diff --git a/README.md b/README.md
index d2364fe..8632d20 100644
--- a/README.md
+++ b/README.md
@@ -125,3 +125,4 @@ python lerobot/scripts/control_robot.py \
     --control.policy.path=outputs/train/act_koch_pick_place_lego/checkpoints/latest/pretrained_model
 ```
 
+export LD_LIBRARY_PATH=/home/ubuntu/miniconda3/envs/piper_lerobot/lib:$LD_LIBRARY_PATH
\ No newline at end of file
diff --git a/lerobot/common/robot_devices/motors/piper.py b/lerobot/common/robot_devices/motors/piper.py
index b532095..ab829b3 100644
--- a/lerobot/common/robot_devices/motors/piper.py
+++ b/lerobot/common/robot_devices/motors/piper.py
@@ -160,17 +160,17 @@ class PiperMotorsBus:
         gripper_state = gripper_msg.gripper_state
         
         return {
-            "joint_1": joint_state.joint_1,
-            "joint_2": joint_state.joint_2,
-            "joint_3": joint_state.joint_3,
-            "joint_4": joint_state.joint_4,
-            "joint_5": joint_state.joint_5,
-            "joint_6": joint_state.joint_6,
-            "gripper": gripper_state.grippers_angle
+            "joint_1": joint_state.joint_1 / self.joint_factor,
+            "joint_2": joint_state.joint_2 / self.joint_factor,
+            "joint_3": joint_state.joint_3 / self.joint_factor,
+            "joint_4": joint_state.joint_4 / self.joint_factor,
+            "joint_5": joint_state.joint_5 / self.joint_factor,
+            "joint_6": joint_state.joint_6 / self.joint_factor,
+            "gripper": gripper_state.grippers_angle / 1000 / 1000
         }
     
     def safe_disconnect(self):
         """ 
             Move to safe disconnect position
         """
-        self.write(target_joint=self.safe_disable_position)
\ No newline at end of file
+        self.write("joints", target_joint=self.safe_disable_position)
\ No newline at end of file
diff --git a/lerobot/common/robot_devices/robots/piper.py b/lerobot/common/robot_devices/robots/piper.py
index d594f1f..2bca07e 100644
--- a/lerobot/common/robot_devices/robots/piper.py
+++ b/lerobot/common/robot_devices/robots/piper.py
@@ -184,8 +184,6 @@ class PiperRobot:
 
         return obs_dict, action_dict
 
-
-
     def send_action(self, action: torch.Tensor) -> torch.Tensor:
         """Write the predicted actions from policy to the motors"""
         if not self.is_connected:
@@ -199,8 +197,6 @@ class PiperRobot:
 
         return action
 
-
-
     def capture_observation(self) -> dict:
         """capture current images and joint positions"""
         if not self.is_connected: