I understand. That's what I thought might be the case. I see that behavior definitions have speed options not present in gait definitions. And I see in OpenCat.h adjustments made to the servo pwm duty cycle. Does any of this affect gaits, or are gaits only executed as fast as possible? If the latter, is there some way to adjust gait speed? I've only skimmed parts of the code but don't see anything. I do need to do more study, but I've been too distracted right now just playing with Bittle. All functional elements are elegantly designed, and Bittle is very pleasing to look at as well. Thank you for a great platform.

It's difficult to see what I'm asking about in the video unless you watch it video-frame by video-frame. There are bits of hesitation in movement. Perhaps between each gait-frame? You can also hear the "stepping" in the audio. If this is the way gaits are executed, that's OK. But I want to be sure there isn't some setting I can make to make the motion smoother. With behaviors like the push-ups, I don't observe this stepping. Having done some work with motor and servo control, I just need to understand Bittle's system. Thank you for any insights.