# Mirage world for the ARTSI 2012 Robotics Competition. # # This world consists of a blue square 750 mm on a side, and # five red canisters 132 mm high. The task is to push all five # canisters into the interior of the square. In a physical # realization we used Folgers 14 oz. coffee canisters. # Make a blue square from two horizontal and two vertical lines. set length = 750 set thickness = 25.4 set start = 500 define line cube material=Blue collision=false define vline line scale=[length,thickness,1] define hline line scale=[thickness,length,1] hline location=[start,0,0] hline location=[start+length,0,0] vline location=[start+length/2,length/2,0] vline location=[start+length/2,-length/2,0] # Make the canisters: locations are random define canister cylinder material=Red scale=[100,100,132] mass=1 canister location=[1500,-200,66] canister location=[700,800,66] canister location=[800,-850,66] canister location=[1300,500,66] canister location=[350,250,66] define obstacle sphere material=Green scale=[100,100,350] obstacle location=[1300,1200,0] obstacle location=[650,-300,0] obstacle location=[400,-600,0]