gait_phase — DRIVE locomotion op

• データ種: matrix → table

• 呼び出し: import fullseye as fs; fs.ledger.gait_phase(foot_heights, stance_frac: 'float' = 0.25, ground=None, contact_tol=None) (実装を直接呼ぶなら import locomotion; locomotion.gait_phase(foot_heights, stance_frac: 'float' = 0.25, ground=None, contact_tol=None)、台帳から引くなら opsdrive.get("gait_phase"))

• GPU: なし(CPU 参照実装のみ)

使い方

足の高さから、各コマで各足を立脚(着地)か遊脚かに分ける。

> 以下の詳細説明は原文のままです —— 要約と見出しは訳出済み。

foot_heights is (T, F) — the height of each of F feet over T frames. Returns {stance (T,F bool), duty_factor (F,), n_contacts (T,), double_support} (duty factor, Alexander 1984; how many feet are down each frame; fraction of frames with >=2 feet down).

★Stance is defined against a ground reference:

• ground given (recommended for anti-cheat) — a foot is stance only when it is within contact_tol of the absolute floor level ground. This is the honest test: an airborne / hopping / frozen-in-air foot is correctly NOT stance. contact_tol defaults to stance_frac × the foot's own range.

• ground=None (default, backward-compatible) — stance is inferred from each foot's OWN height range (within stance_frac of its per-foot minimum). ★This heuristic CANNOT tell a foot planted on the floor from a foot at the bottom of an airborne trajectory, so it must NOT be used as a stability / cheat gate — pass ground for that.

参考(サンプルデータ・文献)

• サンプルデータ カタログ(DL URL / ライセンス) — 2-D は skimage.data(BSD/public)+ 合成、3-D は実データ源(Stanford/PDS 等)の DL URL。

• 演算子の来歴・参考文献 — この op 族の元になった研究/手法の出典。

• アルゴリズムの正典(著者・年)と用途は上記ファミリ使い方ガイドに記載。

実行できる例(この op を実際に呼ぶ検証済みサンプル)

• consumer_hillco — py -3.11 examples/consumer_hillco.py

• consumer_onocollo — py -3.11 examples/consumer_onocollo.py

• walking_ops_tour — py -3.11 examples/walking_ops_tour.py

型が繋がる次の op(table を入力に取れる)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

同カテゴリ(locomotion)

contact_points · com_from_silhouette · support_polygon · com_support_margin · support_line_margin · lipm_capture_point · capture_margin · gait_step_events

*Provenance: locomotion.py — DRIVE operator registry. この per-op ノートは tools/opdocs.py md が自動生成(手編集しない)。*

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.