how should i define the orientation and position of one limb relative to another in a locomotion gait maybe based on its multibody dynamics
like assuring the spine and abdomen rotates enough (but not too much) towards the dominant stepping legs and does the counterrotation as much during the other step and maybe assuring symmetry between the two swing of arms so that either ones goes the same distance

but generally its about knowing a loop that is consistent, repeats properly but also dynamicaybe using variable modeling