diff --git a/src/main/java/io/eiren/vr/processor/HumanPoseProcessor.java b/src/main/java/io/eiren/vr/processor/HumanPoseProcessor.java
index 1d2bfa9fd..e19c374e4 100644
--- a/src/main/java/io/eiren/vr/processor/HumanPoseProcessor.java
+++ b/src/main/java/io/eiren/vr/processor/HumanPoseProcessor.java
@@ -93,18 +93,18 @@ public class HumanPoseProcessor {
 		Vector3f hmdFront = new Vector3f(0, 0, 1);
 		hmdRotation.multLocal(hmdFront);
 		hmdFront.multLocal(1, 0, 1).normalizeLocal();
-		hmdRotation.lookAt(hmdFront, Vector3f.UNIT_Y);
+		//hmdRotation.lookAt(hmdFront, Vector3f.UNIT_Y);
 		
 		Iterator<AdjustedTracker> iterator = trackers.values().iterator();
 		while(iterator.hasNext()) {
 			AdjustedTracker tt = iterator.next();
-			tt.getRotation(sensorRotation);
+			tt.tracker.getRotation(sensorRotation);
 
 			// Adjust only yaw rotation
 			Vector3f sensorFront = new Vector3f(0, 0, 1);
 			sensorRotation.multLocal(sensorFront);
 			sensorFront.multLocal(1, 0, 1).normalizeLocal();
-			sensorRotation.lookAt(sensorFront, Vector3f.UNIT_Y);
+			//sensorRotation.lookAt(sensorFront, Vector3f.UNIT_Y);
 			
 			
 			tt.position.baseRotation.mult(hmdRotation, targetTrackerRotation);
diff --git a/src/main/java/io/eiren/vr/processor/HumanSekeletonWithLegs.java b/src/main/java/io/eiren/vr/processor/HumanSekeletonWithLegs.java
index f4c72c856..faafafe19 100644
--- a/src/main/java/io/eiren/vr/processor/HumanSekeletonWithLegs.java
+++ b/src/main/java/io/eiren/vr/processor/HumanSekeletonWithLegs.java
@@ -45,10 +45,10 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 		computedRightAnkleTracker = rat;
 		
 		waistNode.attachChild(leftLegNode);
-		leftLegNode.localTransform.setTranslation(-hipsWidth / 2, 0, 0);
+		leftLegNode.localTransform.setTranslation(hipsWidth / 2, 0, 0);
 		
 		waistNode.attachChild(rightLegNode);
-		rightLegNode.localTransform.setTranslation(hipsWidth / 2, 0, 0);
+		rightLegNode.localTransform.setTranslation(-hipsWidth / 2, 0, 0);
 		
 		leftLegNode.attachChild(leftKneeNode);
 		leftKneeNode.localTransform.setTranslation(0, -kneeLength, 0);
@@ -74,9 +74,11 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
 		
 		leftAnkleTracker.getRotation(qBuf);
 		leftKneeNode.localTransform.setRotation(qBuf);
+		leftAnkleNode.localTransform.setRotation(qBuf);
 		
 		rightAnkleTracker.getRotation(qBuf);
 		rightKneeNode.localTransform.setRotation(qBuf);
+		rightAnkleNode.localTransform.setRotation(qBuf);
 	}
 
 	@Override
diff --git a/src/main/java/io/eiren/vr/processor/HumanSkeleonWithWaist.java b/src/main/java/io/eiren/vr/processor/HumanSkeleonWithWaist.java
index 5d9d6bc7b..3baebd469 100644
--- a/src/main/java/io/eiren/vr/processor/HumanSkeleonWithWaist.java
+++ b/src/main/java/io/eiren/vr/processor/HumanSkeleonWithWaist.java
@@ -55,6 +55,7 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
 		hmdTracker.getPosition(vBuf);
 		hmdNode.localTransform.setTranslation(vBuf);
 		hmdNode.localTransform.setRotation(qBuf);
+		waistNode.localTransform.setRotation(qBuf);
 	}
 	
 	protected void updateComputedTrackers() {
diff --git a/src/main/java/io/eiren/vr/processor/TransformNode.java b/src/main/java/io/eiren/vr/processor/TransformNode.java
index 23158a783..37f0b8bc9 100644
--- a/src/main/java/io/eiren/vr/processor/TransformNode.java
+++ b/src/main/java/io/eiren/vr/processor/TransformNode.java
@@ -33,7 +33,18 @@ public class TransformNode {
 			if(localRotation)
 				worldTransform.combineWithParent(parent.worldTransform);
 			else
-				worldTransform.combineWithParentGlobalRotation(localTransform);
+				combineWithParentGlobalRotation(parent.worldTransform);
 		}
 	}
+	
+
+    public void combineWithParentGlobalRotation(Transform parent) {
+    	worldTransform.getScale().multLocal(parent.getScale());
+    	worldTransform.getTranslation().multLocal(parent.getScale());
+        
+        parent
+            .getRotation()
+            .multLocal(worldTransform.getTranslation())
+            .addLocal(parent.getTranslation());
+    }
 }