(self, current_time: float)
Called during the start of a swing cycle.

    Args:
      current_time: The wall time in seconds.
Called during the start of a swing cycle.
Called during the start of a swing cycle .
def reset(self, current_time: float) -> None:
    """Called during the start of a swing cycle.

    Args:
      current_time: The wall time in seconds.
    """
    del current_time
    self._last_leg_state = self._gait_generator.desired_leg_state
    self._phase_switch_foot_local_position = (
        self._robot.GetFootPositionsInBaseFrame())
    self._joint_angles = {}
def reset ( self , current_time : float ) -> None : del current_time self . _last_leg_state = self . _gait_generator . desired_leg_state self . _phase_switch_foot_local_position = ( self . _robot . GetFootPositionsInBaseFrame ( ) ) self . _joint_angles = { }