diff --git a/main.py b/main.py
index 4cc130c..41b8be9 100755
--- a/main.py
+++ b/main.py
@@ -247,12 +247,12 @@ if __name__ == "__main__":
     right_pose.orientation.z = -0.000
     right_pose.orientation.w = 0.004
 
-    # left_pnp = PickAndPlace('left', hover_distance)
-    # right_pnp = PickAndPlace('right', hover_distance)
+    left_pnp = PickAndPlace('left', hover_distance)
+    right_pnp = PickAndPlace('right', hover_distance)
 
-    # # Go to initial position
-    # left_pnp.move_to_start(left_pnp.ik_request(left_pose))
-    # right_pnp.move_to_start(right_pnp.ik_request(right_pose))
+    # Go to initial position
+    left_pnp.move_to_start(left_pnp.ik_request(left_pose))
+    right_pnp.move_to_start(right_pnp.ik_request(right_pose))
 
     load_objects()
 
@@ -271,14 +271,14 @@ if __name__ == "__main__":
     #     print()
     #     print()
 
-    # left_pick = otc.tf_lookup('a1')
-    # left_pick.position.z+=0.05
-    # left_pnp.pick(left_pick)
+    left_pick = otc.tf_lookup('a1')
+    left_pick.position.z+=0.05
+    left_pnp.pick(left_pick)
 
 
-    # left_place = otc.tf_lookup('f2')
-    # left_place.position.z+=0.05
-    # left_pnp.place(left_place)
+    left_place = otc.tf_lookup('f2')
+    left_place.position.z+=0.05
+    left_pnp.place(left_place)