diff --git a/class/boids/controls/HybridControls.lua b/class/boids/controls/HybridControls.lua
index cb50c30..5f5c3a2 100644
--- a/class/boids/controls/HybridControls.lua
+++ b/class/boids/controls/HybridControls.lua
@@ -1,63 +1,73 @@
 --[[
 
 * Hybrid control scheme
 
 Cellulo acts like a joystick position-wise, and goes back to the center when it's released.
 Rotation-wise, it acts like the absolute control scheme.
 
 ]]--
 
 local global = require "global"
 local util = include "util"
 
 local HybridControls = (class "boids.controls.Controls"):subclass("HybridControls")
 
 local CELLULO_RELATIVE_SPEED = 5
 local CELLULO_RELATIVE_ROTATION_SPEED = 2
 
 local CELLULO_MAX_HAPTIC_FORCE = 20
 local CELLULO_HAPTIC_FACTOR = 10
 
 local CELLULO_RELATIVE_TARGET = { x = 0, y = 0 }
 
 function HybridControls.static:applyMovement(boid, dt)
+    local kidnapped = boid:getCellulo():getKidnapped()
+    if kidnapped then
+        boid.oa = nil
+    end
+
     -- move like the cellulo was a joystick thumb, origin of the paper acting as neutral
     if not kidnapped then
-        -- relative position
-        local x, y, z = boid:getCollider():getPosition()
-        local dx, dy = boid:getCelluloPlane():normalizedRelative(boid:getCellulo():getX(), boid:getCellulo():getY())
-        dx, dy = util.rotateVector(dx, dy, -global.camera:getAngle())
-        x, z = x + dx * CELLULO_RELATIVE_SPEED * dt, z + dy * CELLULO_RELATIVE_SPEED * dt
-        boid:setPosition(x, y, z)
-        boid:getCollider():setPosition(x, y, z)
-        
-        -- absolute rotation
-        local da = boid:getCellulo():getTheta() - boid.oa
-        da = math.atan2(math.sin(da), math.cos(da))
-        local angle = boid:getAngle()
-        angle = angle - da -- no need for dt?
-        boid:setAngle(angle)
-
-        -- force cellulo back to center (haptic)
-        local tx, ty = boid:getCelluloPlane():normalizedRelativeToAbsolute(CELLULO_RELATIVE_TARGET.x, CELLULO_RELATIVE_TARGET.y)
-        boid:getCellulo():setGoalPosition(tx, ty, 100)
+        if boid.oa then
+            -- relative position
+            local x, y, z = boid:getCollider():getPosition()
+            local dx, dy = boid:getCelluloPlane():normalizedRelative(boid:getCellulo():getX(), boid:getCellulo():getY())
+            dx, dy = util.rotateVector(dx, dy, -global.camera:getAngle())
+            x, z = x + dx * CELLULO_RELATIVE_SPEED * dt, z + dy * CELLULO_RELATIVE_SPEED * dt
+            boid:setPosition(x, y, z)
+            boid:getCollider():setPosition(x, y, z)
+            
+            -- absolute rotation
+            local da = boid:getCellulo():getTheta() - boid.oa
+            da = math.atan2(math.sin(da), math.cos(da))
+            local angle = boid:getAngle()
+            angle = angle - da -- no need for dt?
+            boid:setAngle(angle)
+
+            -- force cellulo back to center (haptic)
+            local tx, ty = boid:getCelluloPlane():normalizedRelativeToAbsolute(CELLULO_RELATIVE_TARGET.x, CELLULO_RELATIVE_TARGET.y)
+            boid:getCellulo():setGoalPosition(tx, ty, 100)
+        end
+
+        -- set origin angle
+        boid.oa = boid:getCellulo():getTheta()
     end
 end
 
 function HybridControls.static:applyHapticFeedback(boid, dt, dir)
     if dir:length() > 1 then
         dir:mul(CELLULO_HAPTIC_FACTOR)
         if dir:length() > CELLULO_MAX_HAPTIC_FORCE then
             dir:normalize()
             dir:mul(CELLULO_MAX_HAPTIC_FORCE)
         end
         dir:div(CELLULO_MAX_HAPTIC_FORCE)
         local dx, dy, dz = dir:unpack()
         dx, dz = util.rotateVector(dx, dz, global.camera:getAngle())
         dx, dz = dx / 2, dz / 2
         dx, dz = boid:getCelluloPlane():normalizedRelativeToAbsolute(dx, dz)
         boid:getCellulo():setGoalPosition(dx, dz, 100)
     end
 end
 
 return HybridControls
\ No newline at end of file
diff --git a/class/boids/controls/RelativeControls.lua b/class/boids/controls/RelativeControls.lua
index 79c9a5d..4af6165 100644
--- a/class/boids/controls/RelativeControls.lua
+++ b/class/boids/controls/RelativeControls.lua
@@ -1,53 +1,55 @@
 --[[
 
 * Relative control scheme
 
 Cellulo acts like a joystick
 
 ]]--
 
 local global = require "global"
 local util = include "util"
 
 local RelativeControls = (class "boids.controls.Controls"):subclass("RelativeControls")
 
 local CELLULO_RELATIVE_SPEED = 5
 local CELLULO_RELATIVE_ROTATION_SPEED = 2
 
 local CELLULO_MAX_HAPTIC_FORCE = 20
 local CELLULO_HAPTIC_FACTOR = 10
 
 function RelativeControls.static:applyMovement(boid, dt)
+    local kidnapped = boid:getCellulo():getKidnapped()
+
     -- move like the cellulo was a joystick thumb, origin of the paper acting as neutral
     if not kidnapped then
         local x, y, z = boid:getCollider():getPosition()
         local dx, dy = boid:getCelluloPlane():normalizedRelative(boid:getCellulo():getX(), boid:getCellulo():getY())
         dx, dy = util.rotateVector(dx, dy, -global.camera:getAngle())
         x, z = x + dx * CELLULO_RELATIVE_SPEED * dt, z + dy * CELLULO_RELATIVE_SPEED * dt
         local angle = boid:getAngle()
         local da = boid:getCellulo():getAngle()
         if da > math.pi then da = -2*math.pi + da end
         angle = angle + (-da) * CELLULO_RELATIVE_ROTATION_SPEED * dt
         boid:setPosition(x, y, z)
         boid:getCollider():setPosition(x, y, z)
         boid:setAngle(angle)
     end
 end
 
 function RelativeControls.static:applyHapticFeedback(boid, dt, dir)
     if dir:length() > 1 then
         dir:mul(CELLULO_HAPTIC_FACTOR)
         if dir:length() > CELLULO_MAX_HAPTIC_FORCE then
             dir:normalize()
             dir:mul(CELLULO_MAX_HAPTIC_FORCE)
         end
         dir:div(CELLULO_MAX_HAPTIC_FORCE)
         local dx, dy, dz = dir:unpack()
         dx, dz = util.rotateVector(dx, dz, global.camera:getAngle())
         dx, dz = dx / 2, dz / 2
         dx, dz = boid:getCelluloPlane():normalizedRelativeToAbsolute(dx, dz)
         boid:getCellulo():setGoalPose(dx, dz, 0, 100, 10)
     end
 end
 
 return RelativeControls
\ No newline at end of file