diff --git a/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_pick_item.py b/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_pick_item.py
index 2de0ed623..23dbb828e 100644
--- a/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_pick_item.py
+++ b/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_pick_item.py
@@ -139,4 +139,4 @@ def __init__(self, robot, pick_spot_id, pick_spot_navigation_area):
     rospy.init_node(os.path.splitext("test_" + os.path.basename(__file__))[0])
     robot_instance = get_robot("hero")
     robot_instance.reset()
-    NavigateToAndPickItem(robot_instance, "kitchen_table", "in_front_of").execute()
+    NavigateToAndPickItem(robot_instance, "dinner_table", "in_front_of").execute()
diff --git a/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_place_item_on_table.py b/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_place_item_on_table.py
index 0f01c5099..4d523df03 100644
--- a/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_place_item_on_table.py
+++ b/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_place_item_on_table.py
@@ -208,6 +208,6 @@ def _publish_item_poses(user_data, marker_array_pub, items):
     rospy.init_node(os.path.splitext("test_" + os.path.basename(__file__))[0])
 
     robot_instance = get_robot("hero")
-    state_machine = NavigateToAndPlaceItemOnTable(robot_instance, "kitchen_table", "in_front_of")
+    state_machine = NavigateToAndPlaceItemOnTable(robot_instance, "dinner_table", "in_front_of")
     state_machine.userdata["item_picked"] = sys.argv[1]
     state_machine.execute()
diff --git a/challenge_serve_breakfast/src/challenge_serve_breakfast/pick_pour_place_cereal.py b/challenge_serve_breakfast/src/challenge_serve_breakfast/pick_pour_place_cereal.py
index a49624b6c..f8fa53780 100644
--- a/challenge_serve_breakfast/src/challenge_serve_breakfast/pick_pour_place_cereal.py
+++ b/challenge_serve_breakfast/src/challenge_serve_breakfast/pick_pour_place_cereal.py
@@ -102,4 +102,4 @@ def _place(_):
 if __name__ == "__main__":
     rospy.init_node(os.path.splitext("test_" + os.path.basename(__file__))[0])
     robot_instance = get_robot("hero")
-    PickPourPlaceCereal(robot_instance, "kitchen_table").execute()
+    PickPourPlaceCereal(robot_instance, "dinner_table").execute()
diff --git a/challenge_serve_breakfast/src/challenge_serve_breakfast/serve_breakfast.py b/challenge_serve_breakfast/src/challenge_serve_breakfast/serve_breakfast.py
index 68315b8c8..bea8d7a9e 100644
--- a/challenge_serve_breakfast/src/challenge_serve_breakfast/serve_breakfast.py
+++ b/challenge_serve_breakfast/src/challenge_serve_breakfast/serve_breakfast.py
@@ -52,9 +52,9 @@ def execute(self, userdata):
 def setup_statemachine(robot):
     state_machine = StateMachine(outcomes=["done"])
     state_machine.userdata["item_picked"] = None
-    pick_id = "dishwasher"
+    pick_id = "closet"
     pick_area_id = "in_front_of"
-    place_id = "kitchen_table"
+    place_id = "dinner_table"
     place_area_id = "in_front_of"
     exit_id = "starting_pose"
     table_des = EdEntityDesignator(robot=robot, uuid=place_id)