Two parts of this message format are interesting: profile_type & ignore_contact. One activity in the Space Robotics Challenge was climbing stairs. The IHMC messages didn't allow, as far as I could tell, the profile shaping or setting a non-contact, i.e. a step always ended in double contact stance.
>From a stance with both feet on a step the first foot moved fine, clearing the riser and settling on the tread. There was no nose. It did this because the foot moved straight up and then horizontally onto the tread. The second food would catch the riser since it move at an angle. The profile couldn't be modified. Also, since a full step was needed the trajectory could not be raise the foot and then slide it onto the tread.
There is a option to do a two position trajectory move in the IHMC message but I didn't have time to see how that worked or whether it would be sufficient for stair climbing, or descending.
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