diff --git a/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx b/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx
index 611ded5..6db275f 100644
--- a/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx
+++ b/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx
@@ -91,7 +91,7 @@ function RoboticArmAnimator({
             const bone = ikSolver.mesh.skeleton.bones.find(
                 (b: any) => b.name === targetBone
             );
-            bone.position.copy(restPosition);
+            // bone.position.copy(restPosition);
             ikSolver.update();
         };
 
@@ -100,7 +100,7 @@ function RoboticArmAnimator({
     return (
         <>
             {/* {currentPath.length > 0 && (
-                <>
+                <mesh rotation={armBot.rotation}>
                     <Line points={currentPath} color="green" lineWidth={3} />
                     {currentPath.map((point, index) => (
                         <mesh key={index} position={point} rotation={armBot.rotation}>
@@ -108,8 +108,33 @@ function RoboticArmAnimator({
                             <meshStandardMaterial color="red" />
                         </mesh>
                     ))}
-                </>
+                </mesh>
             )} */}
+            {curvePoints && (
+                <mesh rotation={armBot.rotation}>
+                    <Line
+                        points={curvePoints.map(p => [p.x, p.y, p.z])}
+                        color="green"
+                        lineWidth={5}
+                        dashed={false}
+                    />
+                    {currentPath.length >= 1 && (
+                        <>
+                            {/* First point */}
+                            <mesh position={currentPath[0]} rotation={armBot.rotation}>
+                                <sphereGeometry args={[0.1, 16, 16]} />
+                                <meshStandardMaterial color="red" />
+                            </mesh>
+
+                            {/* Last point */}
+                            <mesh position={currentPath[currentPath.length - 1]} rotation={armBot.rotation}>
+                                <sphereGeometry args={[0.1, 16, 16]} />
+                                <meshStandardMaterial color="red" />
+                            </mesh>
+                        </>
+                    )}
+                </mesh>
+            )}
         </>
     );
 }
diff --git a/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx b/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
index e49f5bf..d818777 100644
--- a/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
+++ b/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
@@ -3,18 +3,19 @@ import * as THREE from "three";
 import { DRACOLoader } from "three/examples/jsm/loaders/DRACOLoader";
 import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader";
 import { clone } from "three/examples/jsm/utils/SkeletonUtils";
-import {  useLoader, useThree } from "@react-three/fiber";
+import { useLoader, useThree } from "@react-three/fiber";
 import { CCDIKSolver, CCDIKHelper, } from "three/examples/jsm/animation/CCDIKSolver";
+import { TransformControls } from '@react-three/drei';
 
 type IKInstanceProps = {
     modelUrl: string;
     ikSolver: any;
     setIkSolver: any
     armBot: any;
-    groupRef: React.RefObject<THREE.Group>;
+    groupRef: any;
 };
-function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef}: IKInstanceProps) {
-    const {scene}=useThree()
+function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef }: IKInstanceProps) {
+    const { scene } = useThree()
     const gltf = useLoader(GLTFLoader, modelUrl, (loader) => {
         const draco = new DRACOLoader();
         draco.setDecoderPath("https://cdn.jsdelivr.net/npm/three@0.160.0/examples/jsm/libs/draco/");
@@ -23,6 +24,7 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef}: IKInst
     const cloned = useMemo(() => clone(gltf?.scene), [gltf]);
     const targetBoneName = "Target";
     const skinnedMeshName = "link_0";
+    const [selectedArm, setSelectedArm] = useState<THREE.Group>();
 
     useEffect(() => {
         if (!gltf) return;
@@ -65,6 +67,9 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef}: IKInst
         setIkSolver(solver);
 
         const helper = new CCDIKHelper(OOI.Skinned_Mesh, iks, 0.05)
+        groupRef.current.add(helper);
+        console.log('OOI.Target_Bone: ', OOI.Target_Bone);
+        setSelectedArm(OOI.Target_Bone);
 
         scene.add(helper)
 
@@ -73,7 +78,10 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef}: IKInst
 
     return (
         <>
-            <group ref={groupRef} position={armBot.position} rotation={armBot.rotation}>
+            <group ref={groupRef} position={armBot.position} rotation={armBot.rotation} onClick={() =>{
+                setSelectedArm(groupRef.current?.getObjectByName(targetBoneName))
+            }
+            }>
                 <primitive
                     uuid={"ArmBot-X200"}
                     object={cloned}
@@ -81,6 +89,7 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef}: IKInst
                     name={`arm-bot11`}
                 />
             </group>
+            {/* {selectedArm && <TransformControls object={selectedArm} />} */}
         </>
     )
 }