When running the code with the Go1 robot, it was noticed that the two hind legs are splayed outward.

[nanbwrn]

When I run the simulation with the Go1 robot, I've noticed that the robot's leg positions are normal when it's standing. However, when it starts walking with trot gait, I observe that its rear two legs splay outward as it moves. When I run it on the actual robot, this strange phenomenon also occurs.
How should I make modifications to address this issue?
Thank you, everyone.

Below is a simulation video for reference.

Legged.Control.Go1.mp4

[demirciomer]

Hi, can you send the reference.info file of your robot?

[nanbwrn]

targetDisplacementVelocity 0.25;
targetRotationVelocity 0.5;

comHeight 0.30 ; Unitree Go1 Default Spec: 0.325 -> 0.31

defaultJointState
{
(0,0) 0.00 ; LF_HAA | Original: -0.20
(1,0) 0.72 ; LF_HFE | Original: 0.72
(2,0) -1.44 ; LF_KFE | Original: -1.44
(3,0) 0.00 ; LH_HAA | Original: -0.20
(4,0) 0.72 ; LH_HFE | Original: 0.72
(5,0) -1.44 ; LH_KFE | Original: -1.44
(6,0) 0.00 ; RF_HAA | Original: 0.20
(7,0) 0.72 ; RF_HFE | Original: 0.72
(8,0) -1.44 ; RF_KFE | Original: -1.44
(9,0) 0.00 ; RH_HAA | Original: 0.20
(10,0) 0.72 ; RH_HFE | Original: 0.72
(11,0) -1.44 ; RH_KFE | Original: -1.44
}

initialModeSchedule
{
modeSequence
{
[0] STANCE
[1] STANCE
}
eventTimes
{
[0] 0.5
}
}

defaultModeSequenceTemplate
{
modeSequence
{
[0] STANCE
}
switchingTimes
{
[0] 0.0
[1] 1.0
}
}