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We've managed to simulate some games in our mock field with the sufficient amount of boxes, and visibility/maneuverability of the robot was a major problem. The sides of the boxes did offer some space to ascertain about where the robot was located, but nothing about its orientation.
Also keep in mind how high the boxes are. We rigged up a flag for one of the matches but it was still obscured by the center stacks.
Nevertheless, I'm confident that for the majority of matches the center stack will be knocked down within the first 20 seconds.
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