diff --git a/main.py b/main.py
index f945abc..6319ac7 100755
--- a/main.py
+++ b/main.py
@@ -264,7 +264,7 @@ if __name__ == "__main__":
 
 
     left_pick = otc.tf_lookup('a1')
-
+    left_pick.position.z+=0.5
     left_pnp.pick(left_pick)
 
 
diff --git a/object_tf_client.py b/object_tf_client.py
index 7a961a0..164c9f0 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 = 0#object_angles[0] + radians(90)
-		xangle1 = 0# object_angles[1] + radians(0)
-		xangle2 = 0# object_angles[2] + radians(90) #180
+		xangle = object_angles[0] + radians(90)
+		xangle1 = object_angles[1] + radians(0)
+		xangle2 = object_angles[2] + radians(180)
 		object_angles = (xangle, xangle1, xangle2)
 		target_quat = tf.transformations.quaternion_from_euler(object_angles[0], object_angles[1], object_angles[2])
 		target_pose = Pose()