move.world

# simple.world - basic world file example
# Authors: Richard Vaughan
# $Id$

include "pioneer.inc"     # defines Pioneer-like robots
include "map.inc"         # defines 'floorplan' object used for obstacle maps
#include "sick.inc"        # defines sick laser

interval_sim 100  # simulation timestep in milliseconds
interval_real 100  # real-time interval between simulation updates in milliseconds 

paused 0

# configure the GUI window
window
(
  size [ 700.000 700.000 ] # in pixels
  scale 37                 # pixels per meter
  show_data 1              # 1=on 0=off
)

# load an environment bitmap
floorplan
( 
  name "cave"
  size [16 16 0.6]
  bitmap "table.png"
)

pioneer2dx
(		  
  # can refer to the robot by this name
  name "r0"

  pose [ 0 0 0 0 ] 
  #pose [ -2.0 1.0 0 45 ] 
  #sicklaser()
  #fiducial ( range_max 3 range_max_id 3 )
)

#define puck model (
#   size [ 0.1 0.1 1.1 ]
#   gripper_return 1
#   gui_movemask 3
#   gui_nose 0
#   range_return 1
#   laser_return 1

#)


#puck ( pose [-2.0 5.0 0.0 0.0 ] color "red" fiducial_return 1)
#puck ( pose [ 6.0 -3.0 0.0 0.0 ] color "orange" fiducial_return 2)