v8 added walking and rotation at the same time :D

Assets/Main.unity

@@ -14098,7 +14098,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 94996747}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: -20, y: -15, z: 11}
+  m_LocalPosition: {x: -20, y: -17, z: 11}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 379804153}
@@ -48707,6 +48707,7 @@ GameObject:
   - component: {fileID: 311513962}
   - component: {fileID: 311513963}
   - component: {fileID: 311513964}
+  - component: {fileID: 311513965}
   m_Layer: 0
   m_Name: RotationControl
   m_TagString: Untagged
@@ -48738,7 +48739,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 30ea8dc0510444c42ae4b4db1f5ee2bd, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  transformation: {x: 0, y: 2, z: 0}
+  transformation: {x: 0, y: 0, z: 0}
   transformation2: {x: 0, y: 0, z: 0}
   rotation: {x: 0, y: 0, z: 0, w: 0}
   rotation2:
@@ -48793,6 +48794,29 @@ MonoBehaviour:
   st: 5
   speed2: 1
   rotation: 5
+--- !u!114 &311513965
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 0}
+  m_GameObject: {fileID: 311513960}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: a4266f2a53eea3a43972b07e077212bc, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  legs:
+  - {fileID: 636309705}
+  - {fileID: 596626244}
+  - {fileID: 1619174560}
+  - {fileID: 1453644144}
+  - {fileID: 1772413224}
+  - {fileID: 210611261}
+  st: 5
+  speed2: 10
+  walkDirection: 0
+  centerRotation: 0
+  walkspeed: 0
 --- !u!1 &311874317
 GameObject:
   m_ObjectHideFlags: 0

Assets/Walk3.cs

@@ -0,0 +1,143 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Walk3 : MonoBehaviour
+{
+    public List<GameObject> legs = new List<GameObject>();
+    private List<Vector3> legsInitial = new List<Vector3>();
+
+    // Use this for initialization
+    void Start()
+    {
+        for (int index = 0; index < legs.Count; ++index)
+        {
+            legsInitial.Add(legs[index].GetComponent<Leg>().point);
+            step2.Add(0);
+            step6.Add(false);
+            //step3.Add(0);
+            //step4.Add(new Vector3(0, 0, 0));
+            step5.Add(new Vector3());
+        }
+    }
+
+    struct step
+    {
+        public Vector3 pos;
+        public float rotation;
+        public float height;
+        public bool inAir;
+
+        public step(Vector3 p, float r, float h, bool i)
+        {
+            pos = p;
+            rotation = r;
+            height = 0;
+            inAir = i;
+        }
+    }
+
+    // 1, 3, 5 -= 3
+
+    int offset(int i, int offset, int max)
+    {
+        return  i - offset < 0 ? (max - (offset - i)) : i - offset;
+    }
+
+    step[] s = {
+        new step(new Vector3(-1, 0, 0), -1, 0, false),
+
+        new step(new Vector3(0, -2, 0), 0, -2, false),
+
+        new step(new Vector3(0, 0, 0), 0, 0, false), // rest
+
+        new step(new Vector3(1, 0, 0), 1, 0, false),
+        new step(new Vector3(1, 0, 0), 1, 0, false),    
+        
+        new step(new Vector3(0, 0, 0), 0, 0, false), // rest
+
+        new step(new Vector3(0, 2, 0), 0, 2, false),
+        new step(new Vector3(-1, 0, 0), -1, 0, true),
+    };
+
+    public int st = 5;
+    public int speed2 = 30;
+    int speed = 10;
+
+    public float walkDirection = 0;
+    public float centerRotation = 0;
+
+    int size = 8;
+
+    public float walkspeed = 1;
+
+    private List<float> step2 = new List<float>();
+    //private List<float> step3 = new List<float>();
+    //private List<Vector3> step4 = new List<Vector3>();
+    private List<Vector3> step5 = new List<Vector3>();
+    private List<bool> step6 = new List<bool>();
+
+    // Update is called once per frame
+    void FixedUpdate()
+    {
+        if (speed <= 0)
+        {
+            if (st >= size - 1)
+                st = 0;
+            else
+                st++;
+
+            for (int index = 0; index < legs.Count; ++index)
+            {
+                int t = st;
+                if (index == 1 || index == 3 || index == 5)
+                {
+                    t = offset(st, 4, size);
+                }
+
+                if (s[t].inAir == false)
+                {
+                    step2[index] = (centerRotation * s[t].rotation) / speed2;
+
+                    Vector3 t2 = s[t].pos;
+                    t2.x *= walkspeed;
+                    // rotate x,y around rotation.
+                    step5[index] = (Quaternion.Euler(0, walkDirection, 0) * t2) / speed2;
+
+                    step6[index] = true;
+                }
+                else
+                {
+                    Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent<Leg>().point;
+                    step5[index] = t2 / speed2;
+
+                    step6[index] = false;
+                }
+            }
+
+            speed = speed2;
+        }
+        else
+        {
+            speed--;
+            makestep();
+        }
+    }
+
+    void makestep()
+    {
+        for (int index = 0; index < legs.Count; ++index)
+        {
+            legs[index].GetComponent<Leg>().point += step5[index];
+            if (step6[index])
+            {
+                //legs[index].GetComponent<Leg>().point += step5[index];
+
+                // rotate x,y around rotation.
+                legs[index].GetComponent<Leg>().setWorldPos(
+                    Quaternion.Euler(0, step2[index], 0) * legs[index].GetComponent<Leg>().getWorldPos()
+                    );
+            }
+        }
+    }
+}

Assets/Walk3.cs.meta

@@ -0,0 +1,13 @@
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+guid: a4266f2a53eea3a43972b07e077212bc
+timeCreated: 1542307321
+licenseType: Free
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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