did some work

config/default.json

@@ -0,0 +1,10 @@
+{
+    "cr": [-1.95, 0.00, 0.00],
+    "fw": [-1.70, -1.40],
+    "bk": [-2.20, -2.40],
+    "lt": [ 0.35,  0.53],
+    "rt": [-0.35, -0.53],
+    "lr": [ 0.45,  0.85],
+    "rr": [-0.45, -0.85],
+    "arm": 70
+}

config/default.yaml

@@ -0,0 +1,10 @@
+{
+    "rt": -0.7155492901802063,
+    "rr": -0.6855806884976677,
+    "fw": -1.3561756610870361,
+    "bk": -2.5843331813812256,
+    "lt": 0.5666157603263855,
+    "lr": 0.6060229593671598,
+    "cr": [-1.9731173515319824, -0.04246790334582329, -0.050492866697747864],
+    "arm": 0.66392470071039278
+}