diff --git a/brick/model.sdf b/brick/model.sdf
index 31ff845..fd98cfb 100755
--- a/brick/model.sdf
+++ b/brick/model.sdf
@@ -5,7 +5,7 @@
       <pose frame=''>0 0 0 0 -0 0</pose>
       <inertial>
         <pose frame=''> 0 0 0.0 -0 0</pose>
-        <mass>0.1</mass>
+        <mass>0.001</mass>
         <inertia>
           <ixx>0.000002</ixx>
           <ixy>0</ixy>
diff --git a/new_main.py b/new_main.py
index b7afd48..469655c 100644
--- a/new_main.py
+++ b/new_main.py
@@ -171,59 +171,77 @@ def H_Routine():
 
 V_Routine()
 left_pnp.send(ta.B_1_A)
+x = raw_input('Continue?: ')
 left_pnp.send(ta.B_1_P)
+x = raw_input('Continue?: ')
 left_pnp.gripper_open()
 left_pnp.send(ta.B_1_A)
 
 V_Routine()
 left_pnp.send(ta.B_2_A)
+x = raw_input('Continue?: ')
 left_pnp.send(ta.B_2_P)
+x = raw_input('Continue?: ')
 left_pnp.gripper_open()
 left_pnp.send(ta.B_2_A)
 
 V_Routine()
 left_pnp.send(ta.B_3_A)
+x = raw_input('Continue?: ')
 left_pnp.send(ta.B_3_P)
+x = raw_input('Continue?: ')
 left_pnp.gripper_open()
 left_pnp.send(ta.B_3_A)
 
 
 H_Routine()
 left_pnp.send(ta.B_4_A)
+x = raw_input('Continue?: ')
 left_pnp.send(ta.B_4_P)
+x = raw_input('Continue?: ')
 left_pnp.gripper_open()
 left_pnp.send(ta.B_4_A)
 
 H_Routine()
 left_pnp.send(ta.B_5_A)
+x = raw_input('Continue?: ')
 left_pnp.send(ta.B_5_P)
+x = raw_input('Continue?: ')
 left_pnp.gripper_open()
 left_pnp.send(ta.B_5_A)
 
 
 V_Routine()
 left_pnp.send(ta.B_6_A)
+x = raw_input('Continue?: ')
 left_pnp.send(ta.B_6_P)
+x = raw_input('Continue?: ')
 left_pnp.gripper_open()
 left_pnp.send(ta.B_6_A)
 
 V_Routine()
 left_pnp.send(ta.B_7_A)
+x = raw_input('Continue?: ')
 left_pnp.send(ta.B_7_P)
+x = raw_input('Continue?: ')
 left_pnp.gripper_open()
 left_pnp.send(ta.B_7_A)
 
 
 H_Routine()
 left_pnp.send(ta.B_8_A)
+x = raw_input('Continue?: ')
 left_pnp.send(ta.B_8_P)
+x = raw_input('Continue?: ')
 left_pnp.gripper_open()
 left_pnp.send(ta.B_8_A)
 
 
 V_Routine()
 left_pnp.send(ta.B_9_A)
+x = raw_input('Continue?: ')
 left_pnp.send(ta.B_9_P)
+x = raw_input('Continue?: ')
 left_pnp.gripper_open()
 left_pnp.send(ta.B_9_A)