diff --git a/app/src/modules/simulation/actions/storageUnit/actionHandler/useRetrieveHandler.ts b/app/src/modules/simulation/actions/storageUnit/actionHandler/useRetrieveHandler.ts
index 15821fb..859c82c 100644
--- a/app/src/modules/simulation/actions/storageUnit/actionHandler/useRetrieveHandler.ts
+++ b/app/src/modules/simulation/actions/storageUnit/actionHandler/useRetrieveHandler.ts
@@ -73,7 +73,7 @@ export function useRetrieveHandler() {
         if (isPlaying && !initialDelayComplete) {
             delayTimerRef.current = setTimeout(() => {
                 setInitialDelayComplete(true);
-            }, 3000);
+            }, 100);
         }
 
         return () => {
diff --git a/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx b/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx
index cff1b48..ea21619 100644
--- a/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx
+++ b/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx
@@ -26,6 +26,7 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone
     const totalDistanceRef = useRef(0);
     const startTimeRef = useRef<number | null>(null);
     const segmentDistancesRef = useRef<number[]>([]);
+    const clockRef = useRef(new THREE.Clock());
     const [currentPath, setCurrentPath] = useState<[number, number, number][]>([]);
     const [circlePoints, setCirclePoints] = useState<[number, number, number][]>([]);
     const [circlePointsWithDegrees, setCirclePointsWithDegrees] = useState<PointWithDegree[]>([]);
@@ -72,7 +73,7 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone
             bone.position.copy(restPosition);
             ikSolver.update();
         }
-    }, [isReset, isPlaying]);
+    }, [isReset, isPlaying, ikSolver]);
 
     //Generate Circle Points
     function generateRingPoints(radius: any, segments: any) {
@@ -156,7 +157,7 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone
 
     // Handle nearest points and final path (including arc points)
     useEffect(() => {
-        if (circlePoints.length > 0 && currentPath.length > 0 && ikSolver.mesh) {
+        if (ikSolver && circlePoints.length > 0 && currentPath.length > 0 && ikSolver.mesh) {
             let start = currentPath[0];
             let end = currentPath[currentPath.length - 1];
             const bone = ikSolver.mesh.skeleton.bones.find((b: any) => b.name === targetBone);
@@ -171,7 +172,11 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone
                     const triggeringModel = getTriggeringModels(selectedProduct.productUuid, currentAction.actionUuid);
                     const prevModel = triggeringModel[0] || null;
                     const nextModel = getEventByModelUuid(selectedProduct.productUuid, currentAction?.triggers[0]?.triggeredAsset?.triggeredModel?.modelUuid || "");
-                    const nextPoint = getPointByUuid(selectedProduct.productUuid, currentAction?.triggers[0]?.triggeredAsset?.triggeredModel?.modelUuid || "", currentAction?.triggers[0]?.triggeredAsset?.triggeredPoint?.pointUuid || "");
+                    const nextPoint = getPointByUuid(
+                        selectedProduct.productUuid,
+                        currentAction?.triggers[0]?.triggeredAsset?.triggeredModel?.modelUuid || "",
+                        currentAction?.triggers[0]?.triggeredAsset?.triggeredPoint?.pointUuid || ""
+                    );
 
                     if (prevModel && prevModel.type === "transfer") {
                         const material = scene.getObjectByProperty("uuid", currentMaterial);
@@ -280,7 +285,15 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone
                 arcPoints = arcCounterClockwise;
             }
 
-            const pathVectors = [new THREE.Vector3(start[0], start[1], start[2]), new THREE.Vector3(start[0], curveHeight, start[2]), new THREE.Vector3(nearestToStart[0], curveHeight, nearestToStart[2]), ...arcPoints.map((point) => new THREE.Vector3(point[0], curveHeight, point[2])), new THREE.Vector3(nearestToEnd[0], curveHeight, nearestToEnd[2]), new THREE.Vector3(end[0], curveHeight, end[2]), new THREE.Vector3(end[0], end[1], end[2])];
+            const pathVectors = [
+                new THREE.Vector3(start[0], start[1], start[2]),
+                new THREE.Vector3(start[0], curveHeight, start[2]),
+                new THREE.Vector3(nearestToStart[0], curveHeight, nearestToStart[2]),
+                ...arcPoints.map((point) => new THREE.Vector3(point[0], curveHeight, point[2])),
+                new THREE.Vector3(nearestToEnd[0], curveHeight, nearestToEnd[2]),
+                new THREE.Vector3(end[0], curveHeight, end[2]),
+                new THREE.Vector3(end[0], end[1], end[2]),
+            ];
 
             const pathSegments: [THREE.Vector3, THREE.Vector3][] = [];
             for (let i = 0; i < pathVectors.length - 1; i++) {
@@ -297,8 +310,9 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone
     }, [circlePoints, currentPath]);
 
     // Frame update for animation
-    useFrame((_, delta) => {
+    useFrame(() => {
         if (!ikSolver) return;
+        const delta = clockRef.current.getDelta();
 
         const bone = ikSolver.mesh.skeleton.bones.find((b: any) => b.name === targetBone);
 
diff --git a/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx b/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
index bc837d0..a9d4088 100644
--- a/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
+++ b/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
@@ -109,6 +109,7 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
 
     useEffect(() => {
         if (isReset || !isPlaying) {
+            console.log('hii');
             logStatus(armBot.modelUuid, "Simulation Play Reset Successfully");
             setArmBotActive(armBot.modelUuid, false);
             setArmBotState(armBot.modelUuid, "idle");
diff --git a/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx b/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
index bc2b820..3548e44 100644
--- a/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
+++ b/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
@@ -1,11 +1,11 @@
-import { useEffect } from 'react'
+import { useEffect } from "react";
 import * as THREE from "three";
 import { useThree } from "@react-three/fiber";
 import { CCDIKSolver, CCDIKHelper } from "three/examples/jsm/animation/CCDIKSolver";
-import { usePlayButtonStore, useResetButtonStore } from '../../../../../store/ui/usePlayButtonStore';
+import { usePlayButtonStore, useResetButtonStore } from "../../../../../store/ui/usePlayButtonStore";
 
 type IKInstanceProps = {
-    setIkSolver: any
+    setIkSolver: any;
     armBot: ArmBotStatus;
 };
 
@@ -58,17 +58,16 @@ function IKInstance({ setIkSolver, armBot }: Readonly<IKInstanceProps>) {
             // scene.add(helper);
         };
 
-        trySetup();
+        setTimeout(() => {
+            trySetup();
+        }, 100);
 
         return () => {
             if (retryId) clearTimeout(retryId);
         };
-    }, [isPlaying, isReset]);
+    }, [isPlaying, isReset, armBot.modelUuid]);
 
-    return (
-        <>
-        </>
-    )
+    return <></>;
 }
 
-export default IKInstance;
\ No newline at end of file
+export default IKInstance;