Made some good progress. Firstly, I finally fixed the legs. They now move in straight lines, so that the robot can move forward. Turns out I had to rotate by (or to?) 150 degrees for a -30 and 135 for a -45 (off by 180 degrees, which is interesting). I will include my best guess of what is going on, but to be completely honest, my code should not be doing that and I don’t know why it is. To figure this out, I had the very high tech strategy of taping a whiteboard marker to the leg, and tracing the path it drew in stance phase. Long story short, I have validated (on two configurations) that it works (and on the last tests I got super straight, vertical lines, as if my robot had a ruler), and have to get PCBs manufactured so it’s time to move on. I moved to the main body and housing, and got my spider design cooking up. After Fusion “lol nope”d all my loft plans, I made a very sketchy completely blue sketch and divided the loft profile into 4. It worked so I will clean it up tomorrow, then plan electronics mounts. PCB design next week, fingers crossed. Anyway, enjoy a preview of the robot running at you, and some images of a first draft for what it might look like (hopefully not too much like a cybertruck, lol)