def __init__(self, hip_height, torso_angle, lift_off_slope, step_height, step_length, put_down_slope, duration_of_rest, walking_frequency, robot_server):
super().__init__(hip_height, torso_angle, lift_off_slope, step_height, step_length, put_down_slope, walking_frequency, robot_server)
self.duration_of_rest = duration_of_rest
self.walking_sets = [{'is_swing_leg_left': True, 'step_length': step_length/2, 'current_position_relative_to_initial_foot_position': Point((0, 0, 0))},
{'is_swing_leg_left': False, 'step_length': step_length, 'current_position_relative_to_initial_foot_position': Point((-step_length/2, 0, 0))},
{'is_swing_leg_left': True, 'step_length': step_length, 'current_position_relative_to_initial_foot_position': Point((-step_length/2, 0, 0))}]
self.timer = PerformanceTimer(interval=self.step_timer.frequency, duration=self.step_timer.single_step_time)
