diff --git a/rbs_mill_assist/bt/xmls/Grasp.xml b/rbs_mill_assist/bt/xmls/Grasp.xml
index 1b621df..e058940 100644
--- a/rbs_mill_assist/bt/xmls/Grasp.xml
+++ b/rbs_mill_assist/bt/xmls/Grasp.xml
@@ -4,7 +4,7 @@
     <Sequence>
       <Action ID="GetGraspPlacePose" action_name="{action_name}" pre_pose="{pregrasp}" pose="{grasp}" post_pose="{postgrasp}" service_name="/get_pick_place_poses" />
 
-      <Action ID="MoveToPose" pose="{pregrasp}" robot_name="{robot_name}" duration="4" action_name="/mtp_jtc" />
+      <Action ID="MoveToPose" pose="{pregrasp}" robot_name="{robot_name}" duration="4" action_name="/mtp_moveit" />
       <Action ID="ToggleVacuumGrippper" enable="true" service_name="/gz_ros2_vacuum_gripper_plugin/toggle" />
       <Action ID="MoveToPose" pose="{grasp}" robot_name="{robot_name}" duration="2" action_name="/mtp_jtc_cart" />
       <Action ID="MoveToPose" pose="{postgrasp}" robot_name="{robot_name}" duration="2" action_name="/mtp_jtc_cart" />
diff --git a/rbs_mill_assist/bt/xmls/Place.xml b/rbs_mill_assist/bt/xmls/Place.xml
index 5ad1ec3..ebea90a 100644
--- a/rbs_mill_assist/bt/xmls/Place.xml
+++ b/rbs_mill_assist/bt/xmls/Place.xml
@@ -4,7 +4,7 @@
     <Sequence>
       <Action ID="GetGraspPlacePose" action_name="{action_name}" pre_pose="{preplace}" pose="{place}" post_pose="{postplace}" service_name="/get_pick_place_poses" />
 
-      <Action ID="MoveToPose" pose="{preplace}" robot_name="{robot_name}" duration="4" action_name="/mtp_jtc" />
+      <Action ID="MoveToPose" pose="{preplace}" robot_name="{robot_name}" duration="4" action_name="/mtp_moveit" />
       <Action ID="MoveToPose" pose="{place}" robot_name="{robot_name}" duration="2" action_name="/mtp_jtc_cart" />
       <Action ID="ToggleVacuumGrippper" enable="false" service_name="/gz_ros2_vacuum_gripper_plugin/toggle" />
       <Action ID="MoveToPose" pose="{postplace}" robot_name="{robot_name}" duration="2" action_name="/mtp_jtc_cart" />