diff --git a/build.gradle b/build.gradle
index f1655e0..48fb34e 100644
--- a/build.gradle
+++ b/build.gradle
@@ -4,7 +4,7 @@ plugins {
 }
 
 group 'jarhead'
-version '1.4.4'
+version '1.6.0'
 
 
 repositories {
diff --git a/src/main/java/jarhead/DrawPanel.java b/src/main/java/jarhead/DrawPanel.java
index eb7643e..6166d45 100644
--- a/src/main/java/jarhead/DrawPanel.java
+++ b/src/main/java/jarhead/DrawPanel.java
@@ -300,7 +300,7 @@ public void paintComponent (Graphics g){
             long renderStart = System.currentTimeMillis();
             if(trajectory != null) {
 //                renderRobotPath((Graphics2D) g, trajectory, lightPurple, 0.5f);
-                render.renderRobotPath((Graphics2D) g, ActionEntityKt.actionTimeline(trajectory).getSecond(), lightPurple, 0.5f, this.getWidth(), this.getHeight());
+//                render.renderRobotPath((Graphics2D) g, ActionEntityKt.actionTimeline(trajectory).getSecond(), lightPurple, 0.5f, this.getWidth(), this.getHeight());
                 render.renderSplines((Graphics2D) g, ActionEntityKt.actionTimeline(trajectory).getSecond(), cyan, 5, main.scale);
 //                renderPoints(g, trajectory, cyan, 1);
             }
@@ -416,6 +416,16 @@ private void mPressed(MouseEvent e) {
             double total = 0;
 
             List<Marker> markers = getCurrentManager().getMarkers();
+
+//            if(trajectory != null){
+//                if(trajectory instanceof TrajectoryAction){
+//                    TimeTrajectory traj = ((TrajectoryAction) trajectory).getT();
+//                    CompositePosePath paths = (CompositePosePath) traj.path;
+//                    for (PosePath path : paths.paths) {
+//                        Pose2dDual<Arclength> mid = path.get(path.length() / 2, 0);
+//
+
+
 //            for (int i = 0; i < trajectory.size(); i++) {
 //                SequenceSegment segment = trajectory.get(i);
 //                if (segment == null) continue;
diff --git a/src/main/java/jarhead/Render.kt b/src/main/java/jarhead/Render.kt
index ea3a885..8c5d903 100644
--- a/src/main/java/jarhead/Render.kt
+++ b/src/main/java/jarhead/Render.kt
@@ -127,15 +127,20 @@ class Render {
                     }
 
                     val poses = displacements.map { action.t.path[it, 1].value() }
+//                    get the first pose
+                    val coord = poses[0].position
+                    trajectoryDrawnPath.moveTo(coord.x*scale, coord.y*scale)
+
+//                    get the mid point
+                    val midPoint = poses[displacementSamples/2].position
+                    g.drawOval(
+                        (midPoint.x*scale).toInt() - ovalScale / 2,
+                        (midPoint.y*scale).toInt() - ovalScale / 2,
+                        ovalScale, ovalScale)
 
                     for (pose in poses.drop(1)) {
                         val coord = pose.position
-                        if (first) {
-                            trajectoryDrawnPath.moveTo(coord.x*scale, coord.y*scale)
-                            first = false
-                        } else {
-                            trajectoryDrawnPath.lineTo(coord.x*scale, coord.y*scale)
-                        }
+                        trajectoryDrawnPath.lineTo(coord.x*scale, coord.y*scale)
                     }
                 }
 //                is TurnAction -> {