A webots quadruped gait generator
This is a python2 project that work in Windows and linux utilizing tkinter It requires Webots 2020b1 The controller is referenced within the project itself. You should set Tooles >> preferences >> general >> pythoncommand to python2 There are various gait files that can be loaded into the generator including walking and turning gaits
there is a video about its use at https://www.youtube.com/watch?v=EDuPl-gz040
You can also see RobotDog work.pdf explaining the maths and theory
There is also a document about making Webots work with IDLE and tkinter