diff --git a/bricks_etc.py b/bricks_etc.py
index 274448d..4a5e9d3 100644
--- a/bricks_etc.py
+++ b/bricks_etc.py
@@ -1,5 +1,6 @@
 from math import radians
 
+
 table = {
     'id':'t1',
     'rframe':'world',
@@ -291,16 +292,30 @@ bricks_start_v1 =[{
 bricks_start_v2 =[{
     'id':'a1',
     'rframe':'t1',
-    'x':-0.119,
+    'x':-0.319,
     'y':0.134,
     'z':0.821,
     'roll':radians(0),
     'pitch':radians(90),
     'yaw':radians(90)
-    }]
+    },
+    {
+    'id':'a2',
+    'rframe':'ta1',
+    'x':0,
+    'y':-0.15,
+    'z':0,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    }
+
+    ]
+
+supervar = bricks_start_v1
 
 def getBuildable():
-    return bricks_start_v2
+    return supervar
 
 def getAll():
     return bricks_start_v2+bricks_start_v1+bricks_end+[table]
@@ -313,7 +328,7 @@ def getTargets():
 
 def getNodes():
     nodes = ['baxter::base', 't1::Table']
-    for obj in bricks_start_v2 + bricks_end:
+    for obj in supervar + bricks_end:
         name = obj['id']
         node_name = name+'::Brick'
         nodes.append(node_name)
diff --git a/main.py b/main.py
index 1d41d6c..e93a9ca 100755
--- a/main.py
+++ b/main.py
@@ -270,8 +270,8 @@ if __name__ == "__main__":
     #     otc.tf_lookup('f2')
     #     print()
     #     print()
-    
-    left_pick = otc.tf_lookup('a1')
+
+    left_pick = otc.tf_lookup('a3')
     left_pick.position.z+=0.5
     left_pnp.pick(left_pick)
 
diff --git a/object_tf_client.py b/object_tf_client.py
index 04ec4e1..a857c01 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[3] , rot[0], rot[1], rot[2]], axes='sxyz')
-		xangle = object_angles[0] + radians(200.569)# + radians(77.878)
-		xangle1 = object_angles[1] + radians(90)
-		xangle2 = object_angles[2] + radians(-20.569)
+		xangle = object_angles[0] + radians(90)# + radians(200.569)
+		xangle1 = object_angles[1]# + radians(90)
+		xangle2 = object_angles[2]# + radians(-200.569)
 		object_angles = (xangle, xangle1, xangle2)
 		print("Angles:")
 		print(xangle)