diff --git a/dat/Limbs2.m b/dat/Limbs2.m
index 0b620ea..afbd585 100644
--- a/dat/Limbs2.m
+++ b/dat/Limbs2.m
@@ -17,26 +17,28 @@ q = 0 : 0.001: END;
 % in radians. Each array corresponds to a degree of freedom. The length
 % of each array is to be equal to the value of END plus 1.
 
-% TRACKS: Left Leg Joints X, Y, Z
-tr_LHipY = [0, -0.7, -1, -1.5, -2, -3, -3, -3, -3]; % positive: move foot back
+%% TRACKS: Left Leg Joints X, Y, Z%%
+tr_LHipY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % positive: move foot back
 tr_LHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: move foot inward
 tr_LHipZ = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: move knee left (c-clockw)
 
-tr_LKneeY = [0, 0.7, 1, 1.5, 2, 2, 2, 2, 2]; % pos: bend knee normally
+tr_LKneeY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: bend knee normally
 
-tr_LAnkleY = [0, -0.4, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6]; % pos: point toes down (pitch)
+tr_LAnkleY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: point toes down (pitch)
 tr_LAnkleX = [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, -0.7, -1, -1.5, -2, -3, -3, -3, -3]; % positive: move leg back
+%% TRACKS: Right Leg Joints X, Y, Z%%
+tr_RHipY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % positive: move leg back
 tr_RHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv foot in
 tr_RHipZ = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv c-clockw
 
-tr_RKneeY = [0, 0.7, 1, 1.5, 2, 2, 2, 2, 2]; % pos: bend knee
+tr_RKneeY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: bend knee
 
-tr_RAnkleY = [0, -0.4, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6]; % pos: toes down
+tr_RAnkleY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: toes down
 tr_RAnkleX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: right side down
 
+% The rest of this script does not need to be modified by hand.
+
 % interp's, left leg
 it_LHipY = interp1(t, tr_LHipY, q, 'spline')';
 it_LHipZ = interp1(t, tr_LHipZ, q, 'spline')';
diff --git a/t1b.slx b/t1b.slx
index a79cc73..5c0b629 100644
Binary files a/t1b.slx and b/t1b.slx differ