# 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