diff --git a/PhantomX-Robot-Arm-Kit/PhantomX-Robot-Arm-Kit.pro b/PhantomX-Robot-Arm-Kit/PhantomX-Robot-Arm-Kit.pro
index 6aa20ac..f6dd516 100644
--- a/PhantomX-Robot-Arm-Kit/PhantomX-Robot-Arm-Kit.pro
+++ b/PhantomX-Robot-Arm-Kit/PhantomX-Robot-Arm-Kit.pro
@@ -33,7 +33,8 @@ SOURCES += \
     matrix/transformation.cpp \
     opengl/oglObjects.cpp \
     serialport/serialport.cpp \
-    dynamixel/dynamixel.cpp
+    dynamixel/dynamixel.cpp \
+    interpolation.cpp
 
 HEADERS += \
         mainwindow.h \
@@ -48,7 +49,8 @@ HEADERS += \
     opengl/oglDef.h \
     opengl/oglObjects.h \
     serialport/serialport.h \
-    dynamixel/dynamixel.h
+    dynamixel/dynamixel.h \
+    interpolation.h
 
 FORMS += \
         mainwindow.ui
diff --git a/PhantomX-Robot-Arm-Kit/glwidget.cpp b/PhantomX-Robot-Arm-Kit/glwidget.cpp
index 728f1b9..c5e3834 100644
--- a/PhantomX-Robot-Arm-Kit/glwidget.cpp
+++ b/PhantomX-Robot-Arm-Kit/glwidget.cpp
@@ -8,6 +8,9 @@ GLWidget::GLWidget(QWidget *parent) :
     _angleHor = -30.0;
     _angleVer = 10.0;
     _fovAngle = 45.0;
+
+    _node = NULL;
+    _path = NULL;
 }
 
 void GLWidget::initializeGL() {
@@ -51,6 +54,15 @@ void GLWidget::paintGL() {
     setViewport();
     oglPlane(5.0, 0.5);
 
+    if(_node) {
+        glColor3d(0.5, 0.0, 0.5);
+        renderPath (_node);
+    }
+    if(_path) {
+        glColor3d(1.0, 0.0, 1.0);
+        renderPath (_path);
+    }
+
     renderTarget();
     renderJoint();
 
@@ -90,7 +102,6 @@ void GLWidget::mouseMoveEvent(QMouseEvent *event) {
 
 void GLWidget::mousePressEvent(QMouseEvent *event) {
 
-
     if(event->buttons() != Qt::MiddleButton) {
         _mouseDownPoint = event->localPos();
     } else {
@@ -124,8 +135,15 @@ void GLWidget::setKinematics(CKinematics *kinematics) {
     _kinematics = kinematics;
 }
 
-void GLWidget::setJointAngle(dVector &q)
-{
+void GLWidget::setPath(std::vector<std::valarray<double>> *path) {
+    _path = path;
+}
+
+void GLWidget::setNode(std::vector<std::valarray<double>> *node) {
+    _node = node;
+}
+
+void GLWidget::setJointAngle(dVector &q) {
     _kinematics->SetJointAngle(q);
 }
 
@@ -149,7 +167,17 @@ void GLWidget::transformAxis(dMatrix A) {
     glMultMatrixd(m);
 }
 
-void GLWidget::renderTarget () {
+void GLWidget::renderPath(std::vector<std::valarray<double>> *path)
+{
+    std::vector<CPoint3d> line;
+    for (unsigned int i=0; i<path->size(); ++i) {
+        std::valarray<double> &p = (*path)[i];
+        line.push_back (CPoint3d(p[1], p[2], p[3]));
+    }
+    oglLineStrip (line);
+}
+
+void GLWidget::renderTarget() {
     dVector desired = _kinematics->GetDesired ();
 
     glPushMatrix();
diff --git a/PhantomX-Robot-Arm-Kit/glwidget.h b/PhantomX-Robot-Arm-Kit/glwidget.h
index 71269fd..b4eb886 100644
--- a/PhantomX-Robot-Arm-Kit/glwidget.h
+++ b/PhantomX-Robot-Arm-Kit/glwidget.h
@@ -27,6 +27,8 @@ class GLWidget : public QGLWidget
 public:
     explicit GLWidget(QWidget *parent = 0);
 
+    void setPath(std::vector<std::valarray<double>> *path);
+    void setNode(std::vector<std::valarray<double>> *node);
     void setKinematics(CKinematics *kinematics);
     void setJointAngle(dVector &q);
 
@@ -58,17 +60,20 @@ class GLWidget : public QGLWidget
 
     // kinematics
     CKinematics *_kinematics;
+    std::vector<std::valarray<double>> *_node;
+    std::vector<std::valarray<double>> *_path;
 
     void setViewport();
 
     void transformAxis(dMatrix A);
-    void drawRevLink (double x, double y, double z, double radius);
+    void drawRevLink(double x, double y, double z, double radius);
 
-    void drawFixedJoint (JointInfo *joint);
-    void drawRevoluteJoint (JointInfo *joint);
-    void drawPrismaticJoint (JointInfo *joint);
+    void drawFixedJoint(JointInfo *joint);
+    void drawRevoluteJoint(JointInfo *joint);
+    void drawPrismaticJoint(JointInfo *joint);
 
-    void renderTarget ();
+    void renderPath(std::vector<std::valarray<double>> *path);
+    void renderTarget();
     void renderJoint();
 };
 
diff --git a/PhantomX-Robot-Arm-Kit/interpolation.cpp b/PhantomX-Robot-Arm-Kit/interpolation.cpp
new file mode 100644
index 0000000..25b3c20
--- /dev/null
+++ b/PhantomX-Robot-Arm-Kit/interpolation.cpp
@@ -0,0 +1,31 @@
+#include "interpolation.h"
+
+std::vector<std::valarray<double>> linearInterpolation (std::vector<std::valarray<double>> &x, double timeSlice) {
+    if (timeSlice < 0.001) timeSlice = 0.001;
+    if (x.size() < 2) return x;
+
+    unsigned int n = x.size () - 1;
+
+    std::vector<double> h(n);
+    for (unsigned int i=0; i<n; i++) {
+        h[i] = x[i+1][0] - x[i][0];
+        if (h[i] < timeSlice) h[i] = timeSlice;
+    }
+
+    std::vector<std::valarray<double>> s;
+    s.reserve ((int)(x[n][0] / timeSlice + 10));
+
+    double t = x[0][0];
+    for (unsigned int i=0; i<n; i++) {
+        std::valarray<double> m = (x[i+1] - x[i])/h[i];
+
+        for (; t<=x[i+1][0]; t+=timeSlice) {
+            std::valarray<double> p = m*(t - x[i][0]) + x[i];
+            p[0] = t;
+            s.push_back (p);
+        }
+    }
+    s.push_back (x[n]);
+
+    return s;
+}
diff --git a/PhantomX-Robot-Arm-Kit/interpolation.h b/PhantomX-Robot-Arm-Kit/interpolation.h
new file mode 100644
index 0000000..fe2c830
--- /dev/null
+++ b/PhantomX-Robot-Arm-Kit/interpolation.h
@@ -0,0 +1,11 @@
+#ifndef INTERPOLATION_H
+#define INTERPOLATION_H
+
+#include <vector>
+#include <valarray>
+
+#include <QDebug>
+
+std::vector<std::valarray<double>> linearInterpolation (std::vector<std::valarray<double>> &x, double timeSlice);
+
+#endif // INTERPOLATION_H
diff --git a/PhantomX-Robot-Arm-Kit/main.cpp b/PhantomX-Robot-Arm-Kit/main.cpp
index 818dc8d..e88f7a9 100644
--- a/PhantomX-Robot-Arm-Kit/main.cpp
+++ b/PhantomX-Robot-Arm-Kit/main.cpp
@@ -1,7 +1,7 @@
 #include "mainwindow.h"
 #include <QApplication>
 
-#define APP_VERSION "1.2.0"
+#define APP_VERSION "1.3.0"
 
 int main(int argc, char *argv[])
 {
diff --git a/PhantomX-Robot-Arm-Kit/mainwindow.cpp b/PhantomX-Robot-Arm-Kit/mainwindow.cpp
index a51a8d3..373925b 100644
--- a/PhantomX-Robot-Arm-Kit/mainwindow.cpp
+++ b/PhantomX-Robot-Arm-Kit/mainwindow.cpp
@@ -5,86 +5,7 @@ MainWindow::MainWindow(QWidget *parent) :QMainWindow(parent), ui(new Ui::MainWin
 
     ui->setupUi(this);
 
-    // set ui object
-    _sliderForward = new QSlider*[5];
-    _sliderForward[0] = ui->horizontalSlider0;
-    _sliderForward[1] = ui->horizontalSlider1;
-    _sliderForward[2] = ui->horizontalSlider2;
-    _sliderForward[3] = ui->horizontalSlider3;
-    _sliderForward[4] = ui->horizontalSlider4;
-
-    _lineEditForward = new QLineEdit*[5];
-    _lineEditForward[0] = ui->lineEdit0;
-    _lineEditForward[1] = ui->lineEdit1;
-    _lineEditForward[2] = ui->lineEdit2;
-    _lineEditForward[3] = ui->lineEdit3;
-    _lineEditForward[4] = ui->lineEdit4;
-
-    _labelForward = new QLabel*[6];
-    _labelForward[0] = ui->labelForwardX;
-    _labelForward[1] = ui->labelForwardY;
-    _labelForward[2] = ui->labelForwardZ;
-    _labelForward[3] = ui->labelForwardPhi;
-    _labelForward[4] = ui->labelForwardTheta;
-    _labelForward[5] = ui->labelForwardPsi;
-
-    for(int i=0; i<5; i++) {
-
-        // set range, only number
-        _lineEditForward[i]->setValidator( new QIntValidator(this) );
-
-        // set text signal
-        connect(_lineEditForward[i], &QLineEdit::textChanged, [=](QString text) {
-            bool ok = false;
-            _sliderForward[i]->setValue(text.toInt(&ok));
-        });
-
-        // set slider signal
-        connect(_sliderForward[i], &QSlider::valueChanged, [=](int value) { forwardValueChanged(i,value); });
-    }
-
-    // set ui object
-    _sliderInverse = new QSlider*[6];
-    _sliderInverse[0] = ui->horizontalSliderX;
-    _sliderInverse[1] = ui->horizontalSliderY;
-    _sliderInverse[2] = ui->horizontalSliderZ;
-    _sliderInverse[3] = ui->horizontalSliderPhi;
-    _sliderInverse[4] = ui->horizontalSliderTheta;
-    _sliderInverse[5] = ui->horizontalSliderPsi;
-
-    _lineEditInverse = new QLineEdit*[6];
-    _lineEditInverse[0] = ui->lineEditX;
-    _lineEditInverse[1] = ui->lineEditY;
-    _lineEditInverse[2] = ui->lineEditZ;
-    _lineEditInverse[3] = ui->lineEditPhi;
-    _lineEditInverse[4] = ui->lineEditTheta;
-    _lineEditInverse[5] = ui->lineEditPsi;
-
-    _labelInverse = new QLabel*[5];
-    _labelInverse[0] = ui->labelInverseQ0;
-    _labelInverse[1] = ui->labelInverseQ1;
-    _labelInverse[2] = ui->labelInverseQ2;
-    _labelInverse[3] = ui->labelInverseQ3;
-    _labelInverse[4] = ui->labelInverseQ4;
-
-    for(int i=0; i<6; i++) {
-
-        // set range, only number
-        _lineEditInverse[i]->setValidator( new QIntValidator(this) );
-
-        // set text signal
-        connect(_lineEditInverse[i], &QLineEdit::textChanged, [=](QString text) {
-            bool ok = false;
-            _sliderInverse[i]->setValue(text.toInt(&ok));
-        });
-
-        // set slider signal
-        connect(_sliderInverse[i], &QSlider::valueChanged, [=](int value) { inverseValueChanged(i,value); });
-    }
-
-
-
-
+    setUiObject();
 
     // set link, joint
     _kinematics = new CPosOriInverse(POSITION_ORIENTATION);
@@ -153,30 +74,102 @@ MainWindow::~MainWindow() {
     delete ui;
 }
 
-void MainWindow::printForwardKinematics() {
+void MainWindow::doUserTask() {
 
-    dVector value = CTransformMatrix(_kinematics->Forward()).GetPositionOrientation();
-    QString text;
+    if(ui->tabWidget->currentIndex() == FORWARD) {
+        dVector value = CTransformMatrix(_kinematics->Forward()).GetPositionOrientation();
+        _kinematics->SetDesired(value[0], value[1], value[2], value[3], value[4], value[5]);
 
-    for(int i=0;i<6;i++) {
-        if(i < 3) {
-            text.sprintf("%4.0f",value[i] * 1000.0);
-        } else {
-            text.sprintf("%4.0f",value[i] * _RAD2DEG);
+        for(int i=0; i<6; i++) {
+            if(i < 3) {
+                _sliderInverse[i]->setValue(value[i] * 1000.0);
+            } else {
+                _sliderInverse[i]->setValue(value[i] * _RAD2DEG);
+            }
         }
 
-        _labelForward[i]->setText(text);
+        printForwardKinematics();
+        ui->widget->setNode(NULL);
+        ui->widget->setPath(NULL);
+        _interpolation.node.clear();
+        _interpolation.path.clear();
+    } else if(ui->tabWidget->currentIndex() == INVERSE) {
+        _kinematics->SetDesired(_target[0], _target[1], _target[2], _target[3], _target[4], _target[5]);
+        _q.target += _kinematics->SolveDLS(0.01, 0.03, 0.01);
+
+        for(int i=0; i<5; i++) {
+            _sliderForward[i]->setValue(_q.target[i] * _RAD2DEG);
+        }
+
+        printInverseKinematics();
+        ui->widget->setNode(NULL);
+        ui->widget->setPath(NULL);
+        _interpolation.node.clear();
+        _interpolation.path.clear();
+    } else if(ui->tabWidget->currentIndex() == PATH) {
+        if(_interpolation.path.size()) {
+            if(_interpolation.pathCount >= _interpolation.path.size()) {
+                _interpolation.pathCount = 0;
+            }
+
+            for(int i=0; i<6; i++) {
+                _target[i] = _interpolation.path[_interpolation.pathCount][i+1];
+            }
+
+            _kinematics->SetDesired(_target[0], _target[1], _target[2], _target[3], _target[4], _target[5]);
+            _q.target += _kinematics->SolveDLS(0.01, 0.03, 0.01);
+
+            for(int i=0; i<5; i++) {
+                _sliderForward[i]->setValue(_q.target[i] * _RAD2DEG);
+            }
+
+            for(int i=0; i<6; i++) {
+                if(i < 3) {
+                    _sliderInverse[i]->setValue(_target[i] * 1000.0);
+                } else {
+                    _sliderInverse[i]->setValue(_target[i] * _RAD2DEG);
+                }
+            }
+
+            printForwardKinematics();
+            printInverseKinematics();
+            _interpolation.pathCount++;
+        }
     }
-}
 
-void MainWindow::printInverseKinematics() {
+    if(_serialPort->isOpen()) {
+        _serialPort->write(_dynamixel->generateJointAnglePacket(_q.target));
+    }
+    ui->widget->setJointAngle(_q.target);
+    _kinematics->Forward();
+    ui->widget->updateGL();
 
-    dVector value = _kinematics->GetJointAngle();
-    QString text;
+    if(!_messageQueue->isEmpty()) {
+        QByteArray buffer = _messageQueue->dequeue();
+        int16_t id = buffer[2];
+        uint16_t pos = (((uint16_t)buffer[6] << 8) & 0xFF00) | (buffer[5] & 0xFF);
 
-    for(int i=0;i<5;i++) {
-        text.sprintf("%4.0f",value[i] * _RAD2DEG);
-        _labelInverse[i]->setText(text);
+        switch(id) {
+        case 1:
+            _q.current[0] = _dynamixel->convertDynamixelToAngle(pos) * _DEG2RAD;
+            break;
+
+        case 3:
+            _q.current[1] = (_dynamixel->convertDynamixelToAngle(pos) - Dynamixel::offset::LINK + Dynamixel::offset::ANGLE) * _DEG2RAD;
+            break;
+
+        case 4:
+            _q.current[2] = (_dynamixel->convertDynamixelToAngle(pos) + Dynamixel::offset::LINK - Dynamixel::offset::ANGLE) * _DEG2RAD;
+            break;
+
+        case 6:
+            _q.current[3] = _dynamixel->convertDynamixelToAngle(pos) * _DEG2RAD;
+            break;
+
+        case 7:
+            _q.current[4] = _dynamixel->convertDynamixelToAngle(pos) * _DEG2RAD;
+            break;
+        }
     }
 }
 
@@ -205,16 +198,12 @@ dVector MainWindow::getInverseSliderValue() {
 }
 
 void MainWindow::forwardValueChanged(int index, int val) {
-
     _lineEditForward[index]->setText(QString::number(val));
-
     _q.target[index] = val * _DEG2RAD;
 }
 
 void MainWindow::inverseValueChanged(int index, int val) {
-
     _lineEditInverse[index]->setText(QString::number(val));
-
     if(index < 3) {
         _target[index] = val / 1000.0;
     } else {
@@ -225,84 +214,221 @@ void MainWindow::inverseValueChanged(int index, int val) {
 void MainWindow::on_buttonReset_clicked() {
 
     for(int i=0; i<5;i++) {
-        _sliderForward[i]->setValue(_q.init[i] * _RAD2DEG);
+        _lineEditForward[i]->setText(QString::number(_q.init[i] * _RAD2DEG));
     }
-
     ui->widget->setJointAngle(_q.init);
-    ui->widget->updateGL();
 
     dVector value = CTransformMatrix(_kinematics->Forward()).GetPositionOrientation();
-
     for(int i=0; i<6; i++) {
         if(i < 3) {
-            _sliderInverse[i]->setValue(value[i] * 1000.0);
+            _lineEditInverse[i]->setText(QString::number(value[i] * 1000.0));
         } else {
-            _sliderInverse[i]->setValue(value[i] * _RAD2DEG);
+            _lineEditInverse[i]->setText(QString::number(value[i] * _RAD2DEG));
         }
     }
+    _target = value;
+    _kinematics->SetDesired(_target[0], _target[1], _target[2], _target[3], _target[4], _target[5]);
+    ui->widget->updateGL();
+
+    _interpolation.pathCount = 0;
+    _interpolation.node.clear();
+    _interpolation.path.clear();
+
+    for(int i=0; i<8; i++) {
+        _lineEditPath[i][0]->setText(QString::number(_interpolation.init[i][0]));
+        _lineEditPath[i][1]->setText(QString::number(_interpolation.init[i][1] * 1000.0));
+        _lineEditPath[i][2]->setText(QString::number(_interpolation.init[i][2] * 1000.0));
+        _lineEditPath[i][3]->setText(QString::number(_interpolation.init[i][3] * 1000.0));
+        _lineEditPath[i][4]->setText(QString::number(_interpolation.init[i][4] * _RAD2DEG));
+        _lineEditPath[i][5]->setText(QString::number(_interpolation.init[i][5] * _RAD2DEG));
+        _lineEditPath[i][6]->setText(QString::number(_interpolation.init[i][6] * _RAD2DEG));
+    }
 }
 
-void MainWindow::doUserTask() {
+void MainWindow::on_buttonPathApply_clicked() {
+    bool ok = false;
+
+    _interpolation.pathCount = 0;
+    _interpolation.node.clear();
+    _interpolation.path.clear();
+
+    for(int i=0; i<8; i++) {
+        double a[7] = {0.0, };
+        a[0] = _lineEditPath[i][0]->text().toDouble(&ok);
+        a[1] = _lineEditPath[i][1]->text().toDouble(&ok) / 1000.0;
+        a[2] = _lineEditPath[i][2]->text().toDouble(&ok) / 1000.0;
+        a[3] = _lineEditPath[i][3]->text().toDouble(&ok) / 1000.0;
+        a[4] = _lineEditPath[i][4]->text().toDouble(&ok) * _DEG2RAD;
+        a[5] = _lineEditPath[i][5]->text().toDouble(&ok) * _DEG2RAD;
+        a[6] = _lineEditPath[i][6]->text().toDouble(&ok) * _DEG2RAD;
+        _interpolation.node.push_back (std::valarray<double>(&a[0], 7));
+    }
 
-    if(ui->tabWidget->currentIndex() == FORWARD) {
-        dVector value = CTransformMatrix(_kinematics->Forward()).GetPositionOrientation();
+    _interpolation.path = linearInterpolation(_interpolation.node, (double)TASK_TIME/1000.0);
 
-        for(int i=0; i<6; i++) {
-            if(i < 3) {
-                _sliderInverse[i]->setValue(value[i] * 1000.0);
-            } else {
-                _sliderInverse[i]->setValue(value[i] * _RAD2DEG);
-            }
-        }
+    ui->widget->setNode(&_interpolation.node);
+    ui->widget->setPath(&_interpolation.path);
+}
 
-        _kinematics->SetDesired(value[0], value[1], value[2], value[3], value[4], value[5]);
 
-        printForwardKinematics();
-    } else if(ui->tabWidget->currentIndex() == INVERSE) {
-        _kinematics->SetDesired(_target[0], _target[1], _target[2], _target[3], _target[4], _target[5]);
-        dVector dq = _kinematics->SolveDLS(0.01, 0.03, 0.01);
-        _q.target += dq;
+void MainWindow::setUiObject() {
+    // forward
+    _sliderForward = new QSlider*[5];
+    _sliderForward[0] = ui->horizontalSlider0;
+    _sliderForward[1] = ui->horizontalSlider1;
+    _sliderForward[2] = ui->horizontalSlider2;
+    _sliderForward[3] = ui->horizontalSlider3;
+    _sliderForward[4] = ui->horizontalSlider4;
 
-        for(int i=0; i<5; i++) {
-            _sliderForward[i]->setValue(_q.target[i] * _RAD2DEG);
-        }
+    _lineEditForward = new QLineEdit*[5];
+    _lineEditForward[0] = ui->lineEdit0;
+    _lineEditForward[1] = ui->lineEdit1;
+    _lineEditForward[2] = ui->lineEdit2;
+    _lineEditForward[3] = ui->lineEdit3;
+    _lineEditForward[4] = ui->lineEdit4;
 
-        printInverseKinematics();
-    }
+    _labelForward = new QLabel*[6];
+    _labelForward[0] = ui->labelForwardX;
+    _labelForward[1] = ui->labelForwardY;
+    _labelForward[2] = ui->labelForwardZ;
+    _labelForward[3] = ui->labelForwardPhi;
+    _labelForward[4] = ui->labelForwardTheta;
+    _labelForward[5] = ui->labelForwardPsi;
 
-    if(_serialPort->isOpen()) {
-        _serialPort->write(_dynamixel->generateJointAnglePacket(_q.target));
+    for(int i=0; i<5; i++) {
+
+        // set range, only number
+        _lineEditForward[i]->setValidator( new QIntValidator(this) );
+
+        // set text signal
+        connect(_lineEditForward[i], &QLineEdit::textChanged, [=](QString text) {
+            bool ok = false;
+            _sliderForward[i]->setValue(text.toInt(&ok));
+        });
+
+        // set slider signal
+        connect(_sliderForward[i], &QSlider::valueChanged, [=](int value) { forwardValueChanged(i,value); });
     }
-    ui->widget->setJointAngle(_q.target);
-    _kinematics->Forward();
-    ui->widget->updateGL();
 
+    // set inverse
+    _sliderInverse = new QSlider*[6];
+    _sliderInverse[0] = ui->horizontalSliderX;
+    _sliderInverse[1] = ui->horizontalSliderY;
+    _sliderInverse[2] = ui->horizontalSliderZ;
+    _sliderInverse[3] = ui->horizontalSliderPhi;
+    _sliderInverse[4] = ui->horizontalSliderTheta;
+    _sliderInverse[5] = ui->horizontalSliderPsi;
+
+    _lineEditInverse = new QLineEdit*[6];
+    _lineEditInverse[0] = ui->lineEditX;
+    _lineEditInverse[1] = ui->lineEditY;
+    _lineEditInverse[2] = ui->lineEditZ;
+    _lineEditInverse[3] = ui->lineEditPhi;
+    _lineEditInverse[4] = ui->lineEditTheta;
+    _lineEditInverse[5] = ui->lineEditPsi;
 
-    if(!_messageQueue->isEmpty()) {
-        QByteArray buffer = _messageQueue->dequeue();
-        int16_t id = buffer[2];
-        uint16_t pos = (((uint16_t)buffer[6] << 8) & 0xFF00) | (buffer[5] & 0xFF);
+    _labelInverse = new QLabel*[5];
+    _labelInverse[0] = ui->labelInverseQ0;
+    _labelInverse[1] = ui->labelInverseQ1;
+    _labelInverse[2] = ui->labelInverseQ2;
+    _labelInverse[3] = ui->labelInverseQ3;
+    _labelInverse[4] = ui->labelInverseQ4;
 
-        switch(id) {
-        case 1:
-            _q.current[0] = _dynamixel->convertDynamixelToAngle(pos) * _DEG2RAD;
-            break;
+    for(int i=0; i<6; i++) {
 
-        case 3:
-            _q.current[1] = (_dynamixel->convertDynamixelToAngle(pos) - Dynamixel::offset::LINK + Dynamixel::offset::ANGLE) * _DEG2RAD;
-            break;
+        // set range, only number
+        _lineEditInverse[i]->setValidator( new QIntValidator(this) );
 
-        case 4:
-            _q.current[2] = (_dynamixel->convertDynamixelToAngle(pos) + Dynamixel::offset::LINK - Dynamixel::offset::ANGLE) * _DEG2RAD;
-            break;
+        // set text signal
+        connect(_lineEditInverse[i], &QLineEdit::textChanged, [=](QString text) {
+            bool ok = false;
+            _sliderInverse[i]->setValue(text.toInt(&ok));
+        });
 
-        case 6:
-            _q.current[3] = _dynamixel->convertDynamixelToAngle(pos) * _DEG2RAD;
-            break;
+        // set slider signal
+        connect(_sliderInverse[i], &QSlider::valueChanged, [=](int value) { inverseValueChanged(i,value); });
+    }
 
-        case 7:
-            _q.current[4] = _dynamixel->convertDynamixelToAngle(pos) * _DEG2RAD;
-            break;
+    // set path
+    _lineEditPath = new QLineEdit**[8];
+    for(int i=0; i<8; i++) {
+        _lineEditPath[i] = new QLineEdit*[7];
+    }
+
+    _lineEditPath[0][0] = ui->lineEditPathTime0;
+    _lineEditPath[1][0] = ui->lineEditPathTime1;
+    _lineEditPath[2][0] = ui->lineEditPathTime2;
+    _lineEditPath[3][0] = ui->lineEditPathTime3;
+    _lineEditPath[4][0] = ui->lineEditPathTime4;
+    _lineEditPath[5][0] = ui->lineEditPathTime5;
+    _lineEditPath[6][0] = ui->lineEditPathTime6;
+    _lineEditPath[7][0] = ui->lineEditPathTime7;
+
+    _lineEditPath[0][1] = ui->lineEditPathX0;       _lineEditPath[0][2] = ui->lineEditPathY0;       _lineEditPath[0][3] = ui->lineEditPathZ0;
+    _lineEditPath[1][1] = ui->lineEditPathX1;       _lineEditPath[1][2] = ui->lineEditPathY1;       _lineEditPath[1][3] = ui->lineEditPathZ1;
+    _lineEditPath[2][1] = ui->lineEditPathX2;       _lineEditPath[2][2] = ui->lineEditPathY2;       _lineEditPath[2][3] = ui->lineEditPathZ2;
+    _lineEditPath[3][1] = ui->lineEditPathX3;       _lineEditPath[3][2] = ui->lineEditPathY3;       _lineEditPath[3][3] = ui->lineEditPathZ3;
+    _lineEditPath[4][1] = ui->lineEditPathX4;       _lineEditPath[4][2] = ui->lineEditPathY4;       _lineEditPath[4][3] = ui->lineEditPathZ4;
+    _lineEditPath[5][1] = ui->lineEditPathX5;       _lineEditPath[5][2] = ui->lineEditPathY5;       _lineEditPath[5][3] = ui->lineEditPathZ5;
+    _lineEditPath[6][1] = ui->lineEditPathX6;       _lineEditPath[6][2] = ui->lineEditPathY6;       _lineEditPath[6][3] = ui->lineEditPathZ6;
+    _lineEditPath[7][1] = ui->lineEditPathX7;       _lineEditPath[7][2] = ui->lineEditPathY7;       _lineEditPath[7][3] = ui->lineEditPathZ7;
+
+    _lineEditPath[0][4] = ui->lineEditPathPhi0;     _lineEditPath[0][5] = ui->lineEditPathTheta0;   _lineEditPath[0][6] = ui->lineEditPathPsi0;
+    _lineEditPath[1][4] = ui->lineEditPathPhi1;     _lineEditPath[1][5] = ui->lineEditPathTheta1;   _lineEditPath[1][6] = ui->lineEditPathPsi1;
+    _lineEditPath[2][4] = ui->lineEditPathPhi2;     _lineEditPath[2][5] = ui->lineEditPathTheta2;   _lineEditPath[2][6] = ui->lineEditPathPsi2;
+    _lineEditPath[3][4] = ui->lineEditPathPhi3;     _lineEditPath[3][5] = ui->lineEditPathTheta3;   _lineEditPath[3][6] = ui->lineEditPathPsi3;
+    _lineEditPath[4][4] = ui->lineEditPathPhi4;     _lineEditPath[4][5] = ui->lineEditPathTheta4;   _lineEditPath[4][6] = ui->lineEditPathPsi4;
+    _lineEditPath[5][4] = ui->lineEditPathPhi5;     _lineEditPath[5][5] = ui->lineEditPathTheta5;   _lineEditPath[5][6] = ui->lineEditPathPsi5;
+    _lineEditPath[6][4] = ui->lineEditPathPhi6;     _lineEditPath[6][5] = ui->lineEditPathTheta6;   _lineEditPath[6][6] = ui->lineEditPathPsi6;
+    _lineEditPath[7][4] = ui->lineEditPathPhi7;     _lineEditPath[7][5] = ui->lineEditPathTheta7;   _lineEditPath[7][6] = ui->lineEditPathPsi7;
+
+    for(int i=0; i<8; i++) {
+        for(int j=0; j<7; j++) {
+            _lineEditPath[i][j]->setValidator(new QDoubleValidator(this));
+        }
+    }
+
+    _interpolation.pathCount = 0;
+    _interpolation.node.clear();
+    _interpolation.path.clear();
+
+    for(int i=0; i<8; i++) {
+        double a[7] = {0.0, };
+        bool ok = false;
+        a[0] = _lineEditPath[i][0]->text().toDouble(&ok);
+        a[1] = _lineEditPath[i][1]->text().toDouble(&ok) / 1000.0;
+        a[2] = _lineEditPath[i][2]->text().toDouble(&ok) / 1000.0;
+        a[3] = _lineEditPath[i][3]->text().toDouble(&ok) / 1000.0;
+        a[4] = _lineEditPath[i][4]->text().toDouble(&ok) * _DEG2RAD;
+        a[5] = _lineEditPath[i][5]->text().toDouble(&ok) * _DEG2RAD;
+        a[6] = _lineEditPath[i][6]->text().toDouble(&ok) * _DEG2RAD;
+        _interpolation.init.push_back (std::valarray<double>(&a[0], 7));
+    }
+}
+
+void MainWindow::printForwardKinematics() {
+
+    dVector value = CTransformMatrix(_kinematics->Forward()).GetPositionOrientation();
+    QString text;
+
+    for(int i=0;i<6;i++) {
+        if(i < 3) {
+            text.sprintf("%4.0f",value[i] * 1000.0);
+        } else {
+            text.sprintf("%4.0f",value[i] * _RAD2DEG);
         }
+
+        _labelForward[i]->setText(text);
+    }
+}
+
+void MainWindow::printInverseKinematics() {
+
+    dVector value = _kinematics->GetJointAngle();
+    QString text;
+
+    for(int i=0;i<5;i++) {
+        text.sprintf("%4.0f", value[i] * _RAD2DEG);
+        _labelInverse[i]->setText(text);
     }
 }
diff --git a/PhantomX-Robot-Arm-Kit/mainwindow.h b/PhantomX-Robot-Arm-Kit/mainwindow.h
index 6dc9439..e56ceb3 100644
--- a/PhantomX-Robot-Arm-Kit/mainwindow.h
+++ b/PhantomX-Robot-Arm-Kit/mainwindow.h
@@ -1,15 +1,19 @@
 #ifndef MAINWINDOW_H
 #define MAINWINDOW_H
 
+#include <vector>
+#include <valarray>
+
 #include <QMainWindow>
 #include <QSlider>
 #include <QLineEdit>
 #include <QLabel>
 #include <QQueue>
 
-#include "serialport/serialport.h"
 #include "kinematics/posOriInverse.h"
+#include "interpolation.h"
 #include "dynamixel/dynamixel.h"
+#include "serialport/serialport.h"
 
 namespace Ui {
 class MainWindow;
@@ -19,9 +23,10 @@ class MainWindow : public QMainWindow
 {
     Q_OBJECT
 
-    enum KinematicsIndex{
+    enum TabIndex{
         FORWARD = 0,
-        INVERSE = 1
+        INVERSE = 1,
+        PATH = 2
     };
 
     typedef struct {
@@ -30,6 +35,13 @@ class MainWindow : public QMainWindow
         dVector current;
     }Joint;
 
+    typedef struct {
+        std::vector<std::valarray<double>> node;
+        std::vector<std::valarray<double>> path;
+        std::vector<std::valarray<double>> init;
+        uint32_t pathCount;
+    }Interpolation;
+
 public:
     explicit MainWindow(QWidget *parent = 0);
     ~MainWindow();
@@ -44,6 +56,8 @@ class MainWindow : public QMainWindow
     QLineEdit **_lineEditInverse;
     QLabel ** _labelInverse;
 
+    QLineEdit ***_lineEditPath;
+
     Serialport *_serialPort;
     QQueue<QByteArray> *_messageQueue;
     QTimer *_taskTimer;
@@ -54,6 +68,8 @@ class MainWindow : public QMainWindow
     Joint _q;
     dVector _target;
 
+    Interpolation _interpolation;
+
     Dynamixel *_dynamixel;
 
     void printForwardKinematics();
@@ -61,6 +77,8 @@ class MainWindow : public QMainWindow
     dVector getForwardSliderValue();
     dVector getInverseSliderValue();
 
+    void setUiObject();
+
 public slots:
     void forwardValueChanged(int index, int val);
     void inverseValueChanged(int index, int val);
@@ -69,6 +87,7 @@ private slots:
     void on_buttonReset_clicked();
 
     void doUserTask();
+    void on_buttonPathApply_clicked();
 };
 
 #endif // MAINWINDOW_H
diff --git a/PhantomX-Robot-Arm-Kit/mainwindow.ui b/PhantomX-Robot-Arm-Kit/mainwindow.ui
index feba48a..8c8ba3e 100644
--- a/PhantomX-Robot-Arm-Kit/mainwindow.ui
+++ b/PhantomX-Robot-Arm-Kit/mainwindow.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>791</width>
-    <height>520</height>
+    <width>776</width>
+    <height>408</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -52,6 +52,29 @@
       <property name="sizeConstraint">
        <enum>QLayout::SetMinimumSize</enum>
       </property>
+      <item row="1" column="1">
+       <widget class="QPushButton" name="buttonReset">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Reset</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_10">
+        <property name="text">
+         <string>Axis: X(Red), Y(Green), Z(Blue)</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
       <item row="2" column="1">
        <widget class="QPushButton" name="pushButton_2">
         <property name="sizePolicy">
@@ -144,7 +167,7 @@
             <item row="11" column="0">
              <widget class="QLabel" name="label_20">
               <property name="text">
-               <string>Psi</string>
+               <string>ψ</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
@@ -180,7 +203,7 @@
             <item row="6" column="0">
              <widget class="QLabel" name="label_11">
               <property name="text">
-               <string>X</string>
+               <string>x</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
@@ -252,7 +275,7 @@
             <item row="7" column="0">
              <widget class="QLabel" name="label_12">
               <property name="text">
-               <string>Y</string>
+               <string>y</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
@@ -429,7 +452,7 @@
             <item row="9" column="0">
              <widget class="QLabel" name="label_14">
               <property name="text">
-               <string>Phi</string>
+               <string>Φ</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
@@ -571,7 +594,7 @@
             <item row="10" column="0">
              <widget class="QLabel" name="label_19">
               <property name="text">
-               <string>Theta</string>
+               <string>θ</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
@@ -613,7 +636,7 @@
             <item row="8" column="0">
              <widget class="QLabel" name="label_13">
               <property name="text">
-               <string>Z</string>
+               <string>z</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
@@ -797,7 +820,7 @@
                </sizepolicy>
               </property>
               <property name="text">
-               <string>phi</string>
+               <string>Φ</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
@@ -846,7 +869,10 @@
                </sizepolicy>
               </property>
               <property name="text">
-               <string>theta</string>
+               <string>θ</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
               </property>
              </widget>
             </item>
@@ -1078,7 +1104,7 @@
                </sizepolicy>
               </property>
               <property name="text">
-               <string>psi</string>
+               <string>ψ</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
@@ -1256,29 +1282,667 @@
           </item>
          </layout>
         </widget>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QPushButton" name="buttonReset">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="text">
-         <string>Reset</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_10">
-        <property name="text">
-         <string>Axis: X(Red), Y(Green), Z(Blue)</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
-        </property>
+        <widget class="QWidget" name="tabInterpolation">
+         <attribute name="title">
+          <string>Interpolation</string>
+         </attribute>
+         <layout class="QVBoxLayout" name="verticalLayout_3">
+          <item>
+           <layout class="QGridLayout" name="gridLayout_4">
+            <item row="7" column="1">
+             <widget class="QLineEdit" name="lineEditPathX6">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="7" column="0">
+             <widget class="QLineEdit" name="lineEditPathTime6">
+              <property name="text">
+               <string>1.8</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="4">
+             <widget class="QLineEdit" name="lineEditPathPhi3">
+              <property name="text">
+               <string>-180</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="3">
+             <widget class="QLineEdit" name="lineEditPathZ0">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QLabel" name="label_42">
+              <property name="text">
+               <string>x(mm)</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QLineEdit" name="lineEditPathX0">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="4">
+             <widget class="QLineEdit" name="lineEditPathPhi0">
+              <property name="text">
+               <string>-180</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="5">
+             <widget class="QLabel" name="label_51">
+              <property name="text">
+               <string>θ(°)</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="2">
+             <widget class="QLineEdit" name="lineEditPathY0">
+              <property name="text">
+               <string>150</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QLineEdit" name="lineEditPathTime0">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="0">
+             <widget class="QLabel" name="label_41">
+              <property name="text">
+               <string>time(s)</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="2">
+             <widget class="QLabel" name="label_43">
+              <property name="text">
+               <string>y(mm)</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="5">
+             <widget class="QLineEdit" name="lineEditPathTheta0">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="6">
+             <widget class="QLineEdit" name="lineEditPathPsi0">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="4">
+             <widget class="QLabel" name="label_45">
+              <property name="text">
+               <string>Φ(°)</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="3">
+             <widget class="QLabel" name="label_44">
+              <property name="text">
+               <string>z(mm)</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="6">
+             <widget class="QLabel" name="label_52">
+              <property name="text">
+               <string>ψ(°)</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QLineEdit" name="lineEditPathX1">
+              <property name="text">
+               <string>150</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="2">
+             <widget class="QLineEdit" name="lineEditPathY1">
+              <property name="text">
+               <string>150</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="7" column="2">
+             <widget class="QLineEdit" name="lineEditPathY6">
+              <property name="text">
+               <string>150</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="7" column="3">
+             <widget class="QLineEdit" name="lineEditPathZ6">
+              <property name="text">
+               <string>100</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="7" column="6">
+             <widget class="QLineEdit" name="lineEditPathPsi6">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="6">
+             <widget class="QLineEdit" name="lineEditPathPsi2">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="2">
+             <widget class="QLineEdit" name="lineEditPathY3">
+              <property name="text">
+               <string>150</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="1">
+             <widget class="QLineEdit" name="lineEditPathX3">
+              <property name="text">
+               <string>-150</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="2">
+             <widget class="QLineEdit" name="lineEditPathY4">
+              <property name="text">
+               <string>100</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="5">
+             <widget class="QLineEdit" name="lineEditPathTheta3">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="6">
+             <widget class="QLineEdit" name="lineEditPathPsi3">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="3">
+             <widget class="QLineEdit" name="lineEditPathZ4">
+              <property name="text">
+               <string>100</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="4">
+             <widget class="QLineEdit" name="lineEditPathPhi4">
+              <property name="text">
+               <string>-180</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="1">
+             <widget class="QLineEdit" name="lineEditPathX5">
+              <property name="text">
+               <string>100</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="0">
+             <widget class="QLineEdit" name="lineEditPathTime4">
+              <property name="text">
+               <string>1.2</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="1">
+             <widget class="QLineEdit" name="lineEditPathX4">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="2">
+             <widget class="QLineEdit" name="lineEditPathY5">
+              <property name="text">
+               <string>100</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="5">
+             <widget class="QLineEdit" name="lineEditPathTheta4">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="0">
+             <widget class="QLineEdit" name="lineEditPathTime5">
+              <property name="text">
+               <string>1.5</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="6">
+             <widget class="QLineEdit" name="lineEditPathPsi5">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="6">
+             <widget class="QLineEdit" name="lineEditPathPsi4">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="9" column="6">
+             <spacer name="verticalSpacer_5">
+              <property name="orientation">
+               <enum>Qt::Vertical</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>20</width>
+                <height>40</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+            <item row="6" column="5">
+             <widget class="QLineEdit" name="lineEditPathTheta5">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="3">
+             <widget class="QLineEdit" name="lineEditPathZ5">
+              <property name="text">
+               <string>100</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="4">
+             <widget class="QLineEdit" name="lineEditPathPhi5">
+              <property name="text">
+               <string>-180</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="7" column="4">
+             <widget class="QLineEdit" name="lineEditPathPhi6">
+              <property name="text">
+               <string>-180</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="7" column="5">
+             <widget class="QLineEdit" name="lineEditPathTheta6">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="4">
+             <widget class="QLineEdit" name="lineEditPathPhi1">
+              <property name="text">
+               <string>-180</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="4">
+             <widget class="QLineEdit" name="lineEditPathPhi2">
+              <property name="text">
+               <string>-180</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="3">
+             <widget class="QLineEdit" name="lineEditPathZ1">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="5">
+             <widget class="QLineEdit" name="lineEditPathTheta2">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="0">
+             <widget class="QLineEdit" name="lineEditPathTime2">
+              <property name="text">
+               <string>0.6</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="1">
+             <widget class="QLineEdit" name="lineEditPathX2">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="6">
+             <widget class="QLineEdit" name="lineEditPathPsi1">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="2">
+             <widget class="QLineEdit" name="lineEditPathY2">
+              <property name="text">
+               <string>200</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="5">
+             <widget class="QLineEdit" name="lineEditPathTheta1">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="3">
+             <widget class="QLineEdit" name="lineEditPathZ2">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
+             <widget class="QLineEdit" name="lineEditPathTime1">
+              <property name="text">
+               <string>0.3</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="3">
+             <widget class="QLineEdit" name="lineEditPathZ3">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="10" column="4" colspan="3">
+             <widget class="QPushButton" name="buttonPathApply">
+              <property name="text">
+               <string>apply</string>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="0">
+             <widget class="QLineEdit" name="lineEditPathTime3">
+              <property name="text">
+               <string>0.9</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="8" column="0">
+             <widget class="QLineEdit" name="lineEditPathTime7">
+              <property name="text">
+               <string>2.1</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="8" column="1">
+             <widget class="QLineEdit" name="lineEditPathX7">
+              <property name="text">
+               <string>-100</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="8" column="2">
+             <widget class="QLineEdit" name="lineEditPathY7">
+              <property name="text">
+               <string>100</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="8" column="3">
+             <widget class="QLineEdit" name="lineEditPathZ7">
+              <property name="text">
+               <string>100</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="8" column="4">
+             <widget class="QLineEdit" name="lineEditPathPhi7">
+              <property name="text">
+               <string>-180</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="8" column="5">
+             <widget class="QLineEdit" name="lineEditPathTheta7">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="8" column="6">
+             <widget class="QLineEdit" name="lineEditPathPsi7">
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </widget>
        </widget>
       </item>
      </layout>