diff --git a/rsiTurtle.lua b/rsiTurtle.lua
index 91ed1756811f56fcbc95b927fe1e1e05219890de..23f509662c9e9717708986c3df5d965d2e264174 100644
--- a/rsiTurtle.lua
+++ b/rsiTurtle.lua
@@ -104,6 +104,14 @@ function RSI_Turtle:moveToOrigin()
 end
 
 
+---
+-- \brief Retourner au point d'origine (0,0) tout en restant au niveau du sol
+-- \return bool Succès
+function RSI_Turtle:moveToOriginGrounded()
+    return self:moveToGrounded(0,0)
+end
+
+
 ---
 -- \brief Déplacement parallèle au sol
 --        Ordre de déplacement: X, Z
@@ -168,8 +176,13 @@ function RSI_Turtle:move2D(dx, dz, grounded)
     then
         return false
     end
-    success = self:moveForward(math.abs(dz))
 
+    if(grounded)
+    then
+        success = self:moveForwardGrounded(math.abs(dz))
+    else
+        success = self:moveForward(math.abs(dz))
+    end
 
     return success
 end
diff --git a/test.lua b/test.lua
index 7d46a295fa481cf6399d840b152a1e8c8683ccdd..80e4932451c179b661df84ee8a86ef77e545a7bd 100644
--- a/test.lua
+++ b/test.lua
@@ -176,8 +176,12 @@ b:print()
 --print("Test chopTree")
 --assert(b:chopTree())
 
-print("Test chopArea")
-assert(b:chopArea(15, 20))
+--print("Test chopArea")
+--assert(b:chopArea(15, 20))
+
+print("Test moveToOriginGounded")
+b.base_:moveTo(5,5,5)
+assert(b.base_:moveToOriginGrounded())
 
 -- assert(t:moveToOrigin())
 -- print(t:getPos())