The stock footpegs on my Hondas seem really low, which was probably done to help make the bikes marginally more comfortable on the street. But that obviously isn't a good thing when you're using every last degree of lean angle. I have Woodcraft rearsets on my RC51, which moved my feet one inch up and one inch back as compared to stock. I am a fair bit more scrunched up, but do feel a whole lot more confident about swinging the bike way over.