diff --git a/2018-unity-sim/Assets/Foot.cs b/2018-unity-sim/Assets/Foot.cs
index 19607e5..db17b44 100644
--- a/2018-unity-sim/Assets/Foot.cs
+++ b/2018-unity-sim/Assets/Foot.cs
@@ -25,6 +25,10 @@ public class Foot : Component
     public double rotationX=0, rotationY=0, rotationZ=0;
     public double O1, O2, O3;
 
+    public Vector3 transformation = new Vector3(0, 0, 0);
+
+    static float temp = 2;
+
     void RL3()
     {
         if ((X == 0) && (Z == 0))
@@ -34,6 +38,9 @@ public class Foot : Component
 
         if (X < 0)
             l3 = l3 * -1;
+
+        //todo
+        l3 -= temp;
     }
 
     double FO1()
@@ -55,7 +62,12 @@ public class Foot : Component
         double y2 = Y * Y;
         double z2 = Z * Z;
 
-        s = Math.Sqrt(x2 + y2 + z2);
+        double t = Math.Sqrt(x2 + z2);
+        t -= temp;
+        t = t * t;
+        //todo: X,Z remove distance temp.
+        s = Math.Sqrt(y2 + t);
+        //s = Math.Sqrt(x2 + y2 + z2);
 
         double t1 = 0;
         double s2 = s * s;
@@ -127,10 +139,14 @@ public class Foot : Component
         Y += translateY;
         Z += translateZ;
 
+        X -= transformation.x;
+        Y -= transformation.y;
+        Z -= transformation.z;
+
         /*RotateX();
         RotateY();
         RotateZ();*/
-        
+
         // the order of these rotation transformations is important!!!
         Vector3 v = new Vector3((float)X, (float)Y, (float)Z);
         v = Quaternion.Euler((float)0, (float)rotationY, (float)0) * v;
@@ -139,7 +155,7 @@ public class Foot : Component
         X = v.x;
         Y = v.y;
         Z = v.z;
-        
+
         X -= translateX;
         Y -= translateY;
         Z -= translateZ;
@@ -153,7 +169,11 @@ public class Foot : Component
         Z = tx * -1;
 
         // run IK
+        // add adjustment from knie
+
         O1 = (90 - FO1());
+        // remove adjustment from knie
+
         O2 = T1();
         O3 = 180 - T3();
 
diff --git a/2018-unity-sim/Assets/Leg.cs b/2018-unity-sim/Assets/Leg.cs
index d30967f..50cb6be 100644
--- a/2018-unity-sim/Assets/Leg.cs
+++ b/2018-unity-sim/Assets/Leg.cs
@@ -14,6 +14,8 @@ public class Leg : MonoBehaviour {
     public Vector3 point = new Vector3(10, 10, 0);
     public Quaternion rotation = new Quaternion(0, 0, 0, 0);
 
+    public Vector3 transformation = new Vector3(0, 0, 0);
+
     public bool invert = false;
 
     public double translateX = 0;
@@ -45,6 +47,8 @@ public class Leg : MonoBehaviour {
         foot.translateY = translateY;
         foot.translateZ = translateZ;
 
+        foot.transformation = transformation;
+
         foot.invert = invert;
 
         foot.setleg();
diff --git a/2018-unity-sim/Assets/Leg.prefab b/2018-unity-sim/Assets/Leg.prefab
index 19039e7..e597d20 100644
--- a/2018-unity-sim/Assets/Leg.prefab
+++ b/2018-unity-sim/Assets/Leg.prefab
@@ -1834,7 +1834,7 @@ MeshRenderer:
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
   m_Materials:
-  - {fileID: 10756, guid: 0000000000000000e000000000000000, type: 0}
+  - {fileID: 10303, guid: 0000000000000000f000000000000000, type: 0}
   m_StaticBatchInfo:
     firstSubMesh: 0
     subMeshCount: 0
@@ -3050,6 +3050,7 @@ MonoBehaviour:
   a3: 0
   point: {x: 10, y: 10, z: 0}
   rotation: {x: 0, y: 0, z: 0, w: 0}
+  transformation: {x: 0, y: 0, z: 0}
   invert: 0
   translateX: 5
   translateY: 0
diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity
index 981e277..e09c1fa 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 sha256:0b7396bf84046e0454ff9b50e8a912c5a16957bc69b409f12860d5f4f9254c73
-size 9964272
+oid sha256:e246558765b9012632b9fd65fba8186ffdfe19b1e96581c9f671176030e8e2d6
+size 9964531