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unilab.tasks.locomotion.g1.manager_terms.compute_feet_phase_height_targets

unilab.tasks.locomotion.g1.manager_terms.compute_feet_phase_height_targets(gait_phase, swing_height)

Cubic-Bézier per-foot height targets, ported from the legacy G1 task.

Parameters:

• gait_phase (ndarray)

• swing_height (float)

Return type:

tuple[ndarray, ndarray]