im not really sure

dat/Limbs1.m

@@ -1,12 +1,18 @@
 %% Bend the Knees %%
 
-END = 8;
+END  = 4; % total pts: END+1
+GAIN = 3;
+
+GAIN_HIP   = GAIN;
+GAIN_KNEE  = GAIN;
+GAIN_ANKLE = GAIN;
 
 % setup vars
-t         = 0 : 1 : END;
-pos_hip   = [0, -1, 0, 0, 0, 0, 0, 0, 0];
-pos_knee  = [0, 2, 0, 0, 0, 0, 0, 0, 0];
-pos_ankle = [0, -0.5, 0, 0, 0, 0, 0, 0, 0];
+t = 0 : 1 : END;
+% yeah im lost
+pos_hip   = [0, -1, -3, -1, 0];
+pos_knee  = [0, 1, 3, 1, 0];
+pos_ankle = [0, 1, 3, 1, 0];
 
 % generate graph lines
 querypts_hip   = 0 : 0.001 : END;

slprj/sim/varcache/t1a/tmwinternal/simulink_cache.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <MF0 version="1.1" packageUris="http://schema.mathworks.com/mf0/SlCache/1.0">
-  <slcache.FileAttributes type="slcache.FileAttributes" uuid="0864d632-81a3-42ed-86ec-d0007daae2e8">
-    <checksum>VYmjymqAiZnEQPQ/JoxiVdaoPdtp0RIrtiitM5E1z2FVMw/EgxEHyTMxm2QxcImOc64yuxzSxuq1TWsl/aI++g==</checksum>
+  <slcache.FileAttributes type="slcache.FileAttributes" uuid="f0d0070e-2f48-4206-8d75-64b33eb3176f">
+    <checksum>S3NKbLeBQqB6QVgTLl49Nt4PQ6AZpJkYWaYF+vY8SPpi7rqFjd7Pcd7eSZX8MtpSb2435E0MeLXhpBx3z0bNPw==</checksum>
   </slcache.FileAttributes>
 </MF0>