So I'm now able to model the mass, moment, motor torque, and physical dimensions of the hexapod. Movement scripts can be imported into the environment to simulate what the hexapod would be doing. I've also implemented collision detection so it can tell if legs will collide. I have a serial library implemented that allows the user to stream and/or upload the sequence to the hexapod. I'm going to add keyframes next and allow the user to move it leg by leg and take snapshots as they go alone. Then export that as a movement script that you can send to the hexapod. So more features to come.. not to mention I'd like to make it look a little better too After that I'll port it to python so I'd be easy for people to tweak/hack it.