diff --git a/TCPServer.cpp b/TCPServer.cpp
index 22353c7..acd9281 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -1220,7 +1220,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
 
     this->broadcastMessage(toSend);
 
-    double xPrime = arucoTag.pos().first[0] + 20;
+    double xPrime = arucoTag.pos().first[0];
     double yPrime = arucoTag.pos().first[1] + decalage;
 
     double thetaPrime = std::atan2(yPrime, xPrime);