diff --git a/src/modelec_strat/data/action.xml b/src/modelec_strat/data/action.xml
index 6e1f0eb..ec1ed60 100644
--- a/src/modelec_strat/data/action.xml
+++ b/src/modelec_strat/data/action.xml
@@ -1,13 +1,5 @@
 <action>
     <init>
-        <!--<servo id="0" angle="3.12" />
-        <servo id="1" angle="0.91" />
-        <servo id="2" angle="3.45" />
-        <servo id="3" angle="0" />
-        <servo id="4" angle="1" />
-        <servo id="5" angle="1" />
-        <servo id="6" angle="1" />
-        <servo id="7" angle="1" />-->
         <servo id="0" angle="1.84" />
         <servo id="1" angle="2.15" />
         <servo id="2" angle="0.5" />
@@ -31,18 +23,18 @@
     <down>
         <front>
             <unrotated>
-                <msg id="0" start_angle="1.84" end_angle="3.12" duration_s="2" />
-                <msg id="1" start_angle="2.15" end_angle="0.91" duration_s="2" />
-                <msg id="2" start_angle="0.5" end_angle="2.85" duration_s="0.9" delay_s="0.4" />
-                <msg id="2" start_angle="2.85" end_angle="3.45" duration_s="0.7" delay_s="1.3" />
-                <msg id="3" start_angle="2.9" end_angle="0.9" duration_s="0.9" delay_s="0.4" />
-                <msg id="3" start_angle="0.9" end_angle="0" duration_s="0.7" delay_s="1.3" />
+                <msg id="0" start_angle="1.84" end_angle="3.12" duration_s="1.5" />
+                <msg id="1" start_angle="2.15" end_angle="0.91" duration_s="1.5" />
+                <msg id="2" start_angle="0.5" end_angle="2.85" duration_s="0.7" delay_s="0.3" />
+                <msg id="2" start_angle="2.85" end_angle="3.45" duration_s="0.5" delay_s="1" />
+                <msg id="3" start_angle="2.9" end_angle="0.9" duration_s="0.7" delay_s="0.3" />
+                <msg id="3" start_angle="0.9" end_angle="0" duration_s="0.5" delay_s="1" />
             </unrotated>
             <rotated>
-                <msg id="0" start_angle="1.84" end_angle="2.98" duration_s="2" />
-                <msg id="1" start_angle="2.15" end_angle="1.07" duration_s="2" />
-                <msg id="2" start_angle="0.5" end_angle="0" duration_s="1" />
-                <msg id="3" start_angle="2.9" end_angle="3.3" duration_s="1" />
+                <msg id="0" start_angle="1.84" end_angle="2.98" duration_s="1.5" />
+                <msg id="1" start_angle="2.15" end_angle="1.07" duration_s="1.5" />
+                <msg id="2" start_angle="0.5" end_angle="0" duration_s="0.7" />
+                <msg id="3" start_angle="2.9" end_angle="3.3" duration_s="0.7" />
             </rotated>
         </front>
         <back>
@@ -65,32 +57,32 @@
     <up>
         <front>
             <unrotated>
-                <msg id="0" start_angle="3.12" end_angle="1.84" duration_s="2" />
-                <msg id="1" start_angle="0.91" end_angle="2.15" duration_s="2" />
-                <msg id="2" start_angle="3.45" end_angle="2.95" duration_s="0.7" />
-                <msg id="2" start_angle="2.95" end_angle="0.5" duration_s="0.7" delay_s="0.7" />
-                <msg id="3" start_angle="0" end_angle="0.6" duration_s="0.7" />
-                <msg id="3" start_angle="0.6" end_angle="2.9" duration_s="0.7" delay_s="0.7" />
+                <msg id="0" start_angle="3.12" end_angle="1.84" duration_s="1.5" />
+                <msg id="1" start_angle="0.91" end_angle="2.15" duration_s="1.5" />
+                <msg id="2" start_angle="3.45" end_angle="2.95" duration_s="0.4" />
+                <msg id="2" start_angle="2.95" end_angle="0.5" duration_s="0.4" delay_s="0.4" />
+                <msg id="3" start_angle="0" end_angle="0.6" duration_s="0.4" />
+                <msg id="3" start_angle="0.6" end_angle="2.9" duration_s="0.4" delay_s="0.4" />
             </unrotated>
             <rotated>
-                <msg id="0" start_angle="2.98" end_angle="1.84" duration_s="2" />
-                <msg id="1" start_angle="1.07" end_angle="2.15" duration_s="2" />
-                <msg id="2" start_angle="0" end_angle="0.5" duration_s="2" />
-                <msg id="3" start_angle="3.3" end_angle="2.9" duration_s="2" />
+                <msg id="0" start_angle="2.98" end_angle="1.84" duration_s="1.5" />
+                <msg id="1" start_angle="1.07" end_angle="2.15" duration_s="1.5" />
+                <msg id="2" start_angle="0" end_angle="0.5" duration_s="1.5" />
+                <msg id="3" start_angle="3.3" end_angle="2.9" duration_s="1.5" />
             </rotated>
         </front>
         <back>
             <rotated>
-                <msg id="8" start_angle="2.93" end_angle="1.76" duration_s="2" />
-                <msg id="9" start_angle="0.91" end_angle="2.06" duration_s="2" />
-                <msg id="10" start_angle="0" end_angle="0.5" duration_s="2" />
-                <msg id="11" start_angle="3.1" end_angle="2.6" duration_s="2" />
+                <msg id="8" start_angle="2.93" end_angle="1.76" duration_s="1.5" />
+                <msg id="9" start_angle="0.91" end_angle="2.06" duration_s="1.5" />
+                <msg id="10" start_angle="0" end_angle="0.5" duration_s="1.5" />
+                <msg id="11" start_angle="3.1" end_angle="2.6" duration_s="1.5" />
             </rotated>
             <unrotated>
-                <msg id="8" start_angle="2.93" end_angle="1.76" duration_s="2" />
-                <msg id="9" start_angle="0.91" end_angle="2.06" duration_s="2" />
-                <msg id="10" start_angle="3.2" end_angle="0.5" duration_s="2" />
-                <msg id="11" start_angle="0" end_angle="2.6" duration_s="2" />
+                <msg id="8" start_angle="2.93" end_angle="1.76" duration_s="1.5" />
+                <msg id="9" start_angle="0.91" end_angle="2.06" duration_s="1.5" />
+                <msg id="10" start_angle="3.2" end_angle="0.5" duration_s="1.5" />
+                <msg id="11" start_angle="0" end_angle="2.6" duration_s="1.5" />
             </unrotated>
         </back>
     </up>