To make animations in dod, all you have to do is draw the frames (the difference between two adjacent frames, usually), using line tool is best for the frame content as it lets you quickly redraw the moving parts. Then you have to somehow add equal length delays between each frame, the number of strokes in the frame content affects the overall delay of a frame as well but it's very difficult to account for, in here I added details between frames with freehand drawing so you can see that the frame durations vary a lot.
When drawing the next frame, it's often best to change it one part at a time, so even if the replay draws it between frames, half of the object doesn't suddenly disappear or sth. drawing the next frame on top of the previous frame and erasing the remaining parts of the previous frame also works but I feel that changing it piece by piece gives the best result. If you edit it piece by piece, it's probably best if you keep the order that you edit the parts in each frame the same, so every part stays on the frame for about the same time, although the effect is likely not very large in any case. The more simple the subject, the easier it's to draw. You also need to love stick bugs, that's an important step.
To draw the animation, I looked at the video, paused it on certain frames (far left, ~25% left, ~25% right, far right) so the difference between the two middle frames is larger than the difference between the two on either side, there was also one frame where the bug goes extreme far left, which breaks the loop a bit as it only happens after a few shakes. I also used a reference layer where I had drawn circles centered on the feet, so the lower parts of the leg always stay on the edge of the circle, so they don't stretch between frames.
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