text: # The state of a robot expressed in the Cartesian frame
  
  duration                time_from_start   # global time along trajectory
  
  # Position, velocity and acceleration of the base expressed in world frame
  # The orientation quaternion maps base to world frame.
  State6d                 base              # base pos/vel/acc in world
  
  StateLin3d[]            ee_motion         # endeffector pos/vel/acc in world
  geometry_msgs/Vector3[] ee_forces         # endeffector forces expressed in world
  bool[]                  ee_contact        # True if the foot is touching the environment
  
  
  
  