OK, so I th?nk I've figured it out. You'll need 7mm and 10 mm open ended spanners and a T30 Torx driver. BMW call the vertical rod, with the sensor for the shift assist, the gear selector rod. It threads into rose joints at both ends with lock nuts. Both ends are also right hand thread. The easy way to adjust pedal height is to loosen the lower lock nut and then remove the T30 bolt that connects the gear pedal to the selector rod. Adjustment is then by turning the lower rose joint. Each full turn will adjust the pedal height by 2.5mm. Then refit the T30 bolt and tighten the lock nut. To utilise the adjuster at the top of the rod, again remove the T30 bolt, then disconnect the electrical connector to the shift assist sensor (pull up the grey tab on the front). Then rotate the entire rod to the required adjustment. I hope that this makes sense!