diff --git a/src/giskardpy/model/joints.py b/src/giskardpy/model/joints.py
index c9f06e797..8857f22a2 100644
--- a/src/giskardpy/model/joints.py
+++ b/src/giskardpy/model/joints.py
@@ -276,7 +276,7 @@ def __init__(self, name: PrefixName, free_variable_name: PrefixName, parent_link
         super().__init__(name, free_variable_name, parent_link_name, child_link_name, axis, parent_T_child,
                          lower_limits, upper_limits, multiplier, offset)
         motor_expression = self.free_variable.get_symbol(Derivatives.position) * self.multiplier + self.offset
-        translation_axis = w.Point3(self.axis) * motor_expression
+        translation_axis = w.Vector3(self.axis) * motor_expression
         parent_T_child = w.TransMatrix.from_xyz_rpy(x=translation_axis[0],
                                                     y=translation_axis[1],
                                                     z=translation_axis[2])
diff --git a/src/giskardpy/tree/behaviors/goal_received.py b/src/giskardpy/tree/behaviors/goal_received.py
index 60fac368d..709019149 100644
--- a/src/giskardpy/tree/behaviors/goal_received.py
+++ b/src/giskardpy/tree/behaviors/goal_received.py
@@ -14,7 +14,7 @@ def __init__(self, action_server: ActionServerHandler):
     @profile
     def update(self):
         if self.action_server.has_goal():
-            logging.loginfo(f'Received new goal.')
+            logging.loginfo(f'{self.action_server.name} has received new goal.')
             self.action_server.accept_goal()
             return Status.SUCCESS
         return Status.FAILURE
diff --git a/src/giskardpy/tree/branches/publish_state.py b/src/giskardpy/tree/branches/publish_state.py
index 0360068b8..e3c9d9cc8 100644
--- a/src/giskardpy/tree/branches/publish_state.py
+++ b/src/giskardpy/tree/branches/publish_state.py
@@ -19,6 +19,7 @@ class PublishState(Sequence):
     def __init__(self, name: str = 'publish state'):
         super().__init__(name)
         self.visualization_behavior = None
+        self.debug_marker_publisher = None
 
     @toggle_on('visualization_marker_behavior')
     def add_visualization_marker_behavior(self, mode: VisualizationMode):