diff --git a/toid_behaviors/src/approach_acorns.cpp b/toid_behaviors/src/approach_acorns.cpp
index c791d8c..c994cbf 100644
--- a/toid_behaviors/src/approach_acorns.cpp
+++ b/toid_behaviors/src/approach_acorns.cpp
@@ -96,22 +96,24 @@ void ApproachAcorns::acorn_position_cb(PoseStamped::ConstSharedPtr msg)
   }
 
 
-  double yaw = tf2::getYaw(pose_global.pose.orientation);
+  double yaw = angles::normalize_angle(tf2::getYaw(pose_global.pose.orientation));
 
-  if (yaw < 0) {
-    angles::normalize_angle(yaw + M_PI / 2);
+  if(tf2::getYaw(pose_local.pose.orientation) > 0) {
+    yaw += M_PI;
   }
 
-  pose_global.pose.position.x += std::cos(yaw) * 0.01 + std::sin(yaw) * -0.20;
-  pose_global.pose.position.y += -std::cos(yaw) * 0.01 + std::cos(yaw) * -0.20;
-  tf2::convert(tf2::Quaternion::createFromRPY(0,0,yaw), pose_global.pose.orientation);
+  yaw += M_PI/2;
+
+  pose_global.pose.position.x += std::cos(yaw) * -0.35 - std::sin(yaw) * + 0.005;
+  pose_global.pose.position.y += std::sin(yaw) * -0.35 + std::cos(yaw) * + 0.005;
+  tf2::convert(tf2::Quaternion::createFromRPY(0,0,yaw ), pose_global.pose.orientation);
 
   if(debug_marker_) {
     visualization_msgs::msg::Marker marker;
     marker.lifetime.sec = 1.0;
     marker.header = pose_global.header;
     marker.pose = pose_global.pose;
-    marker.type = visualization_msgs::msg::Marker::SPHERE;
+    marker.type = visualization_msgs::msg::Marker::ARROW;
     marker.scale.x = 0.02;
     marker.scale.y = 0.02;
     marker.scale.z = 0.02;