Question about `gait_wait_timer` update in `_step_contact_targets()` (seems never incremented)

[lrrrt]

Thanks for releasing this code!
While reading b1z1_base.py, I noticed that gait_wait_timer is used in _step_contact_targets() to implement a “walk→stand” transition

• suddenstop_indices = (gait_wait_timer > 0) | ((~is_walking) & (self.is_walking))
• overdue_indices = gait_wait_timer >= GAIT_WAIT_TIME
• and then reset gait_indices and gait_wait_timer when overdue.

However, in the version I’m looking at, I can’t find where gait_wait_timer is ever set to be incremented. It seems initialized to zeros and only ever written back to 0 in this function.
Thanks!