diff --git a/ur5_control.py b/ur5_control.py
index b205d00..4878725 100755
--- a/ur5_control.py
+++ b/ur5_control.py
@@ -347,10 +347,12 @@ if __name__ == "__main__":
         #global config
         config = yaml.safe_load(fileread)
 
+    joints = []
     for joint in config["position_map"]:
         print("Going to cable holder index", joint["index"], "at position", joint["pos"])   
-        angles = get_joints_from_xyz_abs(joint["pos"][0]/1000, joint["pos"][1]/1000, 0)
-        rob.movej(angles, acc=2, vel=2)
+        angles = get_joints_from_xyz_abs(joint["pos"][1]/1000, joint["pos"][0]/1000, 0)
+        joints.append(angles)
+    rob.movejs(joints, acc=2, vel=2)
     # joints = []
     # for i in np.linspace(-0.3, -0.7, 50):
     #     joints.append(get_joints_from_xyz_abs(i, 0, 0))