diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index c040460811d3556b4d8a9267a5230e217f2b7c7f..86420ccb0189f575cb4442097243333cb47b3933 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -101,13 +101,13 @@ namespace armarx
         {
             drawer->setSphereDebugLayerVisu("HeadViewTarget",
                                             globalTarget,
-                                            DrawColor{0,1,1,0.7},
+                                            DrawColor{1,0,0,0.7},
                                             15);
 
 
         }
 
-
+        ARMARX_DEBUG << "new Head target set: " << *globalTarget;
 
         newTargetSet = true;
     }
@@ -245,8 +245,10 @@ namespace armarx
                 if(drawer && localRobot->hasRobotNode("Cameras"))
                 {
                     Vector3Ptr startPos = new Vector3(localRobot->getRobotNode("Cameras")->getGlobalPose());
-                    FramedVector3Ptr direction = new FramedVector3(Eigen::Vector3f(1, 0, 0),"Cameras", robotStateComponentPrx->getRobotName());
-                    drawer->setArrowDebugLayerVisu("HeadRealViewDirection", startPos, direction->toGlobal(localRobot), DrawColor{0,1,0,0.5}, 1500, 5);
+                    drawer->setSphereDebugLayerVisu("HeadViewTarget",
+                                                    startPos,
+                                                    DrawColor{0,1,1,0.2},
+                                                    17);
                 }
 
 
@@ -264,6 +266,7 @@ namespace armarx
                 try
                 {
                     kinematicUnitPrx->switchControlMode(controlModes);
+                    ARMARX_DEBUG << "setting new joint angles" << targetJointAngles;
                     kinematicUnitPrx->setJointAngles(targetJointAngles);
                 } catch (...)
                 {