a.js

Servo.animateGroup({
  cuePoints: [0.125, 0.5, 0.625, 1.0], 
  duration: 2000,
  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] }
  ]
});

b.js

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

c.js

Servo.animateGroup({
  cuePoints: [0.125, 0.5, 0.625, 1.0], 
  duration: 2000,
  servos: [
    lf.coxa, lf.femur, lf.tibia, lb.coxa, lb.femur, lb.tibia, 
    rf.coxa, rf.femur, rf.tibia, rb.coxa, rb.femur, rb.tibia, 
  ],
  members: [
    [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]
  ]
});