diff --git a/ros2rag.goal/src/main/jastadd/Computation.jrag b/ros2rag.goal/src/main/jastadd/Computation.jrag
index 446dfaa719d21e3579cae3ff821830aace9f152c..86e866e118cba54f0b150257c812f3e64df52716 100644
--- a/ros2rag.goal/src/main/jastadd/Computation.jrag
+++ b/ros2rag.goal/src/main/jastadd/Computation.jrag
@@ -90,12 +90,12 @@ aspect Computation {
           .setOrientation(getOrientation())
           .setMode(plan.TrajectoryOuterClass.Trajectory.PlanningMode.FLUID)
           .build())
-      .setLoop(true)
+      .setLoop(false)
       .build();
   eq WorkStep.nextTrajectory() = getPredecessor().nextTrajectory();
   eq FinishedStep.nextTrajectory() = getPredecessor().nextTrajectory();
 
-  private static final double MoveToStep.DELTA = 0.1;
+  private static final double MoveToStep.DELTA = 0.005;
   private boolean MoveToStep.isNear(plan.TrajectoryOuterClass.Trajectory.Position one, plan.TrajectoryOuterClass.Trajectory.Position other) {
     return Math.abs(one.getX() - other.getX()) < DELTA &&
       Math.abs(one.getY() - other.getY()) < DELTA &&
diff --git a/ros2rag.starter/src/main/jastadd/Computation.jrag b/ros2rag.starter/src/main/jastadd/Computation.jrag
index d7c003c29cffe8d885430c929c0ffa89ccc514b3..d8919524bcb5d15ae19ab7f71ff096b688ffb915 100644
--- a/ros2rag.starter/src/main/jastadd/Computation.jrag
+++ b/ros2rag.starter/src/main/jastadd/Computation.jrag
@@ -23,6 +23,6 @@ aspect Computation {
   }
 
   syn double RobotArm.getAppropriateSpeed() {
-    return isInSafetyZone() ? 0.4d : 1.0d;
+    return isInSafetyZone() ? 0.2d : 0.9d;
   }
 }