diff --git a/jukebox-web b/jukebox-web
index bdcc1d7..a2e94ba 160000
--- a/jukebox-web
+++ b/jukebox-web
@@ -1 +1 @@
-Subproject commit bdcc1d76138309ceee28ad6e3bf8e6ea8b39b8ad
+Subproject commit a2e94baadc8a8cc702d2a5ceb1170914e690d0e7
diff --git a/ur5_control.py b/ur5_control.py
index 526e18d..72a12e2 100755
--- a/ur5_control.py
+++ b/ur5_control.py
@@ -679,17 +679,49 @@ def camera_to_holder(robot, pos_updates, holder_index, verbose=False):
     drop_off_holder(robot, pos_updates, holder_index)
     
 
+# def open_gripper():
+#     fprint("Opening gripper")
+#     c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
+#     c.open()
+#     while not c.is_open:
+#         time.sleep(0.01)
+
+#     c.write_single_register(112, 0b0)
+#     # c.write_single_register(435, 0b10000000)
+#     time.sleep(0.5)
+#     # c.write_single_register(112, 0b0)
+#     c.write_single_register(435, 0b10000000)
+#     time.sleep(0.5)
+#     c.close()
+    
+#     #c.close()
+
+# def close_gripper():
+#     fprint("Closing gripper")
+#     c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
+#     c.open()
+#     while not c.is_open:
+#         time.sleep(0.01)
+    
+#     c.write_single_register(435, 0b00000000)
+#     # c.write_single_register(112, 0b1)
+#     time.sleep(0.5)
+#     # c.write_single_register(435, 0b00000000)
+#     c.write_single_register(112, 0b1)
+#     time.sleep(0.5)
+#     c.close()
+#     time.sleep(0.2)
+#     #
+    
+
 def open_gripper():
     fprint("Opening gripper")
-    c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
-    c.open()
-    while not c.is_open:
-        time.sleep(0.01)
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
+    
+    c.write_single_register(112, 0b0)
+    c.write_single_register(435, 0b10000000)
 
     c.write_single_register(112, 0b0)
-    # c.write_single_register(435, 0b10000000)
-    time.sleep(0.5)
-    # c.write_single_register(112, 0b0)
     c.write_single_register(435, 0b10000000)
     time.sleep(0.5)
     c.close()
@@ -698,21 +730,17 @@ def open_gripper():
 
 def close_gripper():
     fprint("Closing gripper")
-    c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
-    c.open()
-    while not c.is_open:
-        time.sleep(0.01)
-    
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
+    c.write_single_register(435, 0b00000000)
+    c.write_single_register(112, 0b1)
+
     c.write_single_register(435, 0b00000000)
-    # c.write_single_register(112, 0b1)
-    time.sleep(0.5)
-    # c.write_single_register(435, 0b00000000)
     c.write_single_register(112, 0b1)
     time.sleep(0.5)
     c.close()
-    time.sleep(0.2)
     #
 
+
 def get_position_thread(robot, pos_updates):
     robot = connect(robot)
     rob = robot.robot