text: /**
  
  POSITION	ALPHA	BETA	GAMMA
  rightMiddle	-32.56	16.49	-23.31
  rightFront	-45.94	43.31	-31.83
  leftFront	-21.42	103.93	-63.07
  leftMiddle	-32.56	72.49	-49.88
  leftBack	-45.94	38.27	-29.35
  rightBack	-21.42	0.00	-17.14
  
   */
  const POSE = {
      rightMiddle: { alpha: -32.56, beta: 16.49, gamma: -23.31 },
      rightFront: { alpha: -45.94, beta: 43.31, gamma: -31.83 },
      leftFront: { alpha: -21.42, beta: 103.93, gamma: -63.07 },
      leftMiddle: { alpha: -32.56, beta: 72.49, gamma: -49.88 },
      leftBack: { alpha: -45.94, beta: 38.27, gamma: -29.35 },
      rightBack: { alpha: -21.42, beta: 0, gamma: -17.14 },
  }
  
  const DIMENSIONS = {
      front: 80,
      side: 115,
      middle: 130,
      coxia: 85,
      femur: 130,
      tibia: 170,
  }
  
  const BODY_ALL_POINTS_LIST = [
      {
          x: 129.60077238864724,
          y: 1.2731394860738217,
          z: 89.70096643898215,
          name: "rightMiddleVertex",
          id: 0,
      },
      {
          x: 80.880560246079,
          y: 112.19188756671578,
          z: 57.32238937008935,
          name: "rightFrontVertex",
          id: 1,
      },
      {
          x: -78.62808269379454,
          y: 110.62494666077878,
          z: 44.891077143408,
          name: "leftFrontVertex",
          id: 2,
      },
      {
          x: -129.60077238864724,
          y: -1.2731394860738217,
          z: 69.50008407062496,
          name: "leftMiddleVertex",
          id: 3,
      },
      {
          x: -80.880560246079,
          y: -112.19188756671578,
          z: 101.87866113951776,
          name: "leftBackVertex",
          id: 4,
      },
      {
          x: 78.62808269379454,
          y: -110.62494666077878,
          z: 114.30997336619912,
          name: "rightBackVertex",
          id: 5,
      },
      {
          x: 0,
          y: 0,
          z: 79.60052525480356,
          name: "centerOfGravityPoint",
          id: 6,
      },
      {
          x: 1.1262387761422268,
          y: 111.40841711374728,
          z: 51.10673325674867,
          name: "headPoint",
          id: 7,
      },
  ]
  
  const GROUND_CONTACT_POINTS_LIST = [
      {
          x: 298.046409441612,
          y: -128.6257735581176,
          z: 0,
          name: "rightMiddle-footTipPoint",
          id: "0-3",
      },
      {
          x: 299.60716812676367,
          y: 91.70573520814128,
          z: 0,
          name: "rightFront-footTipPoint",
          id: "1-3",
      },
      {
          x: -142.73205374148802,
          y: 255.81462566977828,
          z: 0.0006946576697259843,
          name: "leftFront-footTipPoint",
          id: "2-3",
      },
      {
          x: -285.24255646518475,
          y: 87.78221157531723,
          z: 0,
          name: "leftMiddle-footTipPoint",
          id: "3-3",
      },
      {
          x: -286.79207748064715,
          y: -132.55156915519484,
          z: 0.0041270978701817285,
          name: "leftBack-footTipPoint",
          id: "4-3",
      },
      {
          x: 155.53177316786113,
          y: -296.64047500509434,
          z: 0.0036932219511527364,
          name: "rightBack-footTipPoint",
          id: "5-3",
      },
  ]
  
  const LOCAL_AXES = {
      xAxis: {
          x: 0.9969290183742096,
          y: 0.00979338066210632,
          z: 0.07769570141675843,
          name: "hexapodXaxis",
          id: "no-id-point",
      },
      yAxis: {
          x: 0.00979338066210632,
          y: 0.9687688444673677,
          z: -0.24777210433091204,
          name: "hexapodYaxis",
          id: "no-id-point",
      },
      zAxis: {
          x: -0.07769570141675843,
          y: 0.24777210433091204,
          z: 0.9656978628415772,
          name: "hexapodZaxis",
          id: "no-id-point",
      },
  }
  
  const CASE = {
      params: {
          pose: POSE,
          dimensions: DIMENSIONS,
      },
  
      result: {
          bodyAllPointsList: BODY_ALL_POINTS_LIST,
          groundContactPointsList: GROUND_CONTACT_POINTS_LIST,
          localAxes: LOCAL_AXES,
      },
  
      description: "Random Forward Kinematics",
  }
  
  export default CASE
  