diff --git a/example/hotspot_provisioning_example_app/pubspec.lock b/example/hotspot_provisioning_example_app/pubspec.lock
index b7b08ba0422..3a9ae3bc49f 100644
--- a/example/hotspot_provisioning_example_app/pubspec.lock
+++ b/example/hotspot_provisioning_example_app/pubspec.lock
@@ -157,10 +157,10 @@ packages:
     dependency: transitive
     description:
       name: fake_async
-      sha256: "5368f224a74523e8d2e7399ea1638b37aecfca824a3cc4dfdf77bf1fa905ac44"
+      sha256: "6a95e56b2449df2273fd8c45a662d6947ce1ebb7aafe80e550a3f68297f3cacc"
       url: "https://pub.dev"
     source: hosted
-    version: "1.3.3"
+    version: "1.3.2"
   ffi:
     dependency: transitive
     description:
@@ -300,26 +300,26 @@ packages:
     dependency: transitive
     description:
       name: leak_tracker
-      sha256: "33e2e26bdd85a0112ec15400c8cbffea70d0f9c3407491f672a2fad47915e2de"
+      sha256: c35baad643ba394b40aac41080300150a4f08fd0fd6a10378f8f7c6bc161acec
       url: "https://pub.dev"
     source: hosted
-    version: "11.0.2"
+    version: "10.0.8"
   leak_tracker_flutter_testing:
     dependency: transitive
     description:
       name: leak_tracker_flutter_testing
-      sha256: "1dbc140bb5a23c75ea9c4811222756104fbcd1a27173f0c34ca01e16bea473c1"
+      sha256: f8b613e7e6a13ec79cfdc0e97638fddb3ab848452eff057653abd3edba760573
       url: "https://pub.dev"
     source: hosted
-    version: "3.0.10"
+    version: "3.0.9"
   leak_tracker_testing:
     dependency: transitive
     description:
       name: leak_tracker_testing
-      sha256: "8d5a2d49f4a66b49744b23b018848400d23e54caf9463f4eb20df3eb8acb2eb1"
+      sha256: "6ba465d5d76e67ddf503e1161d1f4a6bc42306f9d66ca1e8f079a47290fb06d3"
       url: "https://pub.dev"
     source: hosted
-    version: "3.0.2"
+    version: "3.0.1"
   lints:
     dependency: transitive
     description:
@@ -633,10 +633,10 @@ packages:
     dependency: transitive
     description:
       name: test_api
-      sha256: "522f00f556e73044315fa4585ec3270f1808a4b186c936e612cab0b565ff1e00"
+      sha256: fb31f383e2ee25fbbfe06b40fe21e1e458d14080e3c67e7ba0acfde4df4e0bbd
       url: "https://pub.dev"
     source: hosted
-    version: "0.7.6"
+    version: "0.7.4"
   typed_data:
     dependency: transitive
     description:
@@ -657,10 +657,10 @@ packages:
     dependency: transitive
     description:
       name: vector_math
-      sha256: d530bd74fea330e6e364cda7a85019c434070188383e1cd8d9777ee586914c5b
+      sha256: "80b3257d1492ce4d091729e3a67a60407d227c27241d6927be0130c98e741803"
       url: "https://pub.dev"
     source: hosted
-    version: "2.2.0"
+    version: "2.1.4"
   viam_flutter_hotspot_provisioning_widget:
     dependency: "direct main"
     description:
@@ -717,5 +717,5 @@ packages:
     source: hosted
     version: "6.5.0"
 sdks:
-  dart: ">=3.8.0-0 <4.0.0"
+  dart: ">=3.7.0 <4.0.0"
   flutter: ">=3.27.0"
diff --git a/lib/widgets/resources/arm.dart b/lib/widgets/resources/arm.dart
index d9de9c26d6a..4c12adbd37d 100644
--- a/lib/widgets/resources/arm.dart
+++ b/lib/widgets/resources/arm.dart
@@ -1,171 +1,45 @@
-import 'package:collection/collection.dart';
 import 'package:flutter/material.dart';
 
 import '../../viam_sdk.dart';
-import '../../widgets.dart';
+import 'arm_widgets/joint_positions_widget.dart';
+import 'arm_widgets/pose_widget.dart';
+
+class ArmNotifier extends ChangeNotifier {
+  void armHasMoved() {
+    notifyListeners();
+  }
+}
 
 /// A widget to control an [Arm].
-class ViamArmWidget extends StatefulWidget {
+class ViamArmWidgetNew extends StatefulWidget {
   /// The [Arm]
   final Arm arm;
 
-  const ViamArmWidget({
+  const ViamArmWidgetNew({
     super.key,
     required this.arm,
   });
 
   @override
-  State<ViamArmWidget> createState() => _ViamArmWidgetState();
-}
-
-enum _PoseField {
-  x,
-  y,
-  z,
-  theta,
-  oX,
-  oY,
-  oZ;
-
-  String get title {
-    switch (this) {
-      case x:
-        return 'X';
-      case y:
-        return 'Y';
-      case z:
-        return 'Z';
-      case theta:
-        return 'Theta';
-      case oX:
-        return 'OX';
-      case oY:
-        return 'OY';
-      case oZ:
-        return 'OZ';
-    }
-  }
+  State<ViamArmWidgetNew> createState() => _ViamArmWidgetNewState();
 }
 
-class _ViamArmWidgetState extends State<ViamArmWidget> {
-  Pose endPosition = Pose();
-  List<double> jointPositions = [];
-
-  Future<void> _getPositions() async {
-    final ep = await widget.arm.endPosition();
-    final jp = await widget.arm.jointPositions();
-    setState(() {
-      jointPositions = jp;
-      endPosition = ep;
-    });
-  }
+class _ViamArmWidgetNewState extends State<ViamArmWidgetNew> {
+  final ArmNotifier _armNotifier = ArmNotifier();
 
   @override
-  void initState() {
-    super.initState();
-    _getPositions();
-  }
-
-  Future<void> updateEndPosition(_PoseField field, double increment) async {
-    final ep = endPosition;
-    switch (field) {
-      case _PoseField.x:
-        ep.x += increment;
-      case _PoseField.y:
-        ep.y += increment;
-      case _PoseField.z:
-        ep.z += increment;
-      case _PoseField.theta:
-        ep.theta += increment;
-      case _PoseField.oX:
-        ep.oX += increment;
-      case _PoseField.oY:
-        ep.oY += increment;
-      case _PoseField.oZ:
-        ep.oZ += increment;
-    }
-
-    await widget.arm.moveToPosition(ep);
-    await _getPositions();
-  }
-
-  Future<void> updateJointPosition(int joint, double increment) async {
-    final jp = jointPositions;
-    jp[joint] += increment;
-    await widget.arm.moveToJointPositions(jp);
-    await _getPositions();
-  }
-
-  TableRow _getEndPositionRow(_PoseField field) {
-    double value;
-    switch (field) {
-      case _PoseField.x:
-        value = endPosition.x;
-      case _PoseField.y:
-        value = endPosition.y;
-      case _PoseField.z:
-        value = endPosition.z;
-      case _PoseField.theta:
-        value = endPosition.theta;
-      case _PoseField.oX:
-        value = endPosition.oX;
-      case _PoseField.oY:
-        value = endPosition.oY;
-      case _PoseField.oZ:
-        value = endPosition.oZ;
-    }
-
-    return TableRow(children: [
-      _ArmTableCell(Text(field.title, textAlign: TextAlign.end)),
-      _ArmTableCell(ViamButton(onPressed: () => updateEndPosition(field, -10), text: '--', size: ViamButtonSizeClass.small)),
-      _ArmTableCell(ViamButton(onPressed: () => updateEndPosition(field, -1), text: '-', size: ViamButtonSizeClass.small)),
-      _ArmTableCell(Text(value.toStringAsFixed(2), textAlign: TextAlign.center)),
-      _ArmTableCell(ViamButton(onPressed: () => updateEndPosition(field, 1), text: '+', size: ViamButtonSizeClass.small)),
-      _ArmTableCell(ViamButton(onPressed: () => updateEndPosition(field, 10), text: '++', size: ViamButtonSizeClass.small)),
-    ]);
+  void dispose() {
+    _armNotifier.dispose();
+    super.dispose();
   }
 
   @override
   Widget build(BuildContext context) {
     return Column(
-      mainAxisAlignment: MainAxisAlignment.center,
-      crossAxisAlignment: CrossAxisAlignment.center,
       children: [
-        const Text('End Positions (mm)', style: TextStyle(fontWeight: FontWeight.bold)),
-        Table(
-          columnWidths: const {0: IntrinsicColumnWidth()},
-          defaultVerticalAlignment: TableCellVerticalAlignment.middle,
-          children: _PoseField.values.map((e) => _getEndPositionRow(e)).toList(),
-        ),
-        const SizedBox(height: 16),
-        const Text('Joints (degrees)', style: TextStyle(fontWeight: FontWeight.bold)),
-        Table(
-          columnWidths: const {0: IntrinsicColumnWidth()},
-          defaultVerticalAlignment: TableCellVerticalAlignment.middle,
-          children: jointPositions
-              .mapIndexed((index, element) => TableRow(children: [
-                    _ArmTableCell(Text('Joint $index', textAlign: TextAlign.end)),
-                    _ArmTableCell(
-                        ViamButton(onPressed: () => updateJointPosition(index, -10), text: '--', size: ViamButtonSizeClass.small)),
-                    _ArmTableCell(ViamButton(onPressed: () => updateJointPosition(index, -1), text: '-', size: ViamButtonSizeClass.small)),
-                    _ArmTableCell(Text(element.toStringAsFixed(2), textAlign: TextAlign.center)),
-                    _ArmTableCell(ViamButton(onPressed: () => updateJointPosition(index, 1), text: '+', size: ViamButtonSizeClass.small)),
-                    _ArmTableCell(ViamButton(onPressed: () => updateJointPosition(index, 10), text: '++', size: ViamButtonSizeClass.small)),
-                  ]))
-              .toList(),
-        )
+        JointPositionsWidget(arm: widget.arm, updateNotifier: _armNotifier),
+        PoseWidget(arm: widget.arm, updateNotifier: _armNotifier),
       ],
     );
   }
 }
-
-class _ArmTableCell extends StatelessWidget {
-  final Widget child;
-
-  const _ArmTableCell(this.child);
-
-  @override
-  Widget build(BuildContext context) {
-    return TableCell(child: Padding(padding: const EdgeInsets.symmetric(horizontal: 2, vertical: 1), child: child));
-  }
-}
diff --git a/lib/widgets/resources/arm_new.dart b/lib/widgets/resources/arm_new.dart
deleted file mode 100644
index d52efe4e5da..00000000000
--- a/lib/widgets/resources/arm_new.dart
+++ /dev/null
@@ -1,26 +0,0 @@
-import 'package:flutter/material.dart';
-
-import '../../viam_sdk.dart';
-import 'arm_widgets/joint_positions_widget.dart';
-import 'arm_widgets/pose_widget.dart';
-
-/// A widget to control an [Arm].
-class ViamArmWidgetNew extends StatelessWidget {
-  /// The [Arm]
-  final Arm arm;
-
-  const ViamArmWidgetNew({
-    super.key,
-    required this.arm,
-  });
-
-  @override
-  Widget build(BuildContext context) {
-    return Column(
-      children: [
-        JointPositionsWidget(arm: arm),
-        PoseWidget(arm: arm),
-      ],
-    );
-  }
-}
diff --git a/lib/widgets/resources/arm_widgets/joint_positions_widget.dart b/lib/widgets/resources/arm_widgets/joint_positions_widget.dart
index 07cf1a68cd8..1f048d1b935 100644
--- a/lib/widgets/resources/arm_widgets/joint_positions_widget.dart
+++ b/lib/widgets/resources/arm_widgets/joint_positions_widget.dart
@@ -2,33 +2,81 @@ import 'package:flutter/material.dart';
 import 'package:flutter/services.dart';
 
 import '../../../viam_sdk.dart' as viam;
+import '../arm.dart';
 
 class JointPositionsWidget extends StatefulWidget {
   final viam.Arm arm;
-  const JointPositionsWidget({super.key, required this.arm});
+  final ArmNotifier updateNotifier;
+  const JointPositionsWidget({
+    super.key,
+    required this.arm,
+    required this.updateNotifier,
+  });
 
   @override
   State<JointPositionsWidget> createState() => _JointPositionsWidgetState();
 }
 
-bool _isLive = false;
-
 class _JointPositionsWidgetState extends State<JointPositionsWidget> {
   List<double> _jointValues = [];
+  bool _isLive = false;
+  List<TextEditingController> _textControllers = [];
 
   @override
   void initState() {
     super.initState();
+    widget.updateNotifier.addListener(_getJointPositions);
     _getJointPositions();
   }
 
+  @override
+  void dispose() {
+    widget.updateNotifier.removeListener(_getJointPositions);
+    for (final controller in _textControllers) {
+      controller.dispose();
+    }
+    super.dispose();
+  }
+
   Future<void> _getJointPositions() async {
+    for (final controller in _textControllers) {
+      controller.dispose();
+    }
+
     _jointValues = await widget.arm.jointPositions();
-    setState(() {});
+    _textControllers = List.generate(
+      _jointValues.length,
+      (index) => TextEditingController(text: _jointValues[index].toStringAsFixed(1)),
+    );
+    if (mounted) {
+      setState(() {});
+    }
+  }
+
+  void _updateJointValue(int index, double value) {
+    const double minPosition = -359.0;
+    const double maxPosition = 359.0;
+    final clampedValue = value.clamp(minPosition, maxPosition);
+
+    setState(() {
+      _jointValues[index] = clampedValue;
+      final formattedValue = clampedValue.toStringAsFixed(1);
+      if (_textControllers[index].text != formattedValue) {
+        _textControllers[index].text = formattedValue;
+        _textControllers[index].selection = TextSelection.fromPosition(
+          TextPosition(offset: _textControllers[index].text.length),
+        );
+      }
+    });
+
+    if (_isLive) {
+      _setJointPositions();
+    }
   }
 
   Future<void> _setJointPositions() async {
     await widget.arm.moveToJointPositions(_jointValues);
+    widget.updateNotifier.armHasMoved();
   }
 
   @override
@@ -50,7 +98,18 @@ class _JointPositionsWidgetState extends State<JointPositionsWidget> {
             children: _jointValues.isEmpty
                 ? [CircularProgressIndicator.adaptive()]
                 : List.generate(_jointValues.length, (index) {
-                    return _BuildJointControlRow(index: index, arm: widget.arm, startJointValues: _jointValues);
+                    return _BuildJointControlRow(
+                      index: index,
+                      value: _jointValues[index],
+                      controller: _textControllers[index],
+                      onSliderChanged: (newValue) => _updateJointValue(index, newValue),
+                      onSubmitted: (newValue) {
+                        final parsedValue = double.tryParse(newValue) ?? _jointValues[index];
+                        _updateJointValue(index, parsedValue);
+                      },
+                      onDecrement: () => _updateJointValue(index, _jointValues[index] - 1.0),
+                      onIncrement: () => _updateJointValue(index, _jointValues[index] + 1.0),
+                    );
                   }),
           ),
         ),
@@ -84,109 +143,79 @@ class _JointPositionsWidgetState extends State<JointPositionsWidget> {
   }
 }
 
-class _BuildJointControlRow extends StatefulWidget {
-  final int index;
-  final viam.Arm arm;
-  final List<double> startJointValues;
-  const _BuildJointControlRow({required this.index, required this.arm, required this.startJointValues});
-
-  @override
-  State<_BuildJointControlRow> createState() => _BuildJointControlRowState();
-}
-
-class _BuildJointControlRowState extends State<_BuildJointControlRow> {
+class _BuildJointControlRow extends StatelessWidget {
   static const double _minPosition = -359.0;
   static const double _maxPosition = 359.0;
 
-  List<double> _jointValues = [];
-  List<TextEditingController> _textControllers = [];
-
-  @override
-  void initState() {
-    _jointValues = widget.startJointValues;
-    _textControllers = List.generate(
-      _jointValues.length,
-      (index) => TextEditingController(text: _jointValues[index].toStringAsFixed(1)),
-    );
-    super.initState();
-  }
-
-  @override
-  void dispose() {
-    for (final controller in _textControllers) {
-      controller.dispose();
-    }
-    super.dispose();
-  }
-
-  void _updateJointValue(int index, double value) {
-    final clampedValue = value.clamp(_minPosition, _maxPosition);
-
-    setState(() {
-      _jointValues[index] = clampedValue;
-      final formattedValue = clampedValue.toStringAsFixed(1);
-      if (_textControllers[index].text != formattedValue) {
-        _textControllers[index].text = formattedValue;
-        _textControllers[index].selection = TextSelection.fromPosition(
-          TextPosition(offset: _textControllers[index].text.length),
-        );
-      }
-    });
-
-    if (_isLive) {
-      widget.arm.moveToJointPositions(_jointValues);
-    }
-  }
+  final int index;
+  final double value;
+  final TextEditingController controller;
+  final ValueChanged<double> onSliderChanged;
+  final ValueChanged<String> onSubmitted;
+  final VoidCallback onIncrement;
+  final VoidCallback onDecrement;
+
+  const _BuildJointControlRow({
+    required this.index,
+    required this.value,
+    required this.controller,
+    required this.onSliderChanged,
+    required this.onSubmitted,
+    required this.onIncrement,
+    required this.onDecrement,
+  });
 
   @override
   Widget build(BuildContext context) {
     return Padding(
       padding: const EdgeInsets.symmetric(vertical: 8.0),
-      child: Row(
+      child: Column(
         children: [
-          SizedBox(
-            width: 30,
-            child: Text(
-              'J${widget.index + 1}',
-              style: Theme.of(context).textTheme.titleMedium,
-            ),
-          ),
-          Expanded(
-            child: Slider(
-              value: _jointValues[widget.index],
-              min: _minPosition,
-              max: _maxPosition,
-              divisions: (_maxPosition - _minPosition).toInt(),
-              onChanged: (newValue) => _updateJointValue(widget.index, newValue),
-            ),
-          ),
-          SizedBox(
-            width: 70,
-            child: TextField(
-              controller: _textControllers[widget.index],
-              textAlign: TextAlign.center,
-              keyboardType: const TextInputType.numberWithOptions(decimal: true),
-              inputFormatters: [
-                FilteringTextInputFormatter.allow(RegExp(r'^\d+\.?\d{0,1}')),
-              ],
-              onSubmitted: (newValue) {
-                final parsedValue = double.tryParse(newValue) ?? _jointValues[widget.index];
-                _updateJointValue(widget.index, parsedValue);
-              },
-            ),
-          ),
-          const SizedBox(width: 8),
-          IconButton(
-            icon: const Icon(Icons.remove),
-            onPressed: () {
-              _updateJointValue(widget.index, _jointValues[widget.index] - 1.0);
-            },
+          Row(
+            children: [
+              SizedBox(
+                width: 35,
+                child: Text(
+                  'J${index + 1}',
+                  style: Theme.of(context).textTheme.titleMedium,
+                ),
+              ),
+              SizedBox(
+                width: 70,
+                child: TextField(
+                  controller: controller,
+                  textAlign: TextAlign.center,
+                  keyboardType: const TextInputType.numberWithOptions(decimal: true, signed: true),
+                  inputFormatters: [
+                    FilteringTextInputFormatter.allow(RegExp(r'^\d+\.?\d{0,1}')),
+                  ],
+                  onSubmitted: onSubmitted,
+                ),
+              ),
+              Spacer(),
+              IconButton(
+                icon: const Icon(Icons.remove),
+                onPressed: onDecrement,
+              ),
+              IconButton(
+                icon: const Icon(Icons.add),
+                onPressed: onIncrement,
+              ),
+            ],
           ),
-          IconButton(
-            icon: const Icon(Icons.add),
-            onPressed: () {
-              _updateJointValue(widget.index, _jointValues[widget.index] + 1.0);
-            },
+          Row(
+            children: [
+              SizedBox(width: 15),
+              Expanded(
+                child: Slider(
+                  value: value,
+                  min: _minPosition,
+                  max: _maxPosition,
+                  divisions: (_maxPosition - _minPosition).round(),
+                  onChanged: onSliderChanged,
+                ),
+              ),
+            ],
           ),
         ],
       ),
diff --git a/lib/widgets/resources/arm_widgets/pose_widget.dart b/lib/widgets/resources/arm_widgets/pose_widget.dart
index d77ba018f5c..601c49750ce 100644
--- a/lib/widgets/resources/arm_widgets/pose_widget.dart
+++ b/lib/widgets/resources/arm_widgets/pose_widget.dart
@@ -5,6 +5,7 @@ import 'package:grpc/grpc.dart';
 import '../../../protos/common/common.dart';
 import '../../../src/utils.dart';
 import '../../../viam_sdk.dart' as viam;
+import '../arm.dart';
 
 class _TextControlStruct {
   TextEditingController x;
@@ -20,7 +21,12 @@ class _TextControlStruct {
 
 class PoseWidget extends StatefulWidget {
   final viam.Arm arm;
-  const PoseWidget({super.key, required this.arm});
+  final ArmNotifier updateNotifier;
+  const PoseWidget({
+    super.key,
+    required this.arm,
+    required this.updateNotifier,
+  });
 
   @override
   State<PoseWidget> createState() => _PoseWidgetState();
@@ -38,27 +44,37 @@ class _PoseWidgetState extends State<PoseWidget> {
   bool _isGoingToPose = false;
   Pose _controlValues = Pose();
 
-  late final _TextControlStruct _textControllers;
+  _TextControlStruct? _textControllers;
 
   @override
   void initState() {
     super.initState();
+    widget.updateNotifier.addListener(_getStartPose);
     _getStartPose();
   }
 
   @override
   void dispose() {
-    _textControllers.x.dispose();
-    _textControllers.y.dispose();
-    _textControllers.z.dispose();
-    _textControllers.oX.dispose();
-    _textControllers.oY.dispose();
-    _textControllers.oZ.dispose();
-    _textControllers.theta.dispose();
+    widget.updateNotifier.removeListener(_getStartPose);
+    _disposeControllers();
     super.dispose();
   }
 
+  void _disposeControllers() {
+    if (_textControllers != null) {
+      _textControllers!.x.dispose();
+      _textControllers!.y.dispose();
+      _textControllers!.z.dispose();
+      _textControllers!.oX.dispose();
+      _textControllers!.oY.dispose();
+      _textControllers!.oZ.dispose();
+      _textControllers!.theta.dispose();
+    }
+  }
+
   Future<void> _getStartPose() async {
+    _disposeControllers();
+
     final startPose = await widget.arm.endPosition();
     _controlValues = startPose;
     _textControllers = _TextControlStruct(
@@ -75,23 +91,26 @@ class _PoseWidgetState extends State<PoseWidget> {
 
   Future<void> _updatePose() async {
     try {
-      if (!_isGoingToPose) {
-        setState(() {
-          _isGoingToPose = true;
-        });
-        await widget.arm.moveToPosition(_controlValues);
+      if (_isGoingToPose) return;
+      setState(() {
+        _isGoingToPose = true;
+      });
+      await widget.arm.moveToPosition(_controlValues);
+      widget.updateNotifier.armHasMoved();
+    } on GrpcError catch (e) {
+      if (mounted) await showErrorDialog(context, title: 'An error occurred', error: e.message);
+    } finally {
+      if (mounted) {
         setState(() {
           _isGoingToPose = false;
         });
       }
-    } on GrpcError catch (e) {
-      if (mounted) await showErrorDialog(context, title: 'An error occurred', error: e.message);
     }
   }
 
-  void _updateControlValue(String index, TextEditingController textController, double value) {
+  void _updateControlValue(String axis, TextEditingController textController, double value) {
     setState(() {
-      switch (index) {
+      switch (axis) {
         case 'x':
           _controlValues.x = value;
         case 'y':
@@ -120,149 +139,151 @@ class _PoseWidgetState extends State<PoseWidget> {
 
   @override
   Widget build(BuildContext context) {
-    return Column(
-      children: [
-        Divider(),
-        Text(
-          'Pose Values',
-          style: TextStyle(
-            fontWeight: FontWeight.bold,
-          ),
-        ),
-        Divider(),
-        Padding(
-          padding: const EdgeInsets.all(16.0),
-          child: Column(
-            mainAxisSize: MainAxisSize.min,
+    return _textControllers == null
+        ? Center(child: CircularProgressIndicator.adaptive())
+        : Column(
             children: [
-              _BuildJointControlRow(
-                label: 'X',
-                value: _controlValues.x.roundToDouble(),
-                controller: _textControllers.x,
-                min: _minPosition,
-                max: _maxPosition,
-                onValueChanged: (newValue) => _updateControlValue(
-                  'x',
-                  _textControllers.x,
-                  newValue.clamp(_minPosition, _maxPosition),
-                ),
-                onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
-              ),
-              _BuildJointControlRow(
-                label: 'Y',
-                value: _controlValues.y.roundToDouble(),
-                controller: _textControllers.y,
-                min: _minPosition,
-                max: _maxPosition,
-                onValueChanged: (newValue) => _updateControlValue(
-                  'y',
-                  _textControllers.y,
-                  newValue.clamp(_minPosition, _maxPosition),
-                ),
-                onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
-              ),
-              _BuildJointControlRow(
-                label: 'Z',
-                value: _controlValues.z.roundToDouble(),
-                controller: _textControllers.z,
-                min: _minPosition,
-                max: _maxPosition,
-                onValueChanged: (newValue) => _updateControlValue(
-                  'z',
-                  _textControllers.z,
-                  newValue.clamp(_minPosition, _maxPosition),
-                ),
-                onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
-              ),
-              _BuildJointControlRow(
-                label: 'OX',
-                value: _controlValues.oX.roundToDouble(),
-                controller: _textControllers.oX,
-                min: _minOrientation,
-                max: _maxOrientation,
-                onValueChanged: (newValue) => _updateControlValue(
-                  'oX',
-                  _textControllers.oX,
-                  newValue.clamp(_minOrientation, _maxOrientation),
-                ),
-                onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
-              ),
-              _BuildJointControlRow(
-                label: 'OY',
-                value: _controlValues.oY.roundToDouble(),
-                controller: _textControllers.oY,
-                min: _minOrientation,
-                max: _maxOrientation,
-                onValueChanged: (newValue) => _updateControlValue(
-                  'oY',
-                  _textControllers.oY,
-                  newValue.clamp(_minOrientation, _maxOrientation),
+              Divider(),
+              Text(
+                'Pose Values',
+                style: TextStyle(
+                  fontWeight: FontWeight.bold,
                 ),
-                onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
               ),
-              _BuildJointControlRow(
-                label: 'OZ',
-                value: _controlValues.oZ.roundToDouble(),
-                controller: _textControllers.oZ,
-                min: _minOrientation,
-                max: _maxOrientation,
-                onValueChanged: (newValue) => _updateControlValue(
-                  'oZ',
-                  _textControllers.oZ,
-                  newValue.clamp(_minOrientation, _maxOrientation),
+              Divider(),
+              Padding(
+                padding: const EdgeInsets.all(16.0),
+                child: Column(
+                  mainAxisSize: MainAxisSize.min,
+                  children: [
+                    _BuildJointControlRow(
+                      label: 'X',
+                      value: _controlValues.x.roundToDouble(),
+                      controller: _textControllers!.x,
+                      min: _minPosition,
+                      max: _maxPosition,
+                      onValueChanged: (newValue) => _updateControlValue(
+                        'x',
+                        _textControllers!.x,
+                        newValue.clamp(_minPosition, _maxPosition),
+                      ),
+                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                    ),
+                    _BuildJointControlRow(
+                      label: 'Y',
+                      value: _controlValues.y.roundToDouble(),
+                      controller: _textControllers!.y,
+                      min: _minPosition,
+                      max: _maxPosition,
+                      onValueChanged: (newValue) => _updateControlValue(
+                        'y',
+                        _textControllers!.y,
+                        newValue.clamp(_minPosition, _maxPosition),
+                      ),
+                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                    ),
+                    _BuildJointControlRow(
+                      label: 'Z',
+                      value: _controlValues.z.roundToDouble(),
+                      controller: _textControllers!.z,
+                      min: _minPosition,
+                      max: _maxPosition,
+                      onValueChanged: (newValue) => _updateControlValue(
+                        'z',
+                        _textControllers!.z,
+                        newValue.clamp(_minPosition, _maxPosition),
+                      ),
+                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                    ),
+                    _BuildJointControlRow(
+                      label: 'OX',
+                      value: _controlValues.oX.roundToDouble(),
+                      controller: _textControllers!.oX,
+                      min: _minOrientation,
+                      max: _maxOrientation,
+                      onValueChanged: (newValue) => _updateControlValue(
+                        'oX',
+                        _textControllers!.oX,
+                        newValue.clamp(_minOrientation, _maxOrientation),
+                      ),
+                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                    ),
+                    _BuildJointControlRow(
+                      label: 'OY',
+                      value: _controlValues.oY.roundToDouble(),
+                      controller: _textControllers!.oY,
+                      min: _minOrientation,
+                      max: _maxOrientation,
+                      onValueChanged: (newValue) => _updateControlValue(
+                        'oY',
+                        _textControllers!.oY,
+                        newValue.clamp(_minOrientation, _maxOrientation),
+                      ),
+                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                    ),
+                    _BuildJointControlRow(
+                      label: 'OZ',
+                      value: _controlValues.oZ.roundToDouble(),
+                      controller: _textControllers!.oZ,
+                      min: _minOrientation,
+                      max: _maxOrientation,
+                      onValueChanged: (newValue) => _updateControlValue(
+                        'oZ',
+                        _textControllers!.oZ,
+                        newValue.clamp(_minOrientation, _maxOrientation),
+                      ),
+                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                    ),
+                    _BuildJointControlRow(
+                      label: 'Theta',
+                      value: _controlValues.theta.roundToDouble(),
+                      controller: _textControllers!.theta,
+                      min: _minTheta,
+                      max: _maxTheta,
+                      onValueChanged: (newValue) => _updateControlValue(
+                        'theta',
+                        _textControllers!.theta,
+                        newValue.clamp(_minTheta, _maxTheta),
+                      ),
+                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                    ),
+                  ],
                 ),
-                onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
               ),
-              _BuildJointControlRow(
-                label: 'Theta',
-                value: _controlValues.theta.roundToDouble(),
-                controller: _textControllers.theta,
-                min: _minTheta,
-                max: _maxTheta,
-                onValueChanged: (newValue) => _updateControlValue(
-                  'theta',
-                  _textControllers.theta,
-                  newValue.clamp(_minTheta, _maxTheta),
+              Padding(
+                padding: const EdgeInsets.fromLTRB(20.0, 0, 20.0, 20.0),
+                child: Row(
+                  spacing: 8,
+                  children: [
+                    Switch(
+                      value: _isLive,
+                      onChanged: (newValue) {
+                        setState(() {
+                          _isLive = newValue;
+                        });
+                      },
+                    ),
+                    Text(
+                      'Live',
+                    ),
+                    Tooltip(
+                      message: 'In Live mode, pose will update \non release of the slider',
+                      textAlign: TextAlign.center,
+                      triggerMode: TooltipTriggerMode.tap,
+                      preferBelow: false,
+                      child: Icon(Icons.info_outline),
+                    ),
+                    Spacer(),
+                    OutlinedButton.icon(
+                      onPressed: _isLive ? null : _updatePose,
+                      label: Text('Execute'),
+                      icon: Icon(Icons.play_arrow),
+                    ),
+                  ],
                 ),
-                onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
               ),
             ],
-          ),
-        ),
-        Padding(
-          padding: const EdgeInsets.fromLTRB(20.0, 0, 20.0, 20.0),
-          child: Row(
-            spacing: 8,
-            children: [
-              Switch(
-                value: _isLive,
-                onChanged: (newValue) {
-                  setState(() {
-                    _isLive = newValue;
-                  });
-                },
-              ),
-              Text(
-                "Live",
-              ),
-              Tooltip(
-                message: "In Live mode, pose will update \non release of the slider",
-                textAlign: TextAlign.center,
-                triggerMode: TooltipTriggerMode.tap,
-                preferBelow: false,
-                child: Icon(Icons.info_outline),
-              ),
-              Spacer(),
-              OutlinedButton.icon(
-                onPressed: _isLive ? null : _updatePose,
-                label: Text("Execute"),
-                icon: Icon(Icons.play_arrow),
-              ),
-            ],
-          ),
-        ),
-      ],
-    );
+          );
   }
 }
 
@@ -273,7 +294,7 @@ class _BuildJointControlRow extends StatelessWidget {
   final double min;
   final double max;
   final ValueChanged<double> onValueChanged;
-  final ValueChanged<void> onValueChangedEnd;
+  final ValueChanged<double> onValueChangedEnd;
 
   const _BuildJointControlRow({
     required this.label,
@@ -289,56 +310,64 @@ class _BuildJointControlRow extends StatelessWidget {
   Widget build(BuildContext context) {
     return Padding(
       padding: const EdgeInsets.symmetric(vertical: 8.0),
-      child: Row(
+      child: Column(
         children: [
-          SizedBox(
-            width: 50,
-            child: Text(
-              label,
-              style: Theme.of(context).textTheme.titleMedium,
-            ),
-          ),
-          Expanded(
-            child: Slider(
-              value: value,
-              min: min,
-              max: max,
-              label: value.toStringAsFixed(1),
-              onChanged: onValueChanged,
-              onChangeEnd: onValueChangedEnd,
-            ),
-          ),
-          const SizedBox(width: 16),
-          SizedBox(
-            width: 70,
-            child: TextField(
-              controller: controller,
-              textAlign: TextAlign.center,
-              keyboardType: const TextInputType.numberWithOptions(decimal: true, signed: true),
-              inputFormatters: [
-                FilteringTextInputFormatter.allow(RegExp(r'^-?\d+\.?\d{0,1}')),
-              ],
-              onSubmitted: (newValue) {
-                final parsedValue = double.tryParse(newValue) ?? value;
-                onValueChanged(parsedValue);
-                onValueChangedEnd(parsedValue);
-              },
-            ),
-          ),
-          const SizedBox(width: 8),
-          IconButton(
-            icon: const Icon(Icons.remove),
-            onPressed: () async {
-              onValueChanged(value - (max == 1 ? 0.1 : 1.0));
-              onValueChangedEnd(value);
-            },
+          Row(
+            children: [
+              SizedBox(
+                width: 55,
+                child: Text(
+                  label,
+                  style: Theme.of(context).textTheme.titleMedium,
+                ),
+              ),
+              SizedBox(
+                width: 70,
+                child: TextField(
+                  controller: controller,
+                  textAlign: TextAlign.center,
+                  keyboardType: const TextInputType.numberWithOptions(decimal: true, signed: true),
+                  inputFormatters: [
+                    FilteringTextInputFormatter.allow(RegExp(r'^-?\d+\.?\d{0,1}')),
+                  ],
+                  onSubmitted: (newValue) {
+                    final parsedValue = double.tryParse(newValue) ?? value;
+                    onValueChanged(parsedValue);
+                    onValueChangedEnd(parsedValue);
+                  },
+                ),
+              ),
+              Spacer(),
+              IconButton(
+                icon: const Icon(Icons.remove),
+                onPressed: () async {
+                  onValueChanged(value - (max == 1 ? 0.1 : 1.0));
+                  onValueChangedEnd(value);
+                },
+              ),
+              IconButton(
+                icon: const Icon(Icons.add),
+                onPressed: () async {
+                  onValueChanged(value + (max == 1 ? 0.1 : 1.0));
+                  onValueChangedEnd(value);
+                },
+              ),
+            ],
           ),
-          IconButton(
-            icon: const Icon(Icons.add),
-            onPressed: () async {
-              onValueChanged(value + (max == 1 ? 0.1 : 1.0));
-              onValueChangedEnd(value);
-            },
+          Row(
+            children: [
+              SizedBox(width: 35),
+              Expanded(
+                child: Slider(
+                  value: value,
+                  min: min,
+                  max: max,
+                  label: value.toStringAsFixed(1),
+                  onChanged: onValueChanged,
+                  onChangeEnd: onValueChangedEnd,
+                ),
+              ),
+            ],
           ),
         ],
       ),