locomotion op• 데이터 종류: matrix → table
• 호출: import fullseye as fs; fs.ledger.gait_phase(foot_heights, stance_frac: 'float' = 0.25, ground=None, contact_tol=None)(구현을 직접 호출하려면 import locomotion; locomotion.gait_phase(foot_heights, stance_frac: 'float' = 0.25, ground=None, contact_tol=None), 원장에서 가져오려면 opsdrive.get("gait_phase"))
• GPU: 없음(CPU 참조 구현만)
높이로부터 프레임마다 각 발을 입각(착지) 또는 유각으로 분류한다.
> 아래 상세 설명은 원문입니다 —— 요약과 제목은 번역되어 있습니다.
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.
• 샘플 데이터 카탈로그(DL URL / 라이선스) —— 2-D 는 skimage.data(BSD/public)+ 합성, 3-D 는 실데이터 소스(Stanford/PDS 등)의 DL URL.
• 연산자의 내력·참고문헌 —— 이 연산자 족의 바탕이 된 연구/기법의 출처.
• 알고리즘의 정전(저자·연도)과 용도는 위의 패밀리 사용 가이드에 적혀 있습니다.
• 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
table 를 입력으로 받는 것)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
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 연산자 레지스트리. 이 op 노트는 tools/opdocs.py md 가 자동 생성합니다(직접 편집하지 마세요).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.