diff --git a/js/draw.js b/js/draw.js
index 497396f..0e68381 100644
--- a/js/draw.js
+++ b/js/draw.js
@@ -57,27 +57,33 @@ drawWalker = function (walker) {
 
   // left legs and arms first
   // drawRect(walker.left_arm.hand);
-  drawRect(walker.left_arm.lower_arm);
   drawRect(walker.left_arm.upper_arm);
-  drawRect(walker.left_leg.foot);
   drawRect(walker.left_leg.lower_leg);
   drawRect(walker.left_leg.upper_leg);
-
+  
+  
   // head
   drawRect(walker.head.neck);
   drawRect(walker.head.head);
-
+  
   // torso
   drawRect(walker.torso.lower_torso);
   drawRect(walker.torso.upper_torso);
-
+  
   // right legs and arms
   // drawRect(walker.right_arm.hand);
   drawRect(walker.right_leg.upper_leg);
   drawRect(walker.right_leg.lower_leg);
-  drawRect(walker.right_leg.foot);
   drawRect(walker.right_arm.upper_arm);
+  
+  if (walker.left_leg.frictionJoint.maxForce) globals.ctx.lineWidth = 4/globals.zoom;
+  drawRect(walker.left_leg.foot);
+  if (walker.right_leg.frictionJoint.maxForce) globals.ctx.lineWidth = 4/globals.zoom;
+  drawRect(walker.right_leg.foot);
+  if (walker.right_arm.frictionJoint.maxForce) globals.ctx.lineWidth = 4 / globals.zoom;
   drawRect(walker.right_arm.lower_arm);
+  if (walker.left_arm.frictionJoint.maxForce) globals.ctx.lineWidth = 4/globals.zoom;
+  drawRect(walker.left_arm.lower_arm);
 }
 
 drawRect = function(body) {
diff --git a/js/walker.js b/js/walker.js
index 616d621..3d61a35 100644
--- a/js/walker.js
+++ b/js/walker.js
@@ -510,7 +510,7 @@ Walker.prototype.simulationPreStep = function (motorSpeeds) {
   for (var k = 0; k < this.joints.length; k++) {
     this.joints[k].SetMotorSpeed(motorSpeeds[k] * 10); // action can range from -3 to 3, radians per second
   }
-  for (let i = this.joints.length; i < motorSpeeds.length; i++) {
+  for (let i = 0; i < motorSpeeds.length-this.joints.length; i++) {
     this.grips[i] = motorSpeeds[i] > 0
   }
   if (motorSpeeds[0] <= 0) this.right_leg.frictionJoint.maxForce = this.right_leg.frictionJoint.maxTorque