diff --git a/docker-compose.yaml b/docker-compose.yaml
index d64c7d2..b2fe803 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -34,4 +34,4 @@ services:
       - /sys/:/sys/
       - /run/udev/:/run/udev/
 
-    entrypoint: ["bash", "-c", "ros2 launch toid_navigation main.py use_lidar:=False use_mock:=False"]
\ No newline at end of file
+    entrypoint: ["bash", "-c", "source install/setup.bash && ros2 launch toid_navigation main.py use_lidar:=False use_mock:=False"]
\ No newline at end of file
diff --git a/toid_interaction/toid_interaction/interaction_node.py b/toid_interaction/toid_interaction/interaction_node.py
index 7ef50d6..dc69da4 100644
--- a/toid_interaction/toid_interaction/interaction_node.py
+++ b/toid_interaction/toid_interaction/interaction_node.py
@@ -73,11 +73,11 @@ class InteracitionNode(Node):
 
         zidovi = Zidovi(self.st_motor_device_name)
 
-        zidovi.zidovi(1, 1500, 600, 210, 130, 130)
+        zidovi.zidovi(1, 1500, 600, 210, 120, 120)
 
         okreni_niz(request.text)
 
-        zidovi.zidovi(0, 1500, 420, 30, 130, 130)
+        zidovi.zidovi(0, 1500, 420, 50, 120, 120)
         self.step = 2
         return response
 
@@ -89,7 +89,7 @@ class InteracitionNode(Node):
         zidovi = Zidovi(self.st_motor_device_name)
 
         zupcanik.zupcanik(1, 1015, 25)
-        zidovi.zidovi(0, 1500, 180, 180, 130, 130)
+        zidovi.zidovi(0, 1500, 180, 160, 120, 120)
         okreni(5)
         self.step = 0
         return response