sorry that i took so long i tried many different ways with joints etc but did not work i ended up with do ing the simulation of the carousel with the transform and i also made a system that if there where bricks on the fall range of a other c chanel that c chanel would not move so no peaces would get on top of each other and every brick gets from a pile to one brick at a time on the carousel i wil tommorow add the immage taking of the carousel with opencv and the brickognize api to recognize the leg brick and then i am done with the simulation