diff --git a/src/modelec_strat/include/modelec_strat/action/base_action.hpp b/src/modelec_strat/include/modelec_strat/action/base_action.hpp
index ee727df..b30866e 100644
--- a/src/modelec_strat/include/modelec_strat/action/base_action.hpp
+++ b/src/modelec_strat/include/modelec_strat/action/base_action.hpp
@@ -41,13 +41,9 @@ namespace Modelec
         {
         }
         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);
diff --git a/src/modelec_strat/include/modelec_strat/action/down_action.hpp b/src/modelec_strat/include/modelec_strat/action/down_action.hpp
index ad784e5..e32d6c0 100644
--- a/src/modelec_strat/include/modelec_strat/action/down_action.hpp
+++ b/src/modelec_strat/include/modelec_strat/action/down_action.hpp
@@ -11,7 +11,6 @@ namespace Modelec
         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);
diff --git a/src/modelec_strat/include/modelec_strat/action/free_action.hpp b/src/modelec_strat/include/modelec_strat/action/free_action.hpp
index 20326c2..2167139 100644
--- a/src/modelec_strat/include/modelec_strat/action/free_action.hpp
+++ b/src/modelec_strat/include/modelec_strat/action/free_action.hpp
@@ -11,7 +11,6 @@ namespace Modelec
         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);
diff --git a/src/modelec_strat/include/modelec_strat/action/take_action.hpp b/src/modelec_strat/include/modelec_strat/action/take_action.hpp
index 9808919..4ae0008 100644
--- a/src/modelec_strat/include/modelec_strat/action/take_action.hpp
+++ b/src/modelec_strat/include/modelec_strat/action/take_action.hpp
@@ -11,9 +11,9 @@ namespace Modelec
         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 Init(bool front, int n);
         void SetFront(bool front);
         void SetN(int n);
 
diff --git a/src/modelec_strat/include/modelec_strat/action/up_action.hpp b/src/modelec_strat/include/modelec_strat/action/up_action.hpp
index 174b21d..866a8f2 100644
--- a/src/modelec_strat/include/modelec_strat/action/up_action.hpp
+++ b/src/modelec_strat/include/modelec_strat/action/up_action.hpp
@@ -11,7 +11,6 @@ namespace Modelec
         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);
diff --git a/src/modelec_strat/src/action/down_action.cpp b/src/modelec_strat/src/action/down_action.cpp
index e84c78c..706fc3a 100644
--- a/src/modelec_strat/src/action/down_action.cpp
+++ b/src/modelec_strat/src/action/down_action.cpp
@@ -13,10 +13,6 @@ Modelec::DownAction::DownAction(const std::shared_ptr<ActionExecutor>& action_ex
     front_ = front;
 }
 
-void Modelec::DownAction::Execute()
-{
-}
-
 void Modelec::DownAction::Next()
 {
     if (steps_.empty())
diff --git a/src/modelec_strat/src/action/free_action.cpp b/src/modelec_strat/src/action/free_action.cpp
index 2705343..7ab3b24 100644
--- a/src/modelec_strat/src/action/free_action.cpp
+++ b/src/modelec_strat/src/action/free_action.cpp
@@ -14,10 +14,6 @@ Modelec::FreeAction::FreeAction(const std::shared_ptr<ActionExecutor>& action_ex
     n_ = n;
 }
 
-void Modelec::FreeAction::Execute()
-{
-}
-
 void Modelec::FreeAction::Next()
 {
     if (steps_.empty())
@@ -38,7 +34,7 @@ void Modelec::FreeAction::Next()
             msg.items.resize(1);
 
             msg.items[0].id = n_ + (front_ ? 3 : 11);
-            msg.items[0].start_angle = front_ ? 2.7 : 0;
+            msg.items[0].start_angle = front_ ? 2.5 : 0;
             msg.items[0].end_angle = front_ ? 0.8 : 0;
             msg.items[0].duration_s = 0.5;
             action_executor_->MoveServoTimed(msg);
diff --git a/src/modelec_strat/src/action/take_action.cpp b/src/modelec_strat/src/action/take_action.cpp
index 0892fd8..be11108 100644
--- a/src/modelec_strat/src/action/take_action.cpp
+++ b/src/modelec_strat/src/action/take_action.cpp
@@ -4,8 +4,6 @@
 
 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)
@@ -14,10 +12,6 @@ Modelec::TakeAction::TakeAction(const std::shared_ptr<ActionExecutor>& action_ex
     n_ = n;
 }
 
-void Modelec::TakeAction::Execute()
-{
-}
-
 void Modelec::TakeAction::Next()
 {
     if (steps_.empty())
@@ -63,6 +57,10 @@ void Modelec::TakeAction::Init(const std::vector<std::string>& params)
     }
 }
 
+void Modelec::TakeAction::Init(bool front, int n)
+{
+}
+
 void Modelec::TakeAction::SetFront(bool front)
 {
     front_ = front;
diff --git a/src/modelec_strat/src/action/up_action.cpp b/src/modelec_strat/src/action/up_action.cpp
index 3a37974..7cfa960 100644
--- a/src/modelec_strat/src/action/up_action.cpp
+++ b/src/modelec_strat/src/action/up_action.cpp
@@ -13,10 +13,6 @@ Modelec::UPAction::UPAction(const std::shared_ptr<ActionExecutor>& action_execut
     front_ = front;
 }
 
-void Modelec::UPAction::Execute()
-{
-}
-
 void Modelec::UPAction::Next()
 {
     if (steps_.empty())
@@ -52,7 +48,7 @@ void Modelec::UPAction::Next()
 
             msg.items[3].id = front_ ? 3 : 11;
             msg.items[3].start_angle = front_ ? 3 : 0;
-            msg.items[3].end_angle = front_ ? 2.7 : 0;
+            msg.items[3].end_angle = front_ ? 2.5 : 0;
             msg.items[3].duration_s = 1;
 
             action_executor_->MoveServoTimed(msg);