diff --git a/software/rpi/hexapod.py b/software/rpi/hexapod.py
index 48e3152..7d6e03d 100644
--- a/software/rpi/hexapod.py
+++ b/software/rpi/hexapod.py
@@ -16,7 +16,7 @@ from path_generator import gen_fastforward_path, gen_fastbackward_path
 from path_generator import gen_leftturn_path, gen_rightturn_path
 from path_generator import gen_shiftleft_path, gen_shiftright_path
 from path_generator import gen_climb_path
-from path_generator import gen_rotatex_path, gen_rotatey_path
+from path_generator import gen_rotatex_path, gen_rotatey_path, gen_rotatez_path
 
 
 SIN30 = 0.5
@@ -104,6 +104,7 @@ class Hexapod:
 
         self.rotatex_path = gen_rotatex_path(self.standby_coordinate)
         self.rotatey_path = gen_rotatey_path(self.standby_coordinate)
+        self.rotatez_path = gen_rotatez_path(self.standby_coordinate)
 
         self.standby()
         time.sleep(1)
@@ -137,7 +138,7 @@ class Hexapod:
 
         # self.move(self.rotatex_path, 0.005)
         for mm in range(0, 20):
-            self.move(self.rotatey_path, 0.005)
+            self.move(self.rotatez_path, 0.005)
 
         time.sleep(1)
         self.standby()
diff --git a/software/rpi/path_generator.py b/software/rpi/path_generator.py
index feac06e..b2b89c0 100644
--- a/software/rpi/path_generator.py
+++ b/software/rpi/path_generator.py
@@ -632,4 +632,67 @@ def gen_rotatey_path(standby_coordinate):
                                                                               1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3]
         # result.append(m)
 
+    return path
+
+def gen_rotatez_path(standby_coordinate):
+    # standby_coordinate = np.ones((6,3))
+    g_steps = 20
+
+    z_lift = 4.5
+    xy_radius = 1
+
+    assert (g_steps % 4) == 0
+
+    path = np.zeros((g_steps, 6, 3))
+
+    step_angle = 2*np.pi / g_steps
+
+    for i in range(g_steps):
+        x = xy_radius * np.cos(i*step_angle)
+        y = xy_radius * np.sin(i*step_angle)
+
+        m = get_rotate_y_matrix(np.arctan2(x, z_lift)*180/np.pi) * get_rotate_x_matrix(np.arctan2(y, z_lift)*180/np.pi)
+        path[i, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0,
+                                                                            1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3]
+        path[i, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0,
+                                                                            1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3]
+        path[i, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0,
+                                                                            1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3]
+
+        path[i, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1,
+                                                                            1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3]
+        path[i, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1,
+                                                                            1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3]
+        path[i, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1,
+                                                                            1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3]
+
+        path[i, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2,
+                                                                            1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3]
+        path[i, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2,
+                                                                            1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3]
+        path[i, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2,
+                                                                            1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3]
+
+        path[i, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3,
+                                                                            1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3]
+        path[i, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3,
+                                                                            1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3]
+        path[i, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3,
+                                                                            1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3]
+
+        path[i, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4,
+                                                                            1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3]
+        path[i, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4,
+                                                                            1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3]
+        path[i, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4,
+                                                                            1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3]
+
+        path[i, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5,
+                                                                            1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3]
+        path[i, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5,
+                                                                            1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3]
+        path[i, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5,
+                                                                            1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3]
+
+
     return path
\ No newline at end of file