diff --git a/CreatureControl/Editor/Scripts/Creature_Editor.cs b/CreatureControl/Editor/Scripts/Creature_Editor.cs
index e78a8df..e60705c 100644
--- a/CreatureControl/Editor/Scripts/Creature_Editor.cs
+++ b/CreatureControl/Editor/Scripts/Creature_Editor.cs
@@ -1,51 +1,54 @@
 using UnityEditor;
 using UnityEditor.SceneManagement;
 
-using UnityEngine;
-
 namespace Passer.CreatureControl {
 
     [CustomEditor(typeof(Creature), true)]
     public class Creature_Editor : Editor {
 
+        /// <summary>
+        /// The creature managed by this editor
+        /// </summary>
         protected Creature creature;
 
-        #region Init
+        #region Start
 
+        /// <summary>
+        /// Enable the creature editor
+        /// </summary>
         public virtual void OnEnable() {
-            creature = target as Creature;
+            this.creature = target as Creature;
 
+            // Keep track if anything changed while enabling the creature editor
             bool anythingChanged = false;
 
-            if (!IsPrefab(creature)) {
-                anythingChanged |= creature.CheckTargetRig();
-                anythingChanged |= creature.CheckModel();
+            if (IsPrefab(this.creature) == false) {
+                // Only do this when it is not a prefab
+                anythingChanged |= this.creature.CheckTargetRig();
+                anythingChanged |= this.creature.CheckModel();
             }
 
-            creature.targetRig.MatchTo(creature, ref anythingChanged);
+            this.creature.targetRig.MatchTo(this.creature, ref anythingChanged);
 
+            // As the above functions do not use the serialized object
+            // We need to manually persist the changes.
             if (anythingChanged) {
-                EditorUtility.SetDirty(creature);
+                EditorUtility.SetDirty(this.creature);
                 AssetDatabase.SaveAssets();
             }
         }
 
+        /// <summary>
+        /// Check if the given creature is a prefab
+        /// </summary>
+        /// <param name="creature">The creature to check</param>
+        /// <returns>True when it is a prefab</returns>
         public static bool IsPrefab(Creature creature) {
             PrefabStage prefabStage = PrefabStageUtility.GetPrefabStage(creature.gameObject);
             return prefabStage != null;
         }
 
-        #endregion Init
+        #endregion Start
 
-        #region Scene
-
-        public virtual void OnSceneGUI() {
-            if (Application.isPlaying || creature.enabled == false)
-                return;
-
-            creature.UpdatePose();
-        }
-
-        #endregion Scene
     }
 }
\ No newline at end of file
diff --git a/CreatureControl/Runtime/Scripts/Creature.cs b/CreatureControl/Runtime/Scripts/Creature.cs
index fb128cd..12922f3 100644
--- a/CreatureControl/Runtime/Scripts/Creature.cs
+++ b/CreatureControl/Runtime/Scripts/Creature.cs
@@ -3,15 +3,24 @@ using UnityEngine;
 namespace Passer.CreatureControl {
 
     public class Creature : MonoBehaviour {
+        /// <summary>
+        /// The (hopefully rigged) 3D model of the creature
+        /// </summary>
+        public Transform model;
+
         /// <summary>The target bones rig</summary>
         /// The target bones rig contain the target pose of the creature
         /// The creature movements will try to move the creature such that the target pose is reached
         /// as closely as possible
-        public Transform model;
-
         public TargetRig targetRig;
 
+        /// <summary>
+        /// The positional different between the target rig and model root
+        /// </summary>
         public Vector3 targetToModelTranslation;
+        /// <summary>
+        /// The rotational difference between the target rig and the model root
+        /// </summary>
         public Quaternion targetToModelRotation;
 
         #region Init
@@ -20,27 +29,32 @@ namespace Passer.CreatureControl {
         /// Ensure a target rig is available
         /// </summary>
         /// <param name="targetRigResourceName">The name of the target rig resource</param>
-        /// <returns>True when the creature rig has been updated</returns>
+        /// <returns>True when the target rig has been updated</returns>
         /// The parameter is used to instantiate a new target rig when none has been found.
         public bool CheckTargetRig(string targetRigResourceName) {
-            if (this.targetRig == null) {
-                // See if there is a target rig, but we just haven't found it
-                this.targetRig = this.GetComponentInChildren<InsectRig>();
-                if (this.targetRig == null) {
-                    GameObject targetsRigPrefab = Resources.Load<GameObject>(targetRigResourceName);
-                    GameObject targetRig = Instantiate(targetsRigPrefab);
-                    targetRig.name = "Target Rig";
-
-                    targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
-                    targetRig.transform.SetParent(this.transform);
-                    this.targetRig = targetRig.GetComponent<InsectRig>();
-                }
-                return true;
-            }
-            else
+            if (this.targetRig != null)
                 return false;
+
+            // See if there is a target rig, but we just haven't found it
+            this.targetRig = this.GetComponentInChildren<TargetRig>();
+            if (this.targetRig == null) {
+                // Nope, there is no target rig, so instantiate it using the given resource name
+                GameObject targetsRigPrefab = Resources.Load<GameObject>(targetRigResourceName);
+                GameObject targetRig = Instantiate(targetsRigPrefab);
+                targetRig.name = "Target Rig";
+
+                targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
+                targetRig.transform.SetParent(this.transform);
+                this.targetRig = targetRig.GetComponent<TargetRig>();
+            }
+            return true;
         }
 
+        /// <summary>
+        /// Ensure a target rig is available
+        /// </summary>
+        /// <returns>True when the target rig has been updated</returns>
+        /// This tries to instantiate the default target rig resource
         public virtual bool CheckTargetRig() {
             return CheckTargetRig("TargetRig");
         }
@@ -50,25 +64,30 @@ namespace Passer.CreatureControl {
         /// </summary>
         /// <returns>True when the creature rig has been updated</returns>
         public bool CheckModel() {
-            if (this.model == null) {
-                SkinnedMeshRenderer[] skinnedMeshRenderers = this.GetComponentsInChildren<SkinnedMeshRenderer>();
-                foreach (SkinnedMeshRenderer skinnedMeshRenderer in skinnedMeshRenderers) {
-                    Transform rendererParent = skinnedMeshRenderer.transform.parent;
-                    if (this.model == null || this.model == rendererParent)
-                        this.model = rendererParent;
-                    else
-                        Debug.LogWarning("Unclear model root");
-                }
-                return this.model != null;
-            }
-            else
+            if (this.model != null)
                 return false;
+
+            // We determine the model root as the parent of the renderers
+            SkinnedMeshRenderer[] skinnedMeshRenderers = this.GetComponentsInChildren<SkinnedMeshRenderer>();
+            foreach (SkinnedMeshRenderer skinnedMeshRenderer in skinnedMeshRenderers) {
+                Transform rendererParent = skinnedMeshRenderer.transform.parent;
+                if (this.model == null || this.model == rendererParent)
+                    this.model = rendererParent;
+                else
+                    // Oops! There are multiple renders with different parents....
+                    Debug.LogWarning("Unclear model root");
+                    // We still return a model root, but this may not be the correct one...
+            }
+            return this.model != null;
         }
 
         #endregion Init
 
         #region Start
 
+        /// <summary>
+        /// Start the creature
+        /// </summary>
         protected virtual void Start() {
             this.CheckTargetRig();
             this.CheckModel();
@@ -79,28 +98,38 @@ namespace Passer.CreatureControl {
 
         #region Update
 
+        /// <summary>
+        /// Update the creature
+        /// </summary>
         public virtual void Update() {
             if (this.targetRig == null)
+                // Without a target rig, the creature cannot move
                 return;
 
             UpdatePose();
 
-            // copy animator root motion to the humanoid
+            // copy animator root motion to the creature
             this.transform.SetPositionAndRotation(targetRig.transform.position, targetRig.transform.rotation);
             // As target rig is probably a child of this.transform,
             // We need to restore the position/rotation of the targetsRig.
-            targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);        
+            targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
         }
 
+        /// <summary>
+        /// Update the pose of the creature using the target rig
+        /// </summary>
         public void UpdatePose() {
             if (this.targetRig == null)
                 return;
 
-            this.targetRig.PoseLimbs();
-            UpdateBones();            
+            this.targetRig.Pose();
+            UpdateModel();
         }
 
-        public virtual void UpdateBones() {
+        /// <summary>
+        /// Update the bones of the creature's rig from the target rig pose
+        /// </summary>
+        public virtual void UpdateModel() {
             Vector3 newPosition = this.targetRig.transform.position + this.targetToModelTranslation;
             Quaternion newOrientation = this.targetRig.transform.rotation * this.targetToModelRotation;
             this.model.SetPositionAndRotation(newPosition, newOrientation);
@@ -108,12 +137,19 @@ namespace Passer.CreatureControl {
 
         #endregion Update
 
+        #region Scene view
+
+        /// <summary>
+        /// Update the pose of the creature when the application is not running
+        /// </summary>
         void OnDrawGizmos() {
             // This ensures that the model is always following the target rig
             if (Application.isPlaying == false) {
                 this.UpdatePose();
             }
         }
+
+        #endregion Scene view
     }
 
 }
\ No newline at end of file
diff --git a/CreatureControl/Runtime/Scripts/Insect/Insect.cs b/CreatureControl/Runtime/Scripts/Insect/Insect.cs
index 4d0a88a..c9e7fca 100644
--- a/CreatureControl/Runtime/Scripts/Insect/Insect.cs
+++ b/CreatureControl/Runtime/Scripts/Insect/Insect.cs
@@ -31,8 +31,8 @@ namespace Passer.CreatureControl {
 
         #region Update
 
-        public override void UpdateBones() {
-            base.UpdateBones();
+        public override void UpdateModel() {
+            base.UpdateModel();
 
             if (this.insectRig.leftFrontLeg != null)
                 this.insectRig.leftFrontLeg.UpdateBones(this.leftFrontLeg);
diff --git a/CreatureControl/Runtime/Scripts/Insect/InsectRig.cs b/CreatureControl/Runtime/Scripts/Insect/InsectRig.cs
index 68f4e57..0e51dae 100644
--- a/CreatureControl/Runtime/Scripts/Insect/InsectRig.cs
+++ b/CreatureControl/Runtime/Scripts/Insect/InsectRig.cs
@@ -12,7 +12,7 @@ namespace Passer.CreatureControl {
         public TargetLeg rightMiddleLeg;
         public TargetLeg rightBackLeg;
 
-        public override void PoseLimbs() {
+        public override void Pose() {
             this.leftBackLeg.PoseLimb();
             this.leftMiddleLeg.PoseLimb();
             this.leftFrontLeg.PoseLimb();
diff --git a/CreatureControl/Runtime/Scripts/TargetLeg.cs b/CreatureControl/Runtime/Scripts/TargetLeg.cs
index 9c8febb..5a7f9b4 100644
--- a/CreatureControl/Runtime/Scripts/TargetLeg.cs
+++ b/CreatureControl/Runtime/Scripts/TargetLeg.cs
@@ -14,6 +14,19 @@ namespace Passer.CreatureControl {
         public Quaternion targetToBoneFemur;
         public Quaternion targetToBoneTibia;
 
+        public float femurLength;
+        public float tibiaLength;
+        public float length;
+
+        /// <summary>
+        /// Update the lenghts of the leg bones
+        /// </summary>
+        private void CalculateLengths() {
+            this.femurLength = Vector3.Distance(this.femurTarget.position, this.tibiaTarget.position);
+            this.tibiaLength = Vector3.Distance(this.tibiaTarget.position, this.tarsusTarget.position);
+            this.length = femurLength + tibiaLength;            
+        }
+
         public void MatchTo(Leg leg) {
             this.femurTarget.position = leg.femur.position;
             this.tibiaTarget.position = leg.tibia.position;
@@ -21,15 +34,13 @@ namespace Passer.CreatureControl {
             targetToBoneFemur = TargetRig.TargetToBoneRotation(leg.femur, leg.tibia);
             targetToBoneTibia = TargetRig.TargetToBoneRotation(leg.tibia, leg.tarsus);
 
-            float femurLength = Vector3.Distance(this.femurTarget.position, this.tibiaTarget.position);
-            float tibiaLength = Vector3.Distance(this.tibiaTarget.position, this.tarsusTarget.position);
-            float leglength = femurLength + tibiaLength;
+            CalculateLengths();
 
+            // Put the end-effector target for IK in a sensible place
             Vector3 legDirection = (this.tarsusTarget.position - this.femurTarget.position).normalized;
-            this.target.position = this.femurTarget.position + 0.7f * leglength * legDirection.normalized;
-            this.target.rotation = Quaternion.LookRotation(legDirection);
-
-            //this.target.SetPositionAndRotation(this.tarsusTarget.position, this.tarsusTarget.rotation);
+            Vector3 targetPosition = this.femurTarget.position + 0.7f * this.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);
         }
 
diff --git a/CreatureControl/Runtime/Scripts/TargetRig.cs b/CreatureControl/Runtime/Scripts/TargetRig.cs
index 9b5956d..0232505 100644
--- a/CreatureControl/Runtime/Scripts/TargetRig.cs
+++ b/CreatureControl/Runtime/Scripts/TargetRig.cs
@@ -9,14 +9,26 @@ namespace Passer.CreatureControl {
 
         public Animator animator;
 
-        public virtual void PoseLimbs() {
+        /// <summary>
+        /// Pose the target rig using the IK targets
+        /// </summary>
+        public virtual void Pose() {
         }
-
+        
+        /// <summary>
+        /// Align the target rig with a creature
+        /// </summary>
+        /// <param name="creature">The creature to align to</param>
         public void MatchTo(Creature creature) {
             bool anythingChangedDummy = false;
             MatchTo(creature, ref anythingChangedDummy);
         }
 
+        /// <summary>
+        /// Align the target rig with a creature
+        /// </summary>
+        /// <param name="creature">The creature to align to</param>
+        /// <param name="anythingChanged">True when any property of the creature has changed</param>
         public virtual void MatchTo(Creature creature, ref bool anythingChanged) {
             Vector3 targetToModelTranslation = creature.model.position - this.transform.position;
             bool changed = targetToModelTranslation != creature.targetToModelTranslation;
@@ -33,6 +45,14 @@ namespace Passer.CreatureControl {
             }
         }
 
+        /// <summary>
+        /// Compute the rotation from the target bone to a creature's bone
+        /// </summary>
+        /// <param name="bone">The creature's bone for this target bone</param>
+        /// <param name="nextBone">The next bone in the creature's hierarchy</param>
+        /// <returns>The rotation from the target bone rotation to the creature bone rotation</returns>
+        /// The next bone is used to compute the direction of the bone.
+        /// The 'up'-direction of the bone is currently fixed to (world) up.
         public static Quaternion TargetToBoneRotation(Transform bone, Transform nextBone) {
             if (bone == null || nextBone == null)
                 return Quaternion.identity;
@@ -42,24 +62,6 @@ namespace Passer.CreatureControl {
             Quaternion toBoneRotation = Quaternion.Inverse(targetRotation) * bone.rotation;
             return toBoneRotation;
         }
-
-        public static Quaternion TargetToBoneRotation(Transform target, Transform nextTarget, Transform bone) {
-            Vector3 direction = nextTarget.position - bone.position;
-            Quaternion targetRotation = Quaternion.LookRotation(direction, Vector3.up);
-            Quaternion toBoneRotation = Quaternion.Inverse(targetRotation) * bone.rotation;
-            return toBoneRotation;
-        }
-
-        public static Quaternion TargetToBoneRotation_Debug(Transform target, Transform nextTarget, Transform bone) {
-            Vector3 direction = nextTarget.position - target.position;
-            Quaternion targetRotation = Quaternion.LookRotation(direction, Vector3.up);
-            Debug.DrawRay(bone.position, targetRotation * Vector3.forward, Color.blue);
-            Debug.DrawRay(bone.position, targetRotation * Vector3.up, Color.green);
-
-            Quaternion toBoneRotation = Quaternion.Inverse(targetRotation) * bone.rotation;
-            Debug.Log($"{targetRotation.eulerAngles} {bone.rotation.eulerAngles} -> {toBoneRotation.eulerAngles}");
-            return toBoneRotation;
-        }
     }
 
 }
\ No newline at end of file