type

    # If a contact (touchdown) of the foot at the end of the swing is not expected.
    # Default is false.
    bool ignore_contact

    # Target foothold surface normal.
    # Leave empty of no contact is expected or not known.
    geometry_msgs/Vector3Stamped surface_normal

    # If pose adaptation should ignore this leg motion.
    # Default is false.
    bool ignore_for_pose_adaptation





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