diff --git a/mep3_behavior_tree/assets/strategies/big/purple_strategy.xml b/mep3_behavior_tree/assets/strategies/big/purple_strategy.xml
index d8ad92df2..7ab5a2cd8 100644
--- a/mep3_behavior_tree/assets/strategies/big/purple_strategy.xml
+++ b/mep3_behavior_tree/assets/strategies/big/purple_strategy.xml
@@ -2,8 +2,11 @@
     <!-- ////////// -->
     <BehaviorTree ID="BehaviorTree">
         <Sequence>
-            <WaitMatchStart state="2" />
             <DefaultTeamColor color="purple" />
+            <WaitMatchStart state="1" />
+            <!-- Robot setup (pre-match state) -->
+            <WaitMatchStart state="2" />
+            <!-- Robot strategy (match state) -->
             <Wait duration="10000000.0" name="Wait forever as big robot" />
         </Sequence>
     </BehaviorTree>
diff --git a/mep3_behavior_tree/assets/strategies/small/purple_strategy.xml b/mep3_behavior_tree/assets/strategies/small/purple_strategy.xml
index 939022bd6..28b9d1a31 100644
--- a/mep3_behavior_tree/assets/strategies/small/purple_strategy.xml
+++ b/mep3_behavior_tree/assets/strategies/small/purple_strategy.xml
@@ -2,8 +2,11 @@
     <!-- ////////// -->
     <BehaviorTree ID="BehaviorTree">
         <Sequence>
-            <WaitMatchStart state="2" />
             <DefaultTeamColor color="purple" />
+            <WaitMatchStart state="1" />
+            <!-- Robot setup (pre-match state) -->
+            <WaitMatchStart state="2" />
+            <!-- Robot strategy (match state) -->
             <Wait duration="10000000.0" name="Wait forever as small robot" />
         </Sequence>
     </BehaviorTree>
diff --git a/mep3_behavior_tree/include/mep3_behavior_tree/bt_action_node.hpp b/mep3_behavior_tree/include/mep3_behavior_tree/bt_action_node.hpp
index 1dc18bce7..9dbdd18bf 100644
--- a/mep3_behavior_tree/include/mep3_behavior_tree/bt_action_node.hpp
+++ b/mep3_behavior_tree/include/mep3_behavior_tree/bt_action_node.hpp
@@ -19,8 +19,8 @@
 #include <string>
 
 #include "behaviortree_cpp_v3/action_node.h"
-#include "mep3_behavior_tree/team_color_strategy_mirror.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
+#include "mep3_behavior_tree/team_color_strategy_mirror.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 
 namespace mep3_behavior_tree
@@ -65,7 +65,23 @@ class BtActionNode : public BT::ActionNodeBase
       // Unfortunately, `name` is a reserved property, so we have to use `label`.
       action_name_ = action_name + "/" + raw_name;
     }
-    g_StrategyMirror.remap_server_name(action_name_);
+
+    std::string raw_mirror;
+    if (!getInput("mirror", raw_mirror))
+      raw_mirror = "default";
+    mirror_ = StrategyMirror::string_to_mirror_enum(raw_mirror);
+
+    original_action_name_ = action_name_;
+    if (g_StrategyMirror.server_name_requires_mirroring(action_name_, mirror_)) {
+      g_StrategyMirror.remap_server_name(action_name_);
+      RCLCPP_INFO(
+        node_->get_logger(),
+        "Remapping \"%s\" action server to \"%s\"",
+        original_action_name_.c_str(),
+        action_name_.c_str()
+      );
+    }
+
     createActionClient(action_name_);
 
     // Give the derive class a chance to do any initialization
@@ -104,7 +120,9 @@ class BtActionNode : public BT::ActionNodeBase
     BT::PortsList basic = {
       BT::InputPort<std::string>("server_name", "Action server name"),
       BT::InputPort<std::string>("label", "Action name suffix"),
-      BT::InputPort<std::chrono::milliseconds>("server_timeout")};
+      BT::InputPort<std::string>("mirror", "Action mirroring flag"),
+      BT::InputPort<std::chrono::milliseconds>("server_timeout")
+    };
     basic.insert(addition.begin(), addition.end());
 
     return basic;
@@ -383,7 +401,8 @@ class BtActionNode : public BT::ActionNodeBase
     config().blackboard->template set<int>("number_recoveries", recovery_count);  // NOLINT
   }
 
-  std::string action_name_;
+  std::string action_name_, original_action_name_;
+  MirrorParam mirror_;
   typename std::shared_ptr<rclcpp_action::Client<ActionT>> action_client_;
 
   // All ROS2 actions have a goal and a result
diff --git a/mep3_behavior_tree/include/mep3_behavior_tree/dynamixel_command_action.hpp b/mep3_behavior_tree/include/mep3_behavior_tree/dynamixel_command_action.hpp
index 041407240..8535950d4 100644
--- a/mep3_behavior_tree/include/mep3_behavior_tree/dynamixel_command_action.hpp
+++ b/mep3_behavior_tree/include/mep3_behavior_tree/dynamixel_command_action.hpp
@@ -36,6 +36,27 @@ class DynamixelCommandAction
   : mep3_behavior_tree::BtActionNode<mep3_msgs::action::DynamixelCommand>(
       xml_tag_name, "dynamixel_command", config)
   {
+    if (!getInput("position", this->position))
+      throw BT::RuntimeError(
+        "Dynamixel action requires 'position' argument"
+      ); 
+    if (!getInput("velocity", this->velocity))
+      this->velocity = 220;
+    if (!getInput("tolerance", this->tolerance))
+      this->tolerance = 9;
+    if (!getInput("timeout", this->timeout))
+      this->timeout = 5;
+
+    std::string table = this->config().blackboard->get<std::string>("table");
+    _Float64 position_offset;
+    if (table.length() > 0 && getInput("position_" + table, position_offset)) {
+      position += position_offset;
+    }
+
+    if (g_StrategyMirror.angle_requires_mirroring(original_action_name_, mirror_)) {
+      g_StrategyMirror.invert_angle(position);
+    }
+
   }
 
   void on_tick() override;
@@ -51,7 +72,6 @@ class DynamixelCommandAction
       BT::InputPort<_Float64>("velocity"),
       BT::InputPort<_Float64>("tolerance"),
       BT::InputPort<_Float64>("timeout"),
-      BT::InputPort<std::string>("mirror"),
       BT::OutputPort<int8_t>("result")
     });
 
@@ -64,39 +84,14 @@ class DynamixelCommandAction
 
     return port_list;
   }
+
+private:
+  _Float64 position, velocity, tolerance, timeout;
 };
 
 void DynamixelCommandAction::on_tick()
 {
-  _Float64 position, velocity, tolerance, timeout;
-
-  getInput("position", position);
-  if (!getInput("velocity", velocity))
-    velocity = 220;
-  if (!getInput("tolerance", tolerance))
-    tolerance = 9;
-  if (!getInput("timeout", timeout))
-    timeout = 5;
-
-  std::string table = config().blackboard->get<std::string>("table");
-  _Float64 position_offset;
-  if (table.length() > 0 && getInput("position_" + table, position_offset)) {
-    position += position_offset;
-    std::cout << "Position offset for '" << action_name_ \
-              << "' on table '" << table << "' detected" << std::endl;
-  }
-
-  std::string mirror;
-  getInput("mirror", mirror);
-
-  if (g_StrategyMirror.server_name_requires_mirroring(action_name_, mirror)) {
-    g_StrategyMirror.remap_server_name(action_name_);
-  }
-
-  if (g_StrategyMirror.angle_requires_mirroring(action_name_, mirror)) {
-    g_StrategyMirror.invert_angle(position);
-  }
-
+  std::cout << "Set '" << this->action_name_ << "' to " << this->position << "°" <<std::endl;
   goal_.position = position;
   goal_.velocity = velocity;
   goal_.tolerance = tolerance;
diff --git a/mep3_behavior_tree/include/mep3_behavior_tree/motion_command_action.hpp b/mep3_behavior_tree/include/mep3_behavior_tree/motion_command_action.hpp
index b1cda45e2..421e4f592 100644
--- a/mep3_behavior_tree/include/mep3_behavior_tree/motion_command_action.hpp
+++ b/mep3_behavior_tree/include/mep3_behavior_tree/motion_command_action.hpp
@@ -36,6 +36,40 @@ class MotionCommandAction
   : mep3_behavior_tree::BtActionNode<mep3_msgs::action::MotionCommand>(
       xml_tag_name, "motion_command", config)
   {
+    if (!getInput("command", this->command))
+      throw BT::RuntimeError(
+        "Motion action requires 'command' argument"
+      );
+    if (!getInput("value", this->value))
+      throw BT::RuntimeError(
+        "Motion action requires 'value' argument"
+      );
+    if (!getInput("velocity_linear", velocity_linear))
+      velocity_linear = 0;
+    if (!getInput("acceleration_linear", acceleration_linear))
+      acceleration_linear = 0;
+    if (!getInput("velocity_angular", velocity_angular))
+      velocity_angular = 0;
+    if (!getInput("acceleration_angular", acceleration_angular))
+      acceleration_angular = 0;
+
+    std::string table = this->config().blackboard->get<std::string>("table");
+    _Float64 value_offset;
+    if (table.length() > 0 && getInput("value_" + table, value_offset)) {
+      value += value_offset;
+    }
+
+    if (
+      g_StrategyMirror.requires_mirroring(mirror_) && \
+      command == "rotate_relative"
+    ) {
+      g_StrategyMirror.invert_angle(value);
+    } else if (
+      g_StrategyMirror.requires_mirroring(mirror_) && \
+      command == "rotate_absolute"
+    ) {
+      g_StrategyMirror.mirror_angle(value);
+    }
   }
 
   void on_tick() override;
@@ -63,40 +97,18 @@ class MotionCommandAction
 
     return port_list;
   }
-};
 
-void MotionCommandAction::on_tick()
-{
+private:
   std::string command;
   _Float64 value, velocity_linear, acceleration_linear, 
                   velocity_angular, acceleration_angular;
+};
 
-  getInput("command", command);
-  getInput("value", value);
-
-  if (!getInput("velocity_linear", velocity_linear))
-    velocity_linear = 0;
-  if (!getInput("acceleration_linear", acceleration_linear))
-    acceleration_linear = 0;
-  if (!getInput("velocity_angular", velocity_angular))
-    velocity_angular = 0;
-  if (!getInput("acceleration_angular", acceleration_angular))
-    acceleration_angular = 0;
-
-  std::string table = config().blackboard->get<std::string>("table");
-  _Float64 value_offset;
-  if (table.length() > 0 && getInput("value_" + table, value_offset)) {
-    value += value_offset;
-    std::cout << "Motion value offset for table '" \
-              << table << "' detected" << std::endl;
-  }
-
-  if (command == "rotate_relative") {
-    g_StrategyMirror.invert_angle(value);
-  } else if (command == "rotate_absolute") {
-    g_StrategyMirror.mirror_angle(value);
-  }
-
+void MotionCommandAction::on_tick()
+{
+  std::cout << "Motion " << this->command << " for " \
+            << this->value << ((this->command == "forward") ? "m" : "°") \
+            << std::endl;
   goal_.command = command;
   goal_.value = value;
   goal_.velocity_linear = velocity_linear;
diff --git a/mep3_behavior_tree/include/mep3_behavior_tree/navigate_through_action.hpp b/mep3_behavior_tree/include/mep3_behavior_tree/navigate_through_action.hpp
index 43a43f6b4..24e34dad8 100644
--- a/mep3_behavior_tree/include/mep3_behavior_tree/navigate_through_action.hpp
+++ b/mep3_behavior_tree/include/mep3_behavior_tree/navigate_through_action.hpp
@@ -48,7 +48,6 @@ namespace mep3_behavior_tree
       // Static parameters
       BT::PortsList port_list = providedBasicPorts({
         BT::InputPort<std::vector<BT::Pose2D>>("goal"),
-        BT::InputPort<std::string>("mirror"),
         BT::InputPort<std::string>("behavior_tree")
       });
 
@@ -78,9 +77,7 @@ namespace mep3_behavior_tree
                 << table << "' detected" << std::endl;
     }
 
-    std::string mirror;
-    getInput("mirror", mirror);
-    bool requires_mirroring = g_StrategyMirror.requires_mirroring(mirror);
+    bool requires_mirroring = g_StrategyMirror.requires_mirroring(mirror_);
 
     goal_.behavior_tree = behavior_tree;
     for (auto &pose : poses)
diff --git a/mep3_behavior_tree/include/mep3_behavior_tree/navigate_to_action.hpp b/mep3_behavior_tree/include/mep3_behavior_tree/navigate_to_action.hpp
index f5d590f7f..41c36970b 100644
--- a/mep3_behavior_tree/include/mep3_behavior_tree/navigate_to_action.hpp
+++ b/mep3_behavior_tree/include/mep3_behavior_tree/navigate_to_action.hpp
@@ -37,6 +37,21 @@ namespace mep3_behavior_tree
         : mep3_behavior_tree::BtActionNode<nav2_msgs::action::NavigateToPose>(
               xml_tag_name, "navigate_to_pose", config)
     {
+      if (!getInput("goal", this->goal))
+        throw BT::RuntimeError(
+          "Navigate action requires 'goal' argument"
+        );
+      getInput("behavior_tree", this->behavior_tree);
+
+      std::string table = this->config().blackboard->get<std::string>("table");
+      BT::Pose2D goal_offset;
+      if (table.length() > 0 && getInput("goal_" + table, goal_offset)) {
+        goal += goal_offset;
+      }
+
+      if (g_StrategyMirror.requires_mirroring(mirror_)) {
+        g_StrategyMirror.mirror_pose(goal);
+      }
     }
 
     void on_tick() override;
@@ -47,7 +62,6 @@ namespace mep3_behavior_tree
       // Static parameters
       BT::PortsList port_list = providedBasicPorts({
         BT::InputPort<BT::Pose2D>("goal"),
-        BT::InputPort<std::string>("mirror"),
         BT::InputPort<std::string>("behavior_tree")
       });
 
@@ -60,30 +74,14 @@ namespace mep3_behavior_tree
 
       return port_list;
     }
-  };
 
-  void NavigateToAction::on_tick()
-  {
+  private:
     BT::Pose2D goal;
     std::string behavior_tree;
-    getInput("goal", goal);
-    getInput("behavior_tree", behavior_tree);
-
-    std::string table = config().blackboard->get<std::string>("table");
-    BT::Pose2D goal_offset;
-    if (table.length() > 0 && getInput("goal_" + table, goal_offset)) {
-      std::cout << "Navigation goal offset for table '" \
-                << table << "' detected" << std::endl;
-      goal += goal_offset;
-    }
-
-    std::string mirror;
-    getInput("mirror", mirror);
-
-    if (g_StrategyMirror.requires_mirroring(mirror)) {
-      g_StrategyMirror.mirror_pose(goal);
-    }
+  };
 
+  void NavigateToAction::on_tick()
+  {
     std::cout << "Navigating to x=" << goal.x \
               << " y=" << goal.y \
               << " θ=" << goal.theta << "°" << std::endl;
@@ -98,10 +96,10 @@ namespace mep3_behavior_tree
 
     // Orientation (yaw)
     // Convert deg to rad
-    goal.theta = goal.theta * M_PI / 180.0;
+    double theta = goal.theta * M_PI / 180.0;
     // https://math.stackexchange.com/a/1972382
-    goal_.pose.pose.orientation.w = std::cos(goal.theta / 2.0);
-    goal_.pose.pose.orientation.z = std::sin(goal.theta / 2.0);
+    goal_.pose.pose.orientation.w = std::cos(theta / 2.0);
+    goal_.pose.pose.orientation.z = std::sin(theta / 2.0);
   }
 
   BT::NodeStatus NavigateToAction::on_success()
diff --git a/mep3_behavior_tree/include/mep3_behavior_tree/precise_navigate_to_action.hpp b/mep3_behavior_tree/include/mep3_behavior_tree/precise_navigate_to_action.hpp
index 3f4a32f5f..96a5f47eb 100644
--- a/mep3_behavior_tree/include/mep3_behavior_tree/precise_navigate_to_action.hpp
+++ b/mep3_behavior_tree/include/mep3_behavior_tree/precise_navigate_to_action.hpp
@@ -36,6 +36,22 @@ namespace mep3_behavior_tree
         : mep3_behavior_tree::BtActionNode<nav2_msgs::action::NavigateToPose>(
               xml_tag_name, "precise_navigate_to_pose", config)
     {
+      if (!getInput("goal", this->goal))
+        throw BT::RuntimeError(
+          "PreciseNavigate action requires 'goal' argument"
+        );
+      getInput("behavior_tree", this->behavior_tree);
+
+      // Warning: might break for a still undetermined reason
+      std::string table = this->config().blackboard->get<std::string>("table");
+      BT::Pose2D goal_offset;
+      if (table.length() > 0 && getInput("goal_" + table, goal_offset)) {
+        goal += goal_offset;
+      }
+
+      if (g_StrategyMirror.requires_mirroring(mirror_)) {
+        g_StrategyMirror.mirror_pose(goal);
+      }
     }
 
     void on_tick() override;
@@ -46,7 +62,6 @@ namespace mep3_behavior_tree
       // Static parameters
       BT::PortsList port_list = providedBasicPorts({
         BT::InputPort<BT::Pose2D>("goal"),
-        BT::InputPort<std::string>("mirror"),
         BT::InputPort<std::string>("behavior_tree")
       });
 
@@ -59,30 +74,14 @@ namespace mep3_behavior_tree
 
       return port_list;
     }
+  
+  private:
+    BT::Pose2D goal;
+    std::string behavior_tree;
   };
 
   void PreciseNavigateToAction::on_tick()
   {
-    BT::Pose2D goal;
-    std::string behavior_tree;
-    getInput("goal", goal);
-    getInput("behavior_tree", behavior_tree);
-
-    // std::string table = config().blackboard->get<std::string>("table");
-    // BT::Pose2D goal_offset;
-    // if (table.length() > 0 && getInput("goal_" + table, goal_offset)) {
-    //   std::cout << "Precise navigation goal offset for table '" \
-    //             << table << "' detected" << std::endl;
-    //   goal += goal_offset;
-    // }
-
-    std::string mirror;
-    getInput("mirror", mirror);
-
-    if (g_StrategyMirror.requires_mirroring(mirror)) {
-      g_StrategyMirror.mirror_pose(goal);
-    }
-
     std::cout << "Precise navigating to x=" << goal.x \
               << " y=" << goal.y \
               << " θ=" << goal.theta << "°" << std::endl;
@@ -97,10 +96,10 @@ namespace mep3_behavior_tree
 
     // Orientation (yaw)
     // Convert deg to rad
-    goal.theta = goal.theta * M_PI / 180.0;
+    double theta = goal.theta * M_PI / 180.0;
     // https://math.stackexchange.com/a/1972382
-    goal_.pose.pose.orientation.w = std::cos(goal.theta / 2.0);
-    goal_.pose.pose.orientation.z = std::sin(goal.theta / 2.0);
+    goal_.pose.pose.orientation.w = std::cos(theta / 2.0);
+    goal_.pose.pose.orientation.z = std::sin(theta / 2.0);
   }
 
   BT::NodeStatus PreciseNavigateToAction::on_success()
diff --git a/mep3_behavior_tree/include/mep3_behavior_tree/resistance_meter_action.hpp b/mep3_behavior_tree/include/mep3_behavior_tree/resistance_meter_action.hpp
index caa1d669e..22cd28244 100644
--- a/mep3_behavior_tree/include/mep3_behavior_tree/resistance_meter_action.hpp
+++ b/mep3_behavior_tree/include/mep3_behavior_tree/resistance_meter_action.hpp
@@ -40,6 +40,26 @@ namespace mep3_behavior_tree
                 name, "resistance_meter", config
             )
         {
+            if (!getInput("resistance", this->expected))
+                throw BT::RuntimeError(
+                    "ResistanceMeter action requires 'resistance' argument"
+                );
+            if (!getInput("tolerance", this->tolerance))
+                throw BT::RuntimeError(
+                    "ResistanceMeter action requires 'tolerance' argument"
+                );
+            
+            tolerance /= 100.0;
+
+            std::string table = this->config().blackboard->get<std::string>("table");
+            int32_t resistance_offset;
+            if (table.length() > 0 && getInput("resistance_" + table, resistance_offset)) {
+                expected += resistance_offset;
+            }
+
+            if (g_StrategyMirror.requires_mirroring(mirror_)) {
+                g_StrategyMirror.mirror_resistance(expected);
+            }
         }
 
         void on_tick() override;
@@ -64,32 +84,24 @@ namespace mep3_behavior_tree
 
             return port_list;
         }
+    
+    private:
+        int32_t measured, expected;
+        _Float32 tolerance;
     };
 
     void ResistanceMeterAction::on_tick()
     {
+        std::cout << "Measuring resistance on '" \
+                  << this->action_name_ << "'" << std::endl;
     }
 
     BT::NodeStatus ResistanceMeterAction::on_success()
     {
         int32_t measured = result_.result->resistance;
-
-        int32_t expected;
-        _Float32 tolerance;
-        getInput("resistance", expected);
-        getInput("tolerance", tolerance);
-        tolerance /= 100.0;
-
-        std::string table = config().blackboard->get<std::string>("table");
-        int32_t resistance_offset;
-        if (table.length() > 0 && getInput("resistance_" + table, resistance_offset)) {
-            expected += resistance_offset;
-            std::cout << "Resistance offset for table '" \
-                      << table << "' detected" << std::endl;
-        }
-
-        g_StrategyMirror.mirror_resistance(expected);
-
+        std::cout << "Expected " << expected << "±" \
+                  << tolerance * expected << "Ω, " \
+                  << "measured " << 0 << "Ω" << std::endl;
         if (
             measured >= expected * (1.0 - tolerance) && \
             measured <= expected * (1.0 + tolerance)
diff --git a/mep3_behavior_tree/include/mep3_behavior_tree/team_color_strategy_mirror.hpp b/mep3_behavior_tree/include/mep3_behavior_tree/team_color_strategy_mirror.hpp
index cf6955c56..111395379 100644
--- a/mep3_behavior_tree/include/mep3_behavior_tree/team_color_strategy_mirror.hpp
+++ b/mep3_behavior_tree/include/mep3_behavior_tree/team_color_strategy_mirror.hpp
@@ -90,18 +90,26 @@ class StrategyMirror {
   }
 
   bool requires_mirroring(
-    const std::string& mirror
+    const MirrorParam mirror
   ) {
-    MirrorParam m = StrategyMirror::string_to_mirror_enum(mirror);
-    return m != MirrorParam::False;
+    switch (mirror) {
+      case MirrorParam::True:
+        return true;
+      case MirrorParam::False:
+        return false;
+      default:
+        if (this->color == this->default_color)
+          return false;
+        else
+          return true;
+    }
   }
 
   bool server_name_requires_mirroring(
     const std::string& server_name,
-    const std::string& mirror
+    const MirrorParam mirror
   ) {
-    MirrorParam m = StrategyMirror::string_to_mirror_enum(mirror);
-    switch (m) {
+    switch (mirror) {
       case MirrorParam::True:
         return true;
       case MirrorParam::False:
@@ -113,17 +121,16 @@ class StrategyMirror {
         return std::find(
           this->mirror_name_blacklist.begin(),
           this->mirror_name_blacklist.end(),
-          server_name
+          StrategyMirror::strip_server_name(server_name)
         ) == this->mirror_name_blacklist.end();
     }
   }
 
   bool angle_requires_mirroring(
     const std::string& server_name,
-    const std::string& mirror
+    const MirrorParam mirror
   ) {
-    MirrorParam m = StrategyMirror::string_to_mirror_enum(mirror);
-    switch (m) {
+    switch (mirror) {
       case MirrorParam::True:
         return true;
       case MirrorParam::False:
@@ -135,23 +142,19 @@ class StrategyMirror {
         return std::find(
           this->mirror_angle_blacklist.begin(),
           this->mirror_angle_blacklist.end(),
-          server_name
+          StrategyMirror::strip_server_name(server_name)
         ) == this->mirror_angle_blacklist.end();
     }
   }
   
   template<typename Number>
   void invert_angle(Number& angle) {
-    if (this->color == this->default_color)
-      return;
     // Constraint by physical servo orientation
     angle = 300.0 - angle;
   }
 
   template<typename Number>
   void mirror_angle(Number& angle) {
-    if (this->color == this->default_color)
-      return;
     if (angle >= 0) {
       angle = 180.0 - angle;
     } else {
@@ -161,8 +164,6 @@ class StrategyMirror {
 
   template<typename Number>
   void mirror_resistance(Number& resistance) {
-    if (this->color == this->default_color)
-      return;
     switch (resistance) {
     case RESISTANCE_VALUE_YELLOW:
       resistance = RESISTANCE_VALUE_PURPLE;
@@ -172,6 +173,16 @@ class StrategyMirror {
       return;
     }
   }
+  
+  static MirrorParam string_to_mirror_enum(const std::string& mirror) {
+    if (mirror == "false") {
+      return MirrorParam::False;
+    } else if (mirror == "true") {
+      return MirrorParam::True;
+    } else {
+      return MirrorParam::Default;
+    }
+  }
 
 private:
   static TeamColor string_to_color_enum(const std::string& color) {
@@ -184,14 +195,13 @@ class StrategyMirror {
     }
   }
 
-  static MirrorParam string_to_mirror_enum(const std::string& mirror) {
-    if (mirror == "false") {
-      return MirrorParam::False;
-    } else if (mirror == "true") {
-      return MirrorParam::True;
-    } else {
-      return MirrorParam::Default;
+  static std::string strip_server_name(const std::string& full_name) {
+    std::string stripped_name = full_name;
+    auto separator = full_name.find_last_of("/");
+    if (separator != std::string::npos && separator < stripped_name.length() - 1) {
+      stripped_name = stripped_name.substr(separator + 1, stripped_name.length() - (separator + 1));
     }
+    return stripped_name;
   }
 
   TeamColor color, default_color;
diff --git a/mep3_behavior_tree/include/mep3_behavior_tree/vacuum_pump_command_action.hpp b/mep3_behavior_tree/include/mep3_behavior_tree/vacuum_pump_command_action.hpp
index 29ab39c3c..19bf0be28 100644
--- a/mep3_behavior_tree/include/mep3_behavior_tree/vacuum_pump_command_action.hpp
+++ b/mep3_behavior_tree/include/mep3_behavior_tree/vacuum_pump_command_action.hpp
@@ -34,6 +34,10 @@ class VacuumPumpCommandAction
   : mep3_behavior_tree::BtActionNode<mep3_msgs::action::VacuumPumpCommand>(
       xml_tag_name, "vacuum_pump_command", config)
   {
+    if (!getInput("connect", this->connect))
+      throw BT::RuntimeError(
+        "VacuumPump action requires 'connect' argument"
+      );
   }
 
   void on_tick() override;
@@ -45,25 +49,18 @@ class VacuumPumpCommandAction
   {
     return providedBasicPorts({
       BT::InputPort<int8_t>("connect"),
-      BT::InputPort<std::string>("mirror"),
       BT::OutputPort<int8_t>("result")
     });
   }
+
+private:
+  _Float64 connect;
 };
 
 void VacuumPumpCommandAction::on_tick()
 {
-  _Float64 connect;
-
-  getInput("connect", connect);
-
-  std::string mirror;
-  getInput("mirror", mirror);
-
-  if (g_StrategyMirror.server_name_requires_mirroring(action_name_, mirror)) {
-    g_StrategyMirror.remap_server_name(action_name_);
-  }
-
+  std::cout << ((this->connect == 1) ? "C" : "Disc") << "onnecting vacuum pump '" \
+            << this->action_name_ << "'" << std::endl;
   goal_.connect = connect;
 }
 
diff --git a/mep3_bringup/launch/robot_launch.py b/mep3_bringup/launch/robot_launch.py
index 26437968e..fdcc49983 100644
--- a/mep3_bringup/launch/robot_launch.py
+++ b/mep3_bringup/launch/robot_launch.py
@@ -28,19 +28,27 @@
 ]
 
 ANGLE_MIRRORING_BLACKLIST = [
+    # Florian (big)
     'box',
     'flipper_left',
     'flipper_right',
+    # Kosta (small)
     'base',
     'mid',
-    'gripper'
+    'gripper',
+    'rail'
 ]
 
 SERVER_NAME_MIRRORING_BLACKLIST = [
+    # Florian (big)
     'box',
+    # Kosta (small)
     'base',
     'mid',
-    'gripper'
+    'gripper',
+    'rail',
+    'fork_left',
+    'fork_right'
 ]
 
 def verify_color(context, *args, **kwargs):