function [A, b, lb, ub, obstacles, start, g, robots0, robotvel, formationScale, robotScale] = get_corridor_world_objects(t, dt)
formationScale = 1;
robotScale = 1;

ymax = 10;
lb = [0;0;0];
ub = [75;ymax;10];

robots0 = [0, 0.1, -0.1,    0,   0;...
          0,   0,    0, -0.1, 0.1;
          1, -3, 0, 0, 0];
robotvel = 2;

A = [-1,0, 0;...
      0,-1, 0;...
      0, 0, -1;...
      1,0, 0;...
      0,1,0;...
      0,0,1];
b = [-lb; ub];

start = [1; 5; 5];

g = [];
for i=1:7
    g = [g, [10*i + 3; 5; 5]];
end
%g = [73; 5; 5];

dy1 = 4.5;
dy2 = 2;
dy3 = 4.0;
pos = cube_points([15; 0; 0], [30; dy1; 10]);
obstacles = [pos];

pos = cube_points([30; 0; 0], [45; dy2; 10]);
obstacles(:,:,2) = [pos];

pos = cube_points([45; 0; 0], [70; dy3; 10]);
obstacles(:,:,3) = [pos];



pos = cube_points([15; ymax-dy1; 0], [30; ymax; 10]);
obstacles(:,:,4) = [pos];

pos = cube_points([30; ymax-dy2; 0], [45; ymax; 10]);
obstacles(:,:,5) = [pos];

pos = cube_points([45; ymax-dy3; 0], [70; ymax; 10]);
obstacles(:,:,6) = [pos];



    
end

