Inverse Kinematics Edge Cases Coxia point shoved on ground Body contact shoved on ground Can't reach target ground point Femur length is too long Tibia length is too long The ground is blocking the path Legs too short Too many legs off the floor All left legs off the ground All right legs off the ground Angle required is beyond range of motion Alpha Beta Gamma VirtualHexapod.Update Edge Cases Unstable. Center of gravity is outside the hexapod's support polygon