diff --git a/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm
index a9a3bad..7285e7b 100644
Binary files a/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm and b/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm differ
diff --git a/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal
index 61fcf13..d12ab00 100644
Binary files a/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal and b/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal differ
diff --git a/Assets/Foot.cs b/Assets/Foot.cs
index ddac315..6e38fb8 100644
--- a/Assets/Foot.cs
+++ b/Assets/Foot.cs
@@ -28,7 +28,7 @@ public class Foot : Component
     public Vector3 transformation = new Vector3(0, 0, 0);
     public Vector3 transformation2 = new Vector3(0, 0, 0);
 
-    static float knie_offset = 3;
+    static float knie_offset = 5.5f;
 
     void RL3()
     {
diff --git a/Assets/Main.unity b/Assets/Main.unity
index 01a1e95..d6fac74 100644
--- a/Assets/Main.unity
+++ b/Assets/Main.unity
@@ -26995,7 +26995,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 1453644144}
   m_LocalRotation: {x: -0, y: 1, z: -0, w: 0}
-  m_LocalPosition: {x: -5, y: 0, z: -5}
+  m_LocalPosition: {x: -10, y: 0, z: -5}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1945642084}
@@ -48865,7 +48865,7 @@ MonoBehaviour:
   speed2: 10
   walkDirection: 0
   centerRotation: 0
-  walkspeed: 0
+  walkspeed: 3
 --- !u!1 &311874317
 GameObject:
   m_ObjectHideFlags: 0
@@ -54596,7 +54596,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 349087549}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 3}
+  m_LocalPosition: {x: 0, y: 0, z: 5.5}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 526007731}
@@ -55225,8 +55225,8 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 352865049}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.70710677}
-  m_LocalPosition: {x: 0, y: 0, z: 1.5}
-  m_LocalScale: {x: 1, y: 1.5, z: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 2.75}
+  m_LocalScale: {x: 1, y: 2.75, z: 1}
   m_Children: []
   m_Father: {fileID: 2042398688}
   m_RootOrder: 0
@@ -59086,8 +59086,8 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 375187693}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.70710677}
-  m_LocalPosition: {x: 0, y: 0, z: 1.5}
-  m_LocalScale: {x: 1, y: 1.5, z: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 2.75}
+  m_LocalScale: {x: 1, y: 2.75, z: 1}
   m_Children: []
   m_Father: {fileID: 8323914}
   m_RootOrder: 0
@@ -73364,8 +73364,8 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 471439402}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.70710677}
-  m_LocalPosition: {x: 0, y: 0, z: 1.5}
-  m_LocalScale: {x: 1, y: 1.5, z: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 2.75}
+  m_LocalScale: {x: 1, y: 2.75, z: 1}
   m_Children: []
   m_Father: {fileID: 842799377}
   m_RootOrder: 0
@@ -92989,14 +92989,14 @@ MonoBehaviour:
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   a2: 0
   a3: 0
-  point: {x: 0, y: -15, z: 15}
+  point: {x: 0, y: -15, z: 13}
   rotation: {x: 0, y: 0, z: 0, w: 0}
   transformation: {x: 0, y: 0, z: 0}
   transformation2: {x: 0, y: 0, z: 0}
   invert: 0
   translateX: 0
   translateY: 0
-  translateZ: 7
+  translateZ: 6.5
   pointShouldBe: {fileID: 914986742}
   startServo: 3
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@@ -102526,7 +102526,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 596626244}
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 7}
+  m_LocalPosition: {x: 0, y: 0, z: 6.5}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1668338011}
@@ -103741,7 +103741,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 1619174560}
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 5, y: 0, z: 5}
+  m_LocalPosition: {x: 10, y: 0, z: 5}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 555867950}
@@ -111822,8 +111822,8 @@ Transform:
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   m_GameObject: {fileID: 704757434}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.70710677}
-  m_LocalPosition: {x: 0, y: 0, z: 1.5}
-  m_LocalScale: {x: 1, y: 1.5, z: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 2.75}
+  m_LocalScale: {x: 1, y: 2.75, z: 1}
   m_Children: []
   m_Father: {fileID: 958514921}
   m_RootOrder: 0
@@ -134283,8 +134283,8 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 838292413}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.70710677}
-  m_LocalPosition: {x: 0, y: 0, z: 1.5}
-  m_LocalScale: {x: 1, y: 1.5, z: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 2.75}
+  m_LocalScale: {x: 1, y: 2.75, z: 1}
   m_Children: []
   m_Father: {fileID: 1440823284}
   m_RootOrder: 0
@@ -138893,7 +138893,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 866778528}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 3}
+  m_LocalPosition: {x: 0, y: 0, z: 5.5}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 246942919}
@@ -157530,7 +157530,7 @@ Transform:
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   m_GameObject: {fileID: 986205296}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 3}
+  m_LocalPosition: {x: 0, y: 0, z: 5.5}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1248951963}
@@ -169488,7 +169488,7 @@ Transform:
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   m_GameObject: {fileID: 1772413224}
   m_LocalRotation: {x: -0, y: 1, z: -0, w: 0}
-  m_LocalPosition: {x: 0, y: 0, z: -7}
+  m_LocalPosition: {x: 0, y: 0, z: -6.5}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1718712321}
@@ -200218,7 +200218,7 @@ Transform:
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   m_GameObject: {fileID: 210611261}
   m_LocalRotation: {x: -0, y: 1, z: -0, w: 0}
-  m_LocalPosition: {x: 5, y: 0, z: -5}
+  m_LocalPosition: {x: 10, y: 0, z: -5}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
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@@ -224036,7 +224036,7 @@ Transform:
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   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: 0, y: -1, z: 0}
-  m_LocalScale: {x: 10, y: 2.5, z: 10}
+  m_LocalScale: {x: 20, y: 2.5, z: 10}
   m_Children: []
   m_Father: {fileID: 1971572978}
   m_RootOrder: 0
@@ -246022,7 +246022,7 @@ Transform:
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   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: 0, y: -1, z: 0}
-  m_LocalScale: {x: 5, y: 2.5, z: 13.5}
+  m_LocalScale: {x: 5, y: 2.5, z: 13}
   m_Children: []
   m_Father: {fileID: 1971572978}
   m_RootOrder: 1
@@ -252542,7 +252542,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 1573589440}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 3}
+  m_LocalPosition: {x: 0, y: 0, z: 5.5}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 952427227}
@@ -284146,14 +284146,14 @@ MonoBehaviour:
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   a2: 0
   a3: 0
-  point: {x: 0, y: -15, z: -15}
+  point: {x: 0, y: -15, z: -13}
   rotation: {x: 0, y: 0, z: 0, w: 0}
   transformation: {x: 0, y: 0, z: 0}
   transformation2: {x: 0, y: 0, z: 0}
   invert: 1
   translateX: 0
   translateY: 0
-  translateZ: -7
+  translateZ: -6.5
   pointShouldBe: {fileID: 955360344}
   startServo: 19
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@@ -287385,7 +287385,7 @@ Transform:
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   m_GameObject: {fileID: 636309705}
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: -5, y: 0, z: 5}
+  m_LocalPosition: {x: -10, y: 0, z: 5}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1315959229}
@@ -291106,7 +291106,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 1813824933}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 3}
+  m_LocalPosition: {x: 0, y: 0, z: 5.5}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1534966623}
@@ -291497,8 +291497,8 @@ Transform:
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   m_GameObject: {fileID: 1816451333}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.70710677}
-  m_LocalPosition: {x: 0, y: 0, z: 1.5}
-  m_LocalScale: {x: 1, y: 1.5, z: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 2.75}
+  m_LocalScale: {x: 1, y: 2.75, z: 1}
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   m_Father: {fileID: 202055677}
   m_RootOrder: 0
@@ -306246,7 +306246,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 1902568238}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 3}
+  m_LocalPosition: {x: 0, y: 0, z: 5.5}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1164689000}