The Gait Designer (get it here) is a Java application that allows you to create a number of "animations" - say: walk, crouch, kneel etc.

Each animation can have a number of key frames for each limb (ie servo/joint) and the Gait Designer produces a smooth transition between these key frames (so called 'in-between-ing').

Whilst designing the gait you can connect your computer to a micro-controller running WebbotLib so that the servos move to the selected position for each key frame. Just 'drag' the servo position 'on-screen' and the robot limb will move in unison!

Whilst designing the gait you can, at any time, press the 'Play' button to animate the gait. The 'on-screen' sliders will move in real time, and if you are 'Connected' to the robot, then the robot limbs will move as well.

Once completed you can export the gait into a file that can be included from your WebbotLib project. You can then play any of the animations, at any speed, without requiring any form of connection back to your PC.