diff --git a/bricks_etc.py b/bricks_etc.py
index aff9c2b..4b7d518 100644
--- a/bricks_etc.py
+++ b/bricks_etc.py
@@ -11,7 +11,7 @@ table = {
     'yaw':radians(90)
     }
 
-bricks_end =[{
+bricks_end =[{ #DO NOT USE THIS
     'id':'ea1',
     'rframe':'t1',
     'x':0.46,
@@ -105,10 +105,11 @@ bricks_end =[{
 target_positions = [{
     'num':1,
     'rframe':'t1',
-    'x':0.46,
+    # 'x':0.46,
+    'x':0.2,
     # 'y':-0.19,
     'y':0.2,
-    'z':0.822,
+    'z':0.9,
     'roll':0,
     # 'pitch':-1.570796,
     'pitch':0,
diff --git a/main.py b/main.py
index 88b3c54..1afd3bf 100755
--- a/main.py
+++ b/main.py
@@ -255,19 +255,19 @@ if __name__ == "__main__":
     left_pick = otc.tf_lookup('a3')
     left_pnp.pick(left_pick)
 
-    left_place_pre = otc.tf_lookup('a1')
+    left_place_pre = otc.tf_lookup('t1')
 
     xpos = brick_targets[0]
     zqtr = quaternion_from_euler(xpos['roll'], xpos['pitch'], xpos['yaw'])
 
     left_place_pos = Pose()
-    left_place_pos.position.x = left_place_pre.position.x + 0.1 #xpos['x']
-    left_place_pos.position.y = left_place_pre.position.y + 0.1 #xpos['y']
-    left_place_pos.position.z = left_place_pre.position.z + 0.1 #xpos['z']
-    left_place_pos.orientation.x = left_place_pre.orientation.x #+ zqtr[0]
-    left_place_pos.orientation.y = left_place_pre.orientation.y #+ zqtr[1]
-    left_place_pos.orientation.z = left_place_pre.orientation.z #+ zqtr[2]
-    left_place_pos.orientation.w = left_place_pre.orientation.w #+ zqtr[3]
+    left_place_pos.position.x = left_place_pre.position.x + xpos['x']
+    left_place_pos.position.y = left_place_pre.position.y + xpos['y']
+    left_place_pos.position.z = left_place_pre.position.z + xpos['z']
+    left_place_pos.orientation.x = left_place_pre.orientation.x + zqtr[0]
+    left_place_pos.orientation.y = left_place_pre.orientation.y + zqtr[1]
+    left_place_pos.orientation.z = left_place_pre.orientation.z + zqtr[2]
+    left_place_pos.orientation.w = left_place_pre.orientation.w + zqtr[3]
 
     left_pnp.place(left_place_pos)