diff --git a/utils.py b/utils.py
index 7594a7c..fd2276d 100644
--- a/utils.py
+++ b/utils.py
@@ -143,7 +143,7 @@ class RobotClient:
     def move_to_pose(self, pose: dict):
         joint_start, _, _ = self.get_current_waypoint()
         joint_target = self.inverse_kin(joint_start, pose["pos"], pose["ori"])
-        self.move_line(joint_target)
+        self.move_joint(joint_target)
 
     def add_waypoint(self, joint_radian: list):
         cmd = {"command": "add_waypoint", "joint_radian": joint_radian}
@@ -205,6 +205,13 @@ class RobotClient:
             raise RuntimeError(f"move_line failed: {ret}")
         self.wait_untill_motion_is_done(10.0)
 
+    def move_joint(self, joint_radian: list)  -> None:
+        cmd = {"command": "move_joint", "joint_radian": joint_radian}
+        ret = self._send_single_json(cmd, 10.0)
+        if ret.get("ret") != 0:
+            raise RuntimeError(f"move_joint failed: {ret}")
+        self.wait_untill_motion_is_done(10.0)
+
     def wait_untill_motion_is_done(self, timeout=10.0):
         """
         Blocks until a callback with addr=9/status=0.0 or code=0/text="RobotMoveControlStopDone." is received,