diff --git a/src/modelec_strat/src/missions/free_mission.cpp b/src/modelec_strat/src/missions/free_mission.cpp
index f9e0359..9a2bdec 100644
--- a/src/modelec_strat/src/missions/free_mission.cpp
+++ b/src/modelec_strat/src/missions/free_mission.cpp
@@ -75,7 +75,7 @@ namespace Modelec {
                 auto currPos = nav_->GetCurrentPos();
 
                 auto dist = std::clamp(Point::distance(Point(currPos->x, currPos->y, currPos->theta),
-                    nav_->GetClosestDepositeZone(nav_->GetCurrentPos())->GetPosition()), 0.0, 300.0);
+                    nav_->GetClosestDepositeZone(nav_->GetCurrentPos())->GetPosition()), 0.0, 200.0);
 
                 target_deposite_zone_ = nav_->GetClosestDepositeZone(nav_->GetCurrentPos(), {}, true);
 
@@ -108,7 +108,6 @@ namespace Modelec {
                 deploy_time_ = node_->now();
             }
 
-            step_ = FREE;
             break;
         case FREE:
             {
diff --git a/src/modelec_strat/src/missions/take_mission.cpp b/src/modelec_strat/src/missions/take_mission.cpp
index 47bac9f..d972358 100644
--- a/src/modelec_strat/src/missions/take_mission.cpp
+++ b/src/modelec_strat/src/missions/take_mission.cpp
@@ -74,8 +74,6 @@ namespace Modelec {
 
                 closestBox = nav_->GetClosestObstacle<BoxObstacle>(nav_->GetCurrentPos());
 
-                action_executor_->box_obstacles_[0] = closestBox;
-
                 action_executor_->box_obstacles_[front_] = closestBox;
 
                 auto pos = closestBox->GetOptimizedGetPos(nav_->GetCurrentPos()).GetTakeBasePosition();