diff --git a/lesson_04/step_3.py b/lesson_04/step_3.py
index e4b7ac3df8409eaa49acc5377f947a4a66bc5193..eb0c3f42a4db96fffeed2412073609cecf5f1c58 100644
--- a/lesson_04/step_3.py
+++ b/lesson_04/step_3.py
@@ -22,12 +22,10 @@ class RurMover(Node):
     def main(self):
         self.publish_twist(0, 90.0)
         self.publish_twist(3, 0.0)
-        self.publish_twist(0, -120.0)
-        self.publish_twist(1, 0.0)
-        self.publish_twist(0, -120.0)
-        self.publish_twist(1, 0.0)
-        self.publish_twist(0, 60.0)
-        self.publish_twist(2, 0.0)
+        self.publish_twist(0, -90.0)
+        self.publish_twist(2, -180.0)
+        self.publish_twist(0, 180.0)
+        self.publish_twist(2.4, -180.0)
 
 
 def main(args=None):