diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wayfinding_2.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wayfinding_2.py
index 60496d0b8..966f38be0 100644
--- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wayfinding_2.py
+++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wayfinding_2.py
@@ -5,6 +5,7 @@
 from .vrx import Vrx
 
 ___author___ = "Alex Perez"
+# Optimized by Daniel Parra
 
 
 class VrxWayfinding2(Vrx):
@@ -42,12 +43,18 @@ async def run(self, parameters):
         poses = poses[:start_pose_index]
         path = path[1:]
 
-        # self.send_feedback('Sorted poses' + str(poses))
         await self.wait_for_task_such_that(lambda task: task.state in ["running"])
 
         # do movements
         for index in path:
             self.send_feedback(f"Going to {poses[index]}")
-
             # Go to goal
+            P = 0.85
+            part_way_point = [x * P for x in poses[index][0][:-1]]
+            part_way_point.append(poses[index][0][-1])
+            self.send_feedback(
+                f"\nPartway:\n{part_way_point}\nEndPoint:\n{poses[index][0]}",
+            )
+
+            await self.send_trajectory_without_path([part_way_point, poses[index][1]])
             await self.send_trajectory_without_path(poses[index])
diff --git a/mil_common/drivers/mil_usb_to_can/test/test_packets_sub9.py b/mil_common/drivers/mil_usb_to_can/test/test_packets_sub9.py
index 01c1dc47a..c58a8c32c 100755
--- a/mil_common/drivers/mil_usb_to_can/test/test_packets_sub9.py
+++ b/mil_common/drivers/mil_usb_to_can/test/test_packets_sub9.py
@@ -8,7 +8,7 @@
 
 
 @dataclass
-class TestPacket(Packet, msg_id=0x47, subclass_id=0x44, payload_format="BHf"):
+class TestPacket(Packet, msg_id=0x47, subclass_id=0x44, payload_format="?Hd"):
     example_bool: bool
     example_int: int
     example_float: float
@@ -23,7 +23,7 @@ def test_simple_packet(self):
         packet = TestPacket(False, 42, 3.14)
         self.assertEqual(packet.msg_id, 0x47)
         self.assertEqual(packet.subclass_id, 0x44)
-        self.assertEqual(packet.payload_format, "BHf")
+        self.assertEqual(packet.payload_format, "?Hd")
         self.assertEqual(packet.example_bool, False)
         self.assertEqual(packet.example_int, 42)
         self.assertEqual(packet.example_float, 3.14)
@@ -36,6 +36,13 @@ def test_assembled_packet(self):
         self.assertEqual(assembled[2], packet.msg_id)
         self.assertEqual(assembled[3], packet.subclass_id)
 
+    def test_format(self):
+        packet = TestPacket(False, 42, 3.14)
+        self.assertEqual(
+            TestPacket.from_bytes(TestPacket.__bytes__(packet)),
+            packet,
+        )
+
     def test_comparisons(self):
         packet = TestPacket(False, 42, 3.14)
         packet_two = TestPacket(False, 42, 3.14)