diff --git a/launch/sofia_perception.launch b/launch/sofia_perception.launch
index befd96f..bddd58c 100644
--- a/launch/sofia_perception.launch
+++ b/launch/sofia_perception.launch
@@ -1,4 +1,4 @@
 <launch>
-    <node pkg="tf" type="static_transform_publisher" name="camera_link_broadcaster" args="0 0 0 0 0 0 0 /end_effector_link /camera 100" />
+    <!-- <node pkg="tf" type="static_transform_publisher" name="camera_link_broadcaster" args="0 0 0 0 0 0 0 /end_effector_link /camera 100" /> -->
     <node pkg="sofia_perception" type="perception_server.py" name="perception_server" output="screen" />
 </launch>
\ No newline at end of file
diff --git a/resources/perception.bag b/resources/perception.bag
new file mode 100644
index 0000000..0e10bf9
Binary files /dev/null and b/resources/perception.bag differ
diff --git a/scripts/optimize_class.py b/scripts/optimize_class.py
index 755b1f3..3ac4853 100644
--- a/scripts/optimize_class.py
+++ b/scripts/optimize_class.py
@@ -150,7 +150,7 @@ def plot_inputs(self, ax1, col='k'):
     optim = Fminsearch()
     optim.load_set(poses_path, tfs_path)
 
-    # initial guess for the optimization algorithm written as position + quaternion (x, y, z, qx, qy, qz, qw)
+    # REPLACE initial guess (t1) for the optimization algorithm written as position + quaternion (x, y, z, qx, qy, qz, qw) with your calculated guess
     t1 = np.asarray([0, 0, 0, 0, 0, 0, 0])
     topt, f = optim.do_optimise_T(t1)
 
diff --git a/scripts/perception_server.py b/scripts/perception_server.py
old mode 100644
new mode 100755
index a63b619..58b23fb
--- a/scripts/perception_server.py
+++ b/scripts/perception_server.py
@@ -10,25 +10,29 @@ class SofiaPerception(object):
     def __init__(self):
         self.detect_object_srv = rospy.Service('detect_object', DetectObject, self.detect_object)
         print("DetectObject srv is now available")
+        self.z = 0.05
         rospy.spin()
 
     def detect_object(self, req):
         self.points = ros_numpy.point_cloud2.pointcloud2_to_array(req.input_pc)
-        z_values = self.points['z']
-        mask = ~np.isnan(z_values) * (z_values > self.z) * (z_values < self.z + 0.15)    # removing spurious points 
-        self.points = self.points[mask]
 
         #########################
         ## YOUR CODE GOES HERE ##
         #########################
 
+        z_values = self.points['z']
+        mask = ~np.isnan(z_values) * (z_values > self.z) * (z_values < self.z + 0.15)    # removing spurious points 
+        self.points = self.points[mask]
+
         object_centroid = Point()
         # object_centroid.x = ...
         # object_centroid.y = ...
         # object_centroid.z = ...
 
         res = DetectObjectResponse()
-        res.object_centroid = object_centroid
+        res.object_centroid_yellow = object_centroid
+        res.object_centroid_green = object_centroid
+        res.object_centroid_blue = object_centroid
 
         return res
 
diff --git a/srv/DetectObject.srv b/srv/DetectObject.srv
index 53219c1..c69207e 100644
--- a/srv/DetectObject.srv
+++ b/srv/DetectObject.srv
@@ -1,3 +1,5 @@
 sensor_msgs/PointCloud2 input_pc
 ---
-geometry_msgs/Point object_centroid
\ No newline at end of file
+geometry_msgs/Point object_centroid_yellow
+geometry_msgs/Point object_centroid_green
+geometry_msgs/Point object_centroid_blue
\ No newline at end of file