I have given up on my "fixed" pose, at least for the moment. I wanted to see if the thighLength, feetDistance, and hipHeight parameters in the pose were making any difference to the WD output. So I did this test.

The wire frame is the standard P6 (not P4) walk. The solid figure is is the same walk, but using Antonia specific parameters, namely:

thighLength 0.175231
feetDistance 0.079002
hipHeight 0.381689

My new foot geometry was used in the figure, but, unlike previous tests, limits were turned off.

As you can see there is a considerable difference the separation of the feet, presumably due to different "feetDistance". In side view there has also been an effect on the amount of xrot (kick) applied to the thighs, presumably due to "thighLength". "hipHeight" on the other hand, does not seem to have had any visible affect on the altitude of the hip. However the ytran values are slightly different.

-0.012452 for standard P6 blend,
versus
-0.013336
For Antonia specific

The default P6 values seems to give better results than the Antonia specific values, in this test. Perhaps the important thing to note is that we appear to be able to tweak WD output by changing these values.