Non-Forward axis LookAt (IK)

Hi,
I am having a bit of a road block here
I am trying to make my hip joint look at the next foot target but the rest pose of the hip transform has the x facing down, z to the side and y back.
Using the regular look at does some funny stuff (See image)

Basically I want the x axis to point to the next target

I tried

Code (csharp):

1.  
2. Vector3 a = foot.position - hip.position;
3. Vector3 b = target.position - hip.position;
4.  
5. //Tried with direct and normalized values
6. //Setting to the result and multiplying the current rotation to the result
7. //and Inverse of the result
8. //localRotation ...
9. hip.rotation *= Quaternion.fromToRotation(a,b);
10.