did some good day's work

config/default.json

@@ -1,10 +0,0 @@
-{
-    "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

@@ -1,14 +1,24 @@
 {
-    "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,
-    "should": {
-        "L": [0, 0.08, 0.15],
-        "R": [0, -0.08, 0.15]
-    }
-}
+    "rt": -0.6568748354911804, 
+    "lt": 0.5433389544487, 
+    "rsh": [
+        0.0, 
+        -0.20736836269497871, 
+        0.08598418533802032
+    ], 
+    "rr": -0.560604497907194, 
+    "fw": -1.1799260377883911, 
+    "cr": [
+        -1.9407565593719482, 
+        -0.03346257656812668, 
+        -0.08454087852040597
+    ], 
+    "bk": -2.479292869567871, 
+    "arm": 0.46978936571017016, 
+    "lsh": [
+        0.0, 
+        0.1996915601193905, 
+        0.09728588163852692
+    ], 
+    "lr": 0.9522803428862967
+}