def to_step_action(self):
action = drc.atlas_behavior_step_action_t()
action.swing_height = self.step_height
action.step_duration = self.bdi_step_duration
action.sway_duration = self.bdi_sway_duration
if self.terrain_pts.shape[1] >= 2:
max_step_height = max(self.terrain_pts[1,0], self.terrain_pts[1,-1])
action.lift_height = max(self.terrain_pts[1,:]) - max_step_height + self.bdi_lift_height
action.lift_height = min(action.lift_height, MAX_LIFT_HEIGHT);
else:
action.lift_height = self.bdi_lift_height
action.lift_height = max(action.lift_height, 0.01) # A lift height of 0 is ignored by the API, so we'll replace it with a very small but nonzero value (1cm).
action.toe_off = self.bdi_toe_off
action.knee_nominal = self.bdi_knee_nominal
action.max_body_accel = self.bdi_max_body_accel
action.max_foot_vel = self.bdi_max_foot_vel
action.sway_end_dist = self.bdi_sway_end_dist
action.step_end_dist = self.bdi_step_end_dist
return action
def blank_step_spec():
msg = drc.atlas_behavior_step_spec_t()
msg.foot = drc.atlas_behavior_foot_data_t()
msg.action = drc.atlas_behavior_step_action_t()
return msg
