Added frame geometry data

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"
+        }
+    }
+}

python/test_hal.py

@@ -0,0 +1,3 @@
+import hal
+
+hal.pwm['t1'].duty_cycle=1000/20000