Has anyone tried to create a "rotate in place" gait for Bittle?

I am interested in creating a gait that rotates the Bittle robot in place. If anyone has tried this, can you share your experience and the gait that you developed?

Update (June 20, 2024):

I have been trying to use the below recommended skills kvtL and kvtR but I don't find them satisfactory as a gait to rotate in place. Both of these skills push Bittle backwards with the kvtR being worse in that regard. They also have a rocking motion though that may be hard to avoid. See videos posted below. Note that I am using the rubber "socks" that came with Bittle because the floor is very smooth and rather slippery.

I know this is a complex problem and dependent on many factors including proper joint calibration (which I believe is fine) and the presence or absence of the rubber socks (which I want to keep on).

Does anyone have recommendations on tools that can help create new gaits or to tune existing gaits, either "in the real world" or in simulation?

kvtL kvtR