def blank_walk_spec(): msg = drc.atlas_behavior_walk_spec_t() msg.foot = drc.atlas_behavior_foot_data_t() msg.action = drc.atlas_behavior_walk_action_t() return msg
def to_walk_action(self): action = drc.atlas_behavior_walk_action_t() action.step_duration = self.bdi_step_duration action.swing_height = self.step_height return action