diff --git a/new_main.py b/new_main.py
index d57eafa..1fca912 100644
--- a/new_main.py
+++ b/new_main.py
@@ -219,7 +219,7 @@ def H_Routine():
     left_pnp.send(ta.H_approach)
 
 
-sendy_i = left_pnp.ik_request(tps.brick9after)
+left_pnp.send(ta.B_9_Z)
 
 V_Routine()
 
@@ -241,9 +241,6 @@ left_pnp.send(ta.B_2_A)
 
 V_Routine()
 
-# sendy_c = left_pnp.ik_request(tps.brick3mid)
-# left_pnp.send(sendy_c)
-
 left_pnp.send(ta.B_3_A)
 x = raw_input('Continue?: ')
 left_pnp.send(ta.B_3_P)
@@ -301,10 +298,7 @@ x = raw_input('Continue?: ')
 left_pnp.send(ta.B_9_P)
 x = raw_input('Continue?: ')
 left_pnp.gripper_open()
-
-
-sendy_i = left_pnp.ik_request(tps.brick9after)
-left_pnp.send(sendy_i)
+left_pnp.send(ta.B_9_Z)
 
 
 left_pnp.send(ta.H_pickup)
diff --git a/target_angles.py b/target_angles.py
index a207715..0186b98 100644
--- a/target_angles.py
+++ b/target_angles.py
@@ -45,7 +45,7 @@ B_8_A = {'left_w0': 0.47397216515126994, 'left_w1': 1.8191693493757988, 'left_w2
 B_8_P = {'left_w0': 0.8110423768060999, 'left_w1': 1.472609531372465, 'left_w2': 1.1138183782919966, 'left_e0': -1.4329588050987652, 'left_e1': 1.5676992726056054, 'left_s0': 0.23139732100304755, 'left_s1': -0.7547923372600823}
 B_9_A = {'left_w0': 0.35959165932558207, 'left_w1': 1.9280499585601125, 'left_w2': 1.4753075963656614, 'left_e0': -1.014625396487737, 'left_e1': 0.9725959751301161, 'left_s0': -0.03418343328074433, 'left_s1': -1.1722171342836722}
 B_9_P = {'left_w0': 0.31592446450227823, 'left_w1': 1.7694573442805632, 'left_w2': 1.4526326487219683, 'left_e0': -1.0428825978748242, 'left_e1': 1.1732291351006587, 'left_s0': 0.05048765124424395, 'left_s1': -1.2037991885581427}
-
+B_9_Z = {'left_w0': 0.4869561031137116, 'left_w1': 1.8992109963633044, 'left_w2': 1.3939913852662396, 'left_e0': -1.2437016243859287, 'left_e1': 1.0343560188649745, 'left_s0': 0.07240322932590991, 'left_s1': -1.085460421297549}
 
 # vpk = {'left_w0': 0.4649854934058153, 'left_w1': 1.4526645466391497, 'left_w2': 2.138194707013768, 'left_e0': -0.89929386139053, 'left_e1': 1.2965189348212542, 'left_s0': 0.6436312256143302, 'left_s1': -0.9657905946725601}
 # hpk = {'left_w0': 0.3769936175655104, 'left_w1': 1.2305944969345881, 'left_w2': 2.2665093979599353, 'left_e0': -0.5773304857037607, 'left_e1': 1.340754726206522, 'left_s0': 0.5061440970662591, 'left_s1': -0.8921470049131158}