diff --git a/src/brain/config/bt_carry_boxes_sch1.params.yaml b/src/brain/config/bt_carry_boxes_sch1.params.yaml
index a0c553a..24b8c3f 100644
--- a/src/brain/config/bt_carry_boxes_sch1.params.yaml
+++ b/src/brain/config/bt_carry_boxes_sch1.params.yaml
@@ -68,8 +68,8 @@
     data_array: [-105, -70, -25, 1, -85, -170, -75, 70, 25, -1, 85, -10]
 
     '
-- name: s6_wheel_move_back_to_origin
-  params: 'move_distance: 0.0
+- name: s6_wheel_move_back_to_second_position
+  params: 'move_distance: -0.8
 
     move_angle: 0.0
 
@@ -202,8 +202,8 @@
     data_array: [-105, -70, -25, 1, -85, -170, -75, 70, 25, -1, 85, -10]
 
     '
-- name: s18_wheel_move_back_to_second_position
-  params: 'move_distance: -0.5
+- name: s18_wheel_move_back_to_origin
+  params: 'move_distance: 0.0
 
     move_angle: 0.0
 
diff --git a/src/brain/config/bt_carry_boxes_sch1.xml b/src/brain/config/bt_carry_boxes_sch1.xml
index 55a721d..f9e42bf 100644
--- a/src/brain/config/bt_carry_boxes_sch1.xml
+++ b/src/brain/config/bt_carry_boxes_sch1.xml
@@ -9,7 +9,7 @@
           <MoveWheel_H name="s3_wheel_move_to_pickup_position" />
           <Arm_H name="s4_arm_grasp_box" />
           <Arm_H name="s5_arm_pickup_box" />
-          <MoveWheel_H name="s6_wheel_move_back_to_origin" />
+          <MoveWheel_H name="s6_wheel_move_back_to_second_position" />
           <MoveWaist_H name="s7_waist_turn_around" />
           <MoveWaist_H name="s8_waist_bend_down" />
           <Arm_H name="s9_arm_put_down_box" />
@@ -22,7 +22,7 @@
           <MoveWheel_H name="s15_wheel_move_to_pickup_position" />
           <Arm_H name="s16_arm_grasp_box" />
           <Arm_H name="s17_arm_pickup_box" />
-          <MoveWheel_H name="s18_wheel_move_back_to_second_position" />
+          <MoveWheel_H name="s18_wheel_move_back_to_origin" />
           <MoveWaist_H name="s19_waist_turn_around" />
           <MoveWaist_H name="s20_waist_bend_down" />
           <Arm_H name="s21_arm_put_down_box" />
diff --git a/src/brain/config/bt_carry_boxes_sch2.params.yaml b/src/brain/config/bt_carry_boxes_sch2.params.yaml
index 9594398..2e623f8 100644
--- a/src/brain/config/bt_carry_boxes_sch2.params.yaml
+++ b/src/brain/config/bt_carry_boxes_sch2.params.yaml
@@ -153,7 +153,7 @@
 
     '
 - name: s15_wheel_move_to_second_pickup_position
-  params: 'move_distance: -0.5
+  params: 'move_distance: -0.8
 
     move_angle: 0.0