diff --git a/src/modelec_com/src/pcb_action_interface.cpp b/src/modelec_com/src/pcb_action_interface.cpp
index 66d06a7..15874fd 100644
--- a/src/modelec_com/src/pcb_action_interface.cpp
+++ b/src/modelec_com/src/pcb_action_interface.cpp
@@ -208,7 +208,8 @@ namespace Modelec
             {1, {{0, M_PI_2}}},
             {2, {{0, M_PI_2}}},
             {3, {{0, M_PI_2}}},
-            {4, {{0, M_PI_2}, {1, -M_PI_2}, {2, PI}}},
+            {4, {{0, M_PI_2}}},
+            {5, {{0, M_PI_2}}},
         };
 
         for (auto & [id, v] : servo_pos_mapper_)
@@ -224,7 +225,8 @@ namespace Modelec
             {1, 0},
             {2, 0},
             {3, 0},
-            {4, 0}
+            {4, 0},
+            {5, 0}
         };
 
         for (auto & [id, v] : servo_value_)
diff --git a/src/modelec_strat/src/action_executor.cpp b/src/modelec_strat/src/action_executor.cpp
index 7cc11e1..fd0443c 100644
--- a/src/modelec_strat/src/action_executor.cpp
+++ b/src/modelec_strat/src/action_executor.cpp
@@ -146,7 +146,7 @@ namespace Modelec
                     servo_move_pub_->publish(first_pot_msg);
 
                     modelec_interfaces::msg::ActionServoPos fourth_pot_msg;
-                    fourth_pot_msg.id = 3; // TODO : to define
+                    fourth_pot_msg.id = 1; // TODO : to define
                     fourth_pot_msg.pos = 1;
                     servo_move_pub_->publish(fourth_pot_msg);
 
@@ -167,7 +167,7 @@ namespace Modelec
             case RETRACT_BOTTOM_PLATE:
                 {
                     modelec_interfaces::msg::ActionServoPos servo_action_bottom_msg;
-                    servo_action_bottom_msg.id = 4; // TODO : to define
+                    servo_action_bottom_msg.id = 2; // TODO : to define
                     servo_action_bottom_msg.pos = 2;
                     servo_move_pub_->publish(servo_action_bottom_msg);
 
@@ -192,30 +192,10 @@ namespace Modelec
                     relay_top_msg.id = 2;
                     relay_move_pub_->publish(relay_top_msg);
 
-                    modelec_interfaces::msg::ActionRelayState relay_bottom_msg;
-                    relay_bottom_msg.state = true; // TODO : check that
-                    relay_bottom_msg.id = 1;
-                    relay_move_pub_->publish(relay_bottom_msg);
-
-                    modelec_interfaces::msg::ActionServoPos first_pot_msg;
-                    first_pot_msg.id = 0; // TODO : to define
-                    first_pot_msg.pos = 1;
-                    servo_move_pub_->publish(first_pot_msg);
-
-                    modelec_interfaces::msg::ActionServoPos fourth_pot_msg;
-                    fourth_pot_msg.id = 3; // TODO : to define
-                    fourth_pot_msg.pos = 1;
-                    servo_move_pub_->publish(fourth_pot_msg);
-
-                    modelec_interfaces::msg::ActionServoPos second_pot_msg;
-                    second_pot_msg.id = 1; // TODO : to define
-                    second_pot_msg.pos = 1;
-                    servo_move_pub_->publish(second_pot_msg);
-
-                    modelec_interfaces::msg::ActionServoPos third_pot_msg;
-                    third_pot_msg.id = 2; // TODO : to define
-                    third_pot_msg.pos = 1;
-                    servo_move_pub_->publish(third_pot_msg);
+                    modelec_interfaces::msg::ActionServoPos top_pot_msg;
+                    top_pot_msg.id = 4; // TODO : to define
+                    top_pot_msg.pos = 1;
+                    servo_move_pub_->publish(top_pot_msg);
 
                     step_running_ = 6;
                 }
@@ -234,7 +214,7 @@ namespace Modelec
             case PLACE_FIRST_PLATE:
                 {
                     modelec_interfaces::msg::ActionServoPos action_bottom_msg;
-                    action_bottom_msg.id = 4; // TODO : to define
+                    action_bottom_msg.id = 2; // TODO : to define
                     action_bottom_msg.pos = 0;
                     servo_move_pub_->publish(action_bottom_msg);
 
@@ -244,15 +224,10 @@ namespace Modelec
                 break;
             case STICK_ALL:
                 {
-                    modelec_interfaces::msg::ActionServoPos second_pot_msg;
-                    second_pot_msg.id = 1; // TODO : to define
-                    second_pot_msg.pos = 1;
-                    servo_move_pub_->publish(second_pot_msg);
-
-                    modelec_interfaces::msg::ActionServoPos third_pot_msg;
-                    third_pot_msg.id = 2; // TODO : to define
-                    third_pot_msg.pos = 1;
-                    servo_move_pub_->publish(third_pot_msg);
+                    modelec_interfaces::msg::ActionServoPos top_pot_msg;
+                    top_pot_msg.id = 4; // TODO : to define
+                    top_pot_msg.pos = 1;
+                    servo_move_pub_->publish(top_pot_msg);
 
                     step_running_ = 2;
                 }
@@ -290,15 +265,10 @@ namespace Modelec
                     second_pot_msg.pos = 0;
                     servo_move_pub_->publish(second_pot_msg);
 
-                    modelec_interfaces::msg::ActionServoPos third_pot_msg;
-                    third_pot_msg.id = 2; // TODO : to define
-                    third_pot_msg.pos = 0;
-                    servo_move_pub_->publish(third_pot_msg);
-
-                    modelec_interfaces::msg::ActionServoPos fourth_pot_msg;
-                    fourth_pot_msg.id = 3; // TODO : to define
-                    fourth_pot_msg.pos = 0;
-                    servo_move_pub_->publish(fourth_pot_msg);
+                    modelec_interfaces::msg::ActionServoPos top_pot_msg;
+                    top_pot_msg.id = 4; // TODO : to define
+                    top_pot_msg.pos = 0;
+                    servo_move_pub_->publish(top_pot_msg);
 
                     step_running_ = 6;
                 }
@@ -311,7 +281,7 @@ namespace Modelec
                     asc_move_pub_->publish(asc_msg);
 
                     modelec_interfaces::msg::ActionServoPos servo_action_bottom_msg;
-                    servo_action_bottom_msg.id = 4; // TODO : to define
+                    servo_action_bottom_msg.id = 3; // TODO : to define
                     servo_action_bottom_msg.pos = 0;
                     servo_move_pub_->publish(servo_action_bottom_msg);