diff --git a/ur5_control.py b/ur5_control.py
index d52243b..50b3944 100755
--- a/ur5_control.py
+++ b/ur5_control.py
@@ -290,18 +290,21 @@ def get_joints_from_xyz_abs(x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2, l3offset
 # gripper angle: from vertical
 # 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):
+def offset_gripper_angle(x, y, z, gripperangle=35, gripperlength=0.20+0.018, 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
+        grippery += math.sin(gripperangle) * limb3
+        gripperx = math.sin(gripperangle) * gripperlength + limb3 * 2
+        gripperx -= (1-math.cos(gripperangle)) * limb3
         rz = - math.pi / 2
+        # flip the whole wrist
+        return get_joints_from_xyz_abs(x, y, z-grippery, rx=gripperangle + degtorad(180), l3offset=-gripperx, ry=math.pi/2, rz=rz)
     else:
         gripperangle = degtorad(gripperangle)
         grippery = gripperlength - math.cos(gripperangle) * gripperlength
@@ -309,7 +312,7 @@ def offset_gripper_angle(x, y, z, gripperangle=35, gripperlength=0.2, flip=False
         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, rz=rz)
+        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):
@@ -394,15 +397,24 @@ if __name__ == "__main__":
     #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, 60, flip=True), acc=2, vel=2)
+    angle = 30
+    rob.movej(goto_holder_index(26, 0.2, angle), acc=2, vel=2)
+    rob.movej(goto_holder_index(32, 0.2, angle), acc=2, vel=2)
+    rob.movej(goto_holder_index(38, 0.2, angle), acc=2, vel=2)
+
+    rob.movej(goto_holder_index(25, 0.2, angle, flip=True), acc=2, vel=2)
+
+    rob.movej(goto_holder_index(24, 0.3, angle, flip=True), acc=2, vel=2)
+    rob.movej(goto_holder_index(24, 0.2, angle, flip=True), acc=2, vel=2)
+    rob.movej(goto_holder_index(24, 0.0, angle, flip=True), acc=2, vel=2)
+    time.sleep(1)
+    rob.movej(goto_holder_index(25, 0.1, angle, flip=True), acc=2, vel=2)
+    rob.movej(goto_holder_index(25, 0.1, angle), acc=2, vel=2)
+    rob.movej(goto_holder_index(49, 0.1, angle, flip=True), acc=2, vel=2)
+    rob.movej(goto_holder_index(50, 0.1, angle, flip=True), acc=2, vel=2)
+    rob.movej(goto_holder_index(51, 0.1, angle, flip=True), acc=2, vel=2)
+    rob.movej(goto_holder_index(52, 0.1, angle, flip=True), acc=2, vel=2)
+    rob.movej(goto_holder_index(53, 0.1, angle, flip=True), acc=2, vel=2)
     #time.sleep(2)
     #rob.movej(goto_holder_index(24, 0.15, 35, flip=True), acc=2, vel=2)
     #time.sleep(10)