So I stayed up late last night working out some more gaits for Musa. Here is a picture of the spreadsheet tool I made to help out. I create a step or sequence I like by pose and creation. Then I enter the values from the pose editor within Pypose into my spreadsheet tool. The spreadsheet will calculate the value required to reverse or invert that servo from it's center position. Using this method, for example, allows me to create a left step of the foot and recreate its exact duplicate with the right step of the foot.
Here's the link to it. Included are a version for OpenOffice and MS Excel97, along with instructions on how to use it. Gait Creation Helper Tool
And video of my latest results.
As always, please leave comments, criticisms or questions.