diff --git a/object_tf_client.py b/object_tf_client.py
new file mode 100644
index 0000000..ea989ac
--- /dev/null
+++ b/object_tf_client.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+import rospy
+import tf
+import time
+from geometry_msgs.msg import (PoseStamped, Pose, Point, Quaternion)
+
+def tf_lookup(object_name):
+	do_try = True
+	listener = tf.TransformListener()
+
+	while not rospy.is_shutdown() and do_try:
+		try:
+			(trans,rot) = listener.lookupTransform('c1', 'base', rospy.Time(0))
+			do_try = False
+		except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
+			print('Failed to get frame data, retrying...')
+			time.sleep(0.1)
+			continue
+
+		target_pose = Pose()
+		target_pose.position.x = trans[0]
+		target_pose.position.y = trans[1]
+		target_pose.position.z = trans[2]
+		target_pose.orientation.x = rot[0]
+		target_pose.orientation.y = rot[1]
+		target_pose.orientation.z = rot[2]
+		target_pose.orientation.w = rot[3]
+		return target_pose
\ No newline at end of file
diff --git a/run b/run
index 2ab3248..7dc75fe 100755
--- a/run
+++ b/run
@@ -6,15 +6,16 @@ echo 2
 mv main.py ../
 echo 3
 mv object_tf_service.py ../
+mv object_tf_client.py ../
 echo 4
 cd ../
 echo 5
 rm object_tf_service.pyc
+rm object_tf_client.py
 echo 6
 python main.py
 echo 7
 mv main.py RoboticSandbox/
-echo 8
+mv object_tf_client.py RoboticSandbox/
 mv object_tf_service.py RoboticSandbox/
-echo 9
 echo Done