He set Kepler, the task of understanding the orbit of the planet Mars, the movement of which fit problematically into the universe as described by Aristotle and Ptolemy. It is believed that part of the motivation for giving the Mars problem to Kepler was Brahe's hope that its difficulty would occupy Kepler while Brahe worked to perfect his own theory of the solar system, which was based on a geocentric model, where the earth is the center of the solar system. Based on this model, the planets Mercury, Venus, Mars, Jupiter, and Saturn all orbit the Sun, which in turn orbits the earth. As it turned out, Kepler, unlike Brahe, believed firmly in the Copernican model of the solar system known as heliocentric, which correctly placed the Sun at its center. But the reason Mars' orbit was problematic was because the Copernican system incorrectly assumed the orbits of the planets to be circular.