About gait phase

[Supergithubber]

Hi～I have a new question: In your trot gait settings, I see you set the initial phase of the swing phase to 0.9, and the initial phase of the support phase to 0. If you follow this, there will be situations where all four feet are off the ground or landing at the same time for a long time, how do you consider it? name: a1_sim gait_params: gait: "trot" # trot or walk, reserved param, fixed config by code, modificate here dose not take effect. trot: stance_duration: [ 0.3, 0.3, 0.3, 0.3 ] duty_factor: [ 0.6, 0.6, 0.6, 0.6 ] init_phase_full_cycle: [ 0.9, 0., 0., 0.9 ] initial_leg_state: [ 0, 1, 1, 0 ] # STANCE: 1, SWING: 0 contact_detection_phase_threshold: 0.1

Looking forward to your reply！

[xmc1214]

您好，请问能否举个具体的例子，比如您这边测试到在哪一个时间点四只脚的状态均为摆动阶段

[Supergithubber]

您好，请问能否举个具体的例子，比如您这边测试到在哪一个时间点四只脚的状态均为摆动阶段

Thank you for your reply! During the debugging process, I did not encounter the situation where all four feet leave the ground at the same time under the trot gait, but your definition of the gait phase sequence seems to be the same as the gait I have seen, for example:

gait_params: gait: "trot" 
trot or walk, reserved param, fixed config by code, modificate here dose not take effect. 
trot: stance_duration: [ 0.3, 0.3, 0.3, 0.3 ] duty_factor: [ 0.6, 0.6, 0.6, 0.6 ] init_phase_full_cycle: [ 0.9, 0., 0., 0.9 ] initial_leg_state: [ 0, 1, 1, 0 ] # STANCE: 1, SWING: 0 contact_detection_phase_threshold: 0.1

Does the gait defined above mean that the total time of the support phase for each leg is 0.3s, the proportion of the support phase to a less cycle is 0.6, and the initial phase (relative progression in a less cycle) of each leg is respectively is [0.9, 0., 0., 0.9], the initial states of the four legs are [support phase, swing phase, support phase, swing phase]？ If it is convenient, can you draw a phase diagram? Looking forward to your reply！