diff --git a/src/modelec_strat/data/action.xml b/src/modelec_strat/data/action.xml
index 13bf0f7..6e1f0eb 100644
--- a/src/modelec_strat/data/action.xml
+++ b/src/modelec_strat/data/action.xml
@@ -1,12 +1,20 @@
 <action>
     <init>
-        <servo id="0" angle="3.12" />
+        <!--<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" />
+        <servo id="3" angle="2.9" />
+        <servo id="4" angle="1" />
+        <servo id="5" angle="1" />
+        <servo id="6" angle="1" />
         <servo id="7" angle="1" />
         <!--<servo id="8" angle="3.1" />-->
         <!--<servo id="9" angle="0.96" />-->
diff --git a/src/modelec_strat/src/strat_fms.cpp b/src/modelec_strat/src/strat_fms.cpp
index 53df9c9..585f72d 100644
--- a/src/modelec_strat/src/strat_fms.cpp
+++ b/src/modelec_strat/src/strat_fms.cpp
@@ -155,7 +155,6 @@ namespace Modelec
                 arm_msg.data = true;
                 tir_arm_set_pub_->publish(arm_msg);
 
-                action_executor_->Up(BaseAction::Side::BOTH, true);
                 action_executor_->Free({
                     {0, BaseAction::FRONT}, {1, BaseAction::FRONT}, {2, BaseAction::FRONT}, {3, BaseAction::FRONT},
                     {0, BaseAction::BACK}, {1, BaseAction::BACK}, {2, BaseAction::BACK}, {3, BaseAction::BACK},