foot ik solver
 

Hi,

Unfortunately I can't download the foot video tutorial, because if I click that page I will log out...
I would like to ask little help. This video (about 1MB) shows the wrong thing:
video 1,5MB

This picture the pivot of the bones:
http://montressor.hu/maya/bones.jpg
My problem is that the knee doesn't remain in the line of white triangle of the ik solver. When I raise the heel, it gets rotate to the side, and in addition to this, the feet makes a strange side-twist.
The procedure was the follow:
I created the bones., set the pivot of the bones (orient), froze the bones transformation (rotating values zero), made ik rp solver, made a locator below the character's bottom, and created a pole constraint to that locator, and rotated back the bones with the twist parameter.
My bones are not in a perfect line, because the leg and the knee are bending aside. You can see it in the video.
How can I fix it?
Thank you very much