diff --git a/software/raspberry pi/config.json b/software/raspberry pi/config.json
index 9b3b399..6b73774 100644
--- a/software/raspberry pi/config.json	
+++ b/software/raspberry pi/config.json	
@@ -1,24 +1,100 @@
 {
-    "legNames":["front_right", "center_right", "rear_right", "rear_left", "center_left", "front_left"],
-    "legMountX":[29.41, 36.87, 29.41, -29.41, -36.87, -29.41],
-    "legMountY":[55.41, 0, -55.41, -55.41, 0, 55.41],
-    "legMountAngle":[45, 0, -45, -135, -180, -225],
-    "legRootToJoint1":20.75,
-    "legJoint1ToJoint2":28.0,
-    "legJoint2ToJoint3":42.6,
-    "legJoint3ToTip":89.07,
-    "movementInterval":5,
-    "movementSwitchDuration":150,
-    "leg0Offset":[4, 6, 2],
-    "leg0Scale":[1, 1, 1],
-    "leg1Offset":[0, 8, -6],
-    "leg1Scale":[1, 1, 1],
-    "leg2Offset":[2, 8, -1],
-    "leg2Scale":[1, 1, 1],
-    "leg3Offset":[-3, 10, -8],
-    "leg3Scale":[1, 1, 1],
-    "leg4Offset":[-6, 2, -4],
-    "leg4Scale":[1, 1, 1],
-    "leg5Offset":[0, 0, -10],
-    "leg5Scale":[1, 1, 1]
-}
+    "legNames": [
+        "front_right",
+        "center_right",
+        "rear_right",
+        "rear_left",
+        "center_left",
+        "front_left"
+    ],
+    "legMountX": [
+        29.41,
+        36.87,
+        29.41,
+        -29.41,
+        -36.87,
+        -29.41
+    ],
+    "legMountY": [
+        55.41,
+        0,
+        -55.41,
+        -55.41,
+        0,
+        55.41
+    ],
+    "legMountAngle": [
+        45,
+        0,
+        -45,
+        -135,
+        -180,
+        -225
+    ],
+    "legRootToJoint1": 20.75,
+    "legJoint1ToJoint2": 28.0,
+    "legJoint2ToJoint3": 42.6,
+    "legJoint3ToTip": 89.07,
+    "movementInterval": 5,
+    "movementSwitchDuration": 150,
+    "leg0Offset": [
+        4.0,
+        6.0,
+        2
+    ],
+    "leg0Scale": [
+        1,
+        1,
+        1
+    ],
+    "leg1Offset": [
+        -1.0,
+        8,
+        -6
+    ],
+    "leg1Scale": [
+        1,
+        1,
+        1
+    ],
+    "leg2Offset": [
+        1.0,
+        12.0,
+        1.0
+    ],
+    "leg2Scale": [
+        1,
+        1,
+        1
+    ],
+    "leg3Offset": [
+        -3,
+        12.0,
+        -6.0
+    ],
+    "leg3Scale": [
+        1,
+        1,
+        1
+    ],
+    "leg4Offset": [
+        -6,
+        2,
+        -6.0
+    ],
+    "leg4Scale": [
+        1,
+        1,
+        1
+    ],
+    "leg5Offset": [
+        0,
+        4.0,
+        -10
+    ],
+    "leg5Scale": [
+        1,
+        1,
+        1
+    ]
+}
\ No newline at end of file