Hi everyone, So I'm trying my hand at making a hexapod and have hit a snag which has me stuck now for a while. Basically I have built the hexapod and started coding it. Now I am trying to do body translation, i.e. the body moves but the feet stay perfectly planted, which works perfectly if I move the body up or down( my z direction). However when I move in the x or y direction, the feet do not stay planted at all. This can be seen in the 2nd and 3rd pic attached where the 1st pic is the starting position.