diff --git a/object_tf_client.py b/object_tf_client.py
index 19a9a82..44374e3 100755
--- a/object_tf_client.py
+++ b/object_tf_client.py
@@ -19,9 +19,9 @@ def tf_lookup(object_name):
 			continue
 
 		object_angles = tf.transformations.euler_from_quaternion([rot[0] , rot[1] , rot[2], rot[3]])
-		xangle = object_angles[0]# + radians(90)
-		xangle1 = object_angles[1]# + radians(-90)
-		xangle2 = object_angles[2]# + radians(-180)
+		xangle = object_angles[0] + radians(77.878)
+		xangle1 = object_angles[1] - radians(90)
+		xangle2 = object_angles[2] - radians(22.231)
 		object_angles = (xangle, xangle1, xangle2)
 		print("Angles:")
 		print(xangle)
@@ -47,7 +47,7 @@ if __name__ == "__main__":
 
 #      
 #      TARGET TOP PICKING EULER ANGLES
-#      MODIFIERS:
+#      LAYING MODIFIERS:
 #      Pitch(0): +90 deg.
 #      Roll(1):    0 deg.
 #      Yaw(2):     0 deg.
@@ -57,9 +57,10 @@ if __name__ == "__main__":
 #      Roll(1):     0 deg.
 #      Yaw(2):   -180 deg.
 #      
-#      
-#      
-#      
+#      INITIAL STANDING VALUES
+#      0.211     12.112 + 77.878
+#      1.57      90.000 - 90.000
+#      -2.75   -157.769 - 22.231
 #      
 #      
 #