Phase duration optimization under a specified gait

[IoannisDadiotis]

Hi @awinkler ,

Firstly, thanks for sharing your work!

The question applies for robots with more than one legs. I was wondering if there is an option for restricting the phase duration optimization to a specific gait (e.g. walk)? This may be essential for robots with limited dynamic performance that can only swing one leg at a time or when a specific gait is necessary for task-related reasons.

As far as I can understand, proper initialization can favor a desired gait but does not satisfy that the solver will keep this gait until the final solution, right?