# Cylinder sorting world for the 2014 ARTSI Robotics Competition, # sponsored by iAAMCS at Tapia. set wallHeight = 32 * 25.4 set wallSize = 1500 penheight wallHeight penwidth 5 pencolor White moveto [-wallSize/2, wallSize, 250] heading 0 pendown forward wallSize turn -90 forward 2*wallSize turn -90 forward wallSize turn -90 forward 2*wallSize set tagSize = 200 set tagHeight = 8 * 25.4 cube location=[ wallSize/2-4, 0, tagHeight] scale=[1,tagSize,tagSize] material="AprilTag/tag16h5/01" cube location=[-wallSize/2+4, 0, tagHeight] scale=[1,tagSize,tagSize] material="AprilTag/tag16h5/03" cube location=[ 0, -wallSize+4, tagHeight] scale=[tagSize,1,tagSize] material="AprilTag/tag16h5/02" cube location=[ 0, wallSize-4, tagHeight] scale=[tagSize,1,tagSize] material="AprilTag/tag16h5/04" pencolor Blue penheight 1 set lineThickness = 12.7 penwidth lineThickness set boxSize = 500 moveto [-boxSize/2,wallSize-lineThickness/2,0] heading -90 forward boxSize forward -lineThickness/2 turn 90 forward boxSize forward -lineThickness/2 turn 90 forward boxSize forward -lineThickness/2 turn 90 forward boxSize moveto [-boxSize/2,-wallSize+lineThickness/2,0] heading 90 forward boxSize forward -lineThickness/2 turn -90 forward boxSize forward -lineThickness/2 turn -90 forward boxSize forward -lineThickness/2 turn -90 forward boxSize define RedCanister cylinder scale=[55,55,132] material=Red mass=0.0001 define RedCanister_bottom cylinder scale=[100,100,20] material=Blue mass=0.0005 attachto=RedCanister moffset=[0,0,-56] define RedCanister_top cylinder scale=[100,100,20] material=Green mass=0.0001 attachto=RedCanister moffset=[0,0,56.05] define RedCanister_walls cylinder scale=[100.5,100.5,132] material=Red mass=0 collision=false attachto=RedCanister define RedCanister_cover cylinder scale=[100,100,0.1] material=Black mass=0 collision=false attachto=RedCanister moffset=[0,0,66.1] define RedCanister0 RedCanister define RedCanister_label0 cube scale=[50,50,0.1] material="AprilTag/tag16h5/10" mass=0 collision=false attachto=RedCanister0 moffset=[0,0,66.2] define RedCanister1 RedCanister define RedCanister_label1 cube scale=[50,50,0.1] material="AprilTag/tag16h5/11" mass=0 collision=false attachto=RedCanister1 moffset=[0,0,66.2] RedCanister0 location=[270,600,132/2] RedCanister0 location=[230,-450,132/2] RedCanister1 location=[-250,500,132/2] RedCanister1 location=[-250,-700,132/2]