diff --git a/franka_iml_experiment/dmp_node.py b/franka_iml_experiment/dmp_node.py
index ea2f1c0..55cc825 100644
--- a/franka_iml_experiment/dmp_node.py
+++ b/franka_iml_experiment/dmp_node.py
@@ -26,7 +26,7 @@ class DMPNode(Node):
         self.traj_publisher = self.create_publisher(PoseArray, 'moveit_interface/task_space_trajectory', 10)
 
     def dmp_callback(self, msg):
-        start = msg.start
+        start = msg.start_point
         self.get_logger().info(f"{start}")
         end = np.array(msg.end_point)
         time = msg.time
@@ -35,7 +35,7 @@ class DMPNode(Node):
         # weights = np.vstack((msg.p_x, msg.p_y, msg.p_z, msg.o_x, msg.o_y, msg.o_z, msg.o_w))
         weights = np.vstack((msg.p_x, msg.p_y))
 
-        dmp = pydmps.dmp_discrete.DMPs_discrete(n_dmps=2, n_bfs=nr_bfs, w=weights, y0=start, goal=end)
+        dmp = pydmps.dmp_discrete.DMPs_discrete(n_dmps=2, n_bfs=nr_bfs, w=weights, y0=start[:2], goal=end[:2])
         y_track, _, _ = dmp.rollout(tau=time)
 
         pose_msg = PoseArray()