diff --git a/bricks_etc.py b/bricks_etc.py
index 70c2bc7..1bffe88 100644
--- a/bricks_etc.py
+++ b/bricks_etc.py
@@ -110,14 +110,14 @@ bricks_start =[{
     'z':0.770,
     'roll':0,
     'pitch':0,
-    'yaw':radians(90)
+    'yaw':radians(-90)
     },
     {
     'id':'a2',
     'rframe':'a1',
     'x':0,
-    'y':0.192,
-    'z':0,
+    'y':0,
+    'z':0.192,
     'roll':0,
     'pitch':0,
     'yaw':0
@@ -126,8 +126,8 @@ bricks_start =[{
     'id':'a3',
     'rframe':'a1',
     'x':0,
-    'y':0.384,
-    'z':0,
+    'y':0,
+    'z':0.384,
     'roll':0,
     'pitch':0,
     'yaw':0
@@ -136,8 +136,8 @@ bricks_start =[{
     'id':'b1',
     'rframe':'a1',
     'x':0,
-    'y':0,
-    'z':0.087,
+    'y':0.087,
+    'z':0,
     'roll':0,
     'pitch':0,
     'yaw':0
@@ -146,8 +146,8 @@ bricks_start =[{
     'id':'b2',
     'rframe':'a1',
     'x':0,
-    'y':0.192,
-    'z':0.087,
+    'y':0.087,
+    'z':0.192,
     'roll':0,
     'pitch':0,
     'yaw':0
@@ -156,8 +156,8 @@ bricks_start =[{
     'id':'c1',
     'rframe':'a1',
     'x':0,
-    'y':0.384,
-    'z':0.087,
+    'y':0.087,
+    'z':0.384,
     'roll':0,
     'pitch':0,
     'yaw':0
@@ -166,8 +166,8 @@ bricks_start =[{
     'id':'c2',
     'rframe':'a1',
     'x':0,
-    'y':0,
-    'z':0.175,
+    'y':0.175,
+    'z':0,
     'roll':0,
     'pitch':0,
     'yaw':0
@@ -176,18 +176,19 @@ bricks_start =[{
     'id':'d1',
     'rframe':'a1',
     'x':0,
-    'y':0.192,
-    'z':0.175,
+    'y':0.175,
+    'z':0.192,
     'roll':0,
     'pitch':0,
     'yaw':0
-    }]#,
+    }]
+    # ,
     # {
     # 'id':'e1',
     # 'rframe':'a1',
     # 'x':0,
-    # 'y':0.384,
-    # 'z':0.175,
+    # 'y':0.175,
+    # 'z':0.384,
     # 'roll':0,
     # 'pitch':0,
     # 'yaw':0
diff --git a/models_NEEDTOMOVE/brick/model.sdf b/models_NEEDTOMOVE/brick/model.sdf
index 3fdf655..ff643e2 100755
--- a/models_NEEDTOMOVE/brick/model.sdf
+++ b/models_NEEDTOMOVE/brick/model.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <model name='Brick'>
     <link name='Brick'>
-      <pose frame=''>0 0 0 1.5708 -0 0</pose>
+      <pose frame=''>0 0 0 0 -0 0</pose>
       <inertial>
         <pose frame=''> 0 0 0.0 -0 0</pose>
         <mass>0.1</mass>