diff --git a/launch/mycobot_detect_marker_with_services.launch b/launch/mycobot_detect_marker_with_topic.launch
similarity index 100%
rename from launch/mycobot_detect_marker_with_services.launch
rename to launch/mycobot_detect_marker_with_topic.launch
diff --git a/scripts/detect_marker.py b/scripts/detect_marker.py
index 384ef77..d6734fe 100755
--- a/scripts/detect_marker.py
+++ b/scripts/detect_marker.py
@@ -69,7 +69,7 @@ class ImageConverter:
 
                 # Just process first one detected.
                 xyz = tvec[0, 0, :]
-                xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.01]
+                xyz = [xyz[0] - 0.045, xyz[1], xyz[2] -0.03]
 
                 euler = rvec[0, 0, :]
                 tf_change = tf.transformations.quaternion_from_euler(euler[0], euler[1], euler[2])
diff --git a/scripts/follow_and_pump.py b/scripts/follow_and_pump.py
index c043f8e..b2fc2dd 100755
--- a/scripts/follow_and_pump.py
+++ b/scripts/follow_and_pump.py
@@ -18,7 +18,7 @@ pump = MycobotPumpStatus()
 
 x_offset = -20
 y_offset = 20
-z_offset = 120
+z_offset = 110
 
 flag = False
 
@@ -98,7 +98,7 @@ def grippercallback(data):
         time.sleep(2.5)
 
         # down
-        for i in range(1,14):
+        for i in range(1,17):
             pub_coords(x, y, z - i * 5,rx=-160, sp=10)
             time.sleep(.1)
 
@@ -117,12 +117,14 @@ def grippercallback(data):
         pub_coords(39.4, -174.7, put_z ,-177.13, -4.13, -152.59,70,2)
         time.sleep(1.5)
 
-        for i in range (1,7):
+        for i in range (1,8):
             pub_coords(39.4, -174.7, put_z-i*5, -177.13, -4.13, -152.59,15,2)
             time.sleep(.1)
 
         pub_pump(False)
 
+        time.sleep(.5)
+
         pub_angles(0, 30, -50, -40, 0, 0, 50)
         time.sleep(1.5)