The gait is somehow strange.

[zst1406217]

Hello! Thanks a lot with this wonderful project. However, when I run with robot type A1, I find the gait of "pace" is very strange. The thigh joint seems to be inward and the robot is not stable. For the step I run the code, I first use command rostopic pub -1 /cmd_vel geometry_msgs/Twist "linear: x: 0.0 y: 0.0 z: 0.2 angular: x: 0.0 y: 0.0 z: 0.0" to let the robot stand up, and change the gait to the "pace", then use command rostopic pub -1 /cmd_vel geometry_msgs/Twist "linear: x: 0.5 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0" to let robot move forward. However, I notice the pace gait as the video:

https://github.com/qiayuanl/legged_control/assets/89176298/7afbf647-92f8-47bf-8b19-e65d1227623b

and also, the trot gait is better, but seems also thigh joint inward and the gait is unnatural. Anyone know why?

trot gait:

https://github.com/qiayuanl/legged_control/assets/89176298/1c851ca3-8944-4ca9-90d8-6938b634b8bb