Walk with animate

function walk(dir) {
  
  if (!dir) {
    dir = "fwd";
  }
 
  if (task) {
    task.stop();
  }
  
  lf.coxa.animate([ 
    { cue: 0.125, deg: 82 },
    { cue: 0.5, deg: dir === "fwd" ? 130 : null },
    { cue: 0.625, deg: 103 }
  ], 2000 );
  
  lf.femur.animate([ 
    { cue: 0.125, deg: 111 },
    { cue: 0.5, deg: dir === "fwd" ? 0 : null },
    { cue: 0.625, deg: 70 }
  ], 2000 );
  
  lf.tibia.animate([ 
    { cue: 0.125, deg: 103 },
    { cue: 0.5, deg: 103 },
    { cue: 0.625, deg: 77 }
  ], 2000 );
  
  lb.coxa.animate([ 
    { cue: 0.125, deg: 98 },
    { cue: 0.5, deg: dir === "fwd" ? null : 130 },
    { cue: 0.625, deg: 77 }
  ], 2000 );
  
  lb.femur.animate([ 
    { cue: 0.125, deg: 111 },
    { cue: 0.5, deg: dir === "fwd" ? null : 0 },
    { cue: 0.625, deg: 70 }
  ], 2000 );
  
  lb.tibia.animate([ 
    { cue: 0.125, deg: 103 },
    { cue: 0.5, deg: 103 },
    { cue: 0.625, deg: 77 }
  ], 2000 );

  rf.coxa.animate([ 
    { cue: 0.125, deg: 77 },
    { cue: 0.5, deg: 77 },
    { cue: 0.625, deg: 98 },
    { cue: 1.0, deg: dir === "fwd" ? 50 : null }
  ], 2000 );
  
  rf.femur.animate([ 
    { cue: 0.125, deg: 70 },
    { cue: 0.5, deg: 70 },
    { cue: 0.625, deg: 111 },
    { cue: 1.0, deg: dir === "fwd" ? 0 : null }
  ], 2000 );
  
  rf.tibia.animate([ 
    { cue: 0.125, deg: 77 },
    { cue: 0.5, deg: 77 },
    { cue: 0.625, deg: 103 }
  ], 2000 );
  
  rb.coxa.animate([ 
    { cue: 0.125, deg: 103 },
    { cue: 0.5, deg: 103 },
    { cue: 0.625, deg: 82 },
    { cue: 1.0, deg: dir === "fwd" ? null : 50 }
  ], 2000 );
  
  rb.femur.animate([ 
    { cue: 0.125, deg: 70 },
    { cue: 0.5, deg: 70 },
    { cue: 0.625, deg: 111 },
    { cue: 1.0, deg: dir === "fwd" ? null : 0 }
  ], 2000 );
  
  rb.tibia.animate([ 
    { cue: 0.125, deg: 77 },
    { cue: 0.5, deg: 77 },
    { cue: 0.625, deg: 103 }
  ], 2000 );

}