diff --git a/src/main/java/io/eiren/vr/VRServer.java b/src/main/java/io/eiren/vr/VRServer.java
index 438485f0d..229ad2536 100644
--- a/src/main/java/io/eiren/vr/VRServer.java
+++ b/src/main/java/io/eiren/vr/VRServer.java
@@ -13,7 +13,7 @@ import io.eiren.vr.trackers.Tracker;
 public class VRServer extends Thread {
 	
 	private final List<Tracker> trackers = new FastList<>();
-	private final HumanPoseProcessor humanPoseProcessor;
+	public final HumanPoseProcessor humanPoseProcessor;
 	private final TrackersUDPServer trackersServer = new TrackersUDPServer(6969, "Sensors UDP server", this::registerTracker);
 	private final NamedPipeVRBridge driverBridge;
 	
diff --git a/src/main/java/io/eiren/vr/processor/HumanPoseProcessor.java b/src/main/java/io/eiren/vr/processor/HumanPoseProcessor.java
index bb3f56161..d13b6601e 100644
--- a/src/main/java/io/eiren/vr/processor/HumanPoseProcessor.java
+++ b/src/main/java/io/eiren/vr/processor/HumanPoseProcessor.java
@@ -1,8 +1,12 @@
 package io.eiren.vr.processor;
 
 import java.util.EnumMap;
+import java.util.Iterator;
 import java.util.List;
 
+import com.jme3.math.FastMath;
+import com.jme3.math.Quaternion;
+
 import essentia.util.collections.FastList;
 import io.eiren.vr.trackers.ComputedTracker;
 import io.eiren.vr.trackers.HMDTracker;
@@ -12,7 +16,7 @@ public class HumanPoseProcessor {
 	
 	private final HMDTracker hmd;
 	private final List<ComputedTracker> computedTrackers = new FastList<>();
-	private final EnumMap<TrackerPosition, Tracker> trackers = new EnumMap<>(TrackerPosition.class);
+	private final EnumMap<TrackerPosition, TransformedTracker> trackers = new EnumMap<>(TrackerPosition.class);
 	private final ComputedTracker waist;
 	private final ComputedTracker leftFoot;
 	private final ComputedTracker rightFoot;
@@ -29,8 +33,26 @@ public class HumanPoseProcessor {
 	}
 	
 	public void addTracker(Tracker tracker, TrackerPosition position) {
+		TransformedTracker tt = new TransformedTracker(tracker);
 		synchronized(trackers) {
-			trackers.put(position, tracker);
+			trackers.put(position, tt);
+		}
+	}
+	
+	public void resetTrackers() {
+		Quaternion buff = new Quaternion();
+		Quaternion targetRotation = new Quaternion();
+		hmd.getRotation(targetRotation);
+		
+		// TODO
+		
+		synchronized(trackers) {
+			Iterator<TransformedTracker> iterator = trackers.values().iterator();
+			while(iterator.hasNext()) {
+				TransformedTracker tt = iterator.next();
+				tt.getRotation(buff);
+				// TODO : Set offset
+			}
 		}
 	}
 	
@@ -47,4 +69,18 @@ public class HumanPoseProcessor {
 		LEFT_FOOT,
 		RIGHT_FOOT
 	}
+	
+	private static class TransformedTracker {
+		public final Tracker tracker;
+		public final Quaternion transformation = new Quaternion();
+		
+		public TransformedTracker(Tracker tracker) {
+			this.tracker = tracker;
+		}
+		
+		public void getRotation(Quaternion store) {
+			tracker.getRotation(store);
+			store.multLocal(transformation);
+		}
+	}
 }
diff --git a/src/main/java/io/eiren/vr/trackers/TrackersUDPServer.java b/src/main/java/io/eiren/vr/trackers/TrackersUDPServer.java
index 2dc4ded50..bec36e990 100644
--- a/src/main/java/io/eiren/vr/trackers/TrackersUDPServer.java
+++ b/src/main/java/io/eiren/vr/trackers/TrackersUDPServer.java
@@ -13,7 +13,9 @@ import java.util.List;
 import java.util.Map;
 import java.util.function.Consumer;
 
+import com.jme3.math.FastMath;
 import com.jme3.math.Quaternion;
+import com.jme3.math.Vector3f;
 
 import essentia.util.collections.FastList;
 import io.eiren.hardware.magentometer.Magneto;
@@ -135,7 +137,7 @@ public class TrackersUDPServer extends Thread {
 			sensor = trackersMap.get(addr);
 		}
 		if(sensor == null) {
-			IMUTracker imu = new IMUTracker(handshakePacket.getSocketAddress().toString(), this);
+			IMUTracker imu = new IMUTracker("udp://" + handshakePacket.getAddress().toString(), this);
 			trackersConsumer.accept(imu);
 			sensor = new TrackerConnection(imu, addr);
 			int i = 0;
@@ -149,6 +151,8 @@ public class TrackersUDPServer extends Thread {
         socket.send(new DatagramPacket(HANDSHAKE_BUFFER, HANDSHAKE_BUFFER.length, handshakePacket.getAddress(), handshakePacket.getPort()));
 	}
 	
+	private static final Quaternion offset = new Quaternion().fromAngleAxis(-FastMath.HALF_PI, Vector3f.UNIT_X);
+	
 	@Override
 	public void run() {
 		byte[] rcvBuffer = new byte[64];
@@ -176,7 +180,9 @@ public class TrackersUDPServer extends Thread {
 						bb.getLong();
 						stopCalibration(sensor);
 						buf.set(bb.getFloat(), bb.getFloat(), bb.getFloat(), bb.getFloat());
-						buf.set(-buf.getX(), buf.getZ(), buf.getY(), buf.getW()); // Change from sensor rotation to OpenGL/SteamVR rotation
+						//buf.set(buf.getY(), buf.getZ(), buf.getY(), buf.getW()); // Change from sensor rotation to OpenGL/SteamVR rotation
+						//Quaternion q3 = new Quaternion().fromAngleAxis(FastMath.PI, Vector3f.UNIT_Y).multLocal(q2);
+						offset.mult(buf, buf);
 						sensor.tracker.rotQuaternion.set(buf);
 						//System.out.println("Rot: " + rotQuaternion.getX() + "," + rotQuaternion.getY() + "," + rotQuaternion.getZ() + "," + rotQuaternion.getW());
 						break;