Thanks for the elaborations @rmerriam! For step/leg motion types that are more complicated, arbitrary motions can be executed with `EndEffectorTrajectory.msg ` from [free_gait_msgs](
https://github.com/leggedrobotics/free_gait/tree/master/free_gait_msgs/msg):
# Definition of a trajectory for the foot.
# Leg name ('LF_LEG', 'RH_LEG' etc.).
string name
# Trajectory for the end effector.
# Trajectory can contain transforms, twists, or accelerations,
# or combinations of these.
trajectory_msgs/MultiDOFJointTrajectory trajectory
# Target surface normal.
# Leave empty of no contact is expected or not known.
geometry_msgs/Vector3Stamped surface_normal
# If contact of the end effector should be ignored.
# Default is false.
bool ignore_contact
# If pose adaptation should ignore this leg motion.
# Default is false.
bool ignore_for_pose_adaptation
---
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