diff --git a/main.py b/main.py
index 9d82c0f..2302328 100755
--- a/main.py
+++ b/main.py
@@ -266,8 +266,8 @@ if __name__ == "__main__":
     left_pick = otc.tf_lookup('a1')
 
     left_pick_angles = euler_from_quaternion([left_pick.orientation.x , left_pick.orientation.y , left_pick.orientation.z, left_pick.orientation.w])
-    xangle = left_pick_angles[0]
-    xangle1 = left_pick_angles[1]
+    xangle = left_pick_angles[0] + radians(190)
+    xangle1 = left_pick_angles[1] + radians(-90)
     xangle2 = left_pick_angles[2]
     left_pick_angles = (xangle, left_pick_angles[1], left_pick_angles[2])
     target_quat = quaternion_from_euler(left_pick_angles[0], left_pick_angles[1], left_pick_angles[2])
@@ -288,7 +288,7 @@ if __name__ == "__main__":
     left_place_angles = euler_from_quaternion([left_place.orientation.x , left_place.orientation.y , left_place.orientation.z, left_place.orientation.w])
     xangle = left_place_angles[0]
     xangle1 = left_place_angles[1]
-    xangle2 = left_place_angles[2]
+    xangle2 = left_place_angles[2] + radians(90)
     left_place_angles = (xangle, left_place_angles[1], left_place_angles[2])
     target_quat = quaternion_from_euler(left_place_angles[0], left_place_angles[1], left_pick_angles[2])
     left_place_pos = Pose()