diff --git a/configuration/geometry.json b/configuration/geometry.json
new file mode 100644
index 0000000..ed6e94f
--- /dev/null
+++ b/configuration/geometry.json
@@ -0,0 +1,34 @@
+{
+    "leg_geometry": {
+        "c": 20,
+        "f": 80,
+        "t": 130
+    },
+
+    "leg_offsets": {
+        "1": {
+            "offset": [-40,  80, 0],
+            "side": "l"
+        },
+        "2": {
+            "offset": [-60,   0, 0],
+            "side": "l"
+        },
+        "3": {
+            "offset": [-40, -80, 0],
+            "side": "l"
+        },
+        "4": {
+            "offset": [ 40, -80, 0],
+            "side": "r"
+        },
+        "5": {
+            "offset": [ 60,   0, 0],
+            "side": "r"
+        },        
+        "6": {
+            "offset": [ 40,  80, 0],
+            "side": "r"
+        }
+    }
+}
diff --git a/python/servo_mapping.py b/python/hexapod/servo_mapping.py
similarity index 100%
rename from python/servo_mapping.py
rename to python/hexapod/servo_mapping.py
diff --git a/python/test_hal.py b/python/test_hal.py
new file mode 100644
index 0000000..3908d81
--- /dev/null
+++ b/python/test_hal.py
@@ -0,0 +1,3 @@
+import hal
+
+hal.pwm['t1'].duty_cycle=1000/20000 
\ No newline at end of file