Its interesting how changing limits and plan can create interesting locomotion!
This is all a plan.
2 Likes
when try to offset the L / R contact position it start to go wonky!
That first one looks marvellous. 
To the second one, keep an eye on the Iterations.
The smaller the limits and greater the distance, the harder it is to find a solution. It will either need more iterations - which you can think of as “attempts” - or less restrictions.