It's been quite a productive day and I'm proud to announce: The legs are fixed and work as they should!  The whole setup has been redone and finally seems to work. It's much simpler now. I've thrown together some pictures for those who are interested: EDIT: updated with latest setup I hope this can save someone a few hours (or days). It's probably not the whole story so don't hesitate to ask if things are unclear. As per @PickledTripod's suggestion I've also made t
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