diff --git a/src/modelec_strat/include/modelec_strat/missions/free_mission.hpp b/src/modelec_strat/include/modelec_strat/missions/free_mission.hpp
index 08fa1d4..fa2e1ca 100644
--- a/src/modelec_strat/include/modelec_strat/missions/free_mission.hpp
+++ b/src/modelec_strat/include/modelec_strat/missions/free_mission.hpp
@@ -5,7 +5,7 @@
 #include <modelec_strat/missions/min_time_mission.hpp>
 
 namespace Modelec {
-    class FreeMission : public ActionMission, public MoveMission, public MinTimeMission {
+    class FreeMission : public ActionMission, public MoveMission {
     public:
         FreeMission(const std::shared_ptr<NavigationHelper>& nav,
                       const std::shared_ptr<ActionExecutor>& action_executor,
diff --git a/src/modelec_strat/include/modelec_strat/missions/take_mission.hpp b/src/modelec_strat/include/modelec_strat/missions/take_mission.hpp
index 4df7d4f..2312d64 100644
--- a/src/modelec_strat/include/modelec_strat/missions/take_mission.hpp
+++ b/src/modelec_strat/include/modelec_strat/missions/take_mission.hpp
@@ -5,7 +5,7 @@
 #include <modelec_strat/missions/move_mission.hpp>
 
 namespace Modelec {
-    class TakeMission : public MinTimeMission, public ActionMission, public MoveMission {
+    class TakeMission : public ActionMission, public MoveMission {
     public:
         TakeMission(const std::shared_ptr<NavigationHelper>& nav,
                       const std::shared_ptr<ActionExecutor>& action_executor,
diff --git a/src/modelec_strat/src/missions/free_mission.cpp b/src/modelec_strat/src/missions/free_mission.cpp
index e42d280..999cb9b 100644
--- a/src/modelec_strat/src/missions/free_mission.cpp
+++ b/src/modelec_strat/src/missions/free_mission.cpp
@@ -14,7 +14,6 @@ namespace Modelec {
     {
         ActionMission::Start(node);
         MoveMission::Start(node);
-        MinTimeMission::Start(node);
 
         status_ = MissionStatus::RUNNING;
 
@@ -34,7 +33,7 @@ namespace Modelec {
 
     bool FreeMission::Update()
     {
-        if (!ActionMission::Update() || !MoveMission::Update() || !MinTimeMission::Update())
+        if (!ActionMission::Update() || !MoveMission::Update())
         {
             return false;
         }
@@ -128,8 +127,6 @@ namespace Modelec {
                 action_executor_->Free(servo);
 
                 deploy_time_ = node_->now();
-
-                min_time_ = node_->now() + rclcpp::Duration::from_seconds(1);
             }
             break;
         case ROTATE_ARM:
@@ -142,8 +139,6 @@ namespace Modelec {
             {
                 action_executor_->Free({{0, side_}, {1, side_}, {2, side_}, {3, side_}});
                 deploy_time_ = node_->now();
-
-                min_time_ = node_->now() + rclcpp::Duration::from_seconds(1);
             }
             break;
         case UP:
diff --git a/src/modelec_strat/src/missions/take_mission.cpp b/src/modelec_strat/src/missions/take_mission.cpp
index 1a69efe..8ab20f2 100644
--- a/src/modelec_strat/src/missions/take_mission.cpp
+++ b/src/modelec_strat/src/missions/take_mission.cpp
@@ -14,7 +14,6 @@ namespace Modelec {
     {
         ActionMission::Start(node);
         MoveMission::Start(node);
-        MinTimeMission::Start(node);
 
         status_ = MissionStatus::RUNNING;
 
@@ -31,7 +30,7 @@ namespace Modelec {
 
     bool TakeMission::Update()
     {
-        if (!ActionMission::Update() || !MoveMission::Update() || !MinTimeMission::Update())
+        if (!ActionMission::Update() || !MoveMission::Update())
         {
             return false;
         }
@@ -57,8 +56,6 @@ namespace Modelec {
                 auto pos = closestBox->GetOptimizedGetPos(nav_->GetCurrentPos()).GetTakeBasePosition();
                 pos.theta = Point::normalizeAngle(pos.theta + (side_ == BaseAction::FRONT ? 0 : M_PI));
 
-                // TODO the robot do not go to the exact position i would like it to go to the exact so he can go forward after to take the box in a good way
-
                 if (nav_->GoToRotateFirst(pos, false, Pathfinding::FREE, side_ == BaseAction::FRONT) != Pathfinding::FREE)
                 {
                     if (nav_->GoToRotateFirst(pos, true, Pathfinding::FREE, side_ == BaseAction::FRONT) != Pathfinding::FREE)
@@ -105,7 +102,6 @@ namespace Modelec {
             {
                 action_executor_->Take({{0, side_}, {1, side_}, {2, side_}, {3, side_}});
                 deploy_time_ = node_->now();
-                min_time_ = node_->now() + rclcpp::Duration::from_seconds(0.5);
             }
             break;
         case UP: