diff --git a/app/src/modules/simulation/armbot/ArmBot.tsx b/app/src/modules/simulation/armbot/ArmBot.tsx
index 1c7bb83..5d55791 100644
--- a/app/src/modules/simulation/armbot/ArmBot.tsx
+++ b/app/src/modules/simulation/armbot/ArmBot.tsx
@@ -4,6 +4,7 @@ import useModuleStore from "../../../store/useModuleStore";
 import { useSimulationStates } from "../../../store/store";
 import * as SimulationTypes from '../../../types/simulationTypes';
 import { ArmbotInstances } from "./ArmBotInstances";
+import { useResetButtonStore } from "../../../store/usePlayButtonStore";
 
 interface ArmBotState {
     uuid: string;
@@ -38,6 +39,7 @@ const ArmBot = ({ armBots, setArmBots, setStaticMachines }: ArmBotProps) => {
     const { activeModule } = useModuleStore();
     const { scene } = useThree();
     const { simulationStates } = useSimulationStates();
+    const { isReset } = useResetButtonStore();
 
     useEffect(() => {
         const filtered = simulationStates.filter((s): s is SimulationTypes.ArmBotEventsSchema => s.type === "ArmBot");
@@ -54,7 +56,7 @@ const ArmBot = ({ armBots, setArmBots, setStaticMachines }: ArmBotProps) => {
                 connections: bot.points.connections
             }));
         setArmBots(initialStates);
-    }, [simulationStates]);
+    }, [simulationStates, isReset]);
 
     useEffect(() => {
         armBots.forEach((bot) => {
diff --git a/app/src/modules/simulation/armbot/IKAnimationController.tsx b/app/src/modules/simulation/armbot/IKAnimationController.tsx
index dbb7386..efe88d4 100644
--- a/app/src/modules/simulation/armbot/IKAnimationController.tsx
+++ b/app/src/modules/simulation/armbot/IKAnimationController.tsx
@@ -31,7 +31,7 @@ interface ArmBotState {
 
 type IKAnimationControllerProps = {
     ikSolver: any;
-    process: {
+    processes: {
         triggerId: string;
         startPoint: THREE.Vector3;
         endPoint: THREE.Vector3;
@@ -50,7 +50,7 @@ type IKAnimationControllerProps = {
 
 const IKAnimationController = ({
     ikSolver,
-    process,
+    processes,
     selectedTrigger,
     targetBoneName,
     uuid,
@@ -67,20 +67,10 @@ const IKAnimationController = ({
     const [isInitializing, setIsInitializing] = useState(true);
     const restSpeed = 0.1;
     const restPosition = new THREE.Vector3(0, 2, 1.6);
-    const { isPlaying } = usePlayButtonStore();
+    const { isPlaying } = usePlayButtonStore();;
+    const statusRef = useRef("idle");
     const { simulationStates } = useSimulationStates();
 
-    // Track previous states for comparison
-    const prevStateRef = useRef({
-        isInitializing: true,
-        needsInitialMovement: true,
-        selectedTrigger: "",
-        progress: 0
-    });
-
-    // Track previous status for comparison
-    const prevStatusRef = useRef("");
-
     const initialCurveRef = useRef<THREE.CatmullRomCurve3 | null>(null);
     const initialStartPositionRef = useRef<THREE.Vector3 | null>(null);
 
@@ -101,91 +91,6 @@ const IKAnimationController = ({
         }
     }, [ikSolver]);
 
-    // Log state changes
-    useEffect(() => {
-        const prev = prevStateRef.current;
-
-        if (prev.isInitializing !== isInitializing) {
-            if (!isInitializing) {
-                logStatus(`[Arm ${uuid}] Completed initialization, now at rest position`);
-            }
-        }
-
-        if (prev.needsInitialMovement !== needsInitialMovement && !needsInitialMovement) {
-            logStatus(`[Arm ${uuid}] Reached rest position, ready for animation`);
-
-        }
-
-        if (prev.selectedTrigger !== selectedTrigger) {
-            logStatus(`[Arm ${uuid}] Processing new trigger: ${selectedTrigger}`);
-
-            const currentProcess = process.find(p => p.triggerId === prev.selectedTrigger);
-            if (currentProcess) {
-                const triggerId = currentProcess.triggerId;
-
-                const endPoint = armBot.actions.processes.find((process) => process.triggerId === triggerId)?.endPoint;
-
-                // Search simulationStates for a StaticMachine or Conveyor that has a point matching this endPointId
-                const matchedMachine = simulationStates.find((state) => {
-                    if (state.type === "Conveyor") {
-                        // For Conveyor, points is an array
-                        return (state).points.some(
-                            (point) => point.uuid === endPoint
-                        );
-                    } else if (state.type === "StaticMachine") {
-                        // For StaticMachine, points is an object
-                        return state.points.uuid === endPoint;
-                    }
-                    return false;
-                });
-
-                if (matchedMachine) {
-                    // Log if the end point is a conveyor
-                    if (matchedMachine.type === "Conveyor") {
-                        logStatus(`[Arm ${uuid}] Reached end point which is a conveyor (${matchedMachine.modelName})`);
-                    } else {
-                        logStatus(`[Arm ${uuid}] Reached end point which is a static machine (${matchedMachine.modelName})`);
-                    }
-
-                    if (matchedMachine.type === "StaticMachine") {
-                        setStaticMachines((machines) => {
-                            return machines.map((machine) => {
-                                if (machine.uuid === matchedMachine.modeluuid) {
-                                    return { ...machine, status: "running" };
-                                } else {
-                                    return machine;
-                                }
-                            });
-                        });
-                    }
-
-                    if (matchedMachine.type === "Conveyor") {
-                        setArmBots((prev) =>
-                            prev.map((arm) => {
-                                if (arm.uuid === uuid) {
-                                    return {
-                                        ...arm,
-                                        isActive: false
-                                    };
-                                }
-                                else {
-                                    return arm;
-                                }
-                            })
-                        );
-                    }
-                }
-            }
-        }
-
-        // Update previous state
-        prevStateRef.current = {
-            isInitializing,
-            needsInitialMovement,
-            selectedTrigger,
-            progress
-        };
-    }, [isInitializing, needsInitialMovement, selectedTrigger, progress]);
 
     const calculateInitialCurve = (startPosition: THREE.Vector3) => {
         const direction = new THREE.Vector3().subVectors(restPosition, startPosition);
@@ -211,61 +116,56 @@ const IKAnimationController = ({
         ]);
     };
 
-    const processedCurves = useMemo(() => {
-        if (isPlaying)
-            return process.map((p) => {
-                const tempLift = 0.5;
-                const localStart = groupRef.current?.worldToLocal(p.startPoint.clone().add(new THREE.Vector3(0, tempLift, 0)));
-                const localEnd = groupRef.current?.worldToLocal(p.endPoint.clone().add(new THREE.Vector3(0, tempLift, 0)));
+    const processCurves = useMemo(() => {
+        if (!isPlaying) return [];
 
-                if (localStart && localEnd) {
+        return processes.map(process => {
+            const localStart = groupRef.current?.worldToLocal(process.startPoint.clone());
+            const localEnd = groupRef.current?.worldToLocal(process.endPoint.clone());
 
-                    const mid = new THREE.Vector3(
-                        (localStart.x + localEnd.x) / 1,
-                        Math.max(localStart.y, localEnd.y) + 0.8,
-                        (localStart.z + localEnd.z) / 0.9
-                    );
+            if (!localStart || !localEnd) return null;
 
-                    const points = [
-                        restPosition.clone(),
-                        localStart.clone(),
-                        mid.clone(),
-                        localEnd.clone(),
-                        restPosition.clone(),
-                    ];
-                    const curve = new THREE.CatmullRomCurve3(points);
-                    const restToStartDist = points[0].distanceTo(points[1]);
-                    const startToEndDist = points[1].distanceTo(points[3]);
-                    const endToRestDist = points[3].distanceTo(points[4]);
+            const midPoint = new THREE.Vector3(
+                (localStart.x + localEnd.x) / 2,
+                Math.max(localStart.y, localEnd.y) + 1,
+                (localStart.z + localEnd.z) / 2
+            );
+            const restToStartCurve = new THREE.CatmullRomCurve3([
+                restPosition,
+                new THREE.Vector3().lerpVectors(restPosition, localStart, 0.5),
+                localStart
+            ]);
 
-                    const totalDist = restToStartDist + startToEndDist + endToRestDist;
-                    const restToStartRange = [0, restToStartDist / totalDist];
-                    const startToEndRange = [
-                        restToStartRange[1],
-                        restToStartRange[1] + startToEndDist / totalDist,
-                    ];
-                    const endToRestRange = [startToEndRange[1], 1];
+            const processCurve = new THREE.CatmullRomCurve3([
+                localStart,
+                midPoint,
+                localEnd
+            ]);
 
-                    return {
-                        trigger: p.triggerId,
-                        curve,
-                        speed: p.speed,
-                        restToStartRange,
-                        startToEndRange,
-                        endToRestRange,
-                    };
-                }
-            });
-    }, [process, groupRef, isPlaying]);
+            const endToRestCurve = new THREE.CatmullRomCurve3([
+                localEnd,
+                new THREE.Vector3().lerpVectors(localEnd, restPosition, 0.5),
+                restPosition
+            ]);
 
-    useEffect(() => {
-        console.log('processedCurves: ', processedCurves);
-    }, [processedCurves])
+            return {
+                triggerId: process.triggerId,
+                restToStartCurve,
+                processCurve,
+                endToRestCurve,
+                speed: process.speed,
+                totalDistance:
+                    restPosition.distanceTo(localStart) +
+                    localStart.distanceTo(localEnd) +
+                    localEnd.distanceTo(restPosition)
+            };
+        }).filter(Boolean);
+    }, [processes, isPlaying]);
 
-    const activeCurve = useMemo(() => {
-        if (isPlaying && processedCurves)
-            return processedCurves.find((c) => c?.trigger === selectedTrigger);
-    }, [processedCurves, selectedTrigger, isPlaying]);
+    const activeProcess = useMemo(() => {
+        if (!selectedTrigger) return null;
+        return processCurves.find(p => p?.triggerId === selectedTrigger);
+    }, [processCurves, selectedTrigger]);
 
     // Initial movement to rest position
     useFrame((_, delta) => {
@@ -293,68 +193,128 @@ const IKAnimationController = ({
 
     // Main animation loop
     useFrame((_, delta) => {
-        if (!ikSolver || !activeCurve || isInitializing || !isPlaying) return;
+        if (isInitializing || !isPlaying || !selectedTrigger || !activeProcess || !ikSolver) return;
 
-        const { curve, speed, restToStartRange, startToEndRange, endToRestRange } = activeCurve;
-        const targetBone = ikSolver.mesh.skeleton.bones.find(
-            (b: any) => b.name === targetBoneName
-        );
-        if (!targetBone) return;
+        const bone = ikSolver.mesh.skeleton.bones.find((b: any) => b.name === targetBoneName);
+        if (!bone) return;
 
-        let currentSpeed = restSpeed;
-        let currentStatus = "idle"; // Default status
+        const {
+            restToStartCurve,
+            processCurve,
+            endToRestCurve,
+            speed,
+            totalDistance
+        } = activeProcess;
 
-        // Determine current phase and status
-        if (progress < restToStartRange[1]) {
-            currentSpeed = restSpeed;
-            currentStatus = "moving"; // Moving to start point
-        } else if (progress >= startToEndRange[0] && progress < startToEndRange[1]) {
-            currentSpeed = speed;
-            currentStatus = "moving"; // Moving between points
-        } else if (progress >= endToRestRange[0] && progress < 1) {
-            currentSpeed = restSpeed;
-            currentStatus = "moving"; // Returning to rest
-        } else if (progress >= 1) {
-            currentStatus = "idle"; // Completed cycle
-        }
+        // Calculate current segment and progress
+        const restToStartDist = restPosition.distanceTo(restToStartCurve.points[2]);
+        const processDist = processCurve.getLength();
+        const endToRestDist = endToRestCurve.getLength();
 
-        // Update status when it changes
-        if (prevStatusRef.current !== currentStatus) {
-            updateArmBotStatus(currentStatus);
-            prevStatusRef.current = currentStatus;
-        }
+        const restToStartEnd = restToStartDist / totalDistance;
+        const processEnd = (restToStartDist + processDist) / totalDistance;
 
-        // Only update progress if we're not already at the end
-        if (progress < 1) {
-            setProgress((prev) => {
-                const next = prev + delta * currentSpeed;
-                return Math.min(next, 1); // Cap at 1
-            });
-        }
+        setProgress(prev => {
+            let currentStatus = statusRef.current;
+            let currentPosition: THREE.Vector3;
+            const newProgress = Math.min(prev + delta * ((currentStatus === 'returning to rest') ? restSpeed : speed), 1);
 
-        // Update bone position based on progress
-        if (progress < 1) {
-            targetBone.position.copy(curve.getPoint(progress));
-        } else {
-            targetBone.position.copy(curve.getPoint(1));
-        }
+            if (newProgress < restToStartEnd) {
+                // Moving from rest to start position
+                currentStatus = "moving to start";
+                const segmentProgress = newProgress / restToStartEnd;
+                currentPosition = restToStartCurve.getPoint(segmentProgress);
+            } else if (newProgress < processEnd) {
+                // Processing - moving from start to end
+                currentStatus = "processing";
+                const segmentProgress = (newProgress - restToStartEnd) / (processEnd - restToStartEnd);
+                currentPosition = processCurve.getPoint(segmentProgress);
+            } else {
+                // Returning to rest position
+                currentStatus = "returning to rest";
+                const segmentProgress = (newProgress - processEnd) / (1 - processEnd);
+                currentPosition = endToRestCurve.getPoint(segmentProgress);
+            }
 
-        ikSolver.update();
+            // Update status if changed
+            if (currentStatus !== statusRef.current) {
+                statusRef.current = currentStatus;
+                // updateArmBotStatus(currentStatus);
+                logStatus(`[Arm ${uuid}] Status: ${currentStatus}`);
+            }
+
+            // Only trigger when the entire animation is complete (newProgress === 1)
+            if (newProgress === 1 && currentStatus === "returning to rest") {
+                updateConveyorOrStaticMachineStatus(selectedTrigger);
+            }
+
+            bone.position.copy(currentPosition);
+            ikSolver.update();
+            return newProgress;
+        });
     });
 
-    return (
-        <>
-            {armBot.status === 'moving' && activeCurve &&
-                <MaterialInstances
-                    groupRef={groupRef}
-                    activeCurve={activeCurve}
-                    progress={progress}
-                    ikSolver={ikSolver}
-                    targetBoneName={targetBoneName}
-                />
+    const updateConveyorOrStaticMachineStatus = (selectedTrigger: string) => {
+        const currentProcess = processes.find(p => p.triggerId === selectedTrigger);
+        if (currentProcess) {
+            const triggerId = currentProcess.triggerId;
+
+            const endPoint = armBot.actions.processes.find((process) => process.triggerId === triggerId)?.endPoint;
+
+            const matchedMachine = simulationStates.find((state) => {
+                if (state.type === "Conveyor") {
+                    return (state).points.some(
+                        (point) => point.uuid === endPoint
+                    );
+                } else if (state.type === "StaticMachine") {
+                    return state.points.uuid === endPoint;
+                }
+                return false;
+            });
+
+            if (matchedMachine) {
+                if (matchedMachine.type === "Conveyor") {
+                    logStatus(`[Arm ${uuid}] Reached end point which is a conveyor (${matchedMachine.modelName})`);
+                } else {
+                    logStatus(`[Arm ${uuid}] Reached end point which is a static machine (${matchedMachine.modelName})`);
+                }
+
+                setTimeout(() => {
+                    if (matchedMachine.type === "StaticMachine") {
+                        setStaticMachines((machines) => {
+                            return machines.map((machine) => {
+                                if (machine.uuid === matchedMachine.modeluuid) {
+                                    return { ...machine, status: "running" };
+                                } else {
+                                    return machine;
+                                }
+                            });
+                        });
+                        updateArmBotStatus('idle');
+                    }
+
+                    if (matchedMachine.type === "Conveyor") {
+                        setArmBots((prev) =>
+                            prev.map((arm) => {
+                                if (arm.uuid === uuid) {
+                                    return {
+                                        ...arm,
+                                        isActive: false,
+                                        status: "idle",
+                                    };
+                                }
+                                else {
+                                    return arm;
+                                }
+                            })
+                        );
+                    }
+                }, 0);
             }
-        </>
-    );
+        }
+    }
+
+    return null;
 };
 
 export default IKAnimationController;
\ No newline at end of file
diff --git a/app/src/modules/simulation/armbot/IkInstances.tsx b/app/src/modules/simulation/armbot/IkInstances.tsx
index 5a0d23b..6e7dc13 100644
--- a/app/src/modules/simulation/armbot/IkInstances.tsx
+++ b/app/src/modules/simulation/armbot/IkInstances.tsx
@@ -132,7 +132,7 @@ const IkInstances = ({
             </group>
             <IKAnimationController
                 ikSolver={ikSolver}
-                process={processes}
+                processes={processes}
                 selectedTrigger={selectedTrigger}
                 targetBoneName={targetBoneName}
                 uuid={uuid}
diff --git a/app/src/modules/simulation/staticMachine/staticMachine.tsx b/app/src/modules/simulation/staticMachine/staticMachine.tsx
index 26760eb..3f61993 100644
--- a/app/src/modules/simulation/staticMachine/staticMachine.tsx
+++ b/app/src/modules/simulation/staticMachine/staticMachine.tsx
@@ -2,6 +2,7 @@ import React, { useEffect } from 'react'
 import * as SimulationTypes from '../../../types/simulationTypes';
 import { useSimulationStates } from '../../../store/store';
 import StaticMachineInstances from './staticMachineInstances';
+import { useResetButtonStore } from '../../../store/usePlayButtonStore';
 
 interface ArmBotState {
     uuid: string;
@@ -34,6 +35,7 @@ type StaticMachineProps = {
 function StaticMachine({ setArmBots, staticMachines, setStaticMachines }: StaticMachineProps) {
 
     const { simulationStates } = useSimulationStates();
+    const { isReset } = useResetButtonStore();
 
     useEffect(() => {
         const filtered = simulationStates.filter((s): s is SimulationTypes.StaticMachineEventsSchema => s.type === "StaticMachine");
@@ -47,7 +49,7 @@ function StaticMachine({ setArmBots, staticMachines, setStaticMachines }: Static
                 connectedArmBot: machine.points.connections.targets[0].modelUUID
             }));
         setStaticMachines(initialStates);
-    }, [simulationStates]);
+    }, [simulationStates, isReset]);
 
     const updateArmBotTriggerAndMachineStatus = (armBotUuid: string, triggerId: string, machineId: string) => {
         setArmBots((prevArmBots) => {