diff --git a/dat/Limbs2.m b/dat/Limbs2.m
new file mode 100644
index 0000000..9d4eb88
--- /dev/null
+++ b/dat/Limbs2.m
@@ -0,0 +1,98 @@
+%% 3D actuation of all joints %%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+END  = 4;
+GAIN = 1;
+
+GAIN_HIP   = GAIN;
+GAIN_KNEE  = GAIN;
+GAIN_ANKLE = GAIN;
+
+% setup timeline, query points
+t = 0 : 1 : END;
+q = 0 : 0.001: END;
+
+% vars starting with tr_ are "tracks", or arrays of unprocessed positions
+% over a period of time
+
+% TRACKS: Left Leg Joints X, Y, Z
+tr_LHipY = [0, 0, 0, 0, 0];
+tr_LHipX = [0, 0, 0, 0, 0];
+tr_LHipZ = [0, 0, 0, 0, 0];
+
+tr_LKneeY = [0, 0, 0, 0, 0];
+tr_LKneeX = [0, 0, 0, 0, 0];
+tr_LKneeZ = [0, 0, 0, 0, 0];
+
+tr_LAnkleY = [0, 0, 0, 0, 0];
+tr_LAnkleX = [0, 0, 0, 0, 0];
+tr_LAnkleZ = [0, 0, 0, 0, 0];
+
+% TRACKS: Right Leg Joints X, Y, Z
+tr_RHipY = [0, 0, 0, 0, 0];
+tr_RHipX = [0, 0, 0, 0, 0];
+tr_RHipZ = [0, 0, 0, 0, 0];
+
+tr_RKneeY = [0, 0, 0, 0, 0];
+tr_RKneeX = [0, 0, 0, 0, 0];
+tr_RKneeZ = [0, 0, 0, 0, 0];
+
+tr_RAnkleY = [0, 0, 0, 0, 0];
+tr_RAnkleX = [0, 0, 0, 0, 0];
+tr_RAnkleZ = [0, 0, 0, 0, 0];
+
+% interp's, left leg
+it_LHipY = interp1(t, tr_LHipY, q, 'spline')';
+it_LHipZ = interp1(t, tr_LHipZ, q, 'spline')';
+it_LHipX = interp1(t, tr_LHipX, q, 'spline')';
+
+it_LKneeY = interp1(t, tr_LKneeY, q, 'spline')';
+it_LKneeZ = interp1(t, tr_LKneeZ, q, 'spline')';
+it_LKneeX = interp1(t, tr_LKneeX, q, 'spline')';
+
+it_LAnkleY = interp1(t, tr_LAnkleY, q, 'spline')';
+it_LAnkleZ = interp1(t, tr_LAnkleZ, q, 'spline')';
+it_LAnkleX = interp1(t, tr_LAnkleX, q, 'spline')';
+
+% interp's, right leg
+it_RHipY = interp1(t, tr_RHipY, q, 'spline')';
+it_RHipZ = interp1(t, tr_RHipZ, q, 'spline')';
+it_RHipX = interp1(t, tr_RHipX, q, 'spline')';
+
+it_RKneeY = interp1(t, tr_RKneeY, q, 'spline')';
+it_RKneeZ = interp1(t, tr_RKneeZ, q, 'spline')';
+it_RKneeX = interp1(t, tr_RKneeX, q, 'spline')';
+
+it_RAnkleY = interp1(t, tr_RAnkleY, q, 'spline')';
+it_RAnkleZ = interp1(t, tr_RAnkleZ, q, 'spline')';
+it_RAnkleX = interp1(t, tr_RAnkleX, q, 'spline')';
+
+%% RETURN VALUES %%
+
+% Left Leg
+ret_LHipY = [q', it_LHipY];
+ret_LHipZ = [q', it_LHipZ];
+ret_LHipX = [q', it_LHipX];
+
+ret_LKneeY = [q', it_LKneeY];
+ret_LKneeZ = [q', it_LKneeZ];
+ret_LKneeX = [q', it_LKneeX];
+
+ret_LAnkleY = [q', it_LAnkleY];
+ret_LAnkleZ = [q', it_LAnkleZ];
+ret_LAnkleX = [q', it_LAnkleX];
+
+%%%%%%%%%%%%%%%%%%%%
+
+% Right Leg
+ret_RHipY = [q', it_RHipY];
+ret_RHipZ = [q', it_RHipZ];
+ret_RHipX = [q', it_RHipX];
+
+ret_RKneeY = [q', it_RKneeY];
+ret_RKneeZ = [q', it_RKneeZ];
+ret_RKneeX = [q', it_RKneeX];
+
+ret_RAnkleY = [q', it_RAnkleY];
+ret_RAnkleZ = [q', it_RAnkleZ];
+ret_RAnkleX = [q', it_RAnkleX];