Ahh, Catlin, the robot will be done, uh... Whenever they stop actually trying to make me WORK at work! Also, I'm not sure about all the kinematics involved, and since I started playing with Rhino, methinks I could do a way better job with way fewer polygons with that program. Have no fear, I do nearly all of my rendering in Bryce, though. So I'll work on it for you Catlin...!