diff --git a/ur5_control.py b/ur5_control.py
index d4aa97e..00c2b12 100755
--- a/ur5_control.py
+++ b/ur5_control.py
@@ -283,7 +283,7 @@ def get_joints_from_xyz_rel(robot, x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_g
 
 def get_joints_from_xyz_abs(robot, x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2, l3offset=0):
     rob = robot.robot
-    joints = get_joints_from_xyz_rel(x, y, z, rx, ry, rz, l3offset=l3offset)
+    joints = get_joints_from_xyz_rel(robot, x, y, z, rx, ry, rz, l3offset=l3offset)
 
     # Return current positions if coordinates don't make sense
     if z<0:
@@ -303,8 +303,8 @@ def get_joints_from_xyz_abs(robot, x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2, l
     return [o+j*i for j, o, i in zip(joints, offsets, inverse)]
 
 def move_arc(robot, x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2):
-    
     rob = robot.robot
+    
     start_joints = rob.getj()
     end_joint = get_joints_from_xyz_abs(robot, x, y, z, rx, ry, rz)
 
@@ -336,7 +336,7 @@ def offset_gripper_angle(robot, x, y, z, gripperangle=35, gripperlength=0.20+0.0
         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 + math.radians(180), l3offset=-gripperx, ry=math.pi/2, rz=-rz)
+        return get_joints_from_xyz_abs(robot, x, y, z-grippery, rx=gripperangle + math.radians(180), l3offset=-gripperx, ry=math.pi/2, rz=-rz)
 
     else:
         gripperangle = math.radians(gripperangle)
@@ -384,8 +384,8 @@ def flip(robot):
     safe_pos = min(pos_dist_pairs, key=lambda x:x[1])[0]
 
     # Flip at safe position
-    rob.movej(offset_gripper_angle(*safe_pos, flip=is_flipped()), vel=2, acc=2) # Move to safe position
-    rob.movej(offset_gripper_angle(*safe_pos, flip=(not is_flipped())), vel=2, acc=2) # Flip gripper
+    rob.movej(offset_gripper_angle(robot, *safe_pos, flip=is_flipped()), vel=2, acc=2) # Move to safe position
+    rob.movej(offset_gripper_angle(robot, *safe_pos, flip=(not is_flipped())), vel=2, acc=2) # Flip gripper
 
 def safe_move(robot, x, y, z):
     rob = robot.robot
@@ -408,8 +408,9 @@ if __name__ == "__main__":
     with open('config.yml', 'r') as fileread:
         #global config
         config = yaml.safe_load(fileread)
-    robot = Rob(config)
-    rob = robot.robot
+    robot = Rob(config) # robot of type Rob is the custom class above
+    rob = robot.robot # rob is robot.robot is the urx robot class, what we've been using previously
+    
     print("Current tool pose is: ",  rob.getl())
     move_to_home(robot)