tests/README.md
# Inverse Kinematics Edge Cases
- Coxia point shoved on ground
- Body contact shoved on ground
- Can't reach target ground point
- Femur length is too long
- Tibia length is too long
- The ground is blocking the path
- Legs too short
- Too many legs off the floor
- All left legs off the ground
- All right legs off the ground
- Angle required is beyond range of motion
- Alpha
- Beta
- Gamma
# `VirtualHexapod.Update` Edge Cases
- Unstable. Center of gravity is outside the hexapod's support polygon