diff --git a/TCPServer.cpp b/TCPServer.cpp
index f5c9540..4a57242 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -1610,6 +1610,10 @@ void TCPServer::getLidarPos() {
 
     this->broadcastMessage("strat;arduino;clear;1\n");
 
+    usleep(1'000'000);
+
+    this->setPosition(this->robotPose, this->lidarSocket);
+
     this->askLidarPosition();
 
     awaitForLidar = true;
diff --git a/TCPServer.h b/TCPServer.h
index 3b83457..aad2b57 100644
--- a/TCPServer.h
+++ b/TCPServer.h
@@ -126,12 +126,11 @@ private:
 
         TAKE_3_PLANT_BOTTOM_1,
         DROP_FLOWER_BASE_2,
-        GET_LIDAR_POS,
 
         TAKE_3_PLANT_BOTTOM_2,
+        GET_LIDAR_POS,
         REMOVE_POT_J2,
         DROP_FLOWER_J2,
-        GET_LIDAR_POS,
 
         /*DROP_PURPLE_FLOWER,
         DROP_WHITE_FLOWER_J1,*/
@@ -141,6 +140,7 @@ private:
         TAKE_FLOWER_TOP,*/
 
         TAKE_3_PLANT_TOP_1,
+        GET_LIDAR_POS,
         DROP_FLOWER_J1,
 
         /*DROP_PURPLE_FLOWER,