diff --git a/GodotXRIKRig/addons/godot-xr-ik-rig/assets/barbarian.blend b/GodotXRIKRig/addons/godot-xr-ik-rig/assets/barbarian.blend
index 5bf1d2e..37fe387 100644
Binary files a/GodotXRIKRig/addons/godot-xr-ik-rig/assets/barbarian.blend and b/GodotXRIKRig/addons/godot-xr-ik-rig/assets/barbarian.blend differ
diff --git a/GodotXRIKRig/addons/godot-xr-ik-rig/assets/barbarian.blend1 b/GodotXRIKRig/addons/godot-xr-ik-rig/assets/barbarian.blend1
index 17f3473..5bf1d2e 100644
Binary files a/GodotXRIKRig/addons/godot-xr-ik-rig/assets/barbarian.blend1 and b/GodotXRIKRig/addons/godot-xr-ik-rig/assets/barbarian.blend1 differ
diff --git a/GodotXRIKRig/addons/godot-xr-ik-rig/assets/barbarian_rev2.blend b/GodotXRIKRig/addons/godot-xr-ik-rig/assets/barbarian_rev2.blend
new file mode 100644
index 0000000..61a211e
Binary files /dev/null and b/GodotXRIKRig/addons/godot-xr-ik-rig/assets/barbarian_rev2.blend differ
diff --git a/GodotXRIKRig/addons/godot-xr-ik-rig/scenes/PlayerIKRig.gd b/GodotXRIKRig/addons/godot-xr-ik-rig/scenes/PlayerIKRig.gd
index 71deda1..c62bf92 100644
--- a/GodotXRIKRig/addons/godot-xr-ik-rig/scenes/PlayerIKRig.gd
+++ b/GodotXRIKRig/addons/godot-xr-ik-rig/scenes/PlayerIKRig.gd
@@ -11,8 +11,21 @@ onready var skel = $Character/Rig/Skeleton
 func _ready():
 	var idx_upperarm_l = skel.find_bone("upperarm.l")
 	var idx_lowerarm_l = skel.find_bone("lowerarm.l")
-	skel.set_bone_pose(idx_upperarm_l,Transform.IDENTITY.rotated(Vector3.FORWARD,PI/4))
-	skel.set_bone_pose(idx_lowerarm_l,Transform.IDENTITY.rotated(Vector3.FORWARD,PI/4))
+	var idx_upperarm_r = skel.find_bone("upperarm.r")
+	var idx_lowerarm_r = skel.find_bone("lowerarm.r")
+
+	var T_UpperArmDown = Transform.IDENTITY.rotated(Vector3.RIGHT,-PI/3)
+	var Tl_Elbow90 = Transform.IDENTITY.rotated(Vector3.BACK,-PI/2)
+	var Tr_Elbow90 = Transform.IDENTITY.rotated(Vector3.BACK,PI/2)
+
+	var T_ZminusPI4 = Transform.IDENTITY.rotated(Vector3.FORWARD,PI/4)
+	var T_ZplusPI4 = Transform.IDENTITY.rotated(Vector3.BACK,PI/4)
+	var T_YminusPI2 = Transform.IDENTITY.rotated(Vector3.UP,-PI/2)
+	skel.set_bone_pose(idx_upperarm_l,T_UpperArmDown)
+	skel.set_bone_pose(idx_upperarm_r,T_UpperArmDown)
+
+	skel.set_bone_pose(idx_lowerarm_l,Tl_Elbow90)
+	skel.set_bone_pose(idx_lowerarm_r,Tr_Elbow90)
 
 
 # Called every frame. 'delta' is the elapsed time since the previous frame.
diff --git a/GodotXRIKRig/docs/ik_arm.drawio.png b/GodotXRIKRig/docs/ik_arm.drawio.png
new file mode 100644
index 0000000..e69de29
diff --git a/GodotXRIKRig/docs/ik_arm.drawio.png.import b/GodotXRIKRig/docs/ik_arm.drawio.png.import
new file mode 100644
index 0000000..554f73a
--- /dev/null
+++ b/GodotXRIKRig/docs/ik_arm.drawio.png.import
@@ -0,0 +1,30 @@
+[remap]
+
+importer="texture"
+type="StreamTexture"
+valid=false
+
+[deps]
+
+source_file="res://docs/ik_arm.drawio.png"
+[params]
+
+compress/mode=0
+compress/lossy_quality=0.7
+compress/hdr_mode=0
+compress/bptc_ldr=0
+compress/normal_map=0
+flags/repeat=0
+flags/filter=true
+flags/mipmaps=false
+flags/anisotropic=false
+flags/srgb=2
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/HDR_as_SRGB=false
+process/invert_color=false
+process/normal_map_invert_y=false
+stream=false
+size_limit=0
+detect_3d=true
+svg/scale=1.0
diff --git a/GodotXRIKRig/docs/whitepaper.md b/GodotXRIKRig/docs/whitepaper.md
new file mode 100644
index 0000000..d82eef6
--- /dev/null
+++ b/GodotXRIKRig/docs/whitepaper.md
@@ -0,0 +1,37 @@
+# How the inverse kinematics is calculated
+
+
+
+The concept uses the following assumptions:
+  * The degrees-of-freedom are limited to 
+    * Shoulder joint with 3dof and restrictive joint limits
+    * The elbow with only 1dof
+    * The wrist with 3dof and restrictive joint limits
+  * for humans, within the reachable elbow positions, some areas are more likely to be used due to less muscle strain
+
+## Proposal 1 for am pose estimate
+
+Input:
+  * controller position
+  * shoulder position estimate
+
+Output:
+  * Elbow position
+  * Shoulder backslash (required to improve shoulder position estimate)
+
+### Step 1: Initial elbow position estimate
+
+We try to get a first good estimate using a very simple method: given 
+  * a vector *SpineShoulder*, going from the spine at approx. breast-hight to the shoulder position, and
+  * a vector *ShoulderWrist*, going from the shoulder to the wrist position, which can be easily inferred from the controller position,
+  * calculate the cross-product like this for the **right shoulder**:
+  ```var elbow_dir = SpineShoulder.cross(ShoulderWrist)```.
+
+### Step 2: Consider controller orientation
+
+
+### Step 3: Consider shoulder orientation
+
+
+### Step 4: Determine shoulder backslash for shoulder position estimation
+