diff --git a/CGII/src/IKViewer.cpp b/CGII/src/IKViewer.cpp
index 9f7586e..c4b1100 100644
--- a/CGII/src/IKViewer.cpp
+++ b/CGII/src/IKViewer.cpp
@@ -170,6 +170,9 @@ void IKViewer::calculate_kinematic_chain(Bone *base, Bone *endeffector)
 
 			Bone *bone = base_tree[base_index];
 
+			std::shared_ptr<Transform> inverse_static = std::shared_ptr<Transform>(new StaticTransform(inv(bone->calculate_transform_prev_to_current_without_dofs())));
+			kinematic_chain.emplace_front(inverse_static);
+
 			//for (int i = bone->dof_count() - 1; i >= 0; i--)
 			for (int i = 0; i < bone->dof_count(); i++)
 			{
@@ -178,9 +181,6 @@ void IKViewer::calculate_kinematic_chain(Bone *base, Bone *endeffector)
 				kinematic_chain.emplace_front(inverse_dof);
 			}
 
-			std::shared_ptr<Transform> inverse_static = std::shared_ptr<Transform>(new StaticTransform(inv(bone->calculate_transform_prev_to_current_without_dofs())));
-			kinematic_chain.emplace_front(inverse_static);
-
 			base_index--;
 		}
 		else