le="text-align: center;">
<p>Sides = bilateral</p>
<p>Hip = AK60v1.1 (or the motor you're using)</p>
<p>hipDefaultController = step</p>
</div><img alt="_images/setParams.png" class="align-center" src="_images/setParams.png" />
<p>These will ensure that the desired sides (bilateral), motors/joints (Hip = AK60v1.1), and controller (step) are utilized.
With these changes made to config.ini, save and exit. Within the SD card, go to hipControllers &gt; step.csv.</p>
<p>This file contains controller parameters sp