diff --git a/Config/DefaultEngine.ini b/Config/DefaultEngine.ini
index 7a3cdda3..31b9f478 100644
--- a/Config/DefaultEngine.ini
+++ b/Config/DefaultEngine.ini
@@ -324,3 +324,4 @@ MaxAgentRadius=100.000000
 +ActiveGameNameRedirects=(OldGameName="/Script/TP_VehicleAdv",NewGameName="/Script/LuckyWorldV2")
 +ActiveGameNameRedirects=(OldGameName="Luckyrobots",NewGameName="/Script/LuckyWorldV2")
 +ActiveGameNameRedirects=(OldGameName="/Script/Luckyrobots",NewGameName="/Script/LuckyWorldV2")
+
diff --git a/Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset b/Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset
index d811508f..6b658a08 100644
Binary files a/Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset and b/Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset differ
diff --git a/Content/Developers/Wdev/Robots/BP_Stretch.uasset b/Content/Developers/Wdev/Robots/BP_Stretch.uasset
index c41b2498..f42564c1 100644
Binary files a/Content/Developers/Wdev/Robots/BP_Stretch.uasset and b/Content/Developers/Wdev/Robots/BP_Stretch.uasset differ
diff --git a/Content/Map/EmptyTestLevel.umap b/Content/Map/EmptyTestLevel.umap
index 8a058e39..71f1d32a 100644
Binary files a/Content/Map/EmptyTestLevel.umap and b/Content/Map/EmptyTestLevel.umap differ
diff --git a/Source/LuckyWorldV2/Private/Gameplay/Robot/Data/RobotSettings.cpp b/Source/LuckyWorldV2/Private/Gameplay/Robot/Data/RobotSettings.cpp
index 6b326472..669c8086 100644
--- a/Source/LuckyWorldV2/Private/Gameplay/Robot/Data/RobotSettings.cpp
+++ b/Source/LuckyWorldV2/Private/Gameplay/Robot/Data/RobotSettings.cpp
@@ -59,6 +59,8 @@ void FRobotSplinePath::RegenerateSplinePathValues()
 		constexpr float SplinePredictionTime = 1.f;
 		constexpr float SplinePredictionDistanceMin = 64.f;
 		const float SpeedLimit = GetRobot()->RobotSettings.SpeedLimit;
+		const float TurnSpeedLimit = GetRobot()->RobotSettings.TurnSpeedLimit;
+		const float TurnSpeedMod = UKismetMathLibrary::SafeDivide(TurnSpeedLimit, SpeedLimit);
 		const float TargetSpeed = FMath::Min<float>(GetRobot()->GetTargetSpeed(), SpeedLimit);
 		const float SplinePredictionDistance = FMath::Max<float>(SplinePredictionTime * TargetSpeed, SplinePredictionDistanceMin);
 		constexpr float TangentClamp = 128.f;
@@ -103,13 +105,12 @@ void FRobotSplinePath::RegenerateSplinePathValues()
 		GetSplinePath()->UpdateSpline();
 		const float SplineLength = GetSplinePath()->GetSplineLength();
 		SplinePathSpeedModifier.EditorCurveData.Reset();
-		constexpr float MinSpeedMod = 0.2f;
+		constexpr float MinSpeedMod = 0.4f;
 		constexpr float SplinePrecision = 10.f;
 		
 		if (bSingleInput)
 		{
-			constexpr float SectionSpeedMod = 0.4f;
-			const float SectionSpeedClamp = FMath::Min<float>(SpeedLimit * SectionSpeedMod, TargetSpeed);
+			const float SectionSpeedClamp = FMath::Min<float>(SpeedLimit * MinSpeedMod, TargetSpeed);
 			const float DecelerationStep = SplinePredictionDistance + SplinePrecision;
 			SplinePathSpeedModifier.EditorCurveData.AddKey(0.f, SectionSpeedClamp);
 			SplinePathSpeedModifier.EditorCurveData.AddKey(SplineLength, TargetSpeed * MinSpeedMod);
@@ -170,10 +171,11 @@ void FRobotSplinePath::RegenerateSplinePathValues()
 					const float DistanceToPathEnd = SplineLength - SplineDistance;
 					const float PathEndMod = DistanceToPathEnd <= SplinePredictionDistance ? FMath::Max<float>(UKismetMathLibrary::SafeDivide(DistanceToPathEnd, SplinePredictionDistance), 0.f) : 1.f;
 					const FVector IntervalTangent = GetSplinePath()->GetTangentAtDistanceAlongSpline(SplineDistance, ESplineCoordinateSpace::Local);
-					const float IntervalCurve = FMath::Min<float>(IntervalTangent.Length(), TangentClamp);
+					const float IntervalCurve = FMath::Min<float>(TangentClamp, IntervalTangent.Length());
 					const float IntervalAlpha = FMath::Max<float>(1.f - UKismetMathLibrary::SafeDivide(IntervalCurve, TangentClamp), 0.f);
 					const float SpeedMod = (MaxSpeedMod - IntervalAlpha) * PathEndMod;
-					const float ClampedSpeed = FMath::Max<float>(SpeedLimit * SpeedMod, SpeedLimit * MinSpeedMod);
+					const float ClampedSpeed = FMath::Max<float>(SpeedLimit * SpeedMod, SpeedLimit * TurnSpeedMod);
+					UE_LOG(LogTemp, Warning, TEXT("SpeedMod :: (%f - %f) * %f = %f"), MaxSpeedMod, IntervalAlpha, PathEndMod, SpeedMod);
 					SplinePathSpeedModifier.EditorCurveData.AddKey(SplineDistance, ClampedSpeed);
 				}
 			}
diff --git a/Source/LuckyWorldV2/Public/Gameplay/Robot/Data/RobotSettings.h b/Source/LuckyWorldV2/Public/Gameplay/Robot/Data/RobotSettings.h
index 02419421..7d396f05 100644
--- a/Source/LuckyWorldV2/Public/Gameplay/Robot/Data/RobotSettings.h
+++ b/Source/LuckyWorldV2/Public/Gameplay/Robot/Data/RobotSettings.h
@@ -35,6 +35,9 @@ struct FRobotSettings
 
 	UPROPERTY(BlueprintReadWrite, EditDefaultsOnly, Category = "Robot Settings")
 	float SpeedLimit = 15.f;
+
+	UPROPERTY(BlueprintReadWrite, EditDefaultsOnly, Category = "Robot Settings")
+	float TurnSpeedLimit = 10.f;
 	
 	UPROPERTY(BlueprintReadWrite, EditDefaultsOnly, Category = "Robot Settings")
 	TSubclassOf<AMujocoVolumeActor> MujocoSettings;