params.info

; This file is in INFO format, please refer to
; http://www.boost.org/doc/libs/1_42_0/doc/html/boost_propertytree/parsers.html#boost_propertytree.parsers.info_parser
; for further information.
Length
{
	leg1Len 140.801278
	leg2Len 86.0
	len3 8.0
	len4 29.0
	height 120
}

Origin
{
	orig0
	{
		x 75.0
		y 40.0
		z 0.0
	}
	orig1
	{
		x 0.0
		y 67.8838
		z 0.0
	}
	orig2
	{
		x -75.0
		y 40.0
		z 0.0
	}
	orig3
	{
		x 75.0
		y -40.0
		z 0.0
	}
	orig4
	{
		x 0.0
		y -67.8838
		z 0.0
	}
	orig5
	{
		x -75.0
		y -40.0
		z 0.0
	}
}

Position
{
	p0
	{
		x 150.8824
		y 80.4706
		z 0.0
	}
	p1
	{
		x 0.0
		y 153.8388
		z 0.0
	}
	p2
	{
		x -158.8824
		y 80.4706
		z 0.0
	}
	p3
	{
		x 150.8824
		y -80.4706
		z 0.0
	}
	p4
	{
		x 0.0	
		y -153.8388
		z 0.0
	}
	p5
	{
		x -158.8824
		y -80.4706
		z 0.0
	}
}

;todo change sxx to snumber
Servo
{
	s21
	{
		legIdx 0
		jointType 0
		number 21
		minPW 2500
		maxPW 600
	}
	s22
	{
		legIdx 0
		jointType 1
		number 22
		minPW 2420
		maxPW 480
	}
	s23
	{
		legIdx 0
		jointType 2
		number 23
		minPW 1590
		maxPW -298
	}
	s24
	{
		legIdx 1
		jointType 0
		number 24
		minPW 2540
		maxPW 600
	}
	s25
	{
		legIdx 1
		jointType 1
		number 25
		minPW 2440
		maxPW 500
	}
	s26
	{
		legIdx 1
		jointType 2
		number 26
		minPW 1550
		maxPW -368
	}
	s27
	{
		legIdx 2
		jointType 0
		number 27
		minPW 2500
		maxPW 600
	}
	s28
	{
		legIdx 2
		jointType 1
		number 28
		minPW 2400
		maxPW 500
	}
	s29
	{
		legIdx 2
		jointType 2
		number 29
		minPW 1480
		maxPW -438
	}
	s12
	{
		legIdx 3
		jointType 0
		number 12
		minPW 330
		maxPW 2270
	}
	s11
	{
		legIdx 3
		jointType 1
		number 11
		minPW 500
		maxPW 2450
	}		
	s10
	{
		legIdx 3
		jointType 2
		number 10
		minPW 1400
		maxPW -459
	}
	s9
	{
		legIdx 4
		jointType 0
		number 9
		minPW 439
		maxPW 2399
	}
	s8
	{
		legIdx 4
		jointType 1
		number 8
		minPW 620
		maxPW 2610
	}
	s7
	{
		legIdx 4
		jointType 2
		number 7
		minPW 1550
		maxPW -400
	}
	s6
	{
		legIdx 5
		jointType 0
		number 6
		minPW 460
		maxPW 2400
	}
	s5
	{
		legIdx 5
		jointType 1
		number 5
		minPW 580
		maxPW 2500
	}
	s4
	{
		legIdx 5
		jointType 2
		number 4
		minPW 1600
		maxPW -170
	}	
}

AssociateServo
{
	l0
	{
		s0 21
		s1 22
		s2 23
	}
	l1
	{
		s0 24
		s1 25
		s2 26
	}
	l2
	{
		s0 27
		s1 28
		s2 29
	}
	l3
	{
		s0 12
		s1 11
		s2 10
	}
	l4
	{
		s0 9
		s1 8
		s2 7
	}
	l5
	{
		s0 6
		s1 5
		s2 4
	}
}