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We can see that we do get a big difference in the length of the long and short stride and that we maintain flatness and consistent height! Unfortunately, we did not find this result until after we were in the process of building the prototype. The prototype allows us to manipulate the x or y position of O7 but not both at the same time. We did this because we saw potential in these adjustments, especially with the change in the y position of O7, which just so happens to be very close to the arc path we found.