Walk with animateGroup

gistfile1.js

function walk(dir) {
    if (!dir) {
        dir = "fwd";
    }

    if (task) {
        task.stop();
    }

    Servo.animateGroup({
      cuePoints: [0.125, 0.5, 0.625, 1.0], 
      members: [
        {
            servo: lf.coxa,
            deg: [82, dir === "fwd" ? 130 : 82, 103, 103]
        }, {
            servo: lf.femur,
            deg: [111, dir === "fwd" ? 0 : 111, 70, 70]
        }, {
            servo: lf.tibia,
            deg: [103, 103, 77, 77]
        }, {
            servo: lb.coxa,
            deg: [98, dir === "fwd" ? 98 : 130, 77, 77]
        }, {
            servo: lb.femur,
            deg: [111, dir === "fwd" ? 111 : 0, 70, 70]
        }, {
            servo: lb.tibia,
            deg: [103, 103, 77, 77]
        }, {
            servo: rf.coxa,
            deg: [77, 77, 98, dir === "fwd" ? 50 : 98]
        }, {
            servo: rf.femur,
            deg: [70, 70, 111, dir === "fwd" ? 0 : 111]
        }, {
            servo: rf.tibia,
            deg: [77, 77, 103, 103]
        }, {
            servo: rb.coxa,
            deg: [103, 103, 82, dir === "fwd" ? 82 : 50]
        }, {
            servo: rb.femur,
            deg: [70, 70, 111, dir === "fwd" ? 111 : 0]
        }, {
            servo: rb.tibia,
            deg: [77, 77, 103, 103]
        }
      ], duration: 2000
    });

}