diff --git a/Assets/Material/IK/Arm.mat b/Assets/Material/IK/Arm.mat
index 1327d8b..60aacc5 100644
--- a/Assets/Material/IK/Arm.mat
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diff --git a/Assets/Scenes/SampleScene.unity b/Assets/Scenes/SampleScene.unity
index 4e779aa..4308096 100644
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+  m_AdditionalVertexStreams: {fileID: 0}
+--- !u!33 &2146302383
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2146302380}
+  m_Mesh: {fileID: 3239303465553890724, guid: cfa4f79c870e67c4ba904ee257e832d2, type: 3}
 --- !u!1 &7060308067703005
 GameObject:
   m_ObjectHideFlags: 0
@@ -31666,6 +35359,7 @@ Transform:
   - {fileID: 1609599653338821649}
   - {fileID: 640187072605123030}
   - {fileID: 7872603513119881426}
+  - {fileID: 223719658}
   m_Father: {fileID: 7543791088913832990}
   m_RootOrder: 2
   m_LocalEulerAnglesHint: {x: 0, y: 90, z: -90}
diff --git a/Assets/Script/DT/RouteGenerator.cs b/Assets/Script/DT/RouteGenerator.cs
index a9087ed..908b7a9 100644
--- a/Assets/Script/DT/RouteGenerator.cs
+++ b/Assets/Script/DT/RouteGenerator.cs
@@ -1,6 +1,11 @@
+using Microsoft.MixedReality.Toolkit.Utilities;
+using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.ComponentModel;
+using System.Net.Http.Headers;
 using UnityEngine;
+using WW2NavalAssembly;
 
 [System.Serializable]
 public class KeyPoint
@@ -15,10 +20,24 @@ public KeyPoint(Vector3 pos, bool grab = false, bool wait = false)
         this.wait = wait;
     }
 }
+[System.Serializable]
+public class ArmAction
+{
+    public float[] angles = new float[6];
+    public bool grab = false;
+    public bool wait = false;
+    public ArmAction(float[] a, bool grab = false, bool wait = false)
+    {
+        angles = a;
+        this.grab = grab;
+        this.wait = wait;
+    }
+}
+
 [System.Serializable]
 public class Route
 {
-    public List<KeyPoint> routes = new List<KeyPoint>();
+    public List<KeyPoint> keypoints = new List<KeyPoint>();
     public Route(List<KeyPoint> turningPoints)
     {
         if (turningPoints.Count < 2)
@@ -35,7 +54,7 @@ public Route(List<KeyPoint> turningPoints)
             int sigment = (int)(dist * 20f);
             for (int j = 0; j <= sigment; j++)
             {
-                routes.Add(new KeyPoint(start.pos + ((float)j) / sigment * (end.pos - start.pos), start.grab));
+                keypoints.Add(new KeyPoint(start.pos + ((float)j) / sigment * (end.pos - start.pos), start.grab));
             }
         }
     }
@@ -47,6 +66,10 @@ public class RouteGenerator : MonoBehaviour
     public IKController IK;
 
     public Route route;
+    public List<ArmAction> actionSequence = new List<ArmAction>();
+
+    public GameObject GhostPrefab;
+
     // Start is called before the first frame update
     void Start()
     {
@@ -57,6 +80,55 @@ public void SetRoute(List<KeyPoint> turningPoints)
         route = new Route(turningPoints);
     }
 
+    public bool CalculateSequence()
+    {
+        actionSequence.Clear();
+        IK.ResetAngle();
+        foreach (var kpt in route.keypoints)
+        {
+            Debug.Log("Calculate action for " + kpt.pos.ToString());
+            bool success = IK.InverseKinematics(IK.GetPositionForJ4(kpt.pos));
+            if (!success)
+            {
+                actionSequence.Clear();
+                IK.ResetAngle();
+                return false;
+            }
+            float[] res = new float[IK.Angles.Length];
+            Array.Copy(IK.Angles, res, IK.Angles.Length);
+            actionSequence.Add(new ArmAction(res, kpt.grab, kpt.wait));
+        }
+        return true;
+    }
+
+    public void GenerateGhost()
+    {
+        
+        try
+        {
+            Destroy(transform.Find("GhostSpace").gameObject);
+        }
+        catch { }
+        GameObject space = new GameObject("GhostSpace");
+        space.transform.parent = transform;
+        space.transform.localPosition = Vector3.zero;
+        space.transform.localRotation = Quaternion.identity;
+        space.transform.localScale = Vector3.one;
+        foreach (var action in actionSequence)
+        {
+            GameObject ghost = Instantiate(GhostPrefab);
+            ghost.transform.parent = space.transform;
+            ghost.transform.localPosition = Vector3.zero;
+            ghost.transform.localRotation = Quaternion.identity;
+            ArmDTController adc = ghost.GetComponent<ArmDTController>();
+            for (int i = 0; i < action.angles.Length; i++)
+            {
+                adc.Rotate[i] = MathTool.DT_to_IK_angle(action.angles[i], i);
+            }
+            ghost.SetActive(true);
+        }
+    }
+
     // Update is called once per frame
     void Update()
     {
diff --git a/Assets/Script/IK/IKController.cs b/Assets/Script/IK/IKController.cs
index 5b4d7df..b8b5501 100644
--- a/Assets/Script/IK/IKController.cs
+++ b/Assets/Script/IK/IKController.cs
@@ -16,6 +16,8 @@ public class IKController : MonoBehaviour {
 
     public int maxStep = 200;
 
+    public ArmDTController ArmDT; // for the initial state of arm (reset angle)
+
 
     private void Start() {
         float[] angles = new float[Joints.Length];
@@ -42,6 +44,15 @@ private void Update() {
         }
     }
 
+    public void ResetAngle()
+    {
+        float[] angles = ArmDT.Rotate;
+        for (int i = 0; i < Angles.Length;i++)
+        {
+            Angles[i] = MathTool.DT_to_IK_angle(angles[i], i);
+        }
+    }
+
 
     public Vector3 GetPositionForJ4(Vector3 pos)
     {
@@ -55,7 +66,7 @@ public Vector3 GetPositionForJ4(Vector3 pos)
         return pos + Vector3.up * 0.2446f - offset;
     }
 
-    public void InverseKinematics(Vector3 pos)
+    public bool InverseKinematics(Vector3 pos)
     {
         int step = 0;
         while(step < maxStep && DistanceFromTarget(pos, Angles) >= DistanceThreshold)
@@ -63,7 +74,7 @@ public void InverseKinematics(Vector3 pos)
             step++;
             InverseKinematicsOneStep(pos, Angles);
         }
-        Debug.Log(step);
+        return step < 1000;
     }
 
     public Vector3 ForwardKinematics(float[] angles) {
diff --git a/Assets/Script/MathTool.cs b/Assets/Script/MathTool.cs
index 56160bb..d044e0c 100644
--- a/Assets/Script/MathTool.cs
+++ b/Assets/Script/MathTool.cs
@@ -82,5 +82,17 @@ public static int GetQueueIndex<T>(Queue<T> queue, T target)
             }
             return -1; // Element not found
         }
+
+        public static float DT_to_IK_angle(float angle, int index)
+        {
+            if (index == 1)
+            {
+                return -angle;
+            }
+            else
+            {
+                return angle;
+            }
+        }
     }
 }
diff --git a/Assets/Script/TaskManager.cs b/Assets/Script/TaskManager.cs
index f27afa5..466b6ac 100644
--- a/Assets/Script/TaskManager.cs
+++ b/Assets/Script/TaskManager.cs
@@ -68,17 +68,27 @@ IEnumerator ExecuteMoveObject()
         turningPoint.Add(new KeyPoint(task.move_start, true));
         turningPoint.Add(new KeyPoint(task.move_end, false));
         routeGenerator.SetRoute(turningPoint);
+        bool solveable = routeGenerator.CalculateSequence();
 
-        
-
-        yield return new WaitForSeconds(3);
-        taskRoutine = null;
-        task = new ArmTask();
-        try
+        if (!solveable)
+        {
+            Debug.Log("Unable to solve the arm action");
+        }
+        else
         {
-            taskSouce.GetComponent<ObjectFrame>().CancelAim();
+            // execute action
+            routeGenerator.GenerateGhost();
+            yield return new WaitForSeconds(3);
+            // cancel aim box when finish
+            try
+            {
+                taskSouce.GetComponent<ObjectFrame>().CancelAim();
+            }
+            catch { }
         }
-        catch { }
+        taskRoutine = null;
+        task = new ArmTask();
+        
         
         Debug.Log("Task Finished");
         yield break;
diff --git a/Assets/XR/Settings/OpenXR Package Settings.asset b/Assets/XR/Settings/OpenXR Package Settings.asset
index e3aa23a..e92d089 100644
--- a/Assets/XR/Settings/OpenXR Package Settings.asset	
+++ b/Assets/XR/Settings/OpenXR Package Settings.asset	
@@ -522,7 +522,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 9f34c86d1a130cc45a438373e1e8a4fc, type: 3}
   m_Name: PlayModeRemotingPlugin Standalone
   m_EditorClassIdentifier: 
-  m_enabled: 0
+  m_enabled: 1
   nameUi: Holographic Remoting for Play Mode
   version: 1.8.1
   featureIdInternal: com.microsoft.openxr.feature.playmoderemoting