diff --git a/drive_between_arucos.py b/drive_between_arucos.py
index 9061d94..33eed26 100644
--- a/drive_between_arucos.py
+++ b/drive_between_arucos.py
@@ -34,7 +34,7 @@ def find_aruco(image):
     if corners is None:
         return []
 
-    return [(box[0], ids[i]) for i, box in enumerate(corners)]
+    return [(box[0], ids[i][0]) for i, box in enumerate(corners)]
 
 def find_arucos(arlo):
     aruco_dict = {}
@@ -44,7 +44,7 @@ def find_arucos(arlo):
         if arucos != []:
             print(arucos)
             for aruco, id_ in arucos:
-                aruco_dict[id_] = aruco.tolist()
+                aruco_dict[id_] = aruco
 
             if len(aruco_dict) >= 2:
                 break