diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide
index ff76b55..5d2d0f2 100644
--- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide
+++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1fb1ba69420bf701266a582fef590a853b372d4d22a1e31ba047caec54371a0b
+oid sha256:d608934d107d8fb52e3979ec301995b2514874c7355b03d7403dc07d6b1de5bd
 size 1028096
diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm
index 18e2c1a..5df4b81 100644
--- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm
+++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:353baed719f408b743f68e68adde7c2a391e680fe9b6bba231924b5b5d144a10
+oid sha256:c5b87e0aea8f57f9afcffeeea959d9d5b13096fae5391f81a94f7e9694bb8aaa
 size 32768
diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal
index 0e092b0..dcc869e 100644
--- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal
+++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e7d85fc1cd7e52ae5c3c70261ea42d55729b28400d99b590cb0b578189c04ea3
+oid sha256:f0c126c2227bb98418c09496e3947d76db4257919f65046cedba9b2e1b8e9716
 size 4140632
diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity
index b30442b..46bcf37 100644
--- a/2018-unity-sim/Assets/Main.unity
+++ b/2018-unity-sim/Assets/Main.unity
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:747794c65fedc51eaf1915d291c3e149b26158aa02c9491f0c1dca1c3c7a2c90
-size 9969205
+oid sha256:cccf856e8bc96b9a519d22d7f282f3b9c28a8c17a6ee9109118d5071805e88d0
+size 9969207
diff --git a/2018-unity-sim/Assets/Walk.cs b/2018-unity-sim/Assets/Walk.cs
index 44d3dc8..8b03700 100644
--- a/2018-unity-sim/Assets/Walk.cs
+++ b/2018-unity-sim/Assets/Walk.cs
@@ -13,6 +13,7 @@ public class Walk : MonoBehaviour
         for (int index = 0; index < legs.Count; ++index)
         {
             legsInitial.Add(legs[index].GetComponent<Leg>().point);
+            step2.Add( new Vector3() );
         }
     }
 
@@ -61,6 +62,8 @@ public class Walk : MonoBehaviour
 
     public float walkspeed = 1;
 
+    private List<Vector3> step2 = new List<Vector3>();
+
     // Update is called once per frame
     void FixedUpdate()
     {
@@ -85,17 +88,32 @@ public class Walk : MonoBehaviour
                     t2.x *= walkspeed;
 
                     // rotate x,y around rotation.
-                    legs[index].GetComponent<Leg>().point += Quaternion.Euler(0, rotation, 0) * t2;
+                    step2[index] = (Quaternion.Euler(0, rotation, 0) * t2) / speed2;
                 }
                 else
                 {
-                    legs[index].GetComponent<Leg>().point = legsInitial[index] + s[t].pos;
+                    Vector3 t2 = s[t].pos;
+                    t2.x *= walkspeed;
+
+                    // rotate x,y around rotation.
+                    step2[index] = (Quaternion.Euler(0, rotation, 0) * t2) / speed2;
                 }
             }
 
             speed = speed2;
         }
         else
+        {
             speed--;
+            makestep();
+        }
+    }
+
+    void makestep()
+    {
+        for (int index = 0; index < legs.Count; ++index)
+        {
+            legs[index].GetComponent<Leg>().point += step2[index];
+        }
     }
 }
diff --git a/2018-unity-sim/Assets/Walk2.cs b/2018-unity-sim/Assets/Walk2.cs
index d275907..548a1ec 100644
--- a/2018-unity-sim/Assets/Walk2.cs
+++ b/2018-unity-sim/Assets/Walk2.cs
@@ -13,6 +13,8 @@ public class Walk2 : MonoBehaviour
         for (int index = 0; index < legs.Count; ++index)
         {
             legsInitial.Add(legs[index].GetComponent<Leg>().point);
+            step2.Add(0);
+            step3.Add(0);
         }
     }
 
@@ -62,13 +64,15 @@ public class Walk2 : MonoBehaviour
     int size = 8;
 
     //public float walkspeed = 1;
+    private List<float> step2 = new List<float>();
+    private List<float> step3 = new List<float>();
 
     // Update is called once per frame
     void FixedUpdate()
     {
         if (speed <= 0)
         {
-            if (st >= size-1)
+            if (st >= size - 1)
                 st = 0;
             else
                 st++;
@@ -83,21 +87,34 @@ public class Walk2 : MonoBehaviour
 
                 if (s[t].inAir == false)
                 {
-                    Vector3 n = legs[index].GetComponent<Leg>().getWorldPos();
-                    n = Quaternion.Euler(0, rotation * s[t].rotation, 0) * n;
-                    n.y += s[t].height;
-                    // rotate x,y around rotation.
-                    legs[index].GetComponent<Leg>().setWorldPos(n);
+                    step2[index] = (rotation * s[t].rotation) / speed2;
+                    step3[index] = s[t].height / speed2;
                 }
                 else
                 {
-                    legs[index].GetComponent<Leg>().point = legsInitial[index] + new Vector3(0, s[t].height, 0);
+                    step2[index] = (rotation * s[t].rotation) / speed2;
+                    step3[index] = s[t].height / speed2;
                 }
             }
 
             speed = speed2;
         }
         else
+        {
             speed--;
+            makestep();
+        }
+    }
+
+    void makestep()
+    {
+        for (int index = 0; index < legs.Count; ++index)
+        {
+            Vector3 n = legs[index].GetComponent<Leg>().getWorldPos();
+            n = Quaternion.Euler(0, step2[index], 0) * n;
+            n.y += step3[index];
+            // rotate x,y around rotation.
+            legs[index].GetComponent<Leg>().setWorldPos(n);
+        }
     }
 }