legs= [{pos: [-10, -10, 0], radius: 10, cannon: 10, alpha: {range: [-10, 90], phasing: 0}, beta: {range: [80, 180], phasing: 0}}, {pos: [10, -10, 0], radius: 10, cannon: 10, alpha: {range: [-10, 90], phasing: 0}, beta: {range: [80, 180], phasing: 0}}, {pos: [10, 10, 0], radius: 10, cannon: 10, alpha: {range: [-10, 90], phasing: 0}, beta: {range: [80, 180], phasing: 0}}, {pos: [-10, 10, 0], radius: 10, cannon: 10, alpha: {range: [-10, 90], phasing: 0}, beta: {range: [80, 180], phasing: 0}}]