with servoGroup Constructor

gistfile1.txt

var legs = new ServoGroup([
    lf.coxa, lf.femur, lf.tibia, lb.coxa, lb.femur, lb.tibia, 
    rf.coxa, rf.femur, rf.tibia, rb.coxa, rb.femur, rb.tibia
]);

legs.animate({
  cuePoints: [0.125, 0.5, 0.625, 1.0], 
  duration: 2000,
  timeline: [
    [82, dir === "fwd" ? 130 : 82, 103, 103], 
    [111, dir === "fwd" ? 0 : 111, 70, 70], 
    [103, 103, 77, 77], 
    [98, dir === "fwd" ? 98 : 130, 77, 77], 
    [111, dir === "fwd" ? 111 : 0, 70, 70], 
    [103, 103, 77, 77], 
    [77, 77, 98, dir === "fwd" ? 50 : 98], 
    [70, 70, 111, dir === "fwd" ? 0 : 111], 
    [77, 77, 103, 103], 
    [103, 103, 82, dir === "fwd" ? 82 : 50], 
    [70, 70, 111, dir === "fwd" ? 111 : 0], 
    [77, 77, 103, 103]
  ]
});