def to_step_spec(self, step_index): step_spec = atlas.behavior_step_spec_t() step_spec.step_index = step_index step_spec.foot_index = self.is_right_foot step_spec.foot = self.to_bdi_foot_data() step_spec.action = self.to_step_action() return step_spec
def blank_step_spec(): msg = atlas.behavior_step_spec_t() msg.foot = atlas.behavior_foot_data_t() msg.action = atlas.behavior_step_action_t() return msg