yes Leg Lengths are what I'm looking for, but they are not calculated correctly.
If you change Long Demonstration Motion Plan, just one Angle at a time to something like this
demoMotionPlan =
Block[{dx = 0.05, d\[Theta] = 0.5},
{
{0, 0, 0, 0, 0, 0},
{0, 0, 0, d\[Theta], 0, 0},
{0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0},
{0, 0, 0, -d\[Theta], 0, 0},
{0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, d\[Theta], 0},
{0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, -d\[Theta], 0},
{0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, d\[Theta]},
{0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, -d\[Theta]},
{0, 0, 0, 0, 0, 0}
}
];
Leg lengths are not calculated for [Phi].
Any Ideas
Mario