diff --git a/src/modelec_com/src/pcb_action_interface.cpp b/src/modelec_com/src/pcb_action_interface.cpp
index 320c24b..00054b0 100644
--- a/src/modelec_com/src/pcb_action_interface.cpp
+++ b/src/modelec_com/src/pcb_action_interface.cpp
@@ -265,10 +265,9 @@ namespace Modelec
         servo_value_ = {
             {0, 0},
             {1, 3},
-            {2, 3},
-            {3, 0},
-            {4, 1.57},
-            {5, 1.4},
+            {2, 1.45},
+            {3, 1.6},
+            {4, 0},
         };
 
         std::string data = "MOV;SERVO;" + std::to_string(servo_value_.size()) + ";";
diff --git a/src/modelec_core/launch/modelec.launch.py b/src/modelec_core/launch/modelec.launch.py
index 95e1041..8b725c4 100644
--- a/src/modelec_core/launch/modelec.launch.py
+++ b/src/modelec_core/launch/modelec.launch.py
@@ -150,3 +150,5 @@ def generate_launch_description():
         OpaqueFunction(function=launch_com),
         OpaqueFunction(function=launch_strat),
     ])
+
+# to run in debug : , prefix=['xterm -e gdb -ex run --args']
\ No newline at end of file
diff --git a/src/modelec_gui/CMakeLists.txt b/src/modelec_gui/CMakeLists.txt
index 967dd92..1128147 100644
--- a/src/modelec_gui/CMakeLists.txt
+++ b/src/modelec_gui/CMakeLists.txt
@@ -37,8 +37,7 @@ add_executable(modelec_gui
         src/pages/home_page.cpp
         src/pages/test_map_page.cpp
         src/pages/map_page.cpp
-        # src/pages/action_page.cpp
-        src/pages/action_page.new.cpp
+        src/pages/action_page.cpp
         src/pages/alim_page.cpp
         src/widget/action_widget.cpp
 
@@ -47,8 +46,7 @@ add_executable(modelec_gui
         include/modelec_gui/pages/home_page.hpp
         include/modelec_gui/pages/test_map_page.hpp
         include/modelec_gui/pages/map_page.hpp
-        # include/modelec_gui/pages/action_page.hpp
-        include/modelec_gui/pages/action_page.new.hpp
+        include/modelec_gui/pages/action_page.hpp
         include/modelec_gui/pages/alim_page.hpp
         include/modelec_gui/widget/action_widget.hpp
 )
diff --git a/src/modelec_gui/include/modelec_gui/modelec_gui.hpp b/src/modelec_gui/include/modelec_gui/modelec_gui.hpp
index e9b721e..3336b87 100644
--- a/src/modelec_gui/include/modelec_gui/modelec_gui.hpp
+++ b/src/modelec_gui/include/modelec_gui/modelec_gui.hpp
@@ -8,7 +8,7 @@
 #include <modelec_gui/pages/test_map_page.hpp>
 #include <modelec_gui/pages/odo_page.hpp>
 #include <modelec_gui/pages/map_page.hpp>
-#include <modelec_gui/pages/action_page.new.hpp>
+#include <modelec_gui/pages/action_page.hpp>
 #include <modelec_gui/pages/alim_page.hpp>
 
 
diff --git a/src/modelec_gui/include/modelec_gui/pages/action_page.hpp b/src/modelec_gui/include/modelec_gui/pages/action_page.hpp
index 8e3452e..1d8361f 100644
--- a/src/modelec_gui/include/modelec_gui/pages/action_page.hpp
+++ b/src/modelec_gui/include/modelec_gui/pages/action_page.hpp
@@ -1,10 +1,12 @@
 #pragma once
 
+#include <QLabel>
 #include <QWidget>
 #include <QPushButton>
 #include <QLineEdit>
 #include <QVBoxLayout>
 #include <QSpinBox>
+#include <QLabel>
 
 #include <modelec_gui/widget/action_widget.hpp>
 
@@ -12,6 +14,7 @@
 
 #include <modelec_interfaces/msg/action_asc_pos.hpp>
 #include <modelec_interfaces/msg/action_servo_pos_array.hpp>
+#include <modelec_interfaces/msg/action_servo_timed_array.hpp>
 #include <modelec_interfaces/msg/action_relay_state_array.hpp>
 #include <modelec_interfaces/msg/action_exec.hpp>
 
@@ -26,6 +29,7 @@ namespace ModelecGUI
         using ActionAscPos = modelec_interfaces::msg::ActionAscPos;
         using ActionServoPosArray = modelec_interfaces::msg::ActionServoPosArray;
         using ActionRelayStateArray = modelec_interfaces::msg::ActionRelayStateArray;
+        using ActionServoTimedArray = modelec_interfaces::msg::ActionServoTimedArray;
         using ActionExec = modelec_interfaces::msg::ActionExec;
 
         ActionPage(rclcpp::Node::SharedPtr node, QWidget* parent = nullptr);
@@ -34,56 +38,65 @@ namespace ModelecGUI
         rclcpp::Node::SharedPtr get_node() const { return node_; }
 
     private:
-        QPushButton* max_size_button_;
 
-        QVBoxLayout* layout_;
-        QHBoxLayout* asc_layout_;
+        QVBoxLayout* main_layout_;
+        QPushButton* deploy_max_button_;
 
-        ActionWidget* asc_action_;
-        bool waiting_for_move_asc_;
+        // ---- Action1 front ----
+        QHBoxLayout* deploy_action1_layout_;
+        QVBoxLayout* deploy_action1_front_layout_;
+        QLabel* deploy_action1_front_label_;
+        QPushButton* deploy_action1_front_up_button_;
 
-        QGridLayout* servo_layout_;
+        QHBoxLayout* deploy_action1_front_servos_layout_;
 
-        ActionWidget* servo0_action_;
-        ActionWidget* servo1_action_;
-        ActionWidget* servo2_action_;
-        ActionWidget* servo3_action_;
-        ActionWidget* servo4_action_;
-        ActionWidget* servo5_action_;
-        ActionWidget* servo6_action_;
-        ActionWidget* servo7_action_;
-        ActionWidget* servo8_action_;
-        std::vector<ActionWidget*> servo_actions_;
+        QPushButton* deploy_action1_front_servo1_button_,
+            *deploy_action1_front_servo2_button_,
+            *deploy_action1_front_servo3_button_,
+            *deploy_action1_front_servo4_button_;
 
-        QPushButton* test_button_;
-        bool test_ = false;
+        bool deploy_action1_front_servo1_state_,
+            deploy_action1_front_servo2_state_,
+            deploy_action1_front_servo3_state_,
+            deploy_action1_front_servo4_state_;
 
-        QHBoxLayout* relay_layout_;
+        QPushButton* deploy_action1_front_down_button_;
 
-        QPushButton* relay_top_button_;
-        QPushButton* relay_bottom_button_;
-        QPushButton* relay_third_button_;
-        std::vector<QPushButton*> relay_buttons_;
-        std::vector<bool> relay_values_;
+        // ---- Action1 back ----
+        QVBoxLayout* deploy_action1_back_layout_;
+        QLabel* deploy_action1_back_label_;
+        QPushButton* deploy_action1_back_up_button_;
 
-        QPushButton* deploy_banner_button_;
+        QHBoxLayout* deploy_action1_back_servos_layout_;
+        QPushButton* deploy_action1_back_servo1_button_,
+            *deploy_action1_back_servo2_button_,
+            *deploy_action1_back_servo3_button_,
+            *deploy_action1_back_servo4_button_;
 
+        bool deploy_action1_back_servo1_state_,
+            deploy_action1_back_servo2_state_,
+            deploy_action1_back_servo3_state_,
+            deploy_action1_back_servo4_state_;
+
+        QPushButton* deploy_action1_back_down_button_;
+
+        // ---- Action2 ----
+        QVBoxLayout* deploy_action2_layout_;
+        QLabel* deploy_action2_label_;
+        QPushButton* deploy_action2_button_;
+        QPushButton* undeploy_action2_button_;
+
+        // ---- Ros ----
         rclcpp::Node::SharedPtr node_;
 
         rclcpp::Publisher<ActionExec>::SharedPtr action_exec_pub_;
 
-        rclcpp::Subscription<ActionAscPos>::SharedPtr asc_get_sub_;
-        rclcpp::Publisher<ActionAscPos>::SharedPtr asc_set_pub_;
-        rclcpp::Subscription<ActionAscPos>::SharedPtr asc_set_res_sub_;
-        rclcpp::Publisher<ActionAscPos>::SharedPtr asc_move_pub_;
-        rclcpp::Subscription<ActionAscPos>::SharedPtr asc_move_res_sub_;
-
         rclcpp::Subscription<ActionServoPosArray>::SharedPtr servo_get_sub_;
         rclcpp::Publisher<ActionServoPosArray>::SharedPtr servo_move_pub_;
         rclcpp::Subscription<ActionServoPosArray>::SharedPtr servo_move_res_sub_;
 
-        rclcpp::Subscription<ActionRelayStateArray>::SharedPtr relay_get_sub_;
-        rclcpp::Publisher<ActionRelayStateArray>::SharedPtr relay_move_pub_;
-        rclcpp::Subscription<ActionRelayStateArray>::SharedPtr relay_move_res_sub_;
+        rclcpp::Publisher<ActionServoTimedArray>::SharedPtr servo_timed_move_pub_;
+        rclcpp::Subscription<ActionServoTimedArray>::SharedPtr servo_timed_move_res_sub_;
+
     };
 } // namespace Modelec
diff --git a/src/modelec_gui/include/modelec_gui/pages/action_page.new.hpp b/src/modelec_gui/include/modelec_gui/pages/action_page.new.hpp
deleted file mode 100644
index 1d8361f..0000000
--- a/src/modelec_gui/include/modelec_gui/pages/action_page.new.hpp
+++ /dev/null
@@ -1,102 +0,0 @@
-#pragma once
-
-#include <QLabel>
-#include <QWidget>
-#include <QPushButton>
-#include <QLineEdit>
-#include <QVBoxLayout>
-#include <QSpinBox>
-#include <QLabel>
-
-#include <modelec_gui/widget/action_widget.hpp>
-
-#include <rclcpp/rclcpp.hpp>
-
-#include <modelec_interfaces/msg/action_asc_pos.hpp>
-#include <modelec_interfaces/msg/action_servo_pos_array.hpp>
-#include <modelec_interfaces/msg/action_servo_timed_array.hpp>
-#include <modelec_interfaces/msg/action_relay_state_array.hpp>
-#include <modelec_interfaces/msg/action_exec.hpp>
-
-namespace ModelecGUI
-{
-    class ActionPage : public QWidget
-    {
-        Q_OBJECT
-
-    public:
-
-        using ActionAscPos = modelec_interfaces::msg::ActionAscPos;
-        using ActionServoPosArray = modelec_interfaces::msg::ActionServoPosArray;
-        using ActionRelayStateArray = modelec_interfaces::msg::ActionRelayStateArray;
-        using ActionServoTimedArray = modelec_interfaces::msg::ActionServoTimedArray;
-        using ActionExec = modelec_interfaces::msg::ActionExec;
-
-        ActionPage(rclcpp::Node::SharedPtr node, QWidget* parent = nullptr);
-        ~ActionPage() override;
-
-        rclcpp::Node::SharedPtr get_node() const { return node_; }
-
-    private:
-
-        QVBoxLayout* main_layout_;
-        QPushButton* deploy_max_button_;
-
-        // ---- Action1 front ----
-        QHBoxLayout* deploy_action1_layout_;
-        QVBoxLayout* deploy_action1_front_layout_;
-        QLabel* deploy_action1_front_label_;
-        QPushButton* deploy_action1_front_up_button_;
-
-        QHBoxLayout* deploy_action1_front_servos_layout_;
-
-        QPushButton* deploy_action1_front_servo1_button_,
-            *deploy_action1_front_servo2_button_,
-            *deploy_action1_front_servo3_button_,
-            *deploy_action1_front_servo4_button_;
-
-        bool deploy_action1_front_servo1_state_,
-            deploy_action1_front_servo2_state_,
-            deploy_action1_front_servo3_state_,
-            deploy_action1_front_servo4_state_;
-
-        QPushButton* deploy_action1_front_down_button_;
-
-        // ---- Action1 back ----
-        QVBoxLayout* deploy_action1_back_layout_;
-        QLabel* deploy_action1_back_label_;
-        QPushButton* deploy_action1_back_up_button_;
-
-        QHBoxLayout* deploy_action1_back_servos_layout_;
-        QPushButton* deploy_action1_back_servo1_button_,
-            *deploy_action1_back_servo2_button_,
-            *deploy_action1_back_servo3_button_,
-            *deploy_action1_back_servo4_button_;
-
-        bool deploy_action1_back_servo1_state_,
-            deploy_action1_back_servo2_state_,
-            deploy_action1_back_servo3_state_,
-            deploy_action1_back_servo4_state_;
-
-        QPushButton* deploy_action1_back_down_button_;
-
-        // ---- Action2 ----
-        QVBoxLayout* deploy_action2_layout_;
-        QLabel* deploy_action2_label_;
-        QPushButton* deploy_action2_button_;
-        QPushButton* undeploy_action2_button_;
-
-        // ---- Ros ----
-        rclcpp::Node::SharedPtr node_;
-
-        rclcpp::Publisher<ActionExec>::SharedPtr action_exec_pub_;
-
-        rclcpp::Subscription<ActionServoPosArray>::SharedPtr servo_get_sub_;
-        rclcpp::Publisher<ActionServoPosArray>::SharedPtr servo_move_pub_;
-        rclcpp::Subscription<ActionServoPosArray>::SharedPtr servo_move_res_sub_;
-
-        rclcpp::Publisher<ActionServoTimedArray>::SharedPtr servo_timed_move_pub_;
-        rclcpp::Subscription<ActionServoTimedArray>::SharedPtr servo_timed_move_res_sub_;
-
-    };
-} // namespace Modelec
diff --git a/src/modelec_gui/src/modelec_gui.cpp b/src/modelec_gui/src/modelec_gui.cpp
index 35c5293..a34e384 100644
--- a/src/modelec_gui/src/modelec_gui.cpp
+++ b/src/modelec_gui/src/modelec_gui.cpp
@@ -14,7 +14,7 @@ namespace ModelecGUI {
         this->showFullScreen();
 
         home_page_ = new HomePage(get_node(), this);
-        //odo_page_ = new OdoPage(get_node(), this);
+        // odo_page_ = new OdoPage(get_node(), this);
         test_map_page_ = new TestMapPage(get_node(), this);
         map_page_ = new MapPage(get_node(), this);
         action_page_ = new ActionPage(get_node(), this);
diff --git a/src/modelec_gui/src/pages/action_page.cpp b/src/modelec_gui/src/pages/action_page.cpp
index 9afe327..b420e2c 100644
--- a/src/modelec_gui/src/pages/action_page.cpp
+++ b/src/modelec_gui/src/pages/action_page.cpp
@@ -6,294 +6,257 @@ namespace ModelecGUI
         QWidget(parent),
         node_(node)
     {
-        layout_ = new QVBoxLayout(this);
-        setLayout(layout_);
-        setWindowTitle("Action Page");
-
-        max_size_button_ = new QPushButton("Deploy Max Size");
-
-        connect(max_size_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                ActionExec action_exec;
-                // action_exec.action = ActionExec::DEPLOY_MAX;
-                // action_exec.mission = {ActionExec::DEPLOY_MAX_STEP};
-                action_exec_pub_->publish(action_exec);
-            });
-
-        asc_layout_ = new QHBoxLayout;
-
-        asc_action_ = new ActionWidget(this);
-        asc_action_->SetSpinBoxRange(0, 1000);
-        asc_action_->SetSpinBoxStep(1);
-        asc_action_->SetSpinBoxValue(0);
-        asc_action_->SetButtonText("Send ASC");
-
-        waiting_for_move_asc_ = false;
-
-        connect(asc_action_, &ActionWidget::ButtonClicked, this,
-            [this](double value)
-            {
-                ActionAscPos asc_move;
-                asc_move.value = value;
-                asc_move.pos = 128;
-                asc_set_pub_->publish(asc_move);
-                asc_action_->setDisabled(true);
-
-                waiting_for_move_asc_ = true;
-            });
-
-        asc_layout_->addWidget(asc_action_);
-
-        servo_layout_ = new QGridLayout;
-
-        servo0_action_ = new ActionWidget(this);
-        servo0_action_->SetSpinBoxRange(0, 180);
-        servo0_action_->SetSpinBoxStep(.1);
-        servo0_action_->SetSpinBoxValue(90);
-        servo0_action_->SetButtonText("Servo 0");
-
-        servo1_action_ = new ActionWidget(this);
-        servo1_action_->SetSpinBoxRange(0, 180);
-        servo1_action_->SetSpinBoxStep(.1);
-        servo1_action_->SetSpinBoxValue(90);
-        servo1_action_->SetButtonText("Servo 1");
-
-        servo2_action_ = new ActionWidget(this);
-        servo2_action_->SetSpinBoxRange(0, 180);
-        servo2_action_->SetSpinBoxStep(.1);
-        servo2_action_->SetSpinBoxValue(90);
-        servo2_action_->SetButtonText("Servo 2");
-
-        servo3_action_ = new ActionWidget(this);
-        servo3_action_->SetSpinBoxRange(0, 180);
-        servo3_action_->SetSpinBoxStep(.1);
-        servo3_action_->SetSpinBoxValue(90);
-        servo3_action_->SetButtonText("Servo 3");
-
-        servo4_action_ = new ActionWidget(this);
-        servo4_action_->SetSpinBoxRange(0, 180);
-        servo4_action_->SetSpinBoxStep(.1);
-        servo4_action_->SetSpinBoxValue(90);
-        servo4_action_->SetButtonText("Servo 4");
-
-        servo5_action_ = new ActionWidget(this);
-        servo5_action_->SetSpinBoxRange(0, 180);
-        servo5_action_->SetSpinBoxStep(.1);
-        servo5_action_->SetSpinBoxValue(90);
-        servo5_action_->SetButtonText("Servo 5");
-
-        servo6_action_ = new ActionWidget(this);
-        servo6_action_->SetSpinBoxRange(0, 180);
-        servo6_action_->SetSpinBoxStep(.1);
-        servo6_action_->SetSpinBoxValue(90);
-        servo6_action_->SetButtonText("Servo 6");
-
-        servo7_action_ = new ActionWidget(this);
-        servo7_action_->SetSpinBoxRange(0, 180);
-        servo7_action_->SetSpinBoxStep(.1);
-        servo7_action_->SetSpinBoxValue(90);
-        servo7_action_->SetButtonText("Servo 7");
-
-        servo8_action_ = new ActionWidget(this);
-        servo8_action_->SetSpinBoxRange(0, 180);
-        servo8_action_->SetSpinBoxStep(.1);
-        servo8_action_->SetSpinBoxValue(90);
-        servo8_action_->SetButtonText("Servo 8");
-
-        servo_layout_->addWidget(servo0_action_, 0, 0);
-        servo_layout_->addWidget(servo1_action_, 0, 1);
-        servo_layout_->addWidget(servo2_action_, 0, 2);
-        servo_layout_->addWidget(servo3_action_, 1, 0);
-        servo_layout_->addWidget(servo4_action_, 1, 1);
-        servo_layout_->addWidget(servo5_action_, 1, 2);
-        servo_layout_->addWidget(servo6_action_, 2, 0);
-        servo_layout_->addWidget(servo7_action_, 2, 1);
-        servo_layout_->addWidget(servo8_action_, 2, 2);
-
-        servo_actions_.push_back(servo0_action_);
-        servo_actions_.push_back(servo1_action_);
-        servo_actions_.push_back(servo2_action_);
-        servo_actions_.push_back(servo3_action_);
-        servo_actions_.push_back(servo4_action_);
-        servo_actions_.push_back(servo5_action_);
-        servo_actions_.push_back(servo6_action_);
-        servo_actions_.push_back(servo7_action_);
-        servo_actions_.push_back(servo8_action_);
-
-        for (size_t i = 0; i < servo_actions_.size(); ++i)
-        {
-            connect(servo_actions_[i], &ActionWidget::ButtonClicked, this,
-                [this, i](double value)
-                {
-                    ActionServoPosArray servo_move;
-                    servo_move.items.resize(1);
-
-                    servo_move.items[0].id = i;
-                    servo_move.items[0].angle = value * M_PI / 180.0;
-                    servo_move_pub_->publish(servo_move);
-                    servo_actions_[i]->setDisabled(true);
-                });
-        }
-
-        test_button_ = new QPushButton("Test POC Servos");
-        connect(test_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                test_ = !test_;
-
-                ActionServoPosArray servo_move;
-                servo_move.items.resize(2);
-
-                servo_move.items[0].id = 1;
-                servo_move.items[0].angle = test_ ? M_PI_2 : 0;
-                servo_actions_[1]->setDisabled(true);
-
-                servo_move.items[1].id = 2;
-                servo_move.items[1].angle = test_ ? 0 : M_PI_2;
-                servo_actions_[2]->setDisabled(true);
-
-                servo_move_pub_->publish(servo_move);
-            });
-
-        relay_layout_ = new QHBoxLayout;
-
-        relay_top_button_ = new QPushButton(this);
-        relay_top_button_->setText("Toggle Relay Top");
-
-        relay_bottom_button_ = new QPushButton(this);
-        relay_bottom_button_->setText("Toggle Relay Bottom");
-
-        relay_third_button_ = new QPushButton(this);
-        relay_third_button_->setText("Toggle Third Relay");
-
-        relay_layout_->addWidget(relay_top_button_);
-        relay_layout_->addWidget(relay_bottom_button_);
-        relay_layout_->addWidget(relay_third_button_);
-
-        relay_buttons_.push_back(relay_top_button_);
-        relay_buttons_.push_back(relay_bottom_button_);
-        relay_buttons_.push_back(relay_third_button_);
-        relay_values_ = {false, false, false};
-
-        for (size_t i = 0; i < relay_buttons_.size(); ++i)
-        {
-            connect(relay_buttons_[i], &QPushButton::clicked, this,
-                [this, i]()
-                {
-                    ActionRelayStateArray relay_state;
-                    relay_state.items.resize(1);
-                    relay_state.items[0].id = i;
-                    relay_state.items[0].state = !relay_values_[i];
-                    relay_move_pub_->publish(relay_state);
-                    relay_buttons_[i]->setDisabled(true);
-                });
-        }
-
-        deploy_banner_button_ = new QPushButton("Deploy Banner");
-        connect(deploy_banner_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                ActionExec action_exec;
-                action_exec.action = ActionExec::DOWN;
-                action_exec.mission = {ActionExec::DOWN_STEP};
-                action_exec_pub_->publish(action_exec);
-            });
-
-        layout_->addWidget(max_size_button_);
-        layout_->addLayout(asc_layout_);
-        layout_->addLayout(servo_layout_);
-        layout_->addWidget(test_button_);
-        layout_->addLayout(relay_layout_);
-        layout_->addWidget(deploy_banner_button_);
-
         action_exec_pub_ = node_->create_publisher<ActionExec>(
             "action/exec", 10);
 
-        asc_get_sub_ = node_->create_subscription<ActionAscPos>(
-            "action/get/asc", 10, [this](const ActionAscPos::SharedPtr msg)
-            {
-                asc_action_->SetSpinBoxValue(msg->value);
-            });
-
-        asc_set_pub_ = node_->create_publisher<ActionAscPos>(
-            "action/set/asc", 10);
-
-        asc_set_res_sub_ = node_->create_subscription<ActionAscPos>(
-            "action/set/asc/res", 10, [this](const ActionAscPos::SharedPtr msg)
-            {
-                if (waiting_for_move_asc_)
-                {
-                    ActionAscPos asc_move;
-                    asc_move.pos = msg->pos;
-                    asc_move_pub_->publish(asc_move);
-                    waiting_for_move_asc_ = false;
-                }
-            });
-
-        asc_move_pub_ = node_->create_publisher<ActionAscPos>(
-            "action/move/asc", 10);
-
-        asc_move_res_sub_ = node_->create_subscription<ActionAscPos>(
-            "action/move/asc/res", 10, [this](const ActionAscPos::SharedPtr)
-            {
-                asc_action_->setDisabled(false);
-            });
-
         servo_get_sub_ = node_->create_subscription<ActionServoPosArray>(
-            "action/get/servo", 10, [this](const ActionServoPosArray::SharedPtr msg)
+            "action/get/servo", 10, [this](const ActionServoPosArray::SharedPtr)
             {
-                for (const auto& item : msg->items)
-                {
-                    if (static_cast<int>(servo_actions_.size()) > item.id && servo_actions_[item.id] != nullptr)
-                    {
-                        servo_actions_[item.id]->SetSpinBoxValue(item.angle * 180.0 / M_PI);
-                    }
-                }
             });
 
         servo_move_pub_ = node_->create_publisher<ActionServoPosArray>(
             "action/move/servo", 10);
 
         servo_move_res_sub_ = node_->create_subscription<ActionServoPosArray>(
-            "action/move/servo/res", 10, [this](const ActionServoPosArray::SharedPtr msg)
+            "action/move/servo/res", 10, [this](const ActionServoPosArray::SharedPtr)
             {
-                for (const auto& item : msg->items)
-                {
-                    if (static_cast<int>(servo_actions_.size()) > item.id && servo_actions_[item.id] != nullptr)
-                    {
-                        servo_actions_[item.id]->setDisabled(false);
-                    }
-                }
             });
 
-        relay_get_sub_ = node_->create_subscription<ActionRelayStateArray>(
-            "action/get/relay", 10, [this](const ActionRelayStateArray::SharedPtr msg)
+        servo_timed_move_pub_ = node_->create_publisher<ActionServoTimedArray>(
+            "action/move/servo/timed", 10);
+
+        servo_timed_move_res_sub_ = node_->create_subscription<ActionServoTimedArray>(
+            "action/move/servo/timed/res", 10, [this](const ActionServoTimedArray::SharedPtr)
             {
-                for (const auto& item : msg->items)
-                {
-                    if (static_cast<int>(relay_buttons_.size()) > item.id && relay_buttons_[item.id] != nullptr)
-                    {
-                        relay_values_[item.id] = item.state;
-                    }
-                }
             });
 
-        relay_move_pub_ = node_->create_publisher<ActionRelayStateArray>(
-            "action/move/relay", 10);
+        main_layout_ = new QVBoxLayout(this);
+        setLayout(main_layout_);
+        setWindowTitle("Action Page");
 
-        relay_move_res_sub_ = node_->create_subscription<ActionRelayStateArray>(
-            "action/move/relay/res", 10, [this](const ActionRelayStateArray::SharedPtr msg)
+        deploy_max_button_ = new QPushButton("Deploy Max Size");
+        connect(deploy_max_button_, &QPushButton::clicked, this,
+            [this]()
             {
-                for (const auto& item : msg->items)
-                {
-                    if (static_cast<int>(relay_buttons_.size()) > item.id && relay_buttons_[item.id] != nullptr)
-                    {
-                        relay_buttons_[item.id]->setDisabled(false);
-                        relay_values_[item.id] = item.state;
-                    }
-                }
+                ActionExec action_exec;
+                action_exec.action = ActionExec::MAX_DEPLOY;
+                action_exec_pub_->publish(action_exec);
             });
+
+        deploy_action1_layout_ = new QHBoxLayout;
+        deploy_action1_front_layout_ = new QVBoxLayout;
+        deploy_action1_front_label_ = new QLabel("Front Action 1");
+
+        deploy_action1_front_up_button_ = new QPushButton("Up");
+        deploy_action1_front_down_button_ = new QPushButton("Down");
+
+        connect(deploy_action1_front_up_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                ActionExec action_exec;
+                action_exec.action = ActionExec::UP + ActionExec::DELIMITER + "1";
+                action_exec_pub_->publish(action_exec);
+            });
+
+        connect(deploy_action1_front_down_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                ActionExec action_exec;
+                action_exec.action = ActionExec::DOWN + ActionExec::DELIMITER + "1";
+                action_exec_pub_->publish(action_exec);
+            });
+
+        deploy_action1_front_servos_layout_ = new QHBoxLayout;
+
+        deploy_action1_front_servo1_button_ = new QPushButton("Servo 1");
+        deploy_action1_front_servo2_button_ = new QPushButton("Servo 2");
+        deploy_action1_front_servo3_button_ = new QPushButton("Servo 3");
+        deploy_action1_front_servo4_button_ = new QPushButton("Servo 4");
+
+        connect(deploy_action1_front_servo1_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                deploy_action1_front_servo1_state_ = !deploy_action1_front_servo1_state_;
+
+                ActionExec action_exec;
+
+                action_exec.action = (deploy_action1_front_servo1_state_
+                    ? ActionExec::TAKE : ActionExec::FREE) + ActionExec::DELIMITER + "1" + ActionExec::DELIMITER + "1";
+
+                action_exec_pub_->publish(action_exec);
+            });
+
+        connect(deploy_action1_front_servo2_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                deploy_action1_front_servo2_state_ = !deploy_action1_front_servo2_state_;
+
+                ActionExec action_exec;
+
+                action_exec.action = (deploy_action1_front_servo2_state_
+                    ? ActionExec::TAKE : ActionExec::FREE) + ActionExec::DELIMITER + "1" + ActionExec::DELIMITER + "2";
+
+                action_exec_pub_->publish(action_exec);
+            });
+
+        connect(deploy_action1_front_servo3_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                deploy_action1_front_servo3_state_ = !deploy_action1_front_servo3_state_;
+
+                ActionExec action_exec;
+
+                action_exec.action = (deploy_action1_front_servo3_state_
+                    ? ActionExec::TAKE : ActionExec::FREE) + ActionExec::DELIMITER + "1" + ActionExec::DELIMITER + "3";
+
+                action_exec_pub_->publish(action_exec);
+            });
+
+        connect(deploy_action1_front_servo4_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                deploy_action1_front_servo4_state_ = !deploy_action1_front_servo4_state_;
+
+                ActionExec action_exec;
+
+                action_exec.action = (deploy_action1_front_servo4_state_
+                    ? ActionExec::TAKE : ActionExec::FREE) + ActionExec::DELIMITER + "1" + ActionExec::DELIMITER + "4";
+
+                action_exec_pub_->publish(action_exec);
+            });
+
+        deploy_action1_front_servos_layout_->addWidget(deploy_action1_front_servo1_button_);
+        deploy_action1_front_servos_layout_->addWidget(deploy_action1_front_servo2_button_);
+        deploy_action1_front_servos_layout_->addWidget(deploy_action1_front_servo3_button_);
+        deploy_action1_front_servos_layout_->addWidget(deploy_action1_front_servo4_button_);
+
+        deploy_action1_front_layout_->addWidget(deploy_action1_front_label_);
+        deploy_action1_front_layout_->addWidget(deploy_action1_front_up_button_);
+        deploy_action1_front_layout_->addLayout(deploy_action1_front_servos_layout_);
+        deploy_action1_front_layout_->addWidget(deploy_action1_front_down_button_);
+
+        deploy_action1_back_layout_ = new QVBoxLayout;
+        deploy_action1_back_label_ = new QLabel("Back Action 1");
+
+        deploy_action1_back_up_button_ = new QPushButton("Up");
+        deploy_action1_back_down_button_ = new QPushButton("Down");
+
+        connect(deploy_action1_back_up_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                ActionExec action_exec;
+                action_exec.action = ActionExec::UP + ActionExec::DELIMITER + "0";
+                action_exec_pub_->publish(action_exec);
+            });
+
+        connect(deploy_action1_back_down_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                ActionExec action_exec;
+                action_exec.action = ActionExec::DOWN + ActionExec::DELIMITER + "0";
+                action_exec_pub_->publish(action_exec);
+            });
+
+        deploy_action1_back_servos_layout_ = new QHBoxLayout;
+
+        deploy_action1_back_servo1_button_ = new QPushButton("Servo 1");
+        deploy_action1_back_servo2_button_ = new QPushButton("Servo 2");
+        deploy_action1_back_servo3_button_ = new QPushButton("Servo 3");
+        deploy_action1_back_servo4_button_ = new QPushButton("Servo 4");
+
+        connect(deploy_action1_back_servo1_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                deploy_action1_back_servo1_state_ = !deploy_action1_back_servo1_state_;
+
+                ActionExec action_exec;
+
+                action_exec.action = (deploy_action1_back_servo1_state_
+                    ? ActionExec::TAKE : ActionExec::FREE) + ActionExec::DELIMITER + "0" + ActionExec::DELIMITER + "1";
+
+                action_exec_pub_->publish(action_exec);
+            });
+
+        connect(deploy_action1_back_servo2_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                deploy_action1_back_servo2_state_ = !deploy_action1_back_servo2_state_;
+
+                ActionExec action_exec;
+
+                action_exec.action = (deploy_action1_back_servo2_state_
+                    ? ActionExec::TAKE : ActionExec::FREE) + ActionExec::DELIMITER + "0" + ActionExec::DELIMITER + "2";
+
+                action_exec_pub_->publish(action_exec);
+            });
+
+        connect(deploy_action1_back_servo3_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                deploy_action1_back_servo3_state_ = !deploy_action1_back_servo3_state_;
+
+                ActionExec action_exec;
+
+                action_exec.action = (deploy_action1_back_servo3_state_
+                    ? ActionExec::TAKE : ActionExec::FREE) + ActionExec::DELIMITER + "0" + ActionExec::DELIMITER + "3";
+
+                action_exec_pub_->publish(action_exec);
+            });
+
+        connect(deploy_action1_back_servo4_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                deploy_action1_back_servo4_state_ = !deploy_action1_back_servo4_state_;
+
+                ActionExec action_exec;
+
+                action_exec.action = (deploy_action1_back_servo4_state_
+                    ? ActionExec::TAKE : ActionExec::FREE) + ActionExec::DELIMITER + "0" + ActionExec::DELIMITER + "4";
+
+                action_exec_pub_->publish(action_exec);
+            });
+
+        deploy_action1_back_servos_layout_->addWidget(deploy_action1_back_servo1_button_);
+        deploy_action1_back_servos_layout_->addWidget(deploy_action1_back_servo2_button_);
+        deploy_action1_back_servos_layout_->addWidget(deploy_action1_back_servo3_button_);
+        deploy_action1_back_servos_layout_->addWidget(deploy_action1_back_servo4_button_);
+
+        deploy_action1_back_layout_->addWidget(deploy_action1_back_label_);
+        deploy_action1_back_layout_->addWidget(deploy_action1_back_up_button_);
+        deploy_action1_back_layout_->addLayout(deploy_action1_back_servos_layout_);
+        deploy_action1_back_layout_->addWidget(deploy_action1_back_down_button_);
+
+        deploy_action1_layout_->addLayout(deploy_action1_front_layout_);
+        deploy_action1_layout_->addLayout(deploy_action1_back_layout_);
+
+        deploy_action2_layout_ = new QVBoxLayout;
+        deploy_action2_label_ = new QLabel("Thermometrer");
+        deploy_action2_button_ = new QPushButton("Deploy");
+        undeploy_action2_button_ = new QPushButton("Undeploy");
+
+        connect(deploy_action2_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                ActionExec action_exec;
+                action_exec.action = ActionExec::THERMO_DEPLOY;
+                action_exec_pub_->publish(action_exec);
+            });
+
+        connect(undeploy_action2_button_, &QPushButton::clicked, this,
+            [this]()
+            {
+                ActionExec action_exec;
+                action_exec.action = ActionExec::THERMO_UNDEPLOY;
+                action_exec_pub_->publish(action_exec);
+            });
+
+        deploy_action2_layout_->addWidget(deploy_action2_label_);
+        deploy_action2_layout_->addWidget(deploy_action2_button_);
+        deploy_action2_layout_->addWidget(undeploy_action2_button_);
+
+        main_layout_->addWidget(deploy_max_button_);
+        main_layout_->addLayout(deploy_action1_layout_);
+        main_layout_->addLayout(deploy_action2_layout_);
     }
 
     ActionPage::~ActionPage()
diff --git a/src/modelec_gui/src/pages/action_page.new.cpp b/src/modelec_gui/src/pages/action_page.new.cpp
deleted file mode 100644
index f875d79..0000000
--- a/src/modelec_gui/src/pages/action_page.new.cpp
+++ /dev/null
@@ -1,295 +0,0 @@
-#include <modelec_gui/pages/action_page.new.hpp>
-
-namespace ModelecGUI
-{
-    ActionPage::ActionPage(rclcpp::Node::SharedPtr node, QWidget* parent) :
-        QWidget(parent),
-        node_(node)
-    {
-        action_exec_pub_ = node_->create_publisher<ActionExec>(
-            "action/exec", 10);
-
-        servo_get_sub_ = node_->create_subscription<ActionServoPosArray>(
-            "action/get/servo", 10, [this](const ActionServoPosArray::SharedPtr)
-            {
-            });
-
-        servo_move_pub_ = node_->create_publisher<ActionServoPosArray>(
-            "action/move/servo", 10);
-
-        servo_move_res_sub_ = node_->create_subscription<ActionServoPosArray>(
-            "action/move/servo/res", 10, [this](const ActionServoPosArray::SharedPtr)
-            {
-            });
-
-        servo_timed_move_pub_ = node_->create_publisher<ActionServoTimedArray>(
-            "action/move/servo/timed", 10);
-
-        servo_timed_move_res_sub_ = node_->create_subscription<ActionServoTimedArray>(
-            "action/move/servo/timed/res", 10, [this](const ActionServoTimedArray::SharedPtr)
-            {
-            });
-
-        main_layout_ = new QVBoxLayout(this);
-        setLayout(main_layout_);
-        setWindowTitle("Action Page");
-
-        deploy_max_button_ = new QPushButton("Deploy Max Size");
-        connect(deploy_max_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                ActionExec action_exec;
-                action_exec.action = ActionExec::MAX_DEPLOY;
-                action_exec.mission = {ActionExec::MAX_DEPLOY_STEP};
-                action_exec_pub_->publish(action_exec);
-            });
-
-        deploy_action1_layout_ = new QHBoxLayout;
-        deploy_action1_front_layout_ = new QVBoxLayout;
-        deploy_action1_front_label_ = new QLabel("Front Action 1");
-
-        deploy_action1_front_up_button_ = new QPushButton("Up");
-        deploy_action1_front_down_button_ = new QPushButton("Down");
-
-        connect(deploy_action1_front_up_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                ActionExec action_exec;
-                action_exec.action = ActionExec::FRONT_UP;
-                action_exec.mission = {ActionExec::FRONT_UP_STEP};
-                action_exec_pub_->publish(action_exec);
-            });
-
-        connect(deploy_action1_front_down_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                ActionExec action_exec;
-                action_exec.action = ActionExec::FRONT_DOWN;
-                action_exec.mission = {ActionExec::FRONT_DOWN_STEP};
-                action_exec_pub_->publish(action_exec);
-            });
-
-        deploy_action1_front_servos_layout_ = new QHBoxLayout;
-
-        deploy_action1_front_servo1_button_ = new QPushButton("Servo 1");
-        deploy_action1_front_servo2_button_ = new QPushButton("Servo 2");
-        deploy_action1_front_servo3_button_ = new QPushButton("Servo 3");
-        deploy_action1_front_servo4_button_ = new QPushButton("Servo 4");
-
-        connect(deploy_action1_front_servo1_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                deploy_action1_front_servo1_state_ = !deploy_action1_front_servo1_state_;
-
-                ActionExec action_exec;
-
-                action_exec.action = deploy_action1_front_servo1_state_
-                    ? ActionExec::FRONT_TAKE_1 : ActionExec::FRONT_FREE_1;
-
-                action_exec.mission = {deploy_action1_front_servo1_state_
-                    ? ActionExec::FRONT_TAKE_1_STEP : ActionExec::FRONT_FREE_1_STEP};
-
-                action_exec_pub_->publish(action_exec);
-            });
-
-        connect(deploy_action1_front_servo2_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                deploy_action1_front_servo2_state_ = !deploy_action1_front_servo2_state_;
-
-                ActionExec action_exec;
-
-                action_exec.action = deploy_action1_front_servo2_state_
-                    ? ActionExec::FRONT_TAKE_2 : ActionExec::FRONT_FREE_2;
-
-                action_exec.mission = {deploy_action1_front_servo2_state_
-                    ? ActionExec::FRONT_TAKE_2_STEP : ActionExec::FRONT_FREE_2_STEP};
-
-                action_exec_pub_->publish(action_exec);
-            });
-
-        connect(deploy_action1_front_servo3_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                deploy_action1_front_servo3_state_ = !deploy_action1_front_servo3_state_;
-
-                ActionExec action_exec;
-
-                action_exec.action = deploy_action1_front_servo3_state_
-                    ? ActionExec::FRONT_TAKE_3 : ActionExec::FRONT_FREE_3;
-
-                action_exec.mission = {deploy_action1_front_servo3_state_
-                    ? ActionExec::FRONT_TAKE_3_STEP : ActionExec::FRONT_FREE_3_STEP};
-
-                action_exec_pub_->publish(action_exec);
-            });
-
-        connect(deploy_action1_front_servo4_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                deploy_action1_front_servo4_state_ = !deploy_action1_front_servo4_state_;
-
-                ActionExec action_exec;
-
-                action_exec.action = deploy_action1_front_servo4_state_
-                    ? ActionExec::FRONT_TAKE_4 : ActionExec::FRONT_FREE_4;
-
-                action_exec.mission = {deploy_action1_front_servo4_state_
-                    ? ActionExec::FRONT_TAKE_4_STEP : ActionExec::FRONT_FREE_4_STEP};
-
-                action_exec_pub_->publish(action_exec);
-            });
-
-        deploy_action1_front_servos_layout_->addWidget(deploy_action1_front_servo1_button_);
-        deploy_action1_front_servos_layout_->addWidget(deploy_action1_front_servo2_button_);
-        deploy_action1_front_servos_layout_->addWidget(deploy_action1_front_servo3_button_);
-        deploy_action1_front_servos_layout_->addWidget(deploy_action1_front_servo4_button_);
-
-        deploy_action1_front_layout_->addWidget(deploy_action1_front_label_);
-        deploy_action1_front_layout_->addWidget(deploy_action1_front_up_button_);
-        deploy_action1_front_layout_->addLayout(deploy_action1_front_servos_layout_);
-        deploy_action1_front_layout_->addWidget(deploy_action1_front_down_button_);
-
-        deploy_action1_back_layout_ = new QVBoxLayout;
-        deploy_action1_back_label_ = new QLabel("Back Action 1");
-
-        deploy_action1_back_up_button_ = new QPushButton("Up");
-        deploy_action1_back_down_button_ = new QPushButton("Down");
-
-        connect(deploy_action1_back_up_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                ActionExec action_exec;
-                action_exec.action = ActionExec::BACK_UP;
-                action_exec.mission = {ActionExec::BACK_UP_STEP};
-                action_exec_pub_->publish(action_exec);
-            });
-
-        connect(deploy_action1_back_down_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                ActionExec action_exec;
-                action_exec.action = ActionExec::BACK_DOWN;
-                action_exec.mission = {ActionExec::BACK_DOWN_STEP};
-                action_exec_pub_->publish(action_exec);
-            });
-
-        deploy_action1_back_servos_layout_ = new QHBoxLayout;
-
-        deploy_action1_back_servo1_button_ = new QPushButton("Servo 1");
-        deploy_action1_back_servo2_button_ = new QPushButton("Servo 2");
-        deploy_action1_back_servo3_button_ = new QPushButton("Servo 3");
-        deploy_action1_back_servo4_button_ = new QPushButton("Servo 4");
-
-        connect(deploy_action1_back_servo1_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                deploy_action1_back_servo1_state_ = !deploy_action1_back_servo1_state_;
-
-                ActionExec action_exec;
-
-                action_exec.action = deploy_action1_back_servo1_state_
-                    ? ActionExec::BACK_TAKE_1 : ActionExec::BACK_FREE_1;
-
-                action_exec.mission = {deploy_action1_back_servo1_state_
-                    ? ActionExec::BACK_TAKE_1_STEP : ActionExec::BACK_FREE_1_STEP};
-
-                action_exec_pub_->publish(action_exec);
-            });
-
-        connect(deploy_action1_back_servo2_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                deploy_action1_back_servo2_state_ = !deploy_action1_back_servo2_state_;
-
-                ActionExec action_exec;
-
-                action_exec.action = deploy_action1_back_servo2_state_
-                    ? ActionExec::BACK_TAKE_2 : ActionExec::BACK_FREE_2;
-
-                action_exec.mission = {deploy_action1_back_servo2_state_
-                    ? ActionExec::BACK_TAKE_2_STEP : ActionExec::BACK_FREE_2_STEP};
-
-                action_exec_pub_->publish(action_exec);
-            });
-
-        connect(deploy_action1_back_servo3_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                deploy_action1_back_servo3_state_ = !deploy_action1_back_servo3_state_;
-
-                ActionExec action_exec;
-
-                action_exec.action = deploy_action1_back_servo3_state_
-                    ? ActionExec::BACK_TAKE_3 : ActionExec::BACK_FREE_3;
-
-                action_exec.mission = {deploy_action1_back_servo3_state_
-                    ? ActionExec::BACK_TAKE_3_STEP : ActionExec::BACK_FREE_3_STEP};
-
-                action_exec_pub_->publish(action_exec);
-            });
-
-        connect(deploy_action1_back_servo4_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                deploy_action1_back_servo4_state_ = !deploy_action1_back_servo4_state_;
-
-                ActionExec action_exec;
-
-                action_exec.action = deploy_action1_back_servo4_state_
-                    ? ActionExec::BACK_TAKE_4 : ActionExec::BACK_FREE_4;
-
-                action_exec.mission = {deploy_action1_back_servo4_state_
-                    ? ActionExec::BACK_TAKE_4_STEP : ActionExec::BACK_FREE_4_STEP};
-
-                action_exec_pub_->publish(action_exec);
-            });
-
-        deploy_action1_back_servos_layout_->addWidget(deploy_action1_back_servo1_button_);
-        deploy_action1_back_servos_layout_->addWidget(deploy_action1_back_servo2_button_);
-        deploy_action1_back_servos_layout_->addWidget(deploy_action1_back_servo3_button_);
-        deploy_action1_back_servos_layout_->addWidget(deploy_action1_back_servo4_button_);
-
-        deploy_action1_back_layout_->addWidget(deploy_action1_back_label_);
-        deploy_action1_back_layout_->addWidget(deploy_action1_back_up_button_);
-        deploy_action1_back_layout_->addLayout(deploy_action1_back_servos_layout_);
-        deploy_action1_back_layout_->addWidget(deploy_action1_back_down_button_);
-
-        deploy_action1_layout_->addLayout(deploy_action1_front_layout_);
-        deploy_action1_layout_->addLayout(deploy_action1_back_layout_);
-
-        deploy_action2_layout_ = new QVBoxLayout;
-        deploy_action2_label_ = new QLabel("Thermometrer");
-        deploy_action2_button_ = new QPushButton("Deploy");
-        undeploy_action2_button_ = new QPushButton("Undeploy");
-
-        connect(deploy_action2_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                ActionExec action_exec;
-                action_exec.action = ActionExec::THERMO_DEPLOY;
-                action_exec.mission = {ActionExec::THERMO_DEPLOY_STEP};
-                action_exec_pub_->publish(action_exec);
-            });
-
-        connect(undeploy_action2_button_, &QPushButton::clicked, this,
-            [this]()
-            {
-                ActionExec action_exec;
-                action_exec.action = ActionExec::THERMO_UNDEPLOY;
-                action_exec.mission = {ActionExec::THERMO_UNDEPLOY_STEP};
-                action_exec_pub_->publish(action_exec);
-            });
-
-        deploy_action2_layout_->addWidget(deploy_action2_label_);
-        deploy_action2_layout_->addWidget(deploy_action2_button_);
-        deploy_action2_layout_->addWidget(undeploy_action2_button_);
-
-        main_layout_->addWidget(deploy_max_button_);
-        main_layout_->addLayout(deploy_action1_layout_);
-        main_layout_->addLayout(deploy_action2_layout_);
-    }
-
-    ActionPage::~ActionPage()
-    = default;
-}
diff --git a/src/modelec_interfaces/msg/Action/ActionExec.msg b/src/modelec_interfaces/msg/Action/ActionExec.msg
index 2ccf1bd..24367e6 100644
--- a/src/modelec_interfaces/msg/Action/ActionExec.msg
+++ b/src/modelec_interfaces/msg/Action/ActionExec.msg
@@ -1,64 +1,23 @@
+string DELIMITER = ";"
+
 # Action
-int32 NONE = 0
-int32 FRONT_UP = 1
-int32 FRONT_DOWN = 2
-
-int32 FRONT_TAKE_1 = 10
-int32 FRONT_FREE_1 = 11
-int32 FRONT_TAKE_2 = 20
-int32 FRONT_FREE_2 = 21
-int32 FRONT_TAKE_3 = 30
-int32 FRONT_FREE_3 = 31
-int32 FRONT_TAKE_4 = 40
-int32 FRONT_FREE_4 = 41
-
-int32 BACK_UP = 101
-int32 BACK_DOWN = 102
-
-int32 BACK_TAKE_1 = 110
-int32 BACK_FREE_1 = 111
-int32 BACK_TAKE_2 = 120
-int32 BACK_FREE_2 = 121
-int32 BACK_TAKE_3 = 130
-int32 BACK_FREE_3 = 131
-int32 BACK_TAKE_4 = 140
-int32 BACK_FREE_4 = 141
-
-int32 THERMO_DEPLOY = 200
-int32 THERMO_UNDEPLOY = 201
-
-int32 MAX_DEPLOY = 99
-
+string UP = "UP"
+string DOWN = "DOWN"
+string TAKE = "TAKE"
+string FREE = "FREE"
+string THERMO_DEPLOY = "THERMO_DEPLOY"
+string THERMO_UNDEPLOY = "THERMO_UNDEPLOY"
+string MAX_DEPLOY = "MAX_DEPLOY"
 
 # Step
-int32 FRONT_UP_STEP = 1
-int32 FRONT_DOWN_STEP = 2
-
-int32 FRONT_TAKE_1_STEP = 10
-int32 FRONT_FREE_1_STEP = 11
-int32 FRONT_TAKE_2_STEP = 20
-int32 FRONT_FREE_2_STEP = 21
-int32 FRONT_TAKE_3_STEP = 30
-int32 FRONT_FREE_3_STEP = 31
-int32 FRONT_TAKE_4_STEP = 40
-int32 FRONT_FREE_4_STEP = 41
-
-int32 BACK_UP_STEP = 101
-int32 BACK_DOWN_STEP = 102
-
-int32 BACK_TAKE_1_STEP = 110
-int32 BACK_FREE_1_STEP = 111
-int32 BACK_TAKE_2_STEP = 120
-int32 BACK_FREE_2_STEP = 121
-int32 BACK_TAKE_3_STEP = 130
-int32 BACK_FREE_3_STEP = 131
-int32 BACK_TAKE_4_STEP = 140
-int32 BACK_FREE_4_STEP = 141
-
-int32 THERMO_DEPLOY_STEP = 200
-int32 THERMO_UNDEPLOY_STEP = 201
-
+int32 DONE_STEP = 0
+int32 UP_STEP = 1
+int32 DOWN_STEP = 2
+int32 TAKE_STEP = 3
+int32 FREE_STEP = 4
+int32 THERMO_DEPLOY_STEP = 5
+int32 THERMO_UNDEPLOY_STEP = 6
 int32 MAX_DEPLOY_STEP = 99
 
-int32[] mission
-int32 action
+int32[] steps
+string action
diff --git a/src/modelec_strat/CMakeLists.txt b/src/modelec_strat/CMakeLists.txt
index 4a52189..8c8fc9f 100644
--- a/src/modelec_strat/CMakeLists.txt
+++ b/src/modelec_strat/CMakeLists.txt
@@ -15,7 +15,28 @@ find_package(ament_index_cpp REQUIRED)
 find_package(modelec_interfaces REQUIRED)
 find_package(modelec_utils REQUIRED)
 
-add_executable(strat_fsm src/strat_fms.cpp src/navigation_helper.cpp src/pathfinding.cpp src/action_executor.cpp src/missions/go_home_mission.cpp src/missions/take_mission.cpp src/missions/free_mission.cpp src/obstacle/obstacle.cpp src/obstacle/box.cpp src/deposite_zone.cpp)
+set(strat_fsm_sources
+        src/strat_fms.cpp
+        src/navigation_helper.cpp
+        src/pathfinding.cpp
+
+        src/action_executor.cpp
+        src/action/up_action.cpp
+        src/action/down_action.cpp
+        src/action/free_action.cpp
+        src/action/take_action.cpp
+
+        src/missions/go_home_mission.cpp
+        src/missions/take_mission.cpp
+        src/missions/free_mission.cpp
+
+        src/obstacle/obstacle.cpp
+        src/obstacle/box.cpp
+
+        src/deposite_zone.cpp
+)
+
+add_executable(strat_fsm ${strat_fsm_sources})
 ament_target_dependencies(strat_fsm rclcpp std_msgs std_srvs modelec_interfaces ament_index_cpp)
 target_link_libraries(strat_fsm modelec_utils::utils modelec_utils::config)
 target_include_directories(strat_fsm PUBLIC
diff --git a/src/modelec_strat/include/modelec_strat/action/base_action.hpp b/src/modelec_strat/include/modelec_strat/action/base_action.hpp
new file mode 100644
index 0000000..ee727df
--- /dev/null
+++ b/src/modelec_strat/include/modelec_strat/action/base_action.hpp
@@ -0,0 +1,74 @@
+#pragma once
+
+#include <memory>
+#include <string>
+#include <unordered_map>
+#include <functional>
+#include <vector>
+
+#include <modelec_interfaces/msg/action_exec.hpp>
+#include <modelec_interfaces/msg/action_servo_timed_array.hpp>
+#include <modelec_interfaces/msg/action_servo_timed.hpp>
+#include <modelec_interfaces/msg/action_servo_pos_array.hpp>
+#include <modelec_interfaces/msg/action_servo_pos.hpp>
+
+namespace Modelec
+{
+    class ActionExecutor;
+
+    using ActionExec = modelec_interfaces::msg::ActionExec;
+    using ActionServoTimedArray = modelec_interfaces::msg::ActionServoTimedArray;
+    using ActionServoTimed = modelec_interfaces::msg::ActionServoTimed;
+    using ActionServoPosArray = modelec_interfaces::msg::ActionServoPosArray;
+    using ActionServoPos = modelec_interfaces::msg::ActionServoPos;
+
+    class BaseAction
+    {
+    public:
+        using Ptr = std::shared_ptr<BaseAction>;
+        using FactoryFn =
+            std::function<Ptr(const std::shared_ptr<ActionExecutor>&)>;
+
+        static std::unordered_map<std::string, FactoryFn>& Registry()
+        {
+            static std::unordered_map<std::string, FactoryFn> registry;
+            return registry;
+        };
+
+
+        BaseAction(const std::shared_ptr<ActionExecutor>& action_executor)
+            : action_executor_(action_executor)
+        {
+        }
+        virtual ~BaseAction() = default;
+        virtual void Execute() = 0;
+        virtual void Next() = 0;
+        virtual bool IsDone() const { return done_; }
+        virtual void Init(const std::vector<std::string>& params) = 0;
+
+        // static constexpr std::string_view Name = "BaseAction";
+
+        static Ptr CreateAction(
+            const std::string& action_name,
+            const std::shared_ptr<ActionExecutor>& action_executor);
+
+    protected:
+        std::shared_ptr<ActionExecutor> action_executor_;
+
+        bool done_ = false;
+    };
+
+    inline BaseAction::Ptr BaseAction::CreateAction(const std::string& action_name,
+        const std::shared_ptr<ActionExecutor>& action_executor)
+    {
+        auto& registry = Registry();
+        auto it = registry.find(action_name);
+
+        if (it != registry.end())
+        {
+            return it->second(action_executor);
+        }
+
+        return nullptr;
+    }
+}
diff --git a/src/modelec_strat/include/modelec_strat/action/down_action.hpp b/src/modelec_strat/include/modelec_strat/action/down_action.hpp
new file mode 100644
index 0000000..ad784e5
--- /dev/null
+++ b/src/modelec_strat/include/modelec_strat/action/down_action.hpp
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <queue>
+#include <modelec_strat/action/base_action.hpp>
+
+namespace Modelec
+{
+    class DownAction : public BaseAction
+    {
+    public:
+        DownAction(const std::shared_ptr<ActionExecutor>& action_executor);
+        DownAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front);
+
+        void Execute() override;
+        void Next() override;
+        void Init(const std::vector<std::string>& params) override;
+        void SetFront(bool front);
+
+        inline static const std::string Name = ActionExec::DOWN;
+
+    private:
+        bool front_;
+
+        std::queue<int> steps_;
+
+        inline static const bool registered_ =
+        []()
+        {
+            BaseAction::Registry()[Name] =
+                [](const std::shared_ptr<ActionExecutor>& exec)
+                {
+                    return std::make_shared<DownAction>(exec);
+                };
+            return true;
+        }();
+    };
+}
\ No newline at end of file
diff --git a/src/modelec_strat/include/modelec_strat/action/free_action.hpp b/src/modelec_strat/include/modelec_strat/action/free_action.hpp
new file mode 100644
index 0000000..20326c2
--- /dev/null
+++ b/src/modelec_strat/include/modelec_strat/action/free_action.hpp
@@ -0,0 +1,39 @@
+#pragma once
+
+#include <queue>
+#include <modelec_strat/action/base_action.hpp>
+
+namespace Modelec
+{
+    class FreeAction : public BaseAction
+    {
+    public:
+        FreeAction(const std::shared_ptr<ActionExecutor>& action_executor);
+        FreeAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front, int n);
+
+        void Execute() override;
+        void Next() override;
+        void Init(const std::vector<std::string>& params) override;
+        void SetFront(bool front);
+        void SetN(int n);
+
+        inline static const std::string Name = ActionExec::FREE;
+
+    private:
+        bool front_;
+        int n_;
+
+        std::queue<int> steps_;
+
+        inline static const bool registered_ =
+        []()
+        {
+            BaseAction::Registry()[Name] =
+                [](const std::shared_ptr<ActionExecutor>& exec)
+                {
+                    return std::make_shared<FreeAction>(exec);
+                };
+            return true;
+        }();
+    };
+}
\ No newline at end of file
diff --git a/src/modelec_strat/include/modelec_strat/action/take_action.hpp b/src/modelec_strat/include/modelec_strat/action/take_action.hpp
new file mode 100644
index 0000000..9808919
--- /dev/null
+++ b/src/modelec_strat/include/modelec_strat/action/take_action.hpp
@@ -0,0 +1,39 @@
+#pragma once
+
+#include <queue>
+#include <modelec_strat/action/base_action.hpp>
+
+namespace Modelec
+{
+    class TakeAction : public BaseAction
+    {
+    public:
+        TakeAction(const std::shared_ptr<ActionExecutor>& action_executor);
+        TakeAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front, int n);
+
+        void Execute() override;
+        void Next() override;
+        void Init(const std::vector<std::string>& params) override;
+        void SetFront(bool front);
+        void SetN(int n);
+
+        inline static const std::string Name = ActionExec::TAKE;
+
+    private:
+        bool front_;
+        int n_;
+
+        std::queue<int> steps_;
+
+        inline static const bool registered_ =
+        []()
+        {
+            BaseAction::Registry()[Name] =
+                [](const std::shared_ptr<ActionExecutor>& exec)
+                {
+                    return std::make_shared<TakeAction>(exec);
+                };
+            return true;
+        }();
+    };
+}
\ No newline at end of file
diff --git a/src/modelec_strat/include/modelec_strat/action/up_action.hpp b/src/modelec_strat/include/modelec_strat/action/up_action.hpp
new file mode 100644
index 0000000..174b21d
--- /dev/null
+++ b/src/modelec_strat/include/modelec_strat/action/up_action.hpp
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <queue>
+#include <modelec_strat/action/base_action.hpp>
+
+namespace Modelec
+{
+    class UPAction : public BaseAction
+    {
+    public:
+        UPAction(const std::shared_ptr<ActionExecutor>& action_executor);
+        UPAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front);
+
+        void Execute() override;
+        void Next() override;
+        void Init(const std::vector<std::string>& params) override;
+        void SetFront(bool front);
+
+        inline static const std::string Name = ActionExec::UP;
+
+    private:
+        bool front_;
+
+        std::queue<int> steps_;
+
+        inline static const bool registered_ =
+        []()
+        {
+            BaseAction::Registry()[Name] =
+                [](const std::shared_ptr<ActionExecutor>& exec)
+                {
+                    return std::make_shared<UPAction>(exec);
+                };
+            return true;
+        }();
+    };
+}
\ No newline at end of file
diff --git a/src/modelec_strat/include/modelec_strat/action_executor.hpp b/src/modelec_strat/include/modelec_strat/action_executor.hpp
index 431eecd..50cd0f7 100644
--- a/src/modelec_strat/include/modelec_strat/action_executor.hpp
+++ b/src/modelec_strat/include/modelec_strat/action_executor.hpp
@@ -9,73 +9,19 @@
 
 namespace Modelec
 {
-    class ActionExecutor
+    class BaseAction;
+
+    class ActionExecutor : public std::enable_shared_from_this<ActionExecutor>
     {
     public:
         enum Action
         {
-            NONE = 0,
+            NONE,
+            UP,
+            DOWN,
 
-            FRONT_UP = 1,
-            FRONT_DOWN = 2,
-
-            FRONT_TAKE_1 = 10,
-            FRONT_FREE_1 = 11,
-            FRONT_TAKE_2 = 20,
-            FRONT_FREE_2 = 21,
-            FRONT_TAKE_3 = 30,
-            FRONT_FREE_3 = 31,
-            FRONT_TAKE_4 = 40,
-            FRONT_FREE_4 = 41,
-
-            BACK_UP = 101,
-            BACK_DOWN = 102,
-
-            BACK_TAKE_1 = 110,
-            BACK_FREE_1 = 111,
-            BACK_TAKE_2 = 120,
-            BACK_FREE_2 = 121,
-            BACK_TAKE_3 = 130,
-            BACK_FREE_3 = 131,
-            BACK_TAKE_4 = 140,
-            BACK_FREE_4 = 141,
-
-            THERMO_DEPLOY = 200,
-            THERMO_UNDEPLOY = 201,
-
-            MAX_DEPLOY = 99
-        };
-
-        enum Step
-        {
-            FRONT_UP_STEP = 1,
-            FRONT_DOWN_STEP = 2,
-
-            FRONT_TAKE_1_STEP = 10,
-            FRONT_FREE_1_STEP = 11,
-            FRONT_TAKE_2_STEP = 20,
-            FRONT_FREE_2_STEP = 21,
-            FRONT_TAKE_3_STEP = 30,
-            FRONT_FREE_3_STEP = 31,
-            FRONT_TAKE_4_STEP = 40,
-            FRONT_FREE_4_STEP = 41,
-
-            BACK_UP_STEP = 101,
-            BACK_DOWN_STEP = 102,
-
-            BACK_TAKE_1_STEP = 110,
-            BACK_FREE_1_STEP = 111,
-            BACK_TAKE_2_STEP = 120,
-            BACK_FREE_2_STEP = 121,
-            BACK_TAKE_3_STEP = 130,
-            BACK_FREE_3_STEP = 131,
-            BACK_TAKE_4_STEP = 140,
-            BACK_FREE_4_STEP = 141,
-
-            THERMO_DEPLOY_STEP = 200,
-            THERMO_UNDEPLOY_STEP = 201,
-
-            MAX_DEPLOY_STEP = 99,
+            TAKE,
+            FREE
         };
 
         ActionExecutor();
@@ -94,10 +40,14 @@ namespace Modelec
 
         void Up(bool front = true);
 
-        void Take(bool front = true, int n = 1);
+        void Take(bool front = true, int n = 0);
 
-        void Free(bool front = true, int n = 1);
+        void Free(bool front = true, int n = 0);
 
+
+        void MoveServoTimed(const modelec_interfaces::msg::ActionServoTimedArray& msg);
+
+        void MoveServo(const modelec_interfaces::msg::ActionServoPosArray& msg);
     protected:
         rclcpp::Publisher<modelec_interfaces::msg::ActionAscPos>::SharedPtr asc_move_pub_;
         rclcpp::Publisher<modelec_interfaces::msg::ActionServoPosArray>::SharedPtr servo_move_pub_;
@@ -111,9 +61,7 @@ namespace Modelec
 
         rclcpp::Subscription<modelec_interfaces::msg::ActionExec>::SharedPtr action_exec_sub_;
 
-        Action action_ = NONE;
-
-        std::queue<Step> step_;
+        std::shared_ptr<BaseAction> action_;
 
         bool action_done_ = true;
         int step_running_ = 0;
diff --git a/src/modelec_strat/src/action/down_action.cpp b/src/modelec_strat/src/action/down_action.cpp
new file mode 100644
index 0000000..9e9c7d8
--- /dev/null
+++ b/src/modelec_strat/src/action/down_action.cpp
@@ -0,0 +1,82 @@
+#include <modelec_strat/action/down_action.hpp>
+
+#include "modelec_strat/action_executor.hpp"
+
+Modelec::DownAction::DownAction(const std::shared_ptr<ActionExecutor>& action_executor) : BaseAction(action_executor)
+{
+    steps_.push(ActionExec::DOWN_STEP);
+    steps_.push(ActionExec::DONE_STEP);
+}
+
+Modelec::DownAction::DownAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front) : DownAction(action_executor)
+{
+    front_ = front;
+}
+
+void Modelec::DownAction::Execute()
+{
+}
+
+void Modelec::DownAction::Next()
+{
+    if (steps_.empty())
+    {
+        done_ = true;
+        return;
+    }
+
+    auto step = steps_.front();
+    steps_.pop();
+
+    switch (step)
+    {
+    case ActionExec::DOWN_STEP:
+        {
+            ActionServoTimedArray msg;
+            msg.items.resize(4);
+
+            msg.items[0].id = front_ ? 0 : 8;
+            msg.items[0].start_angle = front_ ? 1.49 : 0;
+            msg.items[0].end_angle = front_ ? 0 : 0;
+            msg.items[0].duration_s = 1;
+
+            msg.items[1].id = front_ ? 1 : 9;
+            msg.items[1].start_angle = front_ ? 1.5 : 0;
+            msg.items[1].end_angle = front_ ? 3 : 0;
+            msg.items[1].duration_s = 1;
+
+            msg.items[2].id = front_ ? 2 : 10;
+            msg.items[2].start_angle = front_ ? 3 : 0;
+            msg.items[2].end_angle = front_ ? 1.45 : 0;
+            msg.items[2].duration_s = 1;
+
+            msg.items[3].id = front_ ? 3 : 11;
+            msg.items[3].start_angle = front_ ? 0 : 0;
+            msg.items[3].end_angle = front_ ? 1.6 : 0;
+            msg.items[3].duration_s = 1;
+
+            action_executor_->MoveServoTimed(msg);
+        }
+        break;
+    case ActionExec::DONE_STEP:
+        {
+            done_ = true;
+        }
+        break;
+    default:
+        break;
+    }
+}
+
+void Modelec::DownAction::Init(const std::vector<std::string>& params)
+{
+    if (!params.empty())
+    {
+        SetFront(params[1] == "1" || params[1] == "true" || params[1] == "front");
+    }
+}
+
+void Modelec::DownAction::SetFront(bool front)
+{
+    front_ = front;
+}
diff --git a/src/modelec_strat/src/action/free_action.cpp b/src/modelec_strat/src/action/free_action.cpp
new file mode 100644
index 0000000..ca1b78d
--- /dev/null
+++ b/src/modelec_strat/src/action/free_action.cpp
@@ -0,0 +1,74 @@
+#include <modelec_strat/action/free_action.hpp>
+
+#include "modelec_strat/action_executor.hpp"
+
+Modelec::FreeAction::FreeAction(const std::shared_ptr<ActionExecutor>& action_executor) : BaseAction(action_executor)
+{
+    steps_.push(ActionExec::FREE_STEP);
+    steps_.push(ActionExec::DONE_STEP);
+}
+
+Modelec::FreeAction::FreeAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front, int n) : FreeAction(action_executor)
+{
+    front_ = front;
+    n_ = n;
+}
+
+void Modelec::FreeAction::Execute()
+{
+}
+
+void Modelec::FreeAction::Next()
+{
+    if (steps_.empty())
+    {
+        done_ = true;
+        return;
+    }
+
+    auto step = steps_.front();
+    steps_.pop();
+
+    switch (step)
+    {
+    case ActionExec::FREE_STEP:
+        {
+            modelec_interfaces::msg::ActionServoTimedArray msg;
+
+            msg.items.resize(1);
+
+            msg.items[0].id = n_ + (front_ ? 3 : 11);
+            msg.items[0].start_angle = front_ ? 3 : 0;
+            msg.items[0].end_angle = front_ ? 0 : 0;
+            msg.items[0].duration_s = 0.5;
+            action_executor_->MoveServoTimed(msg);
+        }
+        break;
+    case ActionExec::DONE_STEP:
+        {
+            done_ = true;
+        }
+        break;
+    default:
+        break;
+    }
+}
+
+void Modelec::FreeAction::Init(const std::vector<std::string>& params)
+{
+    if (params.size() >= 2)
+    {
+        SetFront(params[1] == "1" || params[1] == "true" || params[1] == "front");
+        SetN(std::stoi(params[2]));
+    }
+}
+
+void Modelec::FreeAction::SetFront(bool front)
+{
+    front_ = front;
+}
+
+void Modelec::FreeAction::SetN(int n)
+{
+    n_ = n;
+}
diff --git a/src/modelec_strat/src/action/take_action.cpp b/src/modelec_strat/src/action/take_action.cpp
new file mode 100644
index 0000000..2b36272
--- /dev/null
+++ b/src/modelec_strat/src/action/take_action.cpp
@@ -0,0 +1,74 @@
+#include <modelec_strat/action/take_action.hpp>
+
+#include "modelec_strat/action_executor.hpp"
+
+Modelec::TakeAction::TakeAction(const std::shared_ptr<ActionExecutor>& action_executor) : BaseAction(action_executor)
+{
+    steps_.push(ActionExec::TAKE_STEP);
+    steps_.push(ActionExec::DONE_STEP);
+}
+
+Modelec::TakeAction::TakeAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front, int n) : TakeAction(action_executor)
+{
+    front_ = front;
+    n_ = n;
+}
+
+void Modelec::TakeAction::Execute()
+{
+}
+
+void Modelec::TakeAction::Next()
+{
+    if (steps_.empty())
+    {
+        done_ = true;
+        return;
+    }
+
+    auto step = steps_.front();
+    steps_.pop();
+
+    switch (step)
+    {
+    case ActionExec::TAKE_STEP:
+        {
+            modelec_interfaces::msg::ActionServoTimedArray msg;
+
+            msg.items.resize(1);
+
+            msg.items[0].id = n_ + (front_ ? 3 : 11);
+            msg.items[0].start_angle = front_ ? 0 : 0;
+            msg.items[0].end_angle = front_ ? 3 : 0;
+            msg.items[0].duration_s = 0.5;
+            action_executor_->MoveServoTimed(msg);
+        }
+        break;
+    case ActionExec::DONE_STEP:
+        {
+            done_ = true;
+        }
+        break;
+    default:
+        break;
+    }
+}
+
+void Modelec::TakeAction::Init(const std::vector<std::string>& params)
+{
+    if (params.size() >= 2)
+    {
+        SetFront(params[1] == "1" || params[1] == "true" || params[1] == "front");
+        SetN(std::stoi(params[2]));
+    }
+}
+
+void Modelec::TakeAction::SetFront(bool front)
+{
+    front_ = front;
+}
+
+void Modelec::TakeAction::SetN(int n)
+{
+    n_ = n;
+}
diff --git a/src/modelec_strat/src/action/up_action.cpp b/src/modelec_strat/src/action/up_action.cpp
new file mode 100644
index 0000000..6d8ca66
--- /dev/null
+++ b/src/modelec_strat/src/action/up_action.cpp
@@ -0,0 +1,82 @@
+#include <modelec_strat/action/up_action.hpp>
+
+#include "modelec_strat/action_executor.hpp"
+
+Modelec::UPAction::UPAction(const std::shared_ptr<ActionExecutor>& action_executor) : BaseAction(action_executor)
+{
+    steps_.push(ActionExec::UP_STEP);
+    steps_.push(ActionExec::DONE_STEP);
+}
+
+Modelec::UPAction::UPAction(const std::shared_ptr<ActionExecutor>& action_executor, bool front) : UPAction(action_executor)
+{
+    front_ = front;
+}
+
+void Modelec::UPAction::Execute()
+{
+}
+
+void Modelec::UPAction::Next()
+{
+    if (steps_.empty())
+    {
+        done_ = true;
+        return;
+    }
+
+    auto step = steps_.front();
+    steps_.pop();
+
+    switch (step)
+    {
+    case ActionExec::UP_STEP:
+        {
+            ActionServoTimedArray msg;
+            msg.items.resize(4);
+
+            msg.items[0].id = front_ ? 0 : 8;
+            msg.items[0].start_angle = front_ ? 0 : 0;
+            msg.items[0].end_angle = front_ ? 1.49 : 0;
+            msg.items[0].duration_s = 1;
+
+            msg.items[1].id = front_ ? 1 : 9;
+            msg.items[1].start_angle = front_ ? 3 : 0;
+            msg.items[1].end_angle = front_ ? 1.5 : 0;
+            msg.items[1].duration_s = 1;
+
+            msg.items[2].id = front_ ? 2 : 10;
+            msg.items[2].start_angle = front_ ? 1.45 : 0;
+            msg.items[2].end_angle = front_ ? 3 : 0;
+            msg.items[2].duration_s = 1;
+
+            msg.items[3].id = front_ ? 3 : 11;
+            msg.items[3].start_angle = front_ ? 1.6 : 0;
+            msg.items[3].end_angle = front_ ? 0 : 0;
+            msg.items[3].duration_s = 1;
+
+            action_executor_->MoveServoTimed(msg);
+        }
+        break;
+    case ActionExec::DONE_STEP:
+        {
+            done_ = true;
+        }
+        break;
+    default:
+        break;
+    }
+}
+
+void Modelec::UPAction::Init(const std::vector<std::string>& params)
+{
+    if (!params.empty())
+    {
+        SetFront(params[1] == "1" || params[1] == "true" || params[1] == "front");
+    }
+}
+
+void Modelec::UPAction::SetFront(bool front)
+{
+    front_ = front;
+}
diff --git a/src/modelec_strat/src/action_executor.cpp b/src/modelec_strat/src/action_executor.cpp
index ede96da..ec266f8 100644
--- a/src/modelec_strat/src/action_executor.cpp
+++ b/src/modelec_strat/src/action_executor.cpp
@@ -1,5 +1,11 @@
 #include <modelec_strat/action_executor.hpp>
 
+#include "modelec_strat/action/down_action.hpp"
+#include "modelec_strat/action/up_action.hpp"
+#include "modelec_strat/action/free_action.hpp"
+#include "modelec_strat/action/take_action.hpp"
+#include "modelec_utils/utils.hpp"
+
 namespace Modelec
 {
     ActionExecutor::ActionExecutor()
@@ -20,10 +26,12 @@ namespace Modelec
             });
 
         servo_move_res_sub_ = node_->create_subscription<modelec_interfaces::msg::ActionServoPosArray>(
-            "/action/move/servo/res", 10, [this](const modelec_interfaces::msg::ActionServoPosArray::SharedPtr msg)
+            "/action/move/servo/res", 10, [this](const modelec_interfaces::msg::ActionServoPosArray::SharedPtr)
             {
-                step_running_ -= msg->items.size();
-                Update();
+                // BUG
+                // if ServoTimed is called this one will trigger so step_running_ will be decremented at the beginning of the Timed one
+                // step_running_ -= msg->items.size();
+                // Update();
             });
 
         relay_move_res_sub_ = node_->create_subscription<modelec_interfaces::msg::ActionRelayStateArray>(
@@ -36,11 +44,28 @@ namespace Modelec
         action_exec_sub_ = node_->create_subscription<modelec_interfaces::msg::ActionExec>(
             "/action/exec", 10, [this](const modelec_interfaces::msg::ActionExec::SharedPtr msg)
             {
-                action_ = static_cast<Action>(msg->action);
-                for (const auto& step : msg->mission)
+                auto token = split(msg->action, ActionExec::DELIMITER[0]);
+
+                if (token.size() == 0)
                 {
-                    step_.push(static_cast<Step>(step));
+                    RCLCPP_WARN(
+                        node_->get_logger(),
+                        "Empty action received");
+                    return;
                 }
+
+                action_ = BaseAction::CreateAction(
+                    token[0],
+                    shared_from_this());
+                if (action_ == nullptr)
+                {
+                    RCLCPP_WARN(
+                        node_->get_logger(),
+                        "Unknown action: %s",
+                        msg->action.c_str());
+                    return;
+                }
+                action_->Init(token);
                 action_done_ = false;
                 step_running_ = 0;
                 Update();
@@ -68,116 +93,27 @@ namespace Modelec
 
     void ActionExecutor::Update()
     {
-        if (step_.empty())
+        if (action_ != nullptr && !action_->IsDone() && step_running_ <= 0)
         {
-            action_ = NONE;
-            action_done_ = true;
-            return;
-        }
+            RCLCPP_DEBUG(
+                node_->get_logger(),
+                "ActionExecutor Update: Executing next step of action, step_running_=%d", step_running_);
 
-        if (step_running_ <= 0)
-        {
-            switch (step_.front())
+            action_->Next();
+            if (action_->IsDone())
             {
-            case FRONT_DOWN_STEP:
-                {
-                    modelec_interfaces::msg::ActionServoTimedArray msg;
-                    msg.items.resize(4);
-
-                    msg.items[0].id = 0;
-                    msg.items[0].start_angle = 1.49;
-                    msg.items[0].end_angle = 0;
-                    msg.items[0].duration_s = 1;
-
-                    msg.items[1].id = 1;
-                    msg.items[1].start_angle = 1.5;
-                    msg.items[1].end_angle = 3;
-                    msg.items[1].duration_s = 1;
-
-                    msg.items[2].id = 4;
-                    msg.items[2].start_angle = 3;
-                    msg.items[2].end_angle = 1.57;
-                    msg.items[2].duration_s = 1;
-
-                    msg.items[3].id = 5;
-                    msg.items[3].start_angle = 0;
-                    msg.items[3].end_angle = 1.4;
-                    msg.items[3].duration_s = 1;
-
-                    servo_timed_move_pub_->publish(msg);
-
-                    step_running_ = msg.items.size();
-                }
-                break;
-            case FRONT_UP_STEP:
-                {
-                    modelec_interfaces::msg::ActionServoTimedArray msg;
-                    msg.items.resize(4);
-
-                    msg.items[0].id = 0;
-                    msg.items[0].start_angle = 0;
-                    msg.items[0].end_angle = 1.49;
-                    msg.items[0].duration_s = 1;
-
-                    msg.items[1].id = 1;
-                    msg.items[1].start_angle = 3;
-                    msg.items[1].end_angle = 1.5;
-                    msg.items[1].duration_s = 1;
-
-                    msg.items[2].id = 4;
-                    msg.items[2].start_angle = 1.57;
-                    msg.items[2].end_angle = 3;
-                    msg.items[2].duration_s = 1;
-
-                    msg.items[3].id = 5;
-                    msg.items[3].start_angle = 1.4;
-                    msg.items[3].end_angle = 0;
-                    msg.items[3].duration_s = 1;
-
-                    servo_timed_move_pub_->publish(msg);
-
-                    step_running_ = msg.items.size();
-                }
-                break;
-            case FRONT_TAKE_1_STEP:
-                {
-                    modelec_interfaces::msg::ActionServoPosArray msg;
-
-                    msg.items.resize(1);
-
-                    msg.items[0].id = 2;
-                    msg.items[0].angle = 0;
-
-                    servo_move_pub_->publish(msg);
-
-                    step_running_ = msg.items.size();
-                }
-                break;
-            case FRONT_FREE_1_STEP:
-                {
-                    modelec_interfaces::msg::ActionServoPosArray msg;
-
-                    msg.items.resize(1);
-
-                    msg.items[0].id = 2;
-                    msg.items[0].angle = 3;
-
-                    servo_move_pub_->publish(msg);
-
-                    step_running_ = msg.items.size();
-                }
-
-                break;
-            case MAX_DEPLOY_STEP:
-                {
-
-                }
-                break;
-            default:
-                return;
+                action_done_ = true;
+                action_ = nullptr;
             }
+        }
+        else if (action_ != nullptr && action_->IsDone())
+        {
+            RCLCPP_DEBUG(
+                node_->get_logger(),
+                "ActionExecutor Update: Action is done, step_running_=%d", step_running_);
 
-            step_.pop();
+            action_done_ = true;
+            action_ = nullptr;
         }
     }
 
@@ -185,22 +121,16 @@ namespace Modelec
     {
         action_done_ = true;
         step_running_ = 0;
-        while (!step_.empty())
-        {
-            step_.pop();
-        }
-        action_ = NONE;
+        action_ = nullptr;
     }
 
     void ActionExecutor::Down(bool front) {
         if (action_done_)
         {
-            action_ = front ? FRONT_DOWN : BACK_DOWN;
+            action_ = std::make_shared<DownAction>(shared_from_this(), front);
             action_done_ = false;
             step_running_ = 0;
 
-            step_.push(front ? FRONT_DOWN_STEP : BACK_DOWN_STEP);
-
             Update();
         }
     }
@@ -208,12 +138,10 @@ namespace Modelec
     void ActionExecutor::Up(bool front) {
         if (action_done_)
         {
-            action_ = front ? FRONT_UP : BACK_UP;
+            action_ = std::make_shared<UPAction>(shared_from_this(), front);
             action_done_ = false;
             step_running_ = 0;
 
-            step_.push(front ? FRONT_UP_STEP : BACK_UP_STEP);
-
             Update();
         }
     }
@@ -221,12 +149,10 @@ namespace Modelec
     void ActionExecutor::Take(bool front, int n) {
         if (action_done_)
         {
-            action_ = static_cast<Action>(n * 10 + (front ? 0 : 100));
+            action_ = std::make_shared<TakeAction>(shared_from_this(), front, n);
             action_done_ = false;
             step_running_ = 0;
 
-            step_.push(static_cast<Step>(n * 10 + (front ? 0 : 100)));
-
             Update();
         }
     }
@@ -234,13 +160,29 @@ namespace Modelec
     void ActionExecutor::Free(bool front, int n) {
         if (action_done_)
         {
-            action_ = static_cast<Action>(1 + n * 10 + (front ? 0 : 100));
+            action_ = std::make_shared<FreeAction>(shared_from_this(), front, n);
             action_done_ = false;
             step_running_ = 0;
 
-            step_.push(static_cast<Step>(1 + n * 10 + (front ? 0 : 100)));
-
             Update();
         }
     }
+
+    void ActionExecutor::MoveServoTimed(const modelec_interfaces::msg::ActionServoTimedArray& msg)
+    {
+        servo_timed_move_pub_->publish(msg);
+        step_running_ += msg.items.size();
+
+        RCLCPP_DEBUG(
+            node_->get_logger(),
+            "ActionExecutor MoveServoTimed called with %d items, step_running_=%d",
+            static_cast<int>(msg.items.size()),
+            step_running_);
+    }
+
+    void ActionExecutor::MoveServo(const modelec_interfaces::msg::ActionServoPosArray& msg)
+    {
+        servo_move_pub_->publish(msg);
+        step_running_ += msg.items.size();
+    }
 }
diff --git a/src/modelec_strat/src/missions/take_mission.cpp b/src/modelec_strat/src/missions/take_mission.cpp
index 6f8f688..8d9eccb 100644
--- a/src/modelec_strat/src/missions/take_mission.cpp
+++ b/src/modelec_strat/src/missions/take_mission.cpp
@@ -24,7 +24,7 @@ namespace Modelec {
 
         if (!nav_->HasArrived())
         {
-            if ((node_->now() - go_timeout_).seconds() < 10)
+            if ((node_->now() - go_timeout_).seconds() < 20)
             {
                 return;
             }