Perform one simulation step with walking motion.
(self)
| 213 | return target_pos |
| 214 | |
| 215 | def step(self): |
| 216 | """Perform one simulation step with walking motion.""" |
| 217 | # Generate target positions |
| 218 | target_pos = self.generate_walking_motion() |
| 219 | |
| 220 | # Set joint targets |
| 221 | self.robot.set_joint_position_target(target_pos) |
| 222 | |
| 223 | # Step simulation |
| 224 | self.scene.write_data_to_sim() |
| 225 | self.sim.step() |
| 226 | self.scene.update(self.sim.get_physics_dt()) |
| 227 | |
| 228 | def get_robot_state(self): |
| 229 | """Get current robot state for monitoring.""" |
no test coverage detected