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I, on the other hand, found the breadboards to be too tricky. For now I got this walker to turn as well, doing a reverse should also be a piece of cake since the joints are symmetrical and I can bend the knees backwards xD
The greatest trick left is to get the propulsion commands and use them to initiate walking sequences from LUA box, here is where I feel the breadboards might come in really handy
I'll eventually guide you through the code and engineering that I've put into this, but only when I'm confident that other bits of the project will fit together as I've envisioned it.