Cage, here is the result of the latest hipHight test.

Two completely standard instances of Antonia-1.0.0, no special geometry nothing done to the limits. Using your "AP4 walk" (the original one, not the new one).

The figure on your left uses the unaltered pose with "hipHeight  0.381689".

The figure on your right uses "hipHeight  0.430000".

Quote - Did you get the updated walk cycles I made yesterday?  I think I've already set Antonia's hipHeight at 0.4 in those.

I did get them, but must admit, I have not tested them yet.