diff --git a/bricks_etc.py b/bricks_etc.py
index 87dc3e5..0f6df4f 100644
--- a/bricks_etc.py
+++ b/bricks_etc.py
@@ -102,6 +102,97 @@ bricks_end =[{
     'yaw':0
     }]
 
+target_positions = [{
+    'num':1,
+    'rframe':'t1',
+    'x':0.46,
+    'y':-0.19,
+    'z':0.822,
+    'roll':0,
+    'pitch':-1.570796,
+    'yaw':radians(90)
+    },
+    {
+    'num':2,
+    'rframe':'a1',
+    'x':0,
+    'y':0,
+    'z':-0.186,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'num':3,
+    'rframe':'a1',
+    'x':0,
+    'y':0,
+    'z':-0.372,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'num':4,
+    'rframe':'a1',
+    'x':0.127,
+    'y':0,
+    'z':-0.085,
+    'roll':0,
+    'pitch':1.57,
+    'yaw':0
+    },
+    {
+    'num':5,
+    'rframe':'a1',
+    'x':0.127,
+    'y':0,
+    'z':-0.287,
+    'roll':0,
+    'pitch':1.57,
+    'yaw':0
+    },
+    {
+    'num':6,
+    'rframe':'a1',
+    'x':0.254,
+    'y':0,
+    'z':-0.093,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'num':7,
+    'rframe':'a1',
+    'x':0.254,
+    'y':0,
+    'z':-0.287,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'num':8,
+    'rframe':'a1',
+    'x':0.381,
+    'y':0,
+    'z':-0.186,
+    'roll':0,
+    'pitch':1.57,
+    'yaw':0
+    },
+    {
+    'num':9,
+    'rframe':'a1',
+    'x':0.508,
+    'y':0,
+    'z':-0.186,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    }]
+
 bricks_start =[{
     'id':'a1',
     'rframe':'t1',
diff --git a/main.py b/main.py
index 0e85aa2..892feef 100755
--- a/main.py
+++ b/main.py
@@ -55,7 +55,7 @@ class PickAndPlace(object):
             start_angles = dict(zip(self._joint_names, [0]*7))
         self._guarded_move_to_joint_position(start_angles)
         self.gripper_open()
-        rospy.sleep(1.0)
+        rospy.sleep(0.2)
         print("Running. Ctrl-c to quit")
 
     def ik_request(self, pose):
@@ -100,11 +100,11 @@ class PickAndPlace(object):
 
     def gripper_open(self):
         self._gripper.open()
-        rospy.sleep(1.0)
+        rospy.sleep(0.2)
 
     def gripper_close(self):
         self._gripper.close()
-        rospy.sleep(1.0)
+        rospy.sleep(0.2)
 
     def _approach(self, pose):
         approach = copy.deepcopy(pose)
@@ -251,8 +251,13 @@ if __name__ == "__main__":
 
 
 
-    left_test = otc.tf_lookup('a3')
-    left_pnp.pick(left_test)
+    left_pick = otc.tf_lookup('a3')
+    left_pnp.pick(left_pick)
+
+    left_place_pre = otc.tf_lookup('t1')
+    print()
+    print(left_place_pre)
+    print()
 
     ####################################HACKING END