This morning I worked a bunch more on getting the little guys to spin with the ball trapped, ultimately setting up to shoot or get the ball up the field in the right direction. We currently have two solid spins with the ball; in one spin the front legs are a whole lot more active than in the other but both work. Both of them are fully written out and have been transferred to GoalStates.h, and both have matching opposite direction spins done as well (so the dog can go right or left with the ball). Now I have to do some experimentation between the two spins to see if one is significantly better than the other- that’s for next time.