diff --git a/.vscode/settings.json b/.vscode/settings.json
index d3f6ce2..c4b72bd 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -52,7 +52,8 @@
         "typeinfo": "cpp",
         "utility": "cpp",
         "variant": "cpp",
-        "algorithm": "cpp"
+        "algorithm": "cpp",
+        "new": "cpp"
     },
     "editor.formatOnSave": true
 }
\ No newline at end of file
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 12baac7..bea65fd 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -12,7 +12,8 @@
                 "plugin:cg_fltk.cgv",
                 "plugin:CGII.cgv",
                 "plugin:crg_stereo_view.cgv"
-            ]
+            ],
+            "dependsOn": "Build CGII"
         },
         {
             "label": "Build All",
diff --git a/CGII/src/Bone.cpp b/CGII/src/Bone.cpp
index a0706af..7aea345 100644
--- a/CGII/src/Bone.cpp
+++ b/CGII/src/Bone.cpp
@@ -41,12 +41,17 @@ void Bone::calculate_matrices()
 {
 	orientationTransformGlobalToLocal.identity();
 	std::for_each(orientation.begin(), orientation.end(), [&](AtomicTransform *t) {
-		std::cout << "atomic transform " << t->get_name() << ": " << t->get_value() << std::endl;
+		std::cout << name << " orientation " << t->get_name() << ": " << t->get_value() << std::endl;
 
 		orientationTransformGlobalToLocal = orientationTransformGlobalToLocal * t->calculate_matrix();
 	});
+
 	orientationTransformLocalToGlobal = cgv::math::inv(orientationTransformGlobalToLocal);
 
+	std::for_each(dofs.begin(), dofs.end(), [&](std::shared_ptr<AtomicTransform> &t) {
+		//std::cout << "dofs " << t->get_name() << ": " << t->get_value() << std::endl;
+	});
+
 	/*Task 2.1: Implement matrix calculation */
 	Mat4 matrix;
 	matrix.identity();
@@ -109,17 +114,17 @@ Mat4 Bone::calculate_transform_prev_to_current_with_dofs()
 	dofs.identity();
 
 	std::for_each(orientation.begin(), orientation.end(), [&](AtomicTransform *t) {
-		dofs = dofs * t->calculate_matrix();
+		//dofs = dofs * t->calculate_matrix();
 	});
 
-	Mat4 t = translationTransformCurrentJointToNext * orientationTransformPrevJointToCurrent * dofs;
+	Mat4 t = translationTransformCurrentJointToNext * orientationTransformPrevJointToCurrent * dofs; // * orientationTransformGlobalToLocal;
 	return t;
 }
 
 Mat4 Bone::calculate_transform_prev_to_current_without_dofs()
 {
 	//Task 2.1: Implement matrix calculation
-	Mat4 t = translationTransformCurrentJointToNext * orientationTransformPrevJointToCurrent;
+	Mat4 t = translationTransformCurrentJointToNext * orientationTransformPrevJointToCurrent * orientationTransformLocalToGlobal * orientationTransformGlobalToLocal;
 	return t;
 }