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Hi, Thanks to the useful hints by Patrick McAlpine, I was able to reset Nao position correctly. I couldn't do it using beam command :

(beam x y rot).

But as Patrick pointed out, I managed to use move command instead:

(agent (unum num) (team team) (pos x y z) (move x y z rot) (battery batterylevel) (temperature temperature) )

This is a workaround for my problem but it yields the result I need.