doggy dribble

Tonight I got the values of the joint angles for the normal walk forward.  Now I have to figure out the best values for a trap (should be similiar to the trap I already have for the spin), and then readjust the values of the leg joints so the dog actually walks with the ball.  This should primarily consist of readjusting the front leg values, but the back legs probably have to go down a bit as well.

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