def to_step_spec(self, step_index):
step_spec = drc.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 = drc.atlas_behavior_step_spec_t()
msg.foot = drc.atlas_behavior_foot_data_t()
msg.action = drc.atlas_behavior_step_action_t()
return msg
