Hello, I wanted to start playing with new skills. I have a question regarding joint angles. Example that you explained and something that came up with calibration function is : - If I have 44 for joint 12 that would mean that this joint 12 should move to 44 degrees in positive direction - if I have -39 that means that joint will move to 39 degrees in the negative, opposite, direction. First question is: are these numbers degrees directly that joint will use for movement or move to 44 degrees from the angle where joint 12 was? I plotted degrees and arm length of servos 12 and 8 on the paper and I am assuming that I should get the leg movement - but this is not the case, it is showing partially correct path, but for example servo 8 does not move to the 15 degrees as a first movement and never goes to 16 and 12 degrees at the end - so I am calculating my angles wrongly as Nybble is moving nicely :) Can you please explain a bit ?