diff --git a/Apps/Android/app/src/main/java/fr/reivaxy/kinetix/HandHandler.java b/Apps/Android/app/src/main/java/fr/reivaxy/kinetix/HandHandler.java
index cbf96f3..810434d 100644
--- a/Apps/Android/app/src/main/java/fr/reivaxy/kinetix/HandHandler.java
+++ b/Apps/Android/app/src/main/java/fr/reivaxy/kinetix/HandHandler.java
@@ -127,11 +127,13 @@ private String translateMessage(String position) {
         switch(position) {
             case "1":
             case "un":
+            case "one":
             case "pointé":
             case "pointée":
             case "pointe":
             case "pointer":
             case "montrer":
+            case "show":
             case "clavier":
             case "pointing":
             case "point":
@@ -145,26 +147,24 @@ private String translateMessage(String position) {
             case "de":
             case "to":
             case "too":
+            case "two":
             case "victory":
                 position = "two";
                 break;
 
             case "3":
             case "trois":
+            case "three":
                 position = "three";
                 break;
 
             case "4":
             case "quatre":
             case "for":
+            case "four":
                 position = "four";
                 break;
 
-            case "5":
-            case "cinq":
-                position = "five";
-                break;
-
             case "okay":
             case "ok":
                 position = "ok";
@@ -176,6 +176,9 @@ private String translateMessage(String position) {
             case "ouvrir":
             case "ouvert":
             case "ouverte":
+            case "five":
+            case "cinq":
+            case "5":
                 position = "five";
                 break;
 
@@ -191,12 +194,14 @@ private String translateMessage(String position) {
                 position = "fist";
                 break;
 
+            case "scratch":
             case "gratte":
             case "gratter":
             case "gratté":
                 position = "scratch";
                 break;
 
+            case "pinch":
             case "open pinch":
             case "opened pinch":
             case "pince ouverte":
@@ -219,6 +224,7 @@ private String translateMessage(String position) {
                 break;
 
             case "come here":
+            case "come":
             case "viens":
             case "viens ici":
             case "venez":
@@ -232,7 +238,7 @@ private String translateMessage(String position) {
                 break;
 
             default:
-                position = null;
+                position = null;  // Avoid stopping on non recognized commands
         }
         SharedPreferences preferences = PreferenceManager.getDefaultSharedPreferences(fragment.getContext());
         boolean safeFilter = preferences.getBoolean("safeFilter", false);
diff --git a/firmware/esp32/platformio.ini b/firmware/esp32/platformio.ini
index 945f607..bfde1ef 100644
--- a/firmware/esp32/platformio.ini
+++ b/firmware/esp32/platformio.ini
@@ -9,7 +9,7 @@
 ; https://docs.platformio.org/page/projectconf.html
 
 [platformio]
-default_envs = proto
+default_envs = right
 
 ;this is not working for now
 [env:c3]
@@ -19,26 +19,16 @@ monitor_port = COM10
 
 [env:proto]
 build_flags = !python gitVersion.py -std=gnu++17  -DCORE_DEBUG_LEVEL=3
-upload_port = COM14
-monitor_port = COM14
+upload_port = COM22
+monitor_port = COM22
 
 [env:right]
 build_flags = !python gitVersion.py -std=gnu++17  -DCORE_DEBUG_LEVEL=3
-upload_port = COM21
-monitor_port = COM21
-
-[env:left]
-build_flags = !python gitVersion.py -std=gnu++17  -DLEFT_HAND
-upload_port = COM18
-monitor_port = COM18
-
-[env:home_right]
-build_flags = !python gitVersion.py -std=gnu++17  -DHOME_SERVOS
 upload_port = COM19
 monitor_port = COM19
 
-[env:home_left]
-build_flags = !python gitVersion.py -std=gnu++17  -DLEFT_HAND -DHOME_SERVOS
+[env:left]
+build_flags = !python gitVersion.py -std=gnu++17  -DLEFT_HAND
 upload_port = COM18
 monitor_port = COM18
 
diff --git a/firmware/esp32/src/MessageProcessor.cpp b/firmware/esp32/src/MessageProcessor.cpp
index 0b011ce..f27c28d 100644
--- a/firmware/esp32/src/MessageProcessor.cpp
+++ b/firmware/esp32/src/MessageProcessor.cpp
@@ -54,7 +54,7 @@ void MessageProcessor::run() {
 }
 
 void MessageProcessor::startMovement(char *movementName) {
-   hand->stop();
+
    // Make sure we use the appropriate min and max Servo values when fingers are wired.
    hand->setCalibration(false);
 
@@ -68,21 +68,25 @@ void MessageProcessor::startMovement(char *movementName) {
    }
 
    if (0 == strcmp(movementName, "calibration")) {
+      hand->stop();
       calibration();
       return;
    }
    if (0 == strcmp(movementName, "scratch")) {
+      hand->stop();
       scratch();
       return;
    }
 
    if (0 == strcmp(movementName, "come")) {
+      hand->stop();
       come();
       return;
    }
-
-   handMovement = hmf->getByName(movementName);
-   if (handMovement != NULL) {
+   HandMovement *newHandMovement = hmf->getByName(movementName);
+   if (newHandMovement != NULL) {
+      hand->stop();
+      handMovement = newHandMovement;  
       handMovement->start();
    }
 }