locomotion op• 数据种类:matrix → table
• 调用: import fullseye as fs; fs.ledger.gait_phase(foot_heights, stance_frac: 'float' = 0.25, ground=None, contact_tol=None)(要直接调用实现,import locomotion; locomotion.gait_phase(foot_heights, stance_frac: 'float' = 0.25, ground=None, contact_tol=None);从台账取用则 opsdrive.get("gait_phase"))
• GPU:无(仅 CPU 参考实现)
根据高度逐帧把每只脚分类为支撑相(着地)或摆动相。
> 以下的详细说明为原文 —— 摘要与标题已翻译。
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.
• 示例数据目录(下载 URL / 许可证) —— 2-D 用 skimage.data(BSD/公有领域)加合成图,3-D 给出真实数据源(Stanford/PDS 等)的下载 URL。
• 算子来历与参考文献 —— 该算子族所依据的研究/方法出处。
• 算法的正典(作者、年份)与用途见上面的族使用指南。
• 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 作为输入)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 算子登记表。本条目由 tools/opdocs.py md 自动生成(请勿手工编辑)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.