Dark Paw Movement Error/Servo check

1638410146

can you please point me to how to check the proper servo movement directions for the arms

it seems that my controls are backwards
forward moves back
back moves forward
lest turns right and
right turns left

but also it seems that leg III is moving against the other legs because it seems that  it drags that leg

so im wondering if there is a test sequence that can check for errors

it seems i need to reverse the control directions and also reverse the servo for 3(0) which i guess would be pwm6 to -1 which is done in RPIservo.py
but where  are thec direction changes to the controls made at?

thanks
sorry if this is already listed somewhere else