diff --git a/catkin_ws/src/ball_tracking/src/tracker_aruco_idk.py b/catkin_ws/src/ball_tracking/src/tracker_aruco_idk.py
index cf6ca3b..176f6dc 100755
--- a/catkin_ws/src/ball_tracking/src/tracker_aruco_idk.py
+++ b/catkin_ws/src/ball_tracking/src/tracker_aruco_idk.py
@@ -37,18 +37,24 @@ def sort_points_clockwise(centers):
     return sorted_centers
 
 def calculate_side_averages(sorted_centers):
-    """Calculate the average of the x and y coordinates for the left and right sides."""
+    """Calculate the average of the x and y coordinates for all sides."""
     # Assuming the sorted centers are in clockwise order: top-left, top-right, bottom-right, bottom-left
     right_average = np.mean([sorted_centers[1], sorted_centers[2]], axis=0)
     left_average = np.mean([sorted_centers[0], sorted_centers[3]], axis=0)
-    return left_average, right_average
+    top_average = np.mean([sorted_centers[0], sorted_centers[1]], axis=0)
+    bottom_average = np.mean([sorted_centers[2], sorted_centers[3]], axis=0)
+    return left_average, right_average, top_average, bottom_average
 
-def publish_side_points(left_average, right_average):
-    """Publish the average points for the left and right sides with specified Z coordinates."""
+def publish_side_points(left_average, right_average, top_average, bottom_average):
+    """Publish the average points for all sides with specified Z coordinates."""
     left_point = Point(x=left_average[0], y=left_average[1], z=1)  # Z=1 for left
     right_point = Point(x=right_average[0], y=right_average[1], z=2)  # Z=2 for right
+    top_point = Point(x=top_average[0], y=top_average[1], z=3)  # Z=3 for top
+    bottom_point = Point(x=bottom_average[0], y=bottom_average[1], z=4)  # Z=4 for bottom
     side_pub.publish(left_point)
     side_pub.publish(right_point)
+    side_pub.publish(top_point)
+    side_pub.publish(bottom_point)
 
 def image_callback(msg):
     global pub, marker_pub, side_pub
@@ -70,9 +76,11 @@ def image_callback(msg):
             origin.z = 0
             pub.publish(origin)
 
-            left_average, right_average = calculate_side_averages(sorted_centers)
+            left_average, right_average, top_average, bottom_average = calculate_side_averages(sorted_centers)
             publish_side_points(left_average - np.array([centerX, centerY]),
-                                right_average - np.array([centerX, centerY]))
+                                right_average - np.array([centerX, centerY]),
+                                top_average - np.array([centerX, centerY]),
+                                bottom_average - np.array([centerX, centerY]))
 
             # Publish the edges of the polygon
             marker = Marker()