diff --git a/CreatureControl/Editor/Scripts/Insect/InsectRig_Editor.cs b/CreatureControl/Editor/Scripts/Insect/InsectRig_Editor.cs
index 2c77f04..09b3b02 100644
--- a/CreatureControl/Editor/Scripts/Insect/InsectRig_Editor.cs
+++ b/CreatureControl/Editor/Scripts/Insect/InsectRig_Editor.cs
@@ -13,7 +13,7 @@ namespace CreatureControl {
 
             insectRig.legLength = float.PositiveInfinity;
             foreach (TargetLeg leg in insectRig.legs) {
-                float legLength = leg.bones.length;
+                float legLength = leg.length;
                 if (legLength > 0 && legLength < insectRig.legLength)
                     insectRig.legLength = legLength;
             }
diff --git a/CreatureControl/Editor/Scripts/TargetLeg_Editor.cs b/CreatureControl/Editor/Scripts/TargetLeg_Editor.cs
index 9886259..7309e9c 100644
--- a/CreatureControl/Editor/Scripts/TargetLeg_Editor.cs
+++ b/CreatureControl/Editor/Scripts/TargetLeg_Editor.cs
@@ -25,7 +25,7 @@ namespace CreatureControl {
             base.OnInspectorGUI();
 
             EditorGUI.BeginDisabledGroup(true);
-            EditorGUILayout.FloatField("Femur Length", targetLeg.bones.femurLength);
+            EditorGUILayout.FloatField("Femur Length", targetLeg.femurLength);
             EditorGUI.EndDisabledGroup();
         }
 
@@ -35,7 +35,7 @@ namespace CreatureControl {
                 return 0;
 
             SerializedObject targetLegPrefabObj = new(prefabSource);
-            SerializedProperty targetBonesPrefabProp = targetLegPrefabObj.FindProperty(nameof(TargetLeg.bones));
+            //SerializedProperty targetBonesPrefabProp = targetLegPrefabObj.FindProperty(nameof(TargetLeg.bones));
 
             return 0;
         }
diff --git a/CreatureControl/Runtime/Scripts/Insect/InsectRig.cs b/CreatureControl/Runtime/Scripts/Insect/InsectRig.cs
index 378ced4..f258421 100644
--- a/CreatureControl/Runtime/Scripts/Insect/InsectRig.cs
+++ b/CreatureControl/Runtime/Scripts/Insect/InsectRig.cs
@@ -54,12 +54,12 @@ namespace CreatureControl {
         public float legLength; // smalled leg length
 
         public override void Pose() {
-            this.leftBackLeg.PoseLimb();
-            this.leftMiddleLeg.PoseLimb();
-            this.leftFrontLeg.PoseLimb();
-            this.rightBackLeg.PoseLimb();
-            this.rightMiddleLeg.PoseLimb();
-            this.rightFrontLeg.PoseLimb();
+            this.leftBackLeg.PoseTargetLimb();
+            this.leftMiddleLeg.PoseTargetLimb();
+            this.leftFrontLeg.PoseTargetLimb();
+            this.rightBackLeg.PoseTargetLimb();
+            this.rightMiddleLeg.PoseTargetLimb();
+            this.rightFrontLeg.PoseTargetLimb();
         }
 
         public override void MatchTo(Creature creature, ref bool somethingChanged) {
diff --git a/CreatureControl/Runtime/Scripts/Leg.cs b/CreatureControl/Runtime/Scripts/Leg.cs
index 03043b2..484d3f0 100644
--- a/CreatureControl/Runtime/Scripts/Leg.cs
+++ b/CreatureControl/Runtime/Scripts/Leg.cs
@@ -41,6 +41,10 @@ namespace CreatureControl {
         }
         public float length => femurLength + tibiaLength;
 
+        public void ResetLengths() {
+            _femurLength = 0;
+            _tibiaLength = 0;            
+        }
 
         /// <summary>
         /// Check if all bones of the legs have been configured
diff --git a/CreatureControl/Runtime/Scripts/TargetLeg.cs b/CreatureControl/Runtime/Scripts/TargetLeg.cs
index ba2ba25..fccfaf4 100644
--- a/CreatureControl/Runtime/Scripts/TargetLeg.cs
+++ b/CreatureControl/Runtime/Scripts/TargetLeg.cs
@@ -9,6 +9,10 @@ namespace CreatureControl {
     public class TargetLeg : MonoBehaviour {
         public Leg bones;
 
+        public float length => bones.length;
+        public float femurLength => bones.femurLength;
+        public float tibiaLength => bones.tibiaLength;
+
         public Transform target; // for the tarsus
 
         public Quaternion targetToBoneFemur;
@@ -21,36 +25,45 @@ namespace CreatureControl {
                 return;
 
             this.bones.femur.position = leg.femur.position;
+            this.bones.femur.LookAt(leg.tibia);
+
             this.bones.tibia.position = leg.tibia.position;
+            this.bones.tibia.LookAt(leg.tarsus);
+
             this.bones.tarsus.position = leg.tarsus.position;
+            bones.ResetLengths();
 
             targetToBoneFemur = TargetRig.TargetToBoneRotation(leg.femur, leg.tibia);
             targetToBoneTibia = TargetRig.TargetToBoneRotation(leg.tibia, leg.tarsus);
 
             // Put the end-effector target for IK in a sensible place
+            // Vector3 targetPosition = this.bones.femur.position + 0.7f * this.bones.length * legDirection.normalized;
+            Vector3 targetPosition = leg.tarsus.position;
             Vector3 legDirection = (this.bones.tarsus.position - this.bones.femur.position).normalized;
-            Vector3 targetPosition = this.bones.femur.position + 0.7f * this.bones.length * legDirection.normalized;
             Quaternion targetRotation = Quaternion.LookRotation(legDirection);
+
             this.target.SetPositionAndRotation(targetPosition, targetRotation);
             this.target.localPosition = new(this.target.localPosition.x, 0, this.target.localPosition.z);
+
+            PoseTargetLimb();
+            UpdateBones(leg);
         }
 
         /// <summary>
         /// Pose the target limb
         /// </summary>
-        public void PoseLimb() {
+        public void PoseTargetLimb() {
             if (target == null)
                 return;
             if (bones.femur == null || bones.tibia == null || bones.tarsus == null)
                 return;
 
             Quaternion femurOrientation = FemurRotation(target.position);
+            this.bones.femur.rotation = femurOrientation;
             Quaternion tibiaOrientation = TibiaRotation(target.position);
+            this.bones.tibia.rotation = tibiaOrientation;
             Quaternion tarsusOrientation = TarsusRotation(target.rotation);
-
-            bones.femur.rotation = femurOrientation;
-            bones.tibia.rotation = tibiaOrientation;
-            bones.tarsus.rotation = tarsusOrientation;
+            this.bones.tarsus.rotation = tarsusOrientation;
         }
 
         public void UpdateBones(Leg leg) {
@@ -63,10 +76,8 @@ namespace CreatureControl {
                 return Quaternion.identity;
 
             Vector3 toTarget = targetPosition - this.bones.femur.position;
-            // Debug.DrawRay(femur.position, toTarget, Color.magenta);
+            // Debug.DrawRay(bones.femur.position, toTarget, Color.magenta);
             float targetDistance = toTarget.magnitude;
-            float femurLength = Vector3.Distance(this.bones.femur.position, this.bones.tibia.position);
-            float tibiaLength = Vector3.Distance(this.bones.tibia.position, this.bones.tarsus.position);
 
             float hipAngle = CosineRule(targetDistance, femurLength, tibiaLength);
             // NaN happens when the distance to the footTarget is longer than the length of the leg
@@ -76,8 +87,8 @@ namespace CreatureControl {
 
             Quaternion femurOrientation = Quaternion.LookRotation(toTarget, Vector3.up);
             femurOrientation = Quaternion.AngleAxis(hipAngle, femurOrientation * Vector3.left) * femurOrientation;
-            // Debug.DrawRay(femur.position, femurOrientation * Vector3.forward, Color.blue);
-            // Debug.DrawRay(femur.position, femurOrientation * Vector3.up, Color.green);
+            // Debug.DrawRay(bones.femur.position, femurOrientation * Vector3.forward, Color.blue);
+            // Debug.DrawRay(bones.femur.position, femurOrientation * Vector3.up, Color.green);
 
             return femurOrientation;
         }
@@ -137,7 +148,7 @@ namespace CreatureControl {
             if (bones.tibia != null && this.bones.tarsus != null)
                 Gizmos.DrawLine(this.bones.tibia.position, this.bones.tarsus.position);
 
-            PoseLimb();
+            PoseTargetLimb();
         }
 
         #endregion Scene