diff --git a/dat/Limbs2.m b/dat/Limbs2.m
index 21a046a..36259a1 100644
--- a/dat/Limbs2.m
+++ b/dat/Limbs2.m
@@ -20,26 +20,20 @@ tr_LHipY = [0, 0, 0, 0, 0]; % positive: move foot back
 tr_LHipX = [0, 0, 0, 0, 0]; % pos: move foot inward
 tr_LHipZ = [0, 0, 0, 0, 0]; % pos: move knee left (c-clockw)
 
-tr_LKneeY = [0, 0, 0, 0, 0];
-tr_LKneeX = [0, 0, 0, 0, 0];
-tr_LKneeZ = [0, 0, 0, 0, 0];
+tr_LKneeY = [0, 0, 0, 0, 0]; % pos: bend knee normally
 
-tr_LAnkleY = [0, 0, 0, 0, 0];
-tr_LAnkleX = [0, 0, 0, 0, 0];
-tr_LAnkleZ = [0, 0, 0, 0, 0];
+tr_LAnkleY = [0, 0, 0, 0, 0]; % pos: point toes down (pitch)
+tr_LAnkleX = [0, 0, 0, 0, 0]; % pos: right side of foot down
 
 % TRACKS: Right Leg Joints X, Y, Z
 tr_RHipY = [0, 0, 0, 0, 0]; % positive: move leg back
 tr_RHipX = [0, 0, 0, 0, 0]; % pos: mv foot in
 tr_RHipZ = [0, 0, 0, 0, 0]; % pos: mv c-clockw
 
-tr_RKneeY = [0, 0, 0, 0, 0];
-tr_RKneeX = [0, 0, 0, 0, 0];
-tr_RKneeZ = [0, 0, 0, 0, 0];
+tr_RKneeY = [0, 0, 0, 0, 0]; % pos: bend knee
 
-tr_RAnkleY = [0, 0, 0, 0, 0];
-tr_RAnkleX = [0, 0, 0, 0, 0];
-tr_RAnkleZ = [0, 0, 0, 0, 0];
+tr_RAnkleY = [0, 0, 0, 0, 0]; % pos: toes down
+tr_RAnkleX = [0, 0, 0, 0, 0]; % pos: right side down
 
 % interp's, left leg
 it_LHipY = interp1(t, tr_LHipY, q, 'spline')';
@@ -47,11 +41,8 @@ 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
@@ -60,11 +51,8 @@ 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 %%
@@ -74,12 +62,9 @@ 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_LKnee = [q', it_LKneeY];
 
 ret_LAnkleY = [q', it_LAnkleY];
-ret_LAnkleZ = [q', it_LAnkleZ];
 ret_LAnkleX = [q', it_LAnkleX];
 
 %%%%%%%%%%%%%%%%%%%%
@@ -89,10 +74,7 @@ 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_RKnee = [q', it_RKneeY];
 
 ret_RAnkleY = [q', it_RAnkleY];
-ret_RAnkleZ = [q', it_RAnkleZ];
 ret_RAnkleX = [q', it_RAnkleX];
diff --git a/slprj/sim/varcache/t1b/checksumOfCache.mat b/slprj/sim/varcache/t1b/checksumOfCache.mat
index 8e3a80f..9a3bfe2 100644
Binary files a/slprj/sim/varcache/t1b/checksumOfCache.mat and b/slprj/sim/varcache/t1b/checksumOfCache.mat differ
diff --git a/slprj/sim/varcache/t1b/tmwinternal/simulink_cache.xml b/slprj/sim/varcache/t1b/tmwinternal/simulink_cache.xml
index e078283..b8a99ed 100644
--- a/slprj/sim/varcache/t1b/tmwinternal/simulink_cache.xml
+++ b/slprj/sim/varcache/t1b/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="cb2fe79f-410e-44ed-ab37-d4fbf2493092">
-    <checksum>cUam9+ACRrbbMrLxD+RaxLICAQz4IZn8Jr4fQnEHOf1rEx6uOinL2LF5EkiA561uOd9OygBd77VzEMe7twDZBQ==</checksum>
+  <slcache.FileAttributes type="slcache.FileAttributes" uuid="f4bec688-529c-459e-99c7-2bf5ea4fa311">
+    <checksum>QVJ8Dn5joFypH9jOjsgMS3XU9fw7SjmrERVb4pbvE2fOqOJN75dnVdiRvFGKnSR2jr4Ly7U9fz4TuAme23VK1A==</checksum>
   </slcache.FileAttributes>
 </MF0>
\ No newline at end of file
diff --git a/slprj/sim/varcache/t1b/varInfo.mat b/slprj/sim/varcache/t1b/varInfo.mat
index bddb116..5d1cff5 100644
Binary files a/slprj/sim/varcache/t1b/varInfo.mat and b/slprj/sim/varcache/t1b/varInfo.mat differ
diff --git a/t1b.slx b/t1b.slx
index e5863d5..fa329fd 100644
Binary files a/t1b.slx and b/t1b.slx differ
diff --git a/t1b.slxc b/t1b.slxc
index 8a7b0a1..dbf5d3f 100644
Binary files a/t1b.slxc and b/t1b.slxc differ