diff --git a/include/mementar/core/memGraphs/Branchs/types/SoftPoint.h b/include/mementar/core/memGraphs/Branchs/types/SoftPoint.h
index 95acc6f..e4dbca5 100644
--- a/include/mementar/core/memGraphs/Branchs/types/SoftPoint.h
+++ b/include/mementar/core/memGraphs/Branchs/types/SoftPoint.h
@@ -26,6 +26,13 @@ class SoftPoint
     t_ = t_start_ + (t_end_.value_or(t_start_) - t_start_) / 2;
   }
 
+  SoftPoint(const SoftPoint* other)
+  {
+    t_start_ = other->t_start_;
+    t_end_ = other->t_end_;
+    t_ = t_start_ + (t_end_.value_or(t_start_) - t_start_) / 2;
+  }
+
   bool isInstantaneous() const { return t_end_ == std::experimental::nullopt; }
   Ttime getTime() const { return t_; }
   Ttime getTimeStart() const { return t_start_; }
diff --git a/include/mementar/graphical/timeline/EventReader.h b/include/mementar/graphical/timeline/EventReader.h
index 50d17ca..23320dc 100644
--- a/include/mementar/graphical/timeline/EventReader.h
+++ b/include/mementar/graphical/timeline/EventReader.h
@@ -12,8 +12,10 @@ namespace mementar {
 
 struct event_t
 {
+  event_t(SoftPoint::Ttime time) : time_point(time) {}
+
   std::string data;
-  size_t time_point;
+  SoftPoint time_point;
 };
 
 class EventReader
diff --git a/src/graphical/timeline/EventReader.cpp b/src/graphical/timeline/EventReader.cpp
index 47cc5e7..45d48ee 100644
--- a/src/graphical/timeline/EventReader.cpp
+++ b/src/graphical/timeline/EventReader.cpp
@@ -11,14 +11,15 @@ void EventReader::read(EventGraph* graph, CvFont* font)
 
   while(node != nullptr)
   {
-    event_t group_evt;
-    group_evt.time_point = node->getKey();
+    event_t group_evt(node->getKey());
     for(auto evt : node->getData())
     {
       if(dynamic_cast<ContextualizedEvent*>(evt)->isPartOfAction() == false)
       {
         auto event = dynamic_cast<ContextualizedEvent*>(evt);
         group_evt.data += (group_evt.data == "" ? "" : " -- ") + event->Fact::toString();
+        if(event->getTransitionDuration() > group_evt.time_point.getTransitionDuration())
+          group_evt.time_point = SoftPoint(event);
       }
     }
 
diff --git a/src/graphical/timeline/TimelineDrawer.cpp b/src/graphical/timeline/TimelineDrawer.cpp
index 11c9142..2469ba6 100644
--- a/src/graphical/timeline/TimelineDrawer.cpp
+++ b/src/graphical/timeline/TimelineDrawer.cpp
@@ -108,6 +108,26 @@ void TimelineDrawer::drawAction(const action_t& action, size_t line_pose, size_t
                        cvScalar(32, 20, 122), 4);
   }
 
+  if(action.start.isInstantaneous() == false)
+  {
+    size_t y_soft_start_pose = MARGIN + (action.start.getTimeStart() - start_time) * UNIT_SPACE;
+    size_t y_soft_end_pose = MARGIN + (action.start.getTimeEnd() - start_time) * UNIT_SPACE;
+
+    cvLine(image_, cvPoint(line_pose - 4, y_soft_start_pose),
+                   cvPoint(line_pose - 4, y_soft_end_pose),
+                   cvScalar(114,102,204), 8);
+  }
+
+  if(action.end.value().isInstantaneous() == false)
+  {
+    size_t y_soft_start_pose = MARGIN + (action.end.value().getTimeStart() - start_time) * UNIT_SPACE;
+    size_t y_soft_end_pose = MARGIN + (action.end.value().getTimeEnd() - start_time) * UNIT_SPACE;
+
+    cvLine(image_, cvPoint(line_pose - 4, y_soft_start_pose),
+                   cvPoint(line_pose - 4, y_soft_end_pose),
+                   cvScalar(114,102,204), 8);
+  }
+
   CvFont font;
   cvInitFont(&font, CV_FONT_HERSHEY_COMPLEX, 1, 1, 0, 2);
   cvPutText(image_, action.name.c_str(), cvPoint(x_start_pose - getTextSize(action.name, &font) - 2, y_mid_pose), &font,
@@ -119,12 +139,22 @@ void TimelineDrawer::drawEvent(const event_t& event, size_t line_pose, size_t st
   size_t x_start_pose = line_pose;
   size_t x_end_pose = x_start_pose + SIDE_SPACE;
 
-  size_t y_pose = MARGIN + (event.time_point - start_time) * UNIT_SPACE;
+  size_t y_pose = MARGIN + (event.time_point.getTime() - start_time) * UNIT_SPACE;
 
   cvLine(image_, cvPoint(x_start_pose, y_pose),
                  cvPoint(x_end_pose, y_pose),
                  cvScalar(89, 26, 16), 4);
 
+   if(event.time_point.isInstantaneous() == false)
+   {
+     size_t y_soft_start_pose = MARGIN + (event.time_point.getTimeStart() - start_time) * UNIT_SPACE;
+     size_t y_soft_end_pose = MARGIN + (event.time_point.getTimeEnd() - start_time) * UNIT_SPACE;
+
+     cvLine(image_, cvPoint(line_pose + 4, y_soft_start_pose),
+                    cvPoint(line_pose + 4, y_soft_end_pose),
+                    cvScalar(149,86,86), 8);
+   }
+
   CvFont font;
   cvInitFont(&font, CV_FONT_HERSHEY_COMPLEX, 1, 1, 0, 2);
   cvPutText(image_, event.data.c_str(), cvPoint(x_end_pose + 2, y_pose), &font,
diff --git a/src/graphical/timeline/main.cpp b/src/graphical/timeline/main.cpp
index 5feefa2..03498e7 100644
--- a/src/graphical/timeline/main.cpp
+++ b/src/graphical/timeline/main.cpp
@@ -42,7 +42,7 @@ mementar::Timeline* getTimeline()
   timeline->events.add(new mementar::ContextualizedEvent("e8", mementar::Event(mementar::Fact("tape_1|isOn|Table_1", false), 37)));
   timeline->events.add(new mementar::ContextualizedEvent("e9", mementar::Event("tape_1|isOn|Table_1", 38, 42)));
   timeline->events.add(new mementar::ContextualizedEvent("e10", mementar::Event("tape_1|isBehind|grey_box", 38)));
-  timeline->events.add(new mementar::ContextualizedEvent("e11", mementar::Event(mementar::Fact("tape_1|isInHand|hum_blue", false), 42)));
+  timeline->events.add(new mementar::ContextualizedEvent("e11", mementar::Event(mementar::Fact("tape_1|isInHand|hum_blue", false), mementar::SoftPoint(41, 42))));
   timeline->events.add(new mementar::ContextualizedEvent("e12", mementar::Event(mementar::Fact("hum_blue|isInRoom|expe_room", false), mementar::SoftPoint(51,52))));
   timeline->events.add(new mementar::ContextualizedEvent("e13", mementar::Event("hum_green|isInRoom|expe_room", 53)));
   timeline->events.add(new mementar::ContextualizedEvent("e14", mementar::Event("tape_2|isInGripper|pr2", 86)));
@@ -137,7 +137,7 @@ mementar::Timeline* getTimeline()
   timeline->events.add(new mementar::ContextualizedEvent("e8", mementar::Event(mementar::Fact("tape_1|isOn|Table_1", false), 37)));
   timeline->events.add(new mementar::ContextualizedEvent("e9", mementar::Event("tape_1|isOn|Table_1", 38, 42)));
   timeline->events.add(new mementar::ContextualizedEvent("e10", mementar::Event("tape_1|isBehind|grey_box", 38)));
-  timeline->events.add(new mementar::ContextualizedEvent("e11", mementar::Event(mementar::Fact("tape_1|isInHand|hum_blue", false), 42)));
+  timeline->events.add(new mementar::ContextualizedEvent("e11", mementar::Event(mementar::Fact("tape_1|isInHand|hum_blue", false), mementar::SoftPoint(41, 42))));
   timeline->events.add(new mementar::ContextualizedEvent("e12", mementar::Event(mementar::Fact("hum_blue|isInRoom|expe_room", false), mementar::SoftPoint(51,52))));
 
   return timeline;