diff --git a/src/robot_behaviour/config/movements/sr2.yaml b/src/robot_behaviour/config/movements/sr2.yaml
index e60fcb64578a53d7be22e3a50b28a68348e1ae63..6d5c67d26749b6c9d9c8e5a864433c5f084dd843 100644
--- a/src/robot_behaviour/config/movements/sr2.yaml
+++ b/src/robot_behaviour/config/movements/sr2.yaml
@@ -6,12 +6,13 @@ 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: 2
+        - time_from_start: 1
           positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
-        - time_from_start: 4.5
+
+        - time_from_start: 3
           positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
         #come back
-        - time_from_start: 7
+        - time_from_start: 6
           positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
       meta:
         name: sr2
diff --git a/src/robot_behaviour/config/movements/sr3.yaml b/src/robot_behaviour/config/movements/sr3.yaml
index 74ba7cbb7ecac84ab56c2316aee1cdd28c8c0210..52f1966036d65eed8d1945ebab0962583b36d5b7 100644
--- a/src/robot_behaviour/config/movements/sr3.yaml
+++ b/src/robot_behaviour/config/movements/sr3.yaml
@@ -6,12 +6,12 @@ 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: 2
+        - time_from_start: 1
           positions: [1.07, 0.2206, -1.2998, 1.0401, -1.6298, 0.5703, -1.5803]
-        - time_from_start: 4.5
+        - time_from_start: 3
           positions: [0.64, 0.22, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
         #come back
-        - time_from_start: 7
+        - time_from_start: 6
           positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
       meta:
         name: sr3
diff --git a/src/robot_behaviour/config/movements/sr4.yaml b/src/robot_behaviour/config/movements/sr4.yaml
index 066b809385f95e9d36120dc9489df9d106d3663c..2513a588a6c1e96f7008a2c84a747689d5b4a61b 100644
--- a/src/robot_behaviour/config/movements/sr4.yaml
+++ b/src/robot_behaviour/config/movements/sr4.yaml
@@ -6,12 +6,12 @@ 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: 2
+        - time_from_start: 1.5
           positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
-        - time_from_start: 4.5
+        - time_from_start: 3
           positions: [0.9361527766954548, 0.21798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
         #come back
-        - time_from_start: 7
+        - time_from_start: 6
           positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
       meta:
         name: sr4