Mithi Sevilla

> Hi @mithi is it possible for me to re-submit the pull request? I've made changes to the code. Should I start a new pull request & clean up commits...

Hi again @myiwt ! I tried to make a couple of changes to the ci configuration file, but the current build is still failing, currently it is saying that the...

The legs are sinking. Problem in `inverse_kinematics_update()`, see image below

There must be a wrong assumption in the IK algorithm here...

❗ When the right-middle leg is twisted by itself (coxia angle changed), the figure point-of-view changes, other legs don't do this. Might be a bug in [`hexapod.models.VirtualHexapod._find_if_might_twist`](https://github.com/mithi/hexapod-robot-simulator/blob/e19f5de5b1110bc78bd75091eb63f47907ffddc5/hexapod/models.py#L192) or [`hexapod.models.find_twist_frame`](https://github.com/mithi/hexapod-robot-simulator/blob/e19f5de5b1110bc78bd75091eb63f47907ffddc5/hexapod/models.py#L231)

@robottwo Do you have a demo video showcasing sample usage of your changes (like the gui and maybe a sample case on using more than two servo controllers (assuming it's...

@robottwo Thanks for your reply. I do understand how extremely useful this patch is, I'd merge this but I'd have to test it on my hardware setup first and maybe...

@robottwo Thanks! I'll test this on my hexapod this week and if I don't run into any issues, I'd merge this anytime this week! Thanks again for the readme!