public void RotateLegs(double[] thetas, Boolean areDegrees) { double angle1_d, angle2_d, angle3_d; if (areDegrees == false) { angle1_d = serviceConverter.ConvertRadiansToDegrees(thetas[0]); angle2_d = serviceConverter.ConvertRadiansToDegrees(thetas[1]); angle3_d = serviceConverter.ConvertRadiansToDegrees(thetas[2]); } else { angle1_d = thetas[0]; angle2_d = thetas[1]; angle3_d = thetas[2]; } float angle1 = serviceConverter.ConvertDoubleToFloat(angle1_d); float angle2 = serviceConverter.ConvertDoubleToFloat(angle2_d); float angle3 = serviceConverter.ConvertDoubleToFloat(angle3_d); topLPivots[0].rotation = Quaternion.Euler(new Vector3(-angle1, topLPivots[0].eulerAngles.y, topLPivots[0].eulerAngles.z)); topLPivots[1].rotation = Quaternion.Euler(new Vector3(-angle2, topLPivots[1].eulerAngles.y, topLPivots[1].eulerAngles.z)); topLPivots[2].rotation = Quaternion.Euler(new Vector3(-angle3, topLPivots[2].eulerAngles.y, topLPivots[2].eulerAngles.z)); }