Left side Right side

front back front back

Seq Leg 1 2 3 4

1 1 6 5 4
2 -ve X Lean right
3 2 6 5 4
4 3 1 6 5
5 4 1 6 5
6 4 2 6 5
7 5 3 1 6
8 5. 1 6
9 +ve X Lean left
10 5 4 2 6
11 6 5 3 1
12 6 5 4 1
13 6 5 4 2
14 1 6 5 3
 Left side Right side
front back front back
Seq Leg 1 2 3 4

0 4 4 4 4 Initialise
1 2 4 4 2
2 3 1 1 3
3 4 1 1 4
4 4 2 2 4
5 1 3 3 1
6 1 4 4 1
 Left side Right side
front back front back
Seq Leg 1 2 3 4

0 4 4 4 4 Initialise
1 2
2 3
3 4
4 2
5 3
6 4
7 2
8 3
9 4
10 2
11 3
12 4