diff --git a/aruco/ArucoDetector.cpp b/aruco/ArucoDetector.cpp
index 2bb0087..8e873d8 100644
--- a/aruco/ArucoDetector.cpp
+++ b/aruco/ArucoDetector.cpp
@@ -21,9 +21,9 @@ ArucoDetector::ArucoDetector(Type::RobotPose* pose, const std::string& calibrati
 
 
     this->transformationMatrix = (cv::Mat_<double>(4, 4) <<
-        cos(pose->theta), 0, sin(pose->theta), pose->position.x,
+        cos(pose->theta), 0, sin(pose->theta), pose->position.z,
         0, 1, 0, pose->position.y,
-        -sin(pose->theta), 0, cos(pose->theta), pose->position.z,
+        -sin(pose->theta), 0, cos(pose->theta), pose->position.x,
         0, 0, 0, 1
     );
     this->readCameraParameters(calibrationPath);
@@ -236,9 +236,9 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
 
 void ArucoDetector::updateTransformationMatrix() {
     this->transformationMatrix = (cv::Mat_<double>(4, 4) <<
-        cos(robotPose->theta), 0, sin(robotPose->theta), robotPose->position.x,
+        cos(robotPose->theta), 0, sin(robotPose->theta), robotPose->position.y,
         0, 1, 0, robotPose->position.y,
-        -sin(robotPose->theta), 0, cos(robotPose->theta), robotPose->position.z,
+        -sin(robotPose->theta), 0, cos(robotPose->theta), robotPose->position.x,
         0, 0, 0, 1
     );
 }
diff --git a/tcp/MyClient.cpp b/tcp/MyClient.cpp
index b7bb961..126c96d 100644
--- a/tcp/MyClient.cpp
+++ b/tcp/MyClient.cpp
@@ -46,9 +46,9 @@ void MyClient::handleMessage(const std::string& message)
             std::vector<std::string> tokens = TCPSocket::split(messageSplited[3], ",");
 
             robotPose->position.x = std::stof(tokens[0]);
-            robotPose->position.y = std::stof(tokens[1]);
-            robotPose->position.z = std::stof(tokens[2]);
-            robotPose->theta = std::stof(tokens[3]);
+            // robotPose->position.y = std::stof(tokens[1]);
+            robotPose->position.z = std::stof(tokens[1]);
+            robotPose->theta = std::stof(tokens[2]);
         }
     }
 }