------------------------------------------
MISSION_P FILE ==>
	VALUES READ AFTER COLONS.
	DO NOT CHANGE ORDER OF ENTRIES.
	FLOAT UNLESS NOTED INT.
------------------------------------------

open-loop 
	STEP(int): 					0
	amplitude (V):				.0 0. 0.
	time (sec):					0. 0. 0.
	frequency (rad/s): 			1. 1. 1.

pose
	Pose 3 (Bulb) (rad):			-0.70 1 1.2
	Pose 4 (Crush) (rad):			-0.70 1 1.2
	Pose 5 (Hop) (rad):			    -0.35 .7 1.0
	time to pose (sec):				20.

move
	PROGRAM 3 -- Bulb
	CARTESIAN(int):				1
	amplitude (rad or m (use first two)):	.0 .0 .0
	frequency (rad/s):			.0 .0 0.
	phase (rad):				.0 1.56 0.

	PROGRAM 4 -- Crush
	CARTESIAN(int):				1
	amplitude (rad or m (use first two)):	.2 .0 .0
	frequency (rad/s):			.2 0. 0.
	phase (rad):				.0 .0 0.

	PROGRAM 5 -- Hop
	CARTESIAN(int):					1
	amplitude (rad or m (use first two)):		.11 .14 .0
	frequency (rad/s):				4. 4. 0.
	phase (rad):					.0 -3.14 0.

	motion buildup tau (sec):			1.

servo
	dither amplitude (V):				0.02 0. 0.
	dither frequency (rad/s):			200. 0. 0.
	kp (V/rad):					4. 15.0 1.5
	kd (V s/rad):					0. 0. 0. 
	kdd (V s s/rad):				0. 0. 0.
	Program 3 (bulb) panto gain, takes m to m:	0.
	Program 4 (crush) panto gain, takes m to m:	10.
	Program 5 (hop) panto gain, takes m to m:	0.
	pantod gain, takes rad/s to m:			0.
	velocity feedforward (V s/rad):			0. 0. 0.
	trajectory max speed (rad/s):			1000. 1000. 10000. 
	Program 3 (bulb) trajectory tau  (sec):		.02 .02 .02
	Program 4 (crush) trajectory tau  (sec):		.02 .02 .02
	Program 5 (hop) trajectory tau (sec):		.2 .2 .2
	max Voltage (V):				5.

robot
	link lengths (m):			1.583 1.670 .559
	sign of second angle (float):		1.
	inboard joint for inv. kin (int):	0

DEBUG (int):							0

test (had better be close to pi!):		3.14159

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