diff --git a/main.py b/main.py
index e93a9ca..a664e66 100755
--- a/main.py
+++ b/main.py
@@ -272,12 +272,12 @@ if __name__ == "__main__":
     #     print()
 
     left_pick = otc.tf_lookup('a3')
-    left_pick.position.z+=0.5
+    # left_pick.position.z+=0.05
     left_pnp.pick(left_pick)
 
 
     left_place = otc.tf_lookup('f2')
-    left_pick.position.z+=0.5
+    # left_pick.position.z+=0.05
     left_pnp.place(left_place)
 
 
diff --git a/object_tf_client.py b/object_tf_client.py
index a857c01..9d332cc 100755
--- a/object_tf_client.py
+++ b/object_tf_client.py
@@ -18,7 +18,7 @@ def tf_lookup(object_name):
 			time.sleep(0.1)
 			continue
 
-		object_angles = tf.transformations.euler_from_quaternion([rot[3] , rot[0], rot[1], rot[2]], axes='sxyz')
+		object_angles = tf.transformations.euler_from_quaternion([rot[0] , rot[1], rot[2], rot[3]])
 		xangle = object_angles[0] + radians(90)# + radians(200.569)
 		xangle1 = object_angles[1]# + radians(90)
 		xangle2 = object_angles[2]# + radians(-200.569)