diff --git a/CGII/src/AtomicTransform.cpp b/CGII/src/AtomicTransform.cpp
index 6b71c45..5e54dc8 100644
--- a/CGII/src/AtomicTransform.cpp
+++ b/CGII/src/AtomicTransform.cpp
@@ -97,6 +97,8 @@ void AtomicRotationTransform::optimize_value(const Vec3 &local_vector, const Vec
 	if (inverse)
 		result = -result;
 
+	result = std::clamp(result, lower_limit, upper_limit);
+
 	set_value(result);
 }
 
diff --git a/CGII/src/IKViewer.cpp b/CGII/src/IKViewer.cpp
index 47eec61..4ee7431 100644
--- a/CGII/src/IKViewer.cpp
+++ b/CGII/src/IKViewer.cpp
@@ -125,7 +125,7 @@ void IKViewer::optimize()
 	{
 		for (auto it = kinematic_chain.rbegin(); it != kinematic_chain.rend(); i++)
 		{
-			//it->optimize_value(TODO: local_vector, target, inverse);
+			it->optimize_value(/*local_vector*/, target_position);
 		}
 
 		current_endeffector_matrix.identity();