diff --git a/config.py b/config.py
index 13d907d..bf343fa 100644
--- a/config.py
+++ b/config.py
@@ -10,28 +10,28 @@
 MEAS_TO_MOVE = 2.0  # seconds
 MEAS_TO_RECEIVE = 2.5  # seconds
 CC_XY = [
-    [149.6, -57],
-    [147.9, -32.5],
-    [147.1, -9.7],
-    [147.3, 12.5],
-    [148.9, 35],
-    [150.9, 58.2],
-    [178.9, -59.6],
-    [177.5, -34.9],
-    [177, -10.8],
-    [177.9, 12.7],
-    [178.7, 36.5],
-    [180.7, 60.4],
-    [210.1, -59.6],
-    [208.8, -35],
-    [208.2, -10.4],
-    [208.2, 13.7],
-    [208.6, 37.8],
-    [209.8, 62],
-    [239.5, -60.5],
-    [238.7, -35.7],
-    [237.7, -10.4],
-    [238.1, 15.1],
-    [239.1, 39.4],
-    [240, 64.4],
+    [146.6, -56.6],
+    [145.4, -33.2],
+    [145, -10.5],
+    [145, 11.7],
+    [146.5, 34],
+    [148.5, 57.2],
+    [176.5, -57.9],
+    [175.4, -34.2],
+    [174.5, -11.1],
+    [176, 12.1],
+    [176.6, 35.6],
+    [179.2, 59.4],
+    [206.9, -60],
+    [206, -35],
+    [206, -10.6],
+    [206, 13.5],
+    [207.7, 37.4],
+    [208.9, 61.8],
+    [237.8, -61.3],
+    [236.7, -36.2],
+    [236, -11.3],
+    [236, 13.7],
+    [237.2, 38],
+    [239.4, 63.2],
 ]
diff --git a/dobot-base.svg b/dobot-base.svg
new file mode 100644
index 0000000..8f76a2a
--- /dev/null
+++ b/dobot-base.svg
@@ -0,0 +1,149 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   width="450mm"
+   height="300mm"
+   viewBox="0 0 1700.7874 1133.8583"
+   version="1.1"
+   id="svg1"
+   inkscape:version="1.4 (86a8ad7, 2024-10-11)"
+   sodipodi:docname="dobot-base.svg"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg">
+  <sodipodi:namedview
+     id="namedview1"
+     pagecolor="#ffffff"
+     bordercolor="#000000"
+     borderopacity="0.25"
+     inkscape:showpageshadow="2"
+     inkscape:pageopacity="0.0"
+     inkscape:pagecheckerboard="0"
+     inkscape:deskcolor="#d1d1d1"
+     inkscape:document-units="mm"
+     inkscape:zoom="0.73512619"
+     inkscape:cx="685.59658"
+     inkscape:cy="629.14369"
+     inkscape:window-width="2046"
+     inkscape:window-height="1211"
+     inkscape:window-x="310"
+     inkscape:window-y="138"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="layer4" />
+  <defs
+     id="defs1" />
+  <g
+     inkscape:label="cut"
+     inkscape:groupmode="layer"
+     id="layer1"
+     style="display:inline">
+    <circle
+       style="fill:none;stroke:#000000;stroke-width:0.755906;stroke-dasharray:none;stroke-opacity:1"
+       id="path2"
+       cx="1080.9449"
+       cy="415.74805"
+       r="6.8031497" />
+    <circle
+       style="fill:none;stroke:#000000;stroke-width:0.755906;stroke-dasharray:none;stroke-opacity:1"
+       id="path2-1"
+       cx="1375.748"
+       cy="302.36221"
+       r="6.8031497" />
+    <circle
+       style="fill:none;stroke:#000000;stroke-width:0.755906;stroke-dasharray:none;stroke-opacity:1"
+       id="path2-1-7"
+       cx="1375.748"
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+       r="6.8031497" />
+    <circle
+       style="fill:none;stroke:#000000;stroke-width:0.755906;stroke-dasharray:none;stroke-opacity:1"
+       id="path2-5"
+       cx="18.897638"
+       cy="18.897638"
+       r="6.8031497" />
+    <circle
+       style="fill:none;stroke:#000000;stroke-width:0.755906;stroke-dasharray:none;stroke-opacity:1"
+       id="path2-5-2"
+       cx="850.39374"
+       cy="18.897638"
+       r="6.8031497" />
+    <circle
+       style="fill:none;stroke:#000000;stroke-width:0.755906;stroke-dasharray:none;stroke-opacity:1"
+       id="path2-8"
+       cx="1080.9449"
+       cy="718.11023"
+       r="6.8031497" />
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer3"
+     inkscape:label="none"
+     style="display:inline">
+    <circle
+       style="display:inline;fill:none;stroke:#000000;stroke-width:0.755906;stroke-dasharray:none;stroke-opacity:1"
+       id="path2-5-1"
+       cx="18.897638"
+       cy="1114.9607"
+       r="6.8031497" />
+    <circle
+       style="display:inline;fill:none;stroke:#000000;stroke-width:0.755906;stroke-dasharray:none;stroke-opacity:1"
+       id="path2-5-1-7"
+       cx="850.39374"
+       cy="1114.9607"
+       r="6.8031497" />
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer2"
+     inkscape:label="draw"
+     style="display:inline">
+    <rect
+       style="fill:none;stroke:#000000;stroke-width:0.755906;stroke-dasharray:none;stroke-opacity:1"
+       id="rect1"
+       width="597.16534"
+       height="597.16534"
+       x="1047.3071"
+       y="268.72443"
+       rx="37.795277"
+       ry="37.795277" />
+    <rect
+       style="fill:none;stroke:#000000;stroke-width:0.662089;stroke-dasharray:none;stroke-opacity:1"
+       id="rect2"
+       width="793.79462"
+       height="861.07019"
+       x="38.12632"
+       y="6.0003357" />
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer4"
+     inkscape:label="handle"
+     style="display:inline">
+    <circle
+       style="display:inline;fill:none;stroke:#000000;stroke-width:0.755906;stroke-dasharray:none;stroke-opacity:1"
+       id="path2-9"
+       cx="1065.4489"
+       cy="154.96063"
+       r="6.8031497" />
+    <circle
+       style="display:inline;fill:none;stroke:#000000;stroke-width:0.755906;stroke-dasharray:none;stroke-opacity:1"
+       id="path2-9-5"
+       cx="1594.5828"
+       cy="154.96063"
+       r="6.8031497" />
+    <circle
+       style="display:inline;fill:none;stroke:#000000;stroke-width:0.755906;stroke-dasharray:none;stroke-opacity:1"
+       id="path2-9-2"
+       cx="1065.4489"
+       cy="978.89764"
+       r="6.8031497" />
+    <circle
+       style="display:inline;fill:none;stroke:#000000;stroke-width:0.755906;stroke-dasharray:none;stroke-opacity:1"
+       id="path2-9-5-3"
+       cx="1594.5828"
+       cy="978.89764"
+       r="6.8031497" />
+  </g>
+</svg>
diff --git a/dobot.py b/dobot.py
index c7aa732..ef4b828 100644
--- a/dobot.py
+++ b/dobot.py
@@ -11,21 +11,13 @@
         if self.device is None:
             raise RuntimeError("Failed to initialize Dobot.")
         print(f"Dobot found on {port}")
+        # (x, y, z, r, j1, j2, j3, j4) = self.device.pose()
+        # print(f"Current position: x={x}, y={y}, z={z}, r={r}")
+        self.device.speed(velocity=100.0, acceleration=100.0)
 
     def __del__(self):
         self.close()
 
-    def init(self):
-        if self.device is not None:
-            self.close()
-        self.device = pydobot.Dobot(port=self.port, verbose=self.verbose)
-        if self.device is None:
-            raise RuntimeError("Failed to initialize Dobot.")
-        # Set initial position to Z_UP
-        (x, y, z, r, j1, j2, j3, j4) = self.device.pose()
-        if z < 0:
-            self.device.move_to(x + 3, y, self.Z_UP, 0, wait=True)
-
     def find_port(self):
         available_ports = list_ports.comports()
         dobot_port = [x for x in available_ports if "CH340" in x.description]