diff --git a/dat/W1.m b/dat/W1.m
index b1107b1..c2765cd 100644
--- a/dat/W1.m
+++ b/dat/W1.m
@@ -19,19 +19,19 @@ q = 0 : 1: COUNT - 1; % set precision. e.g. q = 0 : 0.001 : COUNT-1; for 1e-3 pr
 % of each array is to be equal to the value of COUNT.
 
 %% TRACKS: Left Leg Joints X, Y, Z%%
-tr_LHipY = [0, -0.14 * pi, -0.14 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi]; % positive: move foot back
-tr_LHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];                                                                                                                                        % pos: move foot inward
+tr_LHipY = [0, -0.14 * pi, -0.14 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.38 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi]; % positive: move foot back
+tr_LHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.01 * pi, -0.01 * pi, -0.01 * pi, -0.01 * pi, -0.01 * pi];                                                                                         % pos: move foot inward
 tr_LHipZ = zeros(1, COUNT);                                                                                                                                                                         % pos: move knee left (c-clockw)
 
 tr_LKneeY = [0, 0.375 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi]; % pos: bend knee normally
 
 tr_LAnkleY = [0, -0.2 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi]; % pos: point toes down (pitch)
-tr_LAnkleX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];                                                                                                                         % pos: right side of foot down
+tr_LAnkleX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];                                                                                                                                       % pos: right side of foot down
 
 %% TRACKS: Right Leg Joints X, Y, Z%%
 tr_RHipY = [0, -0.14 * pi, -0.14 * pi, -0.14 * pi, -0.14 * pi, -0.28 * pi, -0.42 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi]; % positive: move leg back
-tr_RHipX = [0, 0, 0, -0.05 * pi, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];                                                                                                                % pos: mv foot in
-tr_RHipZ = zeros(1, COUNT);                                                                                                                                        % pos: mv c-clockw
+tr_RHipX = [0, 0, 0, -0.05 * pi, 0, 0, 0, 0, 0, -0.05 * pi, 0, 0, 0, 0, 0, 0];                                                                                                                      % pos: mv foot in
+tr_RHipZ = zeros(1, COUNT);                                                                                                                                                                         % pos: mv c-clockw
 
 tr_RKneeY = [0, 0.375 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi]; % pos: bend knee