int sourceHt = 0;
		int clearence = 0;
		int targetDrop = 3;
		int maxObstacleHt = 0;
		int currentBar = 0;



		for (int i = 0; i < blockHeights.length; i++)	{
			sourceHt += blockHeights[i];
		}

		for (int i = 0; i < barHeights.length; i++)	{
			if (barHeights[i] > maxObstacleHt)	{
				maxObstacleHt = barHeights[i];
			}
		}

		clearence = sourceHt;

		//Raise
		while (h < clearence + 1)	{
			r.up();
			h++;
		}

		for (int i = blockHeights.length - 1; i >= 0; i--)	{
			//Raise
			while (d > clearence - (maxObstacleHt + blockHeights[i]))	{
				r.raise();
				d--;
			}



			//Extend
			while (w < 10)	{
				r.extend();
				w++;
			}

			//Lower
			while (h - d > sourceHt + 1)	{
				r.lower();
				d++;
			}

			r.pick();

			sourceHt -= blockHeights[i];

			//Raise
			while (d > clearence - (maxObstacleHt + blockHeights[i]))	{
				r.raise();
				d--;
			}

			//Contract
			while (w > targetDrop)	{
				r.contract();
				w--;
			}

			if (blockHeights[i] == 3)	{
				currentBar = targetDrop - 3;
				targetDrop += 1;
			}


			//Lower
			while (h - d > barHeights[currentBar] + blockHeights[i] + 1)	{
				r.lower();
				d++;
			}
			r.drop();