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This stack provides both interfaces and implementations to generate balanced walk trajectories for a humanoid robot.

It is divided into interfaces:

• walk_interfaces: the C++ interface

• walk_msgs: the ROS interface

...and implementation:

• halfsteps_pattern_generator: a pattern generator based on half-steps, particularly suited to fast online planning and replanning.

Additionally, walk_tools provides useful scripts when dealing with walking trajectories.

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