public void handleAdjustFootstepCommand(AdjustFootstepCommand command) { if (isWalkingPaused.getBooleanValue()) { PrintTools.warn(this, "Received " + AdjustFootstepCommand.class.getSimpleName() + " but walking is currently paused. Command ignored."); requestedFootstepAdjustment.clear(); hasNewFootstepAdjustment.set(false); return; } requestedFootstepAdjustment.set(command); hasNewFootstepAdjustment.set(true); }