Language Language English 简体中文 unilab.tasks.locomotion.g1.manager_terms.compute_feet_phase_contact_targets¶ unilab.tasks.locomotion.g1.manager_terms.compute_feet_phase_contact_targets(gait_phase, swing_height)[source]¶ Expected per-foot contact flags derived from the Bézier height targets. Parameters: gait_phase (ndarray) swing_height (float) Return type: tuple[ndarray, ndarray]