Currently trying to test a simple walk for interference. I realized when slicing a leg that my MG996R servos would have way too little torque, so I upgraded them to 40kg servos. I settled on a 375mm long robot, with the front leg on a 30 degree angle. I set up a matrix revolve function so that the robot wouldn’t push itself sideways (see very beautiful sketch). However, that revolve function did absolutely horrendous. My robot’s leg traced a ln(x) function in the x, y, and I have genuinely no idea why. Then I tried a very simple coxa offset, and that didn’t work either. I taped a pen to the robot’s leg so that I could see the path that it was walking, and found that for some reason, a zero degree offset produced a straight y (“straight”, the experiment held error). Again, I have genuinely no idea why, as the code I’ve set up should make that test path the red line in my sketch. If you see something I don’t please let me know. Anyway, I wrapped up the 10h by putting together the second leg. I’ll post another devlog shortly (hopefully) that shows (hopefully) a working step gait.