diff --git a/single_ursim_control/plugins/ur_rtde_plugin.py b/single_ursim_control/plugins/ur_rtde_plugin.py
index 032e071..be5f424 100644
--- a/single_ursim_control/plugins/ur_rtde_plugin.py
+++ b/single_ursim_control/plugins/ur_rtde_plugin.py
@@ -50,42 +50,6 @@ class CombinedRobotInterface:
 
 class URRTDEMoveJCommand(AbstractCommand):
 
-    def __init__(self,
-                 logger: logging.Logger,
-                 robot: CombinedRobotInterface,
-                 pose: List[float],
-                 speed: float,
-                 acceleration: float):
-        # TODO: validations
-
-        self._logger = logger
-        self._robot = robot
-        self._pose = pose
-        self._speed = speed
-        self._acceleration = acceleration
-
-    def execute(self):
-        self._logger.debug(f"Moving robot arm: MoveJ to {self._pose} s: {self._speed} a: {self._acceleration}")
-        self._robot.robot_c.moveJ(self._pose, self._speed, self._acceleration)
-        self._logger.debug("Done moving")
-
-    def abort(self):
-        # TODO
-        pass
-
-    def describe(self) -> dict:
-        return {
-            "command": "moveJ",
-            "params": {
-                "pose": self._pose,
-                "speed": self._speed,
-                "acceleration": self._acceleration
-            }
-        }
-
-
-class URRTDEMoveLCommand(AbstractCommand):
-
     def __init__(self,
                  logger: logging.Logger,
                  robot: CombinedRobotInterface,
@@ -101,8 +65,44 @@ class URRTDEMoveLCommand(AbstractCommand):
         self._acceleration = acceleration
 
     def execute(self):
-        self._logger.debug(f"Moving robot arm: MoveL to {self._q} s: {self._speed} a: {self._acceleration}")
-        self._robot.robot_c.moveL(self._q, self._speed, self._acceleration)
+        self._logger.debug(f"Moving robot arm: MoveJ to {self._q} s: {self._speed} a: {self._acceleration}")
+        self._robot.robot_c.moveJ(self._q, self._speed, self._acceleration)
+        self._logger.debug("Done moving")
+
+    def abort(self):
+        # TODO
+        pass
+
+    def describe(self) -> dict:
+        return {
+            "command": "moveJ",
+            "params": {
+                "q": self._q,
+                "speed": self._speed,
+                "acceleration": self._acceleration
+            }
+        }
+
+
+class URRTDEMoveLCommand(AbstractCommand):
+
+    def __init__(self,
+                 logger: logging.Logger,
+                 robot: CombinedRobotInterface,
+                 pose: List[float],
+                 speed: float,
+                 acceleration: float):
+        # TODO: validations
+
+        self._logger = logger
+        self._robot = robot
+        self._pose = pose
+        self._speed = speed
+        self._acceleration = acceleration
+
+    def execute(self):
+        self._logger.debug(f"Moving robot arm: MoveL to {self._pose} s: {self._speed} a: {self._acceleration}")
+        self._robot.robot_c.moveL(self._pose, self._speed, self._acceleration)
         self._logger.debug("Done moving")
 
     def abort(self):
@@ -113,7 +113,7 @@ class URRTDEMoveLCommand(AbstractCommand):
         return {
             "command": "moveL",
             "params": {
-                "q": self._q,
+                "pose": self._pose,
                 "speed": self._speed,
                 "acceleration": self._acceleration
             }
@@ -126,8 +126,8 @@ class URRTDEMoveJCompiler(AbstractCommandCompiler):
         self._logger = logger
         self._robot = robot
 
-    def compile(self, pose: List[float], speed: float = 1.05, acceleration: float = 1.4) -> AbstractCommand:
-        return URRTDEMoveJCommand(self._logger, self._robot, pose, speed, acceleration)
+    def compile(self, q: List[float], speed: float = 1.05, acceleration: float = 1.4) -> AbstractCommand:
+        return URRTDEMoveJCommand(self._logger, self._robot, q, speed, acceleration)
 
 
 class URRTDEMoveLCompiler(AbstractCommandCompiler):
@@ -136,8 +136,8 @@ class URRTDEMoveLCompiler(AbstractCommandCompiler):
         self._logger = logger
         self._robot = robot
 
-    def compile(self, q: List[float], speed: float = 0.25, acceleration: float = 1.2) -> AbstractCommand:
-        return URRTDEMoveLCommand(self._logger, self._robot, q, speed, acceleration)
+    def compile(self, pose: List[float], speed: float = 0.25, acceleration: float = 1.2) -> AbstractCommand:
+        return URRTDEMoveLCommand(self._logger, self._robot, pose, speed, acceleration)
 
 
 class URRTDEPlugin(AbstractPlugin):
@@ -147,7 +147,7 @@ class URRTDEPlugin(AbstractPlugin):
         self._logger = logging.getLogger("plugin").getChild("ur_rtde")
 
         self._robot = CombinedRobotInterface(Config.ROBOT_ADDRESS)
-        logging.info(f"Connected to robot at {Config.ROBOT_ADDRESS}")
+        self._logger.info(f"Connected to robot at {Config.ROBOT_ADDRESS}")
 
     def load_compilers(self) -> Dict[str, AbstractCommandCompiler]:
         return {