diff --git a/new_main.py b/new_main.py
index 3fb579e..8184c14 100644
--- a/new_main.py
+++ b/new_main.py
@@ -388,7 +388,7 @@ x = raw_input('Ready???')
 brick9after2 = Pose()
 brick9after2.position.x = 0.4664
 brick9after2.position.y = 0.349
-brick9after2.position.z = 0.4
+brick9after2.position.z = 0.3
 brick9after2.orientation.x = 0
 brick9after2.orientation.y = 0
 brick9after2.orientation.z = 0.707
@@ -397,5 +397,5 @@ newest = left_pnp.ik_request(brick9after2)
 left_pnp.send(newest)
 
 
-left_pnp.send(ta.H_pickup)
+left_pnp.send(ta.V_pickup)