def ui_to_traj(joints_position):
    """ Convert position from rqt_joint_trajectory_controller UI to JointTrajectoryController
    In: UI Joints Position
    [L_elbow_tilt_joint, L_shoulder_pan_joint, L_shoulder_roll_joint, L_shoulder_tilt_joint]
    Out: Trajectory Client
    [L_shoulder_pan_joint, L_shoulder_tilt_joint, L_shoulder_roll_joint, L_elbow_tilt_joint]
    """
    joints_position_out = [0, 0, 0, 0]
    joints_position_out[0] = joints_position[1]
    joints_position_out[1] = joints_position[3]
    joints_position_out[2] = joints_position[2]
    joints_position_out[3] = joints_position[0]
    return joints_position_out