diff --git a/toid_control/launch/toid.launch.py b/toid_control/launch/toid.launch.py
index b2f52d5..792383d 100644
--- a/toid_control/launch/toid.launch.py
+++ b/toid_control/launch/toid.launch.py
@@ -38,7 +38,7 @@ def generate_launch_description():
         parameters=[
             {
                 "mock_odom": use_mock,
-                "serial_port": "/dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_E66368254F4F4036-if02",
+                "serial_port": "/dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_504430456075AF1C-if02",
             }
         ],
     )
@@ -57,7 +57,7 @@ def generate_launch_description():
                         default_model_path,
                         " use_mock:=",
                         use_mock,
-                        " serial_port:=/dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_E66368254F4F4036-if02",
+                        " serial_port:=/dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_504430456075AF1C-if00",
                     ]
                 )
             }
diff --git a/toid_interaction/toid_interaction/interaction_node.py b/toid_interaction/toid_interaction/interaction_node.py
index c496f07..7ef50d6 100644
--- a/toid_interaction/toid_interaction/interaction_node.py
+++ b/toid_interaction/toid_interaction/interaction_node.py
@@ -63,21 +63,21 @@ class InteracitionNode(Node):
             return Empty.Response()
         okreni(5)
         zupcanik = ZupcanikAction(self.st_motor_device_name)
-        zupcanik.zupcanik(1, -1010, 25)
+        zupcanik.zupcanik(1, -1015, 25)
         self.step = 1
         return response
 
     def sequence2_cb(self, request: SendString.Request, response: SendString.Response):
         if self.step != 1:
-            return Empty.Response()
+            return SendString.Response()
 
         zidovi = Zidovi(self.st_motor_device_name)
 
-        zidovi.zidovi(0, 1500, 600, 300, 100, 120)
+        zidovi.zidovi(1, 1500, 600, 210, 130, 130)
 
         okreni_niz(request.text)
 
-        zidovi.zidovi(0, 1500, 450, 150, 100, 120)
+        zidovi.zidovi(0, 1500, 420, 30, 130, 130)
         self.step = 2
         return response
 
@@ -88,8 +88,8 @@ class InteracitionNode(Node):
         zupcanik = ZupcanikAction(self.st_motor_device_name)
         zidovi = Zidovi(self.st_motor_device_name)
 
-        zupcanik.zupcanik(1, 1010, 25)
-        zidovi.zidovi(0, 1500, 150, 150, 100, 120)
+        zupcanik.zupcanik(1, 1015, 25)
+        zidovi.zidovi(0, 1500, 180, 180, 130, 130)
         okreni(5)
         self.step = 0
         return response
diff --git a/toid_interaction/toid_interaction/mechanism/sekvenca_2026.py b/toid_interaction/toid_interaction/mechanism/sekvenca_2026.py
index 442f370..e813eff 100644
--- a/toid_interaction/toid_interaction/mechanism/sekvenca_2026.py
+++ b/toid_interaction/toid_interaction/mechanism/sekvenca_2026.py
@@ -8,7 +8,7 @@ import time
 import serial
 import serial.tools.list_ports as list_ports
 
-SERIAL_ID = "50443405C8C3B21C"
+SERIAL_ID = "259B221729115453"
 
 
 def okreni(i):