diff --git a/abc.py b/abc.py
new file mode 100644
index 0000000..4e34ba7
--- /dev/null
+++ b/abc.py
@@ -0,0 +1,106 @@
+# pick up position
+startv = Pose()
+startv.position.x = 0.474
+startv.position.y = 0.708
+startv.position.z = 0.254
+startv.orientation.x = 0.646
+startv.orientation.y = 0.762
+startv.orientation.z = -0.003
+startv.orientation.w = 0.003
+
+brick1 = Pose()
+brick1.position.x = 0.615
+brick1.position.y = 0.194
+brick1.position.z = -0.131
+brick1.orientation.x: 0.656
+brick1.orientation.y: 0.753
+brick1.orientation.z: -0.013
+brick1.orientation.w: -0.015
+
+brick2 = Pose()
+brick2.position.x = 0.615
+brick2.position.y = 0.346
+brick2.position.z = -0.125
+brick2.orientation.x: 0.667
+brick2.orientation.y: 0.742
+brick2.orientation.z: -0.045
+brick2.orientation.w: 0.033
+
+brick3 = Pose()
+brick3.position.x = 0.615
+brick3.position.y = 0.532
+brick3.position.z = -0.122
+brick3.orientation.x: 0.689
+brick3.orientation.y: 0.724
+brick3.orientation.z: 0.008
+brick3.orientation.w: 0.014
+
+##horizontal 1
+#pick up position
+starth = Pose()
+starth.position.x = 0.464
+starth.position.y = 0.804
+starth.position.z = 0.116
+starth.orientation.x: 0.661
+starth.orientation.y: 0.748
+starth.orientation.z: 0.043
+starth.orientation.w: -0.006
+
+brick4 = Pose()
+brick4.position.x = 0.615
+brick4.position.y = 0.240
+brick4.position.z = -0.0499
+brick4.orientation.x: 0.692
+brick4.orientation.y: 0.720
+brick4.orientation.z: -0.030
+brick4.orientation.w: -0.021
+
+
+brick5 = Pose()
+brick5.position.x = 0.615
+brick5.position.y = 0.449
+brick5.position.z = -0.058
+brick5.orientation.x: 0.677
+brick5.orientation.y: 0.734
+brick5.orientation.z: -0.032
+brick5.orientation.w: -0.016
+
+brick6 = Pose()
+brick6.position.x = 0.615
+brick6.position.y = 0.247
+brick6.position.z = 0.123
+brick6.orientation.x: 0.656
+brick6.orientation.y: 0.753
+brick6.orientation.z: -0.040
+brick6.orientation.w: 0.000
+
+brick7 = Pose()
+brick7.position.x = 0.615
+brick7.position.y = 0.441
+brick7.position.z = 0.138
+brick7.orientation.x: 0.671
+brick7.orientation.y: 0.735
+brick7.orientation.z: -0.060
+brick7.orientation.w: 0.005
+
+##horizontal 2
+brick8 = Pose()
+brick8.position.x = 0.635
+brick8.position.y = 0.334
+brick8.position.z = 0.209
+brick8.orientation.x: 0.680
+brick8.orientation.y: 0.729
+brick8.orientation.z: -0.048
+brick8.orientation.w: -0.042
+
+brick9 = Pose()
+brick9.position.x = 0.635
+brick9.position.y = 0.349
+brick9.position.z = 0.406
+brick9.orientation.x: 0.674
+brick9.orientation.y: 0.737
+brick9.orientation.z: -0.008
+brick9.orientation.w: 0.016
+
+
+
diff --git a/brick_data.py b/brick_data.py
new file mode 100644
index 0000000..bc62940
--- /dev/null
+++ b/brick_data.py
@@ -0,0 +1,512 @@
+import math
+import numpy as np
+
+def qte(x, y, z, w):
+    t0 = +2.0 * (w * x + y * z)
+    t1 = +1.0 - 2.0 * (x * x + y * y)
+    roll = math.atan2(t0, t1)
+    t2 = +2.0 * (w * y - z * x)
+    t2 = +1.0 if t2 > +1.0 else t2
+    t2 = -1.0 if t2 < -1.0 else t2
+    pitch = math.asin(t2)
+    t3 = +2.0 * (w * z + x * y)
+    t4 = +1.0 - 2.0 * (y * y + z * z)
+    yaw = math.atan2(t3, t4)
+    return [math.degrees(roll), math.degrees(pitch), math.degrees(yaw)]
+
+def etq(roll, pitch, yaw):
+        qx = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
+        qy = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2)
+        qz = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2)
+        qw = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
+        return [qx, qy, qz, qw]
+
+def q_extrapolator(obj):
+	return obj.orientation.x, obj.orientation.y, obj.orientation.z, obj.orientation.w
+
+##DELETE THIS
+class Position():
+	def __init__(self):
+		self.x = 0
+		self.y = 0
+		self.z = 0
+
+class Orientation():
+	def __init__(self):
+		self.x = 0
+		self.y = 0
+		self.z = 0
+		self.w = 0
+
+class EAngle():
+	def __init__(self):
+		self.roll = 0
+		self.pitch = 0
+		self.yaw = 0
+
+class Pose():
+	def __init__(self):
+		self.position = Position()
+		self.orientation = Orientation()
+##DELETE THIS
+
+# pick up position
+startv = Pose()
+startv.position.x = 0.474
+startv.position.y = 0.708
+startv.position.z = 0.254
+startv.orientation.x = 0.646
+startv.orientation.y = 0.762
+startv.orientation.z = -0.003
+startv.orientation.w = 0.003
+
+starth = Pose()
+starth.position.x = 0.464
+starth.position.y = 0.804
+starth.position.z = 0.116
+starth.orientation.x = 0.661
+starth.orientation.y = 0.748
+starth.orientation.z = 0.043
+starth.orientation.w = -0.006
+
+brick1 = Pose()
+brick1.position.x = 0.615
+brick1.position.y = 0.194
+brick1.position.z = -0.131
+brick1.orientation.x = 0.656
+brick1.orientation.y = 0.753
+brick1.orientation.z = -0.013
+brick1.orientation.w = -0.015
+
+brick2 = Pose()
+brick2.position.x = 0.615
+brick2.position.y = 0.346
+brick2.position.z = -0.125
+brick2.orientation.x = 0.667
+brick2.orientation.y = 0.742
+brick2.orientation.z = -0.045
+brick2.orientation.w = 0.033
+
+brick3 = Pose()
+brick3.position.x = 0.615
+brick3.position.y = 0.532
+brick3.position.z = -0.122
+brick3.orientation.x = 0.689
+brick3.orientation.y = 0.724
+brick3.orientation.z = 0.008
+brick3.orientation.w = 0.014
+
+brick4 = Pose()
+brick4.position.x = 0.615
+brick4.position.y = 0.240
+brick4.position.z = -0.0499
+brick4.orientation.x = 0.692
+brick4.orientation.y = 0.720
+brick4.orientation.z = -0.030
+brick4.orientation.w = -0.021
+
+brick5 = Pose()
+brick5.position.x = 0.615
+brick5.position.y = 0.449
+brick5.position.z = -0.058
+brick5.orientation.x = 0.677
+brick5.orientation.y = 0.734
+brick5.orientation.z = -0.032
+brick5.orientation.w = -0.016
+
+brick6 = Pose()
+brick6.position.x = 0.615
+brick6.position.y = 0.247
+brick6.position.z = 0.123
+brick6.orientation.x = 0.656
+brick6.orientation.y = 0.753
+brick6.orientation.z = -0.040
+brick6.orientation.w = 0.000
+
+brick7 = Pose()
+brick7.position.x = 0.615
+brick7.position.y = 0.441
+brick7.position.z = 0.138
+brick7.orientation.x = 0.671
+brick7.orientation.y = 0.735
+brick7.orientation.z = -0.060
+brick7.orientation.w = 0.005
+
+brick8 = Pose()
+brick8.position.x = 0.635
+brick8.position.y = 0.334
+brick8.position.z = 0.209
+brick8.orientation.x = 0.680
+brick8.orientation.y = 0.729
+brick8.orientation.z = -0.048
+brick8.orientation.w = -0.042
+
+brick9 = Pose()
+brick9.position.x = 0.635
+brick9.position.y = 0.349
+brick9.position.z = 0.406
+brick9.orientation.x = 0.674
+brick9.orientation.y = 0.737
+brick9.orientation.z = -0.008
+brick9.orientation.w = 0.016
+
+
+
+
+brick_directions_notf = [
+	{
+	'id':'tv',
+	'pose':startv,
+	'isVertical':True
+	},
+	{'id':'th',
+	'pose':starth,
+	'isVertical':False
+	},
+	{'id':'b1',
+	'pose':brick1,
+	'isVertical':True
+	},
+	{'id':'b2',
+	'pose':brick2,
+	'isVertical':True
+	},
+	{'id':'b3',
+	'pose':brick3,
+	'isVertical':True
+	},
+	{'id':'b4',
+	'pose':brick4,
+	'isVertical':False
+	},
+	{'id':'b5',
+	'pose':brick5,
+	'isVertical':False
+	},
+	{'id':'b6',
+	'pose':brick6,
+	'isVertical':True
+	},
+	{'id':'b7',
+	'pose':brick7,
+	'isVertical':True
+	},
+	{'id':'b8',
+	'pose':brick8,
+	'isVertical':False
+	},
+	{'id':'b9',
+	'pose':brick9,
+	'isVertical':True
+	}]
+
+
+for item in brick_directions_notf:
+	angles = qte(*q_extrapolator(item['pose']))
+	clean_angles = []
+	for one in angles:
+		if one > -185 and one < -172:
+			clean_angles.append(-180)
+		elif one > 175 and one < 185:
+			clean_angles.append(180)
+		elif one < 7 and one > -5:
+			clean_angles.append(0)
+		elif one > 85 and one < 100:
+			clean_angles.append(90)
+		else:
+			clean_angles.append(one)
+	# print('Brick: ', item['id'], ' (Vertical:', item['isVertical'], ')')
+	# print('Initial: ', angles)
+	# print('Clean: ', clean_angles)
+	for ix in range (0, 3):
+		clean_angles[ix] = math.radians(clean_angles[ix])
+	quats = etq(clean_angles[0], clean_angles[1], clean_angles[2])
+	# print(q_extrapolator(item['pose']))
+	# print(quats)
+	# print()
+	# print('Begin data')
+	print('---')
+	print(item['id'])
+	print('x_:_ ', quats[0])
+	print('y_:_ ', quats[1])
+	print('z_:_ ', quats[2])
+	print('w_:_ ', quats[3])
+	print('---')
+	print()
+
+
+# CORRECTED FOR  ERRORS
+# ---
+# tv
+# x_:_  -0.7071067811865476
+# y_:_  -0.7071067811865475
+# z_:_  4.329780281177466e-17
+# w_:_  4.329780281177467e-17
+# ---
+
+# ---
+# th
+# x_:_  0.7071067811865476
+# y_:_  0.7071067811865475
+# z_:_  4.329780281177466e-17
+# w_:_  4.329780281177467e-17
+# ---
+
+# ---
+# b1
+# x_:_  -0.7071067811865476
+# y_:_  -0.7071067811865475
+# z_:_  4.329780281177466e-17
+# w_:_  4.329780281177467e-17
+# ---
+
+# ---
+# b2
+# x_:_  -0.7071067811865476
+# y_:_  -0.7071067811865475
+# z_:_  4.329780281177466e-17
+# w_:_  4.329780281177467e-17
+# ---
+
+# ---
+# b3
+# x_:_  0.7071067811865476
+# y_:_  0.7071067811865475
+# z_:_  4.329780281177466e-17
+# w_:_  4.329780281177467e-17
+# ---
+
+# ---
+# b4
+# x_:_  -0.7071067811865476
+# y_:_  -0.7071067811865475
+# z_:_  4.329780281177466e-17
+# w_:_  4.329780281177467e-17
+# ---
+
+# ---
+# b5
+# x_:_  -0.7071067811865476
+# y_:_  -0.7071067811865475
+# z_:_  4.329780281177466e-17
+# w_:_  4.329780281177467e-17
+# ---
+
+# ---
+# b6
+# x_:_  -0.7071067811865476
+# y_:_  -0.7071067811865475
+# z_:_  4.329780281177466e-17
+# w_:_  4.329780281177467e-17
+# ---
+
+# ---
+# b7
+# x_:_  -0.7071067811865476
+# y_:_  -0.7071067811865475
+# z_:_  4.329780281177466e-17
+# w_:_  4.329780281177467e-17
+# ---
+
+# ---
+# b8
+# x_:_  -0.7071067811865476
+# y_:_  -0.7071067811865475
+# z_:_  4.329780281177466e-17
+# w_:_  4.329780281177467e-17
+# ---
+
+# ---
+# b9
+# x_:_  0.7071067811865476
+# y_:_  0.7071067811865475
+# z_:_  4.329780281177466e-17
+# w_:_  4.329780281177467e-17
+# ---
+
+
+
+
+
+# Brick:  tv  (Vertical: True )
+# Initial:  [-179.959958775756, 0.48404050300017853, 99.30511432490599]
+# Clean:  [-180, 0, 90]
+# ---
+
+# Brick:  th  (Vertical: False )
+# Initial:  [176.7489708415661, -3.774051353934406, 97.07726408520018]
+# Clean:  [-180, 0, 90]
+# ---
+
+# Brick:  b1  (Vertical: True )
+# Initial:  [-177.73984770155016, -0.31707646225879454, 97.74150389024307]
+# Clean:  [-180, 0, 90]
+# ---
+
+# Brick:  b2  (Vertical: True )
+# Initial:  [-178.68432711359827, 6.2577884502559975, 96.08354223678543]
+# Clean:  [-180, 0, 90]
+# ---
+
+# Brick:  b3  (Vertical: True )
+# Initial:  [178.22758990527294, 0.5298789221469992, 92.78136914285481]
+# Clean:  [-180, 0, 90]
+# ---
+
+# Brick:  b4  (Vertical: False )
+# Initial:  [-175.84410045162116, 0.6463100993122008, 92.21552176954216]
+# Clean:  [-180, 0, 90]
+# ---
+
+# Brick:  b5  (Vertical: False )
+# Initial:  [-176.05042286692418, 1.1368228542886731, 94.57227316004405]
+# Clean:  [-180, 0, 90]
+# ---
+
+# Brick:  b6  (Vertical: True )
+# Initial:  [-176.53430985789132, 3.0082644567182153, 97.90742822617871]
+# Clean:  [-180, 0, 90]
+# ---
+
+# Brick:  b7  (Vertical: True )
+# Initial:  [-175.25111166494776, 5.0410815408391505, 95.08110720439343]
+# Clean:  [-180, 0, 90]
+# ---
+
+# Brick:  b8  (Vertical: False )
+# Initial:  [-172.6669557315482, 0.23170476390131117, 93.87854586635889]
+# Clean:  [-180, 0, 90]
+# ---
+
+# Brick:  b9  (Vertical: True )
+# Initial:  [179.43701764607906, 1.9695292014695087, 94.97541131205563]
+# Clean:  [-180, 0, 90]
+# ---
+
+# startv = Pose()
+# startv.position.x = 0.474118380271
+# startv.position.y = 0.708592081278
+# startv.position.z = 0.254463995665
+# startv.orientation.x = 0.646837059517
+# startv.orientation.y = 0.762613332443
+# startv.orientation.z = -0.00349921264719
+# startv.orientation.w = 0.00323714782189
+
+# ## layer 1
+# # brick 1
+# brick1 = Pose()
+# brick1.position.x = 0.614432692238
+# brick1.position.y = 0.194920200078
+# brick1.position.z = -0.131955624179
+# brick1.orientation.x = 0.656912926072
+# brick1.orientation.y = 0.753670267934
+# brick1.orientation.z = -0.0139518496021
+# brick1.orientation.w = -0.0158707493391
+
+# # brick 2
+# brick2 = Pose()
+# brick2.position.x = 0.618107604964
+# brick2.position.y = 0.346427058986
+# brick2.position.z = -0.12642347212
+# brick2.orientation.x = 0.667702789864
+# brick2.orientation.y = 0.742295147084
+# brick2.orientation.z = -0.0450738163396
+# brick2.orientation.w = 0.0337527792232
+
+# # brick 3
+# brick3 = Pose()
+# brick3.position.x = 0.615060266097
+# brick3.position.y = 0.532057264536
+# brick3.position.z = -0.122815510307
+# brick3.orientation.x = 0.689053473867
+# brick3.orientation.y = 0.724504622211
+# brick3.orientation.z = 0.00896708942344
+# brick3.orientation.w = 0.0147632602552
+
+# ##horizontal 1
+# #pick up position
+# starth = Pose()
+# starth.position.x = 0.464710515625
+# starth.position.y = 0.804733475267
+# starth.position.z = 0.116929175434
+# starth.orientation.x = 0.661218573375
+# starth.orientation.y = 0.748928202611
+# starth.orientation.z = 0.0430656607147
+# starth.orientation.w = -0.00647259034557
+
+# #brick 4
+# brick4 = Pose()
+# brick4.position.x = 0.622954841097
+# brick4.position.y = 0.240541825386
+# brick4.position.z = -0.0499969605648
+# brick4.orientation.x = 0.692591952198
+# brick4.orientation.y = 0.720363275918
+# brick4.orientation.z = -0.0303026653131
+# brick4.orientation.w = -0.0217919006618
+
+
+# #brick 5
+# brick5 = Pose()
+# brick5.position.x = 0.60878876974
+# brick5.position.y = 0.449420093325
+# brick5.position.z = -0.0582220466391
+# brick5.orientation.x = 0.677785576319
+# brick5.orientation.y = 0.734386540736
+# brick5.orientation.z = -0.0320204279271
+# brick5.orientation.w = -0.0160565723407
+
+# ##layer 2
+# #brick 6
+# brick6 = Pose()
+# brick6.position.x = 0.654521558648
+# brick6.position.y = 0.247991453631
+# brick6.position.z = 0.123275208559
+# brick6.orientation.x = 0.656490490121
+# brick6.orientation.y = 0.753242934575
+# brick6.orientation.z = -0.0405574649753
+# brick6.orientation.w = 0.00064025573316
+
+# #brick 7
+# brick7 = Pose()
+# brick7.position.x = 0.621248794776
+# brick7.position.y = 0.441610520059
+# brick7.position.z = 0.138989144559
+# brick7.orientation.x = 0.671416445783
+# brick7.orientation.y = 0.73860918343
+# brick7.orientation.z = -0.0602439761379
+# .orientation.w = 0.00520517280538
+
+# ##horizontal 2
+# #brick 8
+# brick8 = Pose()
+# brick8.position.x = 0.637564580857
+# brick8.position.y = 0.334499476763
+# brick8.position.z = 0.209965609695
+# brick8.orientation.x = 0.680984543038
+# brick8.orientation.y = 0.729464268389
+# brick8.orientation.z = -0.0481331171548
+# brick8.orientation.w = -0.0427216142147
+
+# ##layer 3
+# #brick 9
+# brick9 = Pose()
+# brick9.position.x = 0.635704106485
+# brick9.position.y = 0.349136096976
+# brick9.position.z = 0.406618422176
+# brick9.orientation.x = 0.674781286383
+# brick9.orientation.y = 0.737779159737
+# brick9.orientation.z = -0.00827498306978
+# brick9.orientation.w = 0.016841961284
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/target_poses.py b/target_poses.py
new file mode 100644
index 0000000..e948d85
--- /dev/null
+++ b/target_poses.py
@@ -0,0 +1,185 @@
+
+
+startv = Pose()
+startv.position.x = 0.474
+startv.position.y = 0.708
+startv.position.z = 0.254
+startv.orientation.x = -0.7071067811865476
+startv.orientation.y = -0.7071067811865475
+startv.orientation.z = 4.329780281177466e-17
+startv.orientation.w = 4.329780281177467e-17
+
+starth = Pose()
+starth.position.x = 0.464
+starth.position.y = 0.804
+starth.position.z = 0.116
+starth.orientation.x = 0.7071067811865476
+starth.orientation.y = 0.7071067811865475
+starth.orientation.z = 4.329780281177466e-17
+starth.orientation.w = 4.329780281177467e-17
+
+brick1 = Pose()
+brick1.position.x = 0.615
+brick1.position.y = 0.194
+brick1.position.z = -0.131
+brick1.orientation.x = -0.7071067811865476
+brick1.orientation.y = -0.7071067811865475
+brick1.orientation.z = 4.329780281177466e-17
+brick1.orientation.w = 4.329780281177467e-17
+
+brick2 = Pose()
+brick2.position.x = 0.615
+brick2.position.y = 0.346
+brick2.position.z = -0.125
+brick2.orientation.x = -0.7071067811865476
+brick2.orientation.y = -0.7071067811865475
+brick2.orientation.z = 4.329780281177466e-17
+brick2.orientation.w = 4.329780281177467e-17
+
+brick3 = Pose()
+brick3.position.x = 0.615
+brick3.position.y = 0.532
+brick3.position.z = -0.122
+brick3.orientation.x = 0.7071067811865476
+brick3.orientation.y = 0.7071067811865475
+brick3.orientation.z = 4.329780281177466e-17
+brick3.orientation.w = 4.329780281177467e-17
+
+brick4 = Pose()
+brick4.position.x = 0.615
+brick4.position.y = 0.240
+brick4.position.z = -0.0499
+brick4.orientation.x = -0.7071067811865476
+brick4.orientation.y = -0.7071067811865475
+brick4.orientation.z = 4.329780281177466e-17
+brick4.orientation.w = 4.329780281177467e-17
+
+brick5 = Pose()
+brick5.position.x = 0.615
+brick5.position.y = 0.449
+brick5.position.z = -0.058
+brick5.orientation.x = -0.7071067811865476
+brick5.orientation.y = -0.7071067811865475
+brick5.orientation.z = 4.329780281177466e-17
+brick5.orientation.w = 4.329780281177467e-17
+
+brick6 = Pose()
+brick6.position.x = 0.615
+brick6.position.y = 0.247
+brick6.position.z = 0.123
+brick6.orientation.x = -0.7071067811865476
+brick6.orientation.y = -0.7071067811865475
+brick6.orientation.z = 4.329780281177466e-17
+brick6.orientation.w = 4.329780281177467e-17
+
+brick7 = Pose()
+brick7.position.x = 0.615
+brick7.position.y = 0.441
+brick7.position.z = 0.138
+brick7.orientation.x = -0.7071067811865476
+brick7.orientation.y = -0.7071067811865475
+brick7.orientation.z = 4.329780281177466e-17
+brick7.orientation.w = 4.329780281177467e-17
+
+brick8 = Pose()
+brick8.position.x = 0.635
+brick8.position.y = 0.334
+brick8.position.z = 0.209
+brick8.orientation.x = -0.7071067811865476
+brick8.orientation.y = -0.7071067811865475
+brick8.orientation.z = 4.329780281177466e-17
+brick8.orientation.w = 4.329780281177467e-17
+
+brick9 = Pose()
+brick9.position.x = 0.635
+brick9.position.y = 0.349
+brick9.position.z = 0.406
+brick9.orientation.x = 0.7071067811865476
+brick9.orientation.y = 0.7071067811865475
+brick9.orientation.z = 4.329780281177466e-17
+brick9.orientation.w = 4.329780281177467e-17
+
+
+brick_directions_notf = [
+	{
+	'id':'tv',
+	'pose':startv,
+	'isVertical':True
+	},
+	{'id':'th',
+	'pose':starth,
+	'isVertical':False
+	},
+	{'id':'b1',
+	'pose':brick1,
+	'isVertical':True
+	},
+	{'id':'b2',
+	'pose':brick2,
+	'isVertical':True
+	},
+	{'id':'b3',
+	'pose':brick3,
+	'isVertical':True
+	},
+	{'id':'b4',
+	'pose':brick4,
+	'isVertical':False
+	},
+	{'id':'b5',
+	'pose':brick5,
+	'isVertical':False
+	},
+	{'id':'b6',
+	'pose':brick6,
+	'isVertical':True
+	},
+	{'id':'b7',
+	'pose':brick7,
+	'isVertical':True
+	},
+	{'id':'b8',
+	'pose':brick8,
+	'isVertical':False
+	},
+	{'id':'b9',
+	'pose':brick9,
+	'isVertical':True
+	}]
+
+bdf = brick_directions_notf
+
+tower_instructions = [	bdf[0],
+						bdf[2],
+						bdf[0],
+						bdf[3],
+						bdf[0],
+						bdf[4],
+						bdf[1],
+						bdf[5],
+						bdf[1],
+						bdf[6],
+						bdf[0],
+						bdf[7],
+						bdf[0],
+						bdf[8],
+						bdf[1],
+						bdf[9],
+						bdf[0],
+						bdf[10],
+						]
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+