diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentRotationTask.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentRotationTask.cs
index 79edb87..93a0998 100644
--- a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentRotationTask.cs	
+++ b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentRotationTask.cs	
@@ -24,28 +24,32 @@ public class AgentRotationTask : AgentBaseTask, ISerializable
         /// </summary>
         public float Angle { get; protected set; }
 
+        public float Speed { get; protected set; }
+
 
         /// <summary>
         /// Create an AgentRotationTask using a target object to turn towards
         /// </summary>
         /// <param name="target">Target object of the rotation task</param>
-        public AgentRotationTask(GameObject target)
+        public AgentRotationTask(GameObject target, float speed = 10f)
         {
             Vector3 position = target.transform.position;
             position.y = 0;
             TargetRotation = Quaternion.LookRotation(position);
             IsRotationByAngle = false;
+            Speed = speed;
         }
 
         /// <summary>
         /// Create an AgentRotationTask using the destination coordinates
         /// </summary>
         /// <param name="coordinates">Coordinates of the rotation task</param>
-        public AgentRotationTask(Vector3 coordinates)
+        public AgentRotationTask(Vector3 coordinates, float speed = 10f)
         {
             coordinates.y = 0;
             TargetRotation = Quaternion.LookRotation(coordinates);
             IsRotationByAngle = false;
+            Speed = speed;
         }
 
         /// <summary>
@@ -56,7 +60,7 @@ public AgentRotationTask(Vector3 coordinates)
         /// </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)
+        public AgentRotationTask(float angle, float speed= 10f, bool isRotationByAngle = true)
         {
             IsRotationByAngle = isRotationByAngle;
             if (!isRotationByAngle)
@@ -67,6 +71,7 @@ public AgentRotationTask(float angle, bool isRotationByAngle = true)
             {
                 Angle = angle;
             }
+            Speed = speed;
         }
 
         /// <summary>
@@ -84,23 +89,19 @@ public override void StartExecution(Agent agent)
                 TargetRotation = agent.transform.rotation * Quaternion.Euler(0, Angle, 0);
             }
             Debug.Log("Rotation started");
-            agent.StartCoroutine(Rotate(agent.transform, 10f));
+            agent.StartCoroutine(Rotate(agent.transform));
         }
 
-        private IEnumerator Rotate(Transform transform, float rotationSpeed)
+        private IEnumerator Rotate(Transform transform)
         {
             float time = 0;
             while (Vector3.Distance(transform.rotation.eulerAngles, TargetRotation.eulerAngles) > 0.01f)
             {
-                time += Time.deltaTime/rotationSpeed; //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);
-                //Debug.Log("Rotating...");
-                // Wait for the next frame
                 yield return null;
             }
-            //if (transform.rotation.eulerAngles == TargetRotation.eulerAngles)
-            //if (Vector3.Distance(transform.rotation.eulerAngles, TargetRotation.eulerAngles) <= 0.01f)
             if (Quaternion.Angle(transform.rotation, TargetRotation) <= 0.01f)
             {
                 FinishTask();
diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/TaskActions.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/TaskActions.cs
index b6ecf38..f9fc36a 100644
--- a/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/TaskActions.cs	
+++ b/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/TaskActions.cs	
@@ -232,12 +232,11 @@ public void ActivateOrDeactivateAdaptiveGaze(bool shouldStartOrStop, int priorit
         /// Use this function to make the agent point at a target object with one arm
         /// If the target is behind the agent, the agent will first rotate towards the target
         /// </summary>
-        /// <param name="agent"></param>
-        /// <param name="target"></param>
-        /// <param name="aimLeftArm"></param>
-        /// <param name="aimRightArm"></param>
-        /// <param name="aimAtTime"></param>
-        /// <param name="priority"></param>
+        /// <param name="target">Target to point at</param>
+        /// <param name="aimLeftArm">True if the agent should aim with the left arm</param>
+        /// <param name="aimRightArm">True if the agent should aim with the right arm</param>
+        /// <param name="aimAtTime">How long the agent aims</param>
+        /// <param name="priority">Priority of the task</param>
         /// <returns></returns>
         public AgentBaseTask PointAt(GameObject target, bool aimLeftArm = false, bool aimRightArm = false, int aimAtTime = 5, int priority = 0)
         {