def initialize(self):
self.initializedFlag = True
self.updateFramesAndAffordance()
self.setFoostepData()
self.setFootstepDataForwards()
self.footstepRequestGenerator = FootstepRequestGenerator(
self.robotSystem.footstepsDriver)
#define the frames we need relative to the box frame etc
self.numFootsteps = 2
self.minHoldTime = 2
