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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