text: from hexapod.points import Point
  
  description = "Kinematics Random Pose #2"
  
  # ********************************
  # Dimensions
  # ********************************
  
  given_dimensions = {
      "front": 53,
      "side": 112,
      "middle": 124,
      "coxia": 65,
      "femur": 147,
      "tibia": 158,
  }
  
  # ********************************
  # Poses
  # ********************************
  
  given_poses = {
      0: {
          "name": "right-middle",
          "id": 0,
          "coxia": -46.173564612682185,
          "femur": -0.5639873561713742,
          "tibia": -22.853557731606656,
      },
      1: {
          "name": "right-front",
          "id": 1,
          "coxia": -38.57261437211969,
          "femur": -3.2736722565308938,
          "tibia": -24.640160005779748,
      },
      2: {
          "name": "left-front",
          "id": 2,
          "coxia": 2.0526054688295687,
          "femur": 35.09407799312794,
          "tibia": -31.188148885325916,
      },
      3: {
          "name": "left-middle",
          "id": 3,
          "coxia": -16.947073091191385,
          "femur": 46.44561383735447,
          "tibia": -19.412041056143877,
      },
      4: {
          "name": "left-back",
          "id": 4,
          "coxia": -33.39847023693062,
          "femur": 41.05787103974741,
          "tibia": -5.900804146706449,
      },
      5: {
          "name": "right-back",
          "id": 5,
          "coxia": -38.67228081907621,
          "femur": 18.790558327957655,
          "tibia": -30.220554892132796,
      },
  }
  
  # ********************************
  # Correct Body Points
  # ********************************
  
  correct_body_points = [
      Point(x=+112.68, y=+45.33, z=+126.66, name="right-middle"),
      Point(x=+5.57, y=+122.87, z=+116.68, name="right-front"),
      Point(x=-90.76, y=+84.12, z=+95.32, name="left-front"),
      Point(x=-112.68, y=-45.33, z=+76.69, name="left-middle"),
      Point(x=-5.57, y=-122.87, z=+86.67, name="left-back"),
      Point(x=+90.76, y=-84.12, z=+108.03, name="right-back"),
      Point(x=+0.00, y=+0.00, z=+101.67, name="center of gravity"),
      Point(x=-42.60, y=+103.49, z=+106.00, name="head"),
  ]
  
  
  # ********************************
  # Leg Points
  # ********************************
  
  leg0_points = [
      Point(x=+112.68, y=+45.33, z=+126.66, name="right-middle-body-contact"),
      Point(x=+171.42, y=+18.46, z=+133.92, name="right-middle-coxia"),
      Point(x=+304.49, y=-42.16, z=+148.91, name="right-middle-femur"),
      Point(x=+272.70, y=+0.00, z=-0.00, name="right-middle-tibia"),
  ]
  
  
  leg1_points = [
      Point(x=+5.57, y=+122.87, z=+116.68, name="right-front-body-contact"),
      Point(x=+61.49, y=+153.21, z=+129.97, name="right-front-coxia"),
      Point(x=+189.21, y=+222.64, z=+151.78, name="right-front-femur"),
      Point(x=+149.60, y=+203.72, z=-0.00, name="right-front-tibia"),
  ]
  
  leg2_points = [
      Point(x=-90.76, y=+84.12, z=+95.32, name="left-front-body-contact"),
      Point(x=-150.83, y=+107.65, z=+87.44, name="left-front-coxia"),
      Point(x=-276.55, y=+141.74, z=+155.58, name="left-front-femur"),
      Point(x=-259.37, y=+163.25, z=+0.00, name="left-front-tibia"),
  ]
  
  leg3_points = [
      Point(x=-112.68, y=-45.33, z=+76.69, name="left-middle-body-contact"),
      Point(x=-176.39, y=-50.56, z=+64.89, name="left-middle-coxia"),
      Point(x=-293.99, y=-70.60, z=+150.78, name="left-middle-femur"),
      Point(x=-340.16, y=-60.64, z=-0.00, name="left-middle-tibia"),
  ]
  
  leg4_points = [
      Point(x=-5.57, y=-122.87, z=+86.67, name="left-back-body-contact"),
      Point(x=-58.45, y=-158.23, z=+73.33, name="left-back-coxia"),
      Point(x=-165.26, y=-229.31, z=+145.09, name="left-back-femur"),
      Point(x=-217.06, y=-264.36, z=+0.00, name="left-back-tibia"),
  ]
  
  leg5_points = [
      Point(x=+90.76, y=-84.12, z=+108.03, name="right-back-body-contact"),
      Point(x=+121.84, y=-141.20, z=+106.97, name="right-back-coxia"),
      Point(x=+180.23, y=-268.69, z=+151.07, name="right-back-femur"),
      Point(x=+191.91, y=-223.89, z=+0.00, name="right-back-tibia"),
  ]
  
  
  correct_leg_points = [
      leg0_points,
      leg1_points,
      leg2_points,
      leg3_points,
      leg4_points,
      leg5_points,
  ]
  