[[PageOutline(2-5, Table of Contents, floated)]]

= Py4bot FAQ =

== General ==

=== How is geometry defined? ===

==== Body/legs geometry ====

[[Image(body_legs.png, nolink)]]

==== Inverse Kinematic for 3 DoF legs ====

[[Image(IK3DoF.png, nolink)]]

==== Inverse Kinematic for 4 DoF leg ====

[[Image(IK4DoF.png, nolink)]]

== Hardware ==

=== How to calibrate servos parameters? ===

You can use the '''{{{py4bot-gui-calibrator.py}}}''' to fine tune your servos calibration, and generate the {{{SERVOS_CALIBRATION}}} dict.

[[Image(py4bot-gui-calibrator.png, nolink)]]