diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentRotationTask.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentRotationTask.cs
index 87e1dd6..8e5e3c0 100644
--- a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentRotationTask.cs	
+++ b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentRotationTask.cs	
@@ -1,4 +1,4 @@
-using System.Collections;
+using System.Collections;
 using UnityEngine;
 
 namespace i5.VirtualAgents.AgentTasks
@@ -15,29 +15,42 @@ public class AgentRotationTask : AgentBaseTask, ISerializable
         public Quaternion TargetRotation { get; protected set; }
 
         /// <summary>
-        /// Used to determine if the agent should rotate by a specific angle or towards a specific angle.
+        /// Used to determine if the agent should rotate by a specific angle
         /// </summary>
-        public bool IsRotationByAngle{ get; protected set; }
+        public bool IsRotationByAngle { get; protected set; }
+
+        /// <summary>
+        /// Used to determine if the agent should rotate towards a specific angle.
+        /// </summary>
+        public bool IsRotationTowardsAngle { get; protected set; }
 
         /// <summary>
         /// The angle the agent should rotate by or towards
         /// </summary>
         public float Angle { get; protected set; }
 
+        /// <summary>
+        /// The transform the agent should rotate towards
+        /// </summary>
+        public Transform TargetTransform { get; protected set; }
+
         /// <summary>
         /// The speed at which the agent should rotate
         /// </summary>
         public float Speed { get; protected set; }
 
         /// <summary>
-        /// Create an AgentRotationTask using a target object to turn towards
+        /// The angle difference at which the task is considered finished
+        /// </summary>
+        public float AngleThreshold = 0.03f;
+
+        /// <summary>
+        /// Create an AgentRotationTask using a target object to turn towards, position will be evaluated when task is started
         /// </summary>
         /// <param name="target">Target object of the rotation task</param>
-        public AgentRotationTask(GameObject target, float speed = 10f)
+        public AgentRotationTask(GameObject target, float speed = 0.8f)
         {
-            Vector3 position = target.transform.position;
-            position.y = 0;
-            TargetRotation = Quaternion.LookRotation(position);
+            TargetTransform = target.transform;
             IsRotationByAngle = false;
             Speed = speed;
         }
@@ -46,10 +59,10 @@ public AgentRotationTask(GameObject target, float speed = 10f)
         /// Create an AgentRotationTask using the destination coordinates
         /// </summary>
         /// <param name="coordinates">Coordinates of the rotation task</param>
-        public AgentRotationTask(Vector3 coordinates, float speed = 10f)
+        public AgentRotationTask(Vector3 coordinates, float speed = 0.8f)
         {
-            coordinates.y = 0;
-            TargetRotation = Quaternion.LookRotation(coordinates);
+            TargetTransform = new GameObject().transform;
+            TargetTransform.position = coordinates;
             IsRotationByAngle = false;
             Speed = speed;
         }
@@ -62,12 +75,13 @@ public AgentRotationTask(Vector3 coordinates, float speed = 10f)
         /// </summary>
         /// <param name="angle">The angle to rotate by or towards, in degrees</param>
         /// <param name="isRotationByAngle">True if agent should rotate by "angle" degrees, false if the rotation value of the agent should be set to "angle"</param>
-        public AgentRotationTask(float angle, bool isRotationByAngle = true, float speed= 10f)
+        public AgentRotationTask(float angle, bool isRotationByAngle = true, float speed = 0.8f)
         {
             IsRotationByAngle = isRotationByAngle;
             if (!isRotationByAngle)
             {
                 TargetRotation = Quaternion.Euler(0, angle, 0);
+                IsRotationTowardsAngle = true;
             }
             else
             {
@@ -85,8 +99,18 @@ public override void StartExecution(Agent agent)
         {
             Animator animator = agent.GetComponent<Animator>();
             base.StartExecution(agent);
+
+            // For target and coordinates rotation
+            if (!IsRotationTowardsAngle && !IsRotationByAngle)
+            {
+                Vector3 newTargetPosition = new Vector3(TargetTransform.position.x, 0, TargetTransform.position.z);
+                Vector3 newAgentPosition = new Vector3(agent.transform.position.x, 0, agent.transform.position.z);
+                float angle = Vector3.SignedAngle(agent.transform.forward, newTargetPosition - newAgentPosition, Vector3.up);
+                TargetRotation = agent.transform.rotation * Quaternion.Euler(0, angle, 0);
+            }
+
             //For Angle rotation
-            if(IsRotationByAngle)
+            if (IsRotationByAngle)
             {
                 TargetRotation = agent.transform.rotation * Quaternion.Euler(0, Angle, 0);
             }
@@ -96,14 +120,14 @@ public override void StartExecution(Agent agent)
         private IEnumerator Rotate(Transform transform)
         {
             float time = 0;
-            while (Vector3.Distance(transform.rotation.eulerAngles, TargetRotation.eulerAngles) > 0.01f)
+            while (Quaternion.Angle(transform.rotation, TargetRotation) > AngleThreshold)
             {
-                time += Time.deltaTime/Speed; //to control the speed of rotation
+                time += Time.deltaTime * Speed; //to control the speed of rotation
                 // Rotate the agent a step closer to the target
                 transform.rotation = Quaternion.Slerp(transform.rotation, TargetRotation, time);
                 yield return null;
             }
-            if (Quaternion.Angle(transform.rotation, TargetRotation) <= 0.01f)
+            if (Quaternion.Angle(transform.rotation, TargetRotation) <= AngleThreshold)
             {
                 FinishTask();
             }
@@ -129,4 +153,4 @@ public void Deserialize(SerializationDataContainer serializer)
             Speed = serializer.GetSerializedFloat("Speed");
         }
     }
-}
\ No newline at end of file
+}