I use the code below to stop the head from shaking. Then, add stable(my_dog) to stabilize the head. You could do something similar for the legs. Please tell me if this helps or not. IMPORTANT! REPLACE THE DASHES(MINUS SIGNS) WITH 4 SPACES OR ONE TAB. This is because the posts won’t let me indent the code.
def stable(my_dog):
----my_dog.head_move([[5, 5, 5], [0, 0, 0]], speed = 10)
----my_dog.wait_all_done()