diff --git a/2018-unity-sim/Assets/Foot.cs b/2018-unity-sim/Assets/Foot.cs
index ca37191..19607e5 100644
--- a/2018-unity-sim/Assets/Foot.cs
+++ b/2018-unity-sim/Assets/Foot.cs
@@ -131,7 +131,7 @@ public class Foot : Component
         RotateY();
         RotateZ();*/
         
-        // Z and X is working. Y has problems when combined with others.
+        // 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;
         v = Quaternion.Euler((float)rotationX, (float)0, (float)0) * v;
diff --git a/2018-unity-sim/Assets/Leg.cs b/2018-unity-sim/Assets/Leg.cs
index 58393b3..d30967f 100644
--- a/2018-unity-sim/Assets/Leg.cs
+++ b/2018-unity-sim/Assets/Leg.cs
@@ -16,7 +16,7 @@ public class Leg : MonoBehaviour {
 
     public bool invert = false;
 
-    public double translateX = 5;
+    public double translateX = 0;
     public double translateY = 0;
     public double translateZ = 0;
 
@@ -31,7 +31,7 @@ public class Leg : MonoBehaviour {
 	}
 
     // Update is called once per frame
-    void Update()
+    public void FixedUpdate()
     {
         foot.X = point.x;
         foot.Y = point.y;
diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity
index 98cf40c..981e277 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 sha256:8a2be3952982ba00b2a7e7dbe0048ab7b2ee517dc1d3ec8c10a0011141abb118
-size 36028
+oid sha256:0b7396bf84046e0454ff9b50e8a912c5a16957bc69b409f12860d5f4f9254c73
+size 9964272
diff --git a/2018-unity-sim/Assets/RotationControl.cs b/2018-unity-sim/Assets/RotationControl.cs
index 928f774..8797aa0 100644
--- a/2018-unity-sim/Assets/RotationControl.cs
+++ b/2018-unity-sim/Assets/RotationControl.cs
@@ -8,14 +8,16 @@ public class RotationControl : MonoBehaviour
     public List<GameObject> rotation2 = new List<GameObject>();
     public GameObject body;
 
-    public double min = -15;
-    public double max = 15;
+    public float min = -15;
+    public float max = 15;
     public float speed = 0.3f;
     public float speed2 = 0.3f;
     public float speed3 = 0.3f;
-    bool dir = false;
-    bool dir2 = false;
-    bool dir3 = false;
+    public bool dir = false;
+    public bool dir2 = false;
+    public bool dir3 = false;
+
+    public bool p = false, r = false, y = false;
 
     // Use this for initialization
     void Start ()
@@ -23,40 +25,68 @@ public class RotationControl : MonoBehaviour
     }
 
     // Update is called once per frame
-    void Update()
+    void FixedUpdate()
     {
-        if (!dir2 && rotation.x < max)
-            rotation.x += speed2;
-        else if (!dir2)
-            dir2 = !dir2;
-        else if (dir2 && rotation.x > min)
-            rotation.x -= speed2;
-        else if (dir2)
-            dir2 = !dir2;
+        if (p)
+        {
+            if (!dir2 && rotation.x < max)
+                rotation.x += speed2;
+            else if (!dir2)
+            {
+                dir2 = !dir2;
+                rotation.x = (float)max;
+            }
+            else if (dir2 && rotation.x > min)
+                rotation.x -= speed2;
+            else if (dir2)
+            {
+                dir2 = !dir2;
+                rotation.x = (float)min;
+            }
+        }
 
-        if (!dir3 && rotation.y < max)
-            rotation.y += speed3;
-        else if (!dir3)
-            dir3 = !dir3;
-        else if (dir3 && rotation.y > min)
-            rotation.y -= speed3;
-        else if (dir3)
-            dir3 = !dir3;
+        if (r)
+        {
+            if (!dir3 && rotation.y < max)
+                rotation.y += speed3;
+            else if (!dir3)
+            {
+                dir3 = !dir3;
+                rotation.y = (float)max;
+            }
+            else if (dir3 && rotation.y > min)
+                rotation.y -= speed3;
+            else if (dir3)
+            {
+                dir3 = !dir3;
+                rotation.y = (float)min;
+            }
+        }
 
-        if (!dir && rotation.z < max)
-            rotation.z += speed;
-        else if (!dir)
-            dir = !dir;
-        else if (dir && rotation.z > min)
-            rotation.z -= speed;
-        else if (dir)
-            dir = !dir;
+        if (y)
+        {
+            if (!dir && rotation.z < max)
+                rotation.z += speed;
+            else if (!dir)
+            {
+                dir = !dir;
+                rotation.z = (float)max;
+            }
+            else if (dir && rotation.z > min)
+                rotation.z -= speed;
+            else if (dir)
+            {
+                dir = !dir;
+                rotation.z = (float)min;
+            }
+        }
 
         body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y*-1, rotation.z*-1);
 
         for (int index = 0; index < rotation2.Count; ++index)
         {
             rotation2[index].GetComponent<Leg>().rotation = rotation;
+            rotation2[index].GetComponent<Leg>().FixedUpdate();
         }
     }
 }