diff --git a/new_main.py b/new_main.py
index a172bfe..0efc90a 100644
--- a/new_main.py
+++ b/new_main.py
@@ -373,26 +373,18 @@ if debug:
     x = raw_input('Continue?: ')
 left_pnp.gripper_open()
 
-brick9after = Pose()
-brick9after.position.x = 0.635
-brick9after.position.y = 0.349
-brick9after.position.z = 0.506
-brick9after.orientation.x = -0.7071067811865476
-brick9after.orientation.y = -0.7071067811865475
-brick9after.orientation.z = 4.329780281177466e-17
-brick9after.orientation.w = 4.329780281177467e-17
 
-new_x = left_pnp.ik_request(brick9after)
-left_pnp.send(new_x)
+left_pnp.send(ta.B_9_za)
+
 x = raw_input('Ready???')
 brick9after2 = Pose()
 brick9after2.position.x = 0.635
-brick9after2.position.y = 0.5
-brick9after2.position.z = 0.4
-brick9after2.orientation.x = 0
-brick9after2.orientation.y = 0
-brick9after2.orientation.z = 0.707
-brick9after2.orientation.w = 0.707
+brick9after2.position.y = 0.45
+brick9after2.position.z = 0.506
+brick9after2.orientation.x = -0.7071067811865476
+brick9after2.orientation.y = -0.7071067811865475
+brick9after2.orientation.z = 4.329780281177466e-17
+brick9after2.orientation.w = 4.329780281177467e-17
 newest = left_pnp.ik_request(brick9after2)
 left_pnp.send(newest)
 
diff --git a/target_angles.py b/target_angles.py
index 0186b98..455c146 100644
--- a/target_angles.py
+++ b/target_angles.py
@@ -45,8 +45,8 @@ B_8_A = {'left_w0': 0.47397216515126994, 'left_w1': 1.8191693493757988, 'left_w2
 B_8_P = {'left_w0': 0.8110423768060999, 'left_w1': 1.472609531372465, 'left_w2': 1.1138183782919966, 'left_e0': -1.4329588050987652, 'left_e1': 1.5676992726056054, 'left_s0': 0.23139732100304755, 'left_s1': -0.7547923372600823}
 B_9_A = {'left_w0': 0.35959165932558207, 'left_w1': 1.9280499585601125, 'left_w2': 1.4753075963656614, 'left_e0': -1.014625396487737, 'left_e1': 0.9725959751301161, 'left_s0': -0.03418343328074433, 'left_s1': -1.1722171342836722}
 B_9_P = {'left_w0': 0.31592446450227823, 'left_w1': 1.7694573442805632, 'left_w2': 1.4526326487219683, 'left_e0': -1.0428825978748242, 'left_e1': 1.1732291351006587, 'left_s0': 0.05048765124424395, 'left_s1': -1.2037991885581427}
-B_9_Z = {'left_w0': 0.4869561031137116, 'left_w1': 1.8992109963633044, 'left_w2': 1.3939913852662396, 'left_e0': -1.2437016243859287, 'left_e1': 1.0343560188649745, 'left_s0': 0.07240322932590991, 'left_s1': -1.085460421297549}
-
+B_9_za = {'left_w0': 0.4224716898888107, 'left_w1': 2.0940001010894775, 'left_w2': 1.5055377828561145, 'left_e0': -0.9718054278924021, 'left_e1': 0.7415823040245637, 'left_s0': -0.1466335135058824, 'left_s1': -1.1271627193043057}
+B_9_zb = {}
 # vpk = {'left_w0': 0.4649854934058153, 'left_w1': 1.4526645466391497, 'left_w2': 2.138194707013768, 'left_e0': -0.89929386139053, 'left_e1': 1.2965189348212542, 'left_s0': 0.6436312256143302, 'left_s1': -0.9657905946725601}
 # hpk = {'left_w0': 0.3769936175655104, 'left_w1': 1.2305944969345881, 'left_w2': 2.2665093979599353, 'left_e0': -0.5773304857037607, 'left_e1': 1.340754726206522, 'left_s0': 0.5061440970662591, 'left_s1': -0.8921470049131158}
 # 1pl = {'left_w0': 1.2027300003884847, 'left_w1': 0.8795510297892881, 'left_w2': 0.5632980390463863, 'left_e0': -0.8960386873043342, 'left_e1': 1.7558376775390683, 'left_s0': -0.31400273801416234, 'left_s1': -0.4013131412149057}