This example shows my representation of the popular The Price Is Right game, PLINKO. As I am sure you know, the object of the game is to drop a circular disk from the top of a board, and hope it lands in the high-money slots as the bottom of the board. This simulates this game by starting the robot at the top of the board, and having the high money slot be the goal. Instead of gravity controlling my game, a potential function over the workspace tells the robot where to go, drawing it towards the high-money slot.