diff --git a/led_control.py b/led_control.py
index fe38f11..1080869 100755
--- a/led_control.py
+++ b/led_control.py
@@ -655,7 +655,7 @@ if __name__ == "__main__":
         if not ret:
             break
         mapimage(frame, fps=30)"""
-    show = True
+    show = False
     ring = 1
     startup_animation(show)
     for x in range(54):
diff --git a/map3.png b/map3.png
index de82083..b00626d 100644
Binary files a/map3.png and b/map3.png differ
diff --git a/ur5_control.py b/ur5_control.py
index 269fb95..bc02f33 100755
--- a/ur5_control.py
+++ b/ur5_control.py
@@ -302,7 +302,7 @@ def offset_gripper_angle(x, y, z, gripperangle=35, gripperlength=0.20+0.018, fli
         grippery += math.sin(gripperangle) * limb3
         gripperx = math.sin(gripperangle) * gripperlength + limb3 * 2
         gripperx -= (1-math.cos(gripperangle)) * limb3
-        rz = - math.pi / 2
+        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:
@@ -399,16 +399,20 @@ if __name__ == "__main__":
     #rob.movejs(joints, acc=1, vel=3)
     angle = 30
     rob.movej(goto_holder_index(26, 0.1, angle), acc=2, vel=2)
+    time.sleep(1)
+    rob.movej(goto_holder_index(25, 0.1, angle), acc=2, vel=2)
+    time.sleep(1)
+    rob.movej(goto_holder_index(24, 0.1, angle, flip=True), 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(26, 0.1, angle, flip=True), acc=2, vel=2)
+    #rob.movej(goto_holder_index(25, 0.1, angle, flip=True), 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, 0.0, 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(49, 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(25, 0.2, angle, flip=True), acc=2, vel=2)
+    #rob.movej(goto_holder_index(24, 0.1, 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(49, 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)