diff --git a/src/modelec_strat/data/config.xml b/src/modelec_strat/data/config.xml
index 273fa3b..516db20 100644
--- a/src/modelec_strat/data/config.xml
+++ b/src/modelec_strat/data/config.xml
@@ -34,15 +34,17 @@
     </map>
 
     <home>
-        <blue x="2650" y="1600" theta="-1.5708"/>
-        <yellow x="350" y="1600" theta="-1.5708"/>
+        <!--<blue x="2650" y="1600" theta="-1.5708"/>
+        <yellow x="350" y="1600" theta="-1.5708"/>-->
+        <blue x="2650" y="1700" theta="1.5708"/>
+        <yellow x="350" y="1700" theta="1.5708"/>
     </home>
     <spawn>
         <yellow>
-            <top x="375" y="1800" theta="-1.5708" />
+            <top x="350" y="1700" theta="1.5708" />
         </yellow>
         <blue>
-            <top x="2650" y="1700" theta="-1.5708" />
+            <top x="2650" y="1700" theta="1.5708" />
         </blue>
         <width_mm>450</width_mm>
         <height_mm>450</height_mm>
diff --git a/src/modelec_strat/src/missions/take_send_mission.cpp b/src/modelec_strat/src/missions/take_send_mission.cpp
index 28be129..bce9d65 100644
--- a/src/modelec_strat/src/missions/take_send_mission.cpp
+++ b/src/modelec_strat/src/missions/take_send_mission.cpp
@@ -10,7 +10,7 @@ namespace Modelec {
         node_ = node;
 
 
-        nav_->GoToRotateFirst(2500, 1200, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
+        nav_->GoTo/*RotateFirst*/(2500, 1200, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
 
         go_timeout_ = node_->now();
 
@@ -48,7 +48,7 @@ namespace Modelec {
 
             break;
         case WAIT_5S:
-            nav_->GoToRotateFirst(1900, 500, 0, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
+            nav_->GoTo/*RotateFirst*/(2000, 700, 0, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
 
             step_ = GO_TO_SEND;
             break;