diff --git a/ur5_control.py b/ur5_control.py
index dbd29aa..d52243b 100755
--- a/ur5_control.py
+++ b/ur5_control.py
@@ -291,19 +291,25 @@ def get_joints_from_xyz_abs(x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2, l3offset
 # gripper length: from joint to start of grip
 # to flip, you can use flip=True or make gripper angle negative
 def offset_gripper_angle(x, y, z, gripperangle=35, gripperlength=0.2, flip=False):
+    if gripperangle < 0:
+        rz = - math.pi / 2
+    else:
+        rz = math.pi / 2
     if flip:
         gripperangle = -degtorad(gripperangle)
         grippery = gripperlength - math.cos(gripperangle) * gripperlength
         grippery -= math.sin(gripperangle) * limb3
         gripperx = math.sin(gripperangle) * gripperlength
         gripperx += (1-math.cos(gripperangle)) * limb3
+        rz = - math.pi / 2
     else:
         gripperangle = degtorad(gripperangle)
         grippery = gripperlength - math.cos(gripperangle) * gripperlength
         grippery -= math.sin(gripperangle) * limb3
         gripperx = math.sin(gripperangle) * gripperlength
         gripperx += (1-math.cos(gripperangle)) * limb3
-    return get_joints_from_xyz_abs(x, y, z-grippery, rx=gripperangle, l3offset=-gripperx)
+
+    return get_joints_from_xyz_abs(x, y, z-grippery, rx=gripperangle, l3offset=-gripperx, rz=rz)
     
 
 def goto_holder_index(idx, z=0.05, gripperangle=35, flip=False):
@@ -382,21 +388,20 @@ if __name__ == "__main__":
         #global config
         config = yaml.safe_load(fileread)
 
-    rob.movej(goto_holder_index(26, 0.2, 0), acc=2, vel=2)
-    joints = []
+    #rob.movej(goto_holder_index(24, 0.2, 0), acc=2, vel=2)
+    #joints = []
     
-    for i in np.linspace(1, 85, 50):
-        joints.append(goto_holder_index(26, 0.2, i))
-    rob.movejs(joints, acc=0.4, vel=2)
-
+    #for i in np.linspace(0, 340, 340):
+    #    joints.append(goto_holder_index(24, 0.5, i))
+    #rob.movejs(joints, acc=1, vel=3)
+        
+    rob.movej(goto_holder_index(26, 0.2, 0), acc=2, vel=2)
+    rob.movej(goto_holder_index(26, 0.2, 35), acc=2, vel=2)
     rob.movej(goto_holder_index(24, 0.2, -10), acc=2, vel=2)
     rob.movej(goto_holder_index(24, 0.2, -15), acc=2, vel=2)
     rob.movej(goto_holder_index(24, 0.2, -20), acc=2, vel=2)
     rob.movej(goto_holder_index(24, 0.2, -28), acc=2, vel=2)
     rob.movej(goto_holder_index(24, 0.2, -35), acc=2, vel=2)
-    rob.movej(goto_holder_index(24, 0.2, -40), acc=2, vel=2)
-    rob.movej(goto_holder_index(24, 0.2, -45), acc=2, vel=2)
-    rob.movej(goto_holder_index(24, 0.2, -50), acc=2, vel=2)
     #rob.movej(goto_holder_index(24, 0.2, 60, flip=True), acc=2, vel=2)
     #time.sleep(2)
     #rob.movej(goto_holder_index(24, 0.15, 35, flip=True), acc=2, vel=2)