function [A, b, lb, ub, obstacles, start, g, robots0, robotvel, formationScale, robotScale] = get_def_world_objects(t, dt)
formationScale = 1;
robotScale = 1;
%% Environment border definition
ymax = 6;
zmax = 10;
xmax = 10;
lb = [0;0; 0];
ub = [xmax;ymax; zmax];

%% Robot positions and velocities
robots0 = [0,   0.1,   0.2,      0;...
           0,     0,     0,    0.1;
           1,     3,     0,      0];
robotvel = 0.5;

%% Start and Goal points of the environment
start = [1; 3.5; 5];
g = [3, 6, 9.5;...
     3, 3,   3;...
     5, 5,   5];

%% Inequalities representing the environment border
A = [-1,0, 0;...
      0,-1, 0;...
      0, 0, -1;...
      1,0, 0;...
      0,1,0;...
      0,0,1];
b = [-lb; ub];


%% Generate cuboid obstacles of the world
pos = cube_points([4, ymax-2, 0], [6, ymax, zmax]);
vel = [0; 0; 0];
p1 = pos + t*vel;
p2 = pos + (t+dt)*vel;
obstacles = [p1, p2];

pos = cube_points([4, 0, 0], [6, 2, zmax]);
vel = [0.05; 0; 0];
p1 = pos + t*vel;
p2 = pos + (t+dt)*vel;
obstacles(:,:,2) = [p1, p2];


pos = cube_points([5, 1, 0], [6, 0, zmax]);
vel = [0.0; 0.3; 0];
p1 = pos + t*vel;
p2 = pos + (t+dt)*vel;
obstacles(:,:,3) = [p1, p2];  

    
end

