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Webots have walking parameters in config.ini file for Robotis Op 2.
I want to learn the limits of these parameters like X offset, foot size.
Can you help me?

Walking Parameters
This appendix explains all the parameters that can be set in the configuration file (.ini) to tune the gait:

Name        Description
X offset    Offset of the feet in the X direction in millimeter.
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    This config file comes originally from the framework of the real robot. It has been roughly copy-pasted in the simulator. In my knowledge, there is no hard-coded limits, but mathematics behind could work weirdly from some point.. – FabienRohrer Aug 29 '19 at 13:24
  • You can find the original documentation of these parameters here: http://support.robotis.com/en/product/darwin-op/development/tools/walking_tuner.htm – David Mansolino Sep 02 '19 at 14:12

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