With the alternative Git Repository of the MIR Robot, it was compatible with Gazebo classic instead of Gazebo Ignition. This change was not too difficult to adjust to as it is fairly simple to add object of certain colors and adjust sizing and position of these objects with this version of Gazebo.

While not fully implemented in the final video of this project, we spent a lot of time trying to find a way to get the robot to read the colors of these very thin cubes or mats by aiming the camera end effector of the arm towards the ground but the readability of colors proved difficult in conversions and the it appears to only take a grayscale view of sensed values compared to the images it sees.

A very absurd yet simple world that has a very long red cylinder for the robot to orbit, no distractions or walls to stop it.