diff --git a/Root.tscn b/Root.tscn
index 731b301..28e9245 100644
--- a/Root.tscn
+++ b/Root.tscn
@@ -7,31 +7,43 @@
 size = Vector3(0.1, 0.1, 0.1)
 
 [sub_resource type="PlaneMesh" id="PlaneMesh_24d08"]
+size = Vector2(6, 2)
 
 [node name="Node3D" type="Node3D"]
 
 [node name="Camera3D" type="Camera3D" parent="."]
-transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.663209, 1.65503)
+transform = Transform3D(-1, 0, 8.74228e-08, 0, 1, 0, -8.74228e-08, 0, -1, 0, 0.663209, -0.79419)
 
 [node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
-transform = Transform3D(0.789213, -0.342763, 0.509566, 0, 0.829749, 0.558136, -0.61412, -0.440488, 0.654849, 0, 0.631436, 0)
+transform = Transform3D(-0.878275, 0.266876, -0.396749, -7.71365e-11, 0.829749, 0.558137, 0.478155, 0.490197, -0.728748, 0, 0.631436, 0)
 shadow_enabled = true
 
 [node name="Root" type="Node3D" parent="."]
 
 [node name="VRPN" type="Node3D" parent="Root" node_paths=PackedStringArray("tracker_receivers")]
 script = ExtResource("2_24d08")
-tracker_receivers = [NodePath("RB1")]
+tracker_receivers = [NodePath("RB1"), NodePath("RB2")]
 vrpn_server = "212.201.64.122"
 
 [node name="RB1" type="Node3D" parent="Root/VRPN"]
 script = ExtResource("2_170dk")
 tracker_name = "RB1"
+tracker_eulerorder = 1
 
-[node name="MeshInstance3D" type="MeshInstance3D" parent="Root/VRPN/RB1"]
+[node name="Box" type="MeshInstance3D" parent="Root/VRPN/RB1"]
 mesh = SubResource("BoxMesh_24d08")
 
 [node name="RB2" type="Node3D" parent="Root/VRPN"]
+script = ExtResource("2_170dk")
+tracker_name = "RB2"
+
+[node name="Box2" type="MeshInstance3D" parent="Root/VRPN/RB2"]
+mesh = SubResource("BoxMesh_24d08")
+skeleton = NodePath("../../RB1")
 
 [node name="Floor" type="MeshInstance3D" parent="Root"]
 mesh = SubResource("PlaneMesh_24d08")
+
+[node name="Wall" type="MeshInstance3D" parent="Root"]
+transform = Transform3D(-1, 8.74228e-08, -3.82137e-15, 0, -4.37114e-08, -1, -8.74228e-08, -1, 4.37114e-08, 0, 0.93633, 1.06259)
+mesh = SubResource("PlaneMesh_24d08")
diff --git a/VRPN_Receiver.gd b/VRPN_Receiver.gd
index f3ff925..21d09a0 100644
--- a/VRPN_Receiver.gd
+++ b/VRPN_Receiver.gd
@@ -4,15 +4,16 @@ class_name VRPN_Receiver
 
 @export var tracker_name : String = "Tracker0"
 @export var tracker_sensor : int = 0
+@export var tracker_eulerorder : EulerOrder = EULER_ORDER_XYZ
 
 func _on_pos_quat(tracker_data : Dictionary):
 	
 	if tracker_data['tracker'] == tracker_name and tracker_data['sensor'] == tracker_sensor:
-		
-		
 		self.global_position = tracker_data['position']
-		# okay, Godot transformation stack is weird! Why would anybody expose 
-		self.global_rotation = tracker_data['rotation'].get_euler()
-	
-		print(tracker_data)
+		var rotation := tracker_data['rotation'] as Quaternion 
+		
+		rotation.x *= -1
+		self.global_basis = Basis(rotation)
+
+		#print(tracker_data)