diff --git a/main.py b/main.py
index 71442da..1afd3bf 100755
--- a/main.py
+++ b/main.py
@@ -261,13 +261,13 @@ if __name__ == "__main__":
     zqtr = quaternion_from_euler(xpos['roll'], xpos['pitch'], xpos['yaw'])
 
     left_place_pos = Pose()
-    left_place_pos.position.x = left_place_pre.position.x + xpos['z']
-    left_place_pos.position.y = left_place_pre.position.y + xpos['x']
-    left_place_pos.position.z = left_place_pre.position.z + xpos['y']
-    left_place_pos.orientation.x = left_place_pre.orientation.x# + zqtr[0]
-    left_place_pos.orientation.y = left_place_pre.orientation.y# + zqtr[1]
-    left_place_pos.orientation.z = left_place_pre.orientation.z# + zqtr[2]
-    left_place_pos.orientation.w = left_place_pre.orientation.w# + zqtr[3]
+    left_place_pos.position.x = left_place_pre.position.x + xpos['x']
+    left_place_pos.position.y = left_place_pre.position.y + xpos['y']
+    left_place_pos.position.z = left_place_pre.position.z + xpos['z']
+    left_place_pos.orientation.x = left_place_pre.orientation.x + zqtr[0]
+    left_place_pos.orientation.y = left_place_pre.orientation.y + zqtr[1]
+    left_place_pos.orientation.z = left_place_pre.orientation.z + zqtr[2]
+    left_place_pos.orientation.w = left_place_pre.orientation.w + zqtr[3]
 
     left_pnp.place(left_place_pos)