diff --git a/bricks_etc.py b/bricks_etc.py
new file mode 100644
index 0000000..0f3865f
--- /dev/null
+++ b/bricks_etc.py
@@ -0,0 +1,213 @@
+from math import radians
+
+table = {
+    'id':'t1',
+    'rframe':'world',
+    'x':0.85,
+    'y':0.20,
+    'z':0,
+    'roll':0,
+    'pitch':0,
+    'yaw':radians(90)
+    }
+
+bricks_end =[{
+    'id':'ea1',
+    'rframe':'t1',
+    'x':0.46,
+    'y':-0.19,
+    'z':0.822,
+    'roll':0,
+    'pitch':-1.570796,
+    'yaw':radians(90)
+    },
+    {
+    'id':'ea2',
+    'rframe':'ea1',
+    'x':0,
+    'y':0,
+    'z':-0.186,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'id':'ea3',
+    'rframe':'ea1',
+    'x':0,
+    'y':0,
+    'z':-0.372,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'id':'eb1',
+    'rframe':'ea1',
+    'x':0.127,
+    'y':0,
+    'z':-0.085,
+    'roll':0,
+    'pitch':1.57,
+    'yaw':0
+    },
+    {
+    'id':'eb2',
+    'rframe':'ea1',
+    'x':0.127,
+    'y':0,
+    'z':-0.287,
+    'roll':0,
+    'pitch':1.57,
+    'yaw':0
+    },
+    {
+    'id':'ec1',
+    'rframe':'ea1',
+    'x':0.254,
+    'y':0,
+    'z':-0.093,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'id':'ec2',
+    'rframe':'ea1',
+    'x':0.254,
+    'y':0,
+    'z':-0.287,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'id':'ed1',
+    'rframe':'ea1',
+    'x':0.381,
+    'y':0,
+    'z':-0.186,
+    'roll':0,
+    'pitch':1.57,
+    'yaw':0
+    },
+    {
+    'id':'ee1',
+    'rframe':'ea1',
+    'x':0.508,
+    'y':0,
+    'z':-0.186,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    }]
+
+bricks_start =[{
+    'id':'a1',
+    'rframe':'t1',
+    'x':-0.419,
+    'y':0.134,
+    'z':0.770,
+    'roll':radians(90),
+    'pitch':0,
+    'yaw':radians(90)
+    },
+    {
+    'id':'a2',
+    'rframe':'a1',
+    'x':0,
+    'y':0,
+    'z':0.192,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'id':'a3',
+    'rframe':'a1',
+    'x':0,
+    'y':0,
+    'z':0.384,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'id':'b1',
+    'rframe':'a1',
+    'x':0,
+    'y':0.087,
+    'z':0,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'id':'b2',
+    'rframe':'a1',
+    'x':0,
+    'y':0.087,
+    'z':0.192,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'id':'c1',
+    'rframe':'a1',
+    'x':0,
+    'y':0.087,
+    'z':0.384,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'id':'c2',
+    'rframe':'a1',
+    'x':0,
+    'y':0.175,
+    'z':0,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    },
+    {
+    'id':'d1',
+    'rframe':'a1',
+    'x':0,
+    'y':0.175,
+    'z':0.192,
+    'roll':0,
+    'pitch':0,
+    'yaw':0
+    }]
+    # ,
+    # {
+    # 'id':'e1',
+    # 'rframe':'a1',
+    # 'x':0,
+    # 'y':0.175,
+    # 'z':0.384,
+    # 'roll':0,
+    # 'pitch':0,
+    # 'yaw':0
+    # }]
+
+def getBuildable():
+    return bricks_start
+
+def getAll():
+    return bricks_start+bricks_end+[table]
+
+def getTable():
+    return table
+
+def getNodes():
+    nodes = ['baxter::base', 't1::Table']
+    for obj in bricks_start:
+        name = obj['id']
+        node_name = name+'::Brick'
+        nodes.append(node_name)
+    return nodes
+
diff --git a/main.py b/main.py
index 3d4e4c0..59c0f3e 100755
--- a/main.py
+++ b/main.py
@@ -22,202 +22,12 @@ import threading
 import object_tf_service as ots
 import object_tf_client as otc
 import time
+import bricks_etc as bet
 
 running = True
 
-table = {
-    'id':'t1',
-    'rframe':'world',
-    'x':0.85,
-    'y':0.20,
-    'z':0,
-    'roll':0,
-    'pitch':0,
-    'yaw':radians(90)
-    }
-
-bricks_end =[{
-    'id':'ea1',
-    'rframe':'t1',
-    'x':0.46,
-    'y':-0.19,
-    'z':0.822,
-    'roll':0,
-    'pitch':-1.570796,
-    'yaw':radians(90)
-    },
-    {
-    'id':'ea2',
-    'rframe':'ea1',
-    'x':0,
-    'y':0,
-    'z':-0.186,
-    'roll':0,
-    'pitch':0,
-    'yaw':0
-    },
-    {
-    'id':'ea3',
-    'rframe':'ea1',
-    'x':0,
-    'y':0,
-    'z':-0.372,
-    'roll':0,
-    'pitch':0,
-    'yaw':0
-    },
-    {
-    'id':'eb1',
-    'rframe':'ea1',
-    'x':0.127,
-    'y':0,
-    'z':-0.085,
-    'roll':0,
-    'pitch':1.57,
-    'yaw':0
-    },
-    {
-    'id':'eb2',
-    'rframe':'ea1',
-    'x':0.127,
-    'y':0,
-    'z':-0.287,
-    'roll':0,
-    'pitch':1.57,
-    'yaw':0
-    },
-    {
-    'id':'ec1',
-    'rframe':'ea1',
-    'x':0.254,
-    'y':0,
-    'z':-0.093,
-    'roll':0,
-    'pitch':0,
-    'yaw':0
-    },
-    {
-    'id':'ec2',
-    'rframe':'ea1',
-    'x':0.254,
-    'y':0,
-    'z':-0.287,
-    'roll':0,
-    'pitch':0,
-    'yaw':0
-    },
-    {
-    'id':'ed1',
-    'rframe':'ea1',
-    'x':0.381,
-    'y':0,
-    'z':-0.186,
-    'roll':0,
-    'pitch':1.57,
-    'yaw':0
-    },
-    {
-    'id':'ee1',
-    'rframe':'ea1',
-    'x':0.508,
-    'y':0,
-    'z':-0.186,
-    'roll':0,
-    'pitch':0,
-    'yaw':0
-    }]
-
-bricks_start =[{
-    'id':'a1',
-    'rframe':'t1',
-    'x':-0.419,
-    'y':0.134,
-    'z':0.770,
-    'roll':radians(90),
-    'pitch':0,
-    'yaw':radians(90)
-    },
-    {
-    'id':'a2',
-    'rframe':'a1',
-    'x':0,
-    'y':0,
-    'z':0.192,
-    'roll':0,
-    'pitch':0,
-    'yaw':0
-    },
-    {
-    'id':'a3',
-    'rframe':'a1',
-    'x':0,
-    'y':0,
-    'z':0.384,
-    'roll':0,
-    'pitch':0,
-    'yaw':0
-    },
-    {
-    'id':'b1',
-    'rframe':'a1',
-    'x':0,
-    'y':0.087,
-    'z':0,
-    'roll':0,
-    'pitch':0,
-    'yaw':0
-    },
-    {
-    'id':'b2',
-    'rframe':'a1',
-    'x':0,
-    'y':0.087,
-    'z':0.192,
-    'roll':0,
-    'pitch':0,
-    'yaw':0
-    },
-    {
-    'id':'c1',
-    'rframe':'a1',
-    'x':0,
-    'y':0.087,
-    'z':0.384,
-    'roll':0,
-    'pitch':0,
-    'yaw':0
-    },
-    {
-    'id':'c2',
-    'rframe':'a1',
-    'x':0,
-    'y':0.175,
-    'z':0,
-    'roll':0,
-    'pitch':0,
-    'yaw':0
-    },
-    {
-    'id':'d1',
-    'rframe':'a1',
-    'x':0,
-    'y':0.175,
-    'z':0.192,
-    'roll':0,
-    'pitch':0,
-    'yaw':0
-    }]
-    # ,
-    # {
-    # 'id':'e1',
-    # 'rframe':'a1',
-    # 'x':0,
-    # 'y':0.175,
-    # 'z':0.384,
-    # 'roll':0,
-    # 'pitch':0,
-    # 'yaw':0
-    # }]
+bricks = bet.getBuildable()
+table = bet.getTable()
 
 
 class PickAndPlace(object):
@@ -368,9 +178,8 @@ def tf_service(init=True):
 
 def cleanup():
     delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)
-    for group in [[table], bricks_start, bricks_end]:
-        for obj in group:
-            delete_model(obj['id'])
+    for obj in bet.getAll():
+        delete_model(obj['id'])
 
 
 def load_objects():
@@ -388,7 +197,7 @@ def load_objects():
     table_reference_frame="world"
     spawn_sdf(table['id'], table_xml, "/", table_pose, table_reference_frame)
     brick_ents = []
-    for brick in bricks_start:
+    for brick in bricks:
         ber = [brick['roll'], brick['pitch'], brick['yaw']] #brick_euler_rotation
         brick_pose = Pose(position=Point(x=brick['x'], y=brick['y'], z=brick['z']))
         brick_pose.position = Point(x=brick['x'], y=brick['y'], z=brick['z'])
diff --git a/object_tf_service.py b/object_tf_service.py
index 4578103..cc54f90 100755
--- a/object_tf_service.py
+++ b/object_tf_service.py
@@ -2,24 +2,14 @@
 import rospy
 import tf
 from gazebo_msgs.msg import LinkStates
-
+import bricks_etc as bet
 global SIGKILL # Horrible hack
 SIGKILL = False
 
 
 class tf_service():
 	def __init__(self):
-		self._nodes = ['baxter::base',
-						't1::Table',
-						'a1::Brick',
-						'a2::Brick',
-						'a3::Brick',
-						'b1::Brick',
-						'b2::Brick',
-						'c1::Brick',
-						'c2::Brick',
-						'd1::Brick',
-						'e1::Brick']
+		self._nodes = bet.getNodes()
 
 	def _callback(self, data):
 		# Get index
diff --git a/run b/run
index 7974cf3..6bd76c3 100755
--- a/run
+++ b/run
@@ -1,21 +1,29 @@
 #/bin/bash
+echo "Entering git directory..."
 cd RoboticSandbox
-echo 1
+echo "Pulling from git..."
 git pull
-echo 2
+echo "Moving main script..."
 mv main.py ../
-echo 3
+echo "Moving supporting files..."
 mv object_tf_service.py ../
 mv object_tf_client.py ../
-echo 4
+mv bricks_etc.py ../
+echo "Exiting git directory"
 cd ../
-echo 5
+echo "Deleting precompiled caches"
 rm object_tf_service.pyc
 rm object_tf_client.pyc
-echo 6
+rm bricks_etc.pyc
+echo "Executing main script..."
 python main.py
-echo 7
+echo "Cleaning up..."
+rm object_tf_service.pyc
+rm object_tf_client.pyc
+rm bricks_etc.pyc
+echo "Recovering file hierarchy..."
 mv main.py RoboticSandbox/
 mv object_tf_client.py RoboticSandbox/
 mv object_tf_service.py RoboticSandbox/
-echo Done
+mv bricks_etc.py RoboticSandbox/
+echo "Done!"