diff --git a/src/robot_behaviour/config/movements/sr2.yaml b/src/robot_behaviour/config/movements/sr2.yaml
index 6d5c67d26749b6c9d9c8e5a864433c5f084dd843..ba1e18bb7a2f5856737a0c37965963de256821d2 100644
--- a/src/robot_behaviour/config/movements/sr2.yaml
+++ b/src/robot_behaviour/config/movements/sr2.yaml
@@ -6,11 +6,11 @@ play_motion:
         - time_from_start: 0
           positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
         #go to p13
-        - time_from_start: 1
-          positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
+        - time_from_start: 2
+          positions: [0.951109287763273, 0.28416941968737053, -1.3292736116522725, 1.2947190568961022, -1.7102920002519582, 0.5699461995064582, -1.5800282341433047]
 
-        - time_from_start: 3
-          positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
+        - time_from_start: 4
+          positions: [0.4639258672475419, 0.28418475969872214, -1.3286906912209115, 1.280345466259645, -1.711462864987439, 0.5699461995064582, -1.5800282341433047]
         #come back
         - time_from_start: 6
           positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
diff --git a/src/robot_behaviour/config/movements/sr3.yaml b/src/robot_behaviour/config/movements/sr3.yaml
index 52f1966036d65eed8d1945ebab0962583b36d5b7..0ca22e4bec15e85be460480f68ba9ecea71d562c 100644
--- a/src/robot_behaviour/config/movements/sr3.yaml
+++ b/src/robot_behaviour/config/movements/sr3.yaml
@@ -6,10 +6,10 @@ play_motion:
         - time_from_start: 0
           positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
         #go to p13
-        - time_from_start: 1
-          positions: [1.07, 0.2206, -1.2998, 1.0401, -1.6298, 0.5703, -1.5803]
-        - time_from_start: 3
-          positions: [0.64, 0.22, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
+        - time_from_start: 2
+          positions: [1.1633230048014236, 0.4051407492061544, -1.1345628475663072, 1.0410259491632023, -1.7016994834115144, 0.5641826548987351, -1.5766323558835955]
+        - time_from_start: 4
+          positions: [0.709181968737057, 0.4045885087974965, -1.1345628475663072, 1.0409799291291475, -1.701881041550877, 0.5641900654350356, -1.576624945347295]
         #come back
         - time_from_start: 6
           positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
diff --git a/src/robot_behaviour/config/movements/sr4.yaml b/src/robot_behaviour/config/movements/sr4.yaml
index 27ccc20369d82ee0f58f405ef7687f9e9346f441..c1237724b07ba18a26a24c04e2ceecf21a430564 100644
--- a/src/robot_behaviour/config/movements/sr4.yaml
+++ b/src/robot_behaviour/config/movements/sr4.yaml
@@ -6,10 +6,10 @@ play_motion:
         - time_from_start: 0
           positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
         #go to p13
-        - time_from_start: 1.5
-          positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
-        - time_from_start: 3
-          positions: [0.9361527766954548, 0.24798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
+        - time_from_start: 2.0
+          positions: [1.2929461007225145, 0.24532851094509808, -1.1413277925723664, 0.6946484928438847, -1.6892794245718563, 0.5102839717510357, -1.5764193029649556]
+        - time_from_start: 4.0
+          positions: [0.902926312107871, 0.24528249091104326, -1.1413277925723664, 0.6940042123671172, -1.6895647302194259, 0.5102932349214113, -1.57641003979458]
         #come back
         - time_from_start: 6
           positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]