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# simple.world - basic world file example
# Authors: Richard Vaughan
# $Id$
include "/usr/local/share/stage/worlds/pioneer.inc"
include "alice.inc"
include "/usr/local/share/stage/worlds/map.inc"
include "/usr/local/share/stage/worlds/sick.inc"
# time to pause (in GUI mode) or quit (in headless mode (-g)) the simulation
quit_time 3600 # 1 hour of simulated time
paused 1
resolution 0.02
# configure the GUI window
window
(
size [ 635.000 666.000 ] # in pixels
scale 36.995 # pixels per meter
center [ -0.040 -0.274 ]
rotate [ 0 0 ]
show_data 1 # 1=on 0=off
)
# load an environment bitmap
floorplan
(
color "red"
name "three"
size [16.000 16.000 0.800]
pose [0 0 0 0]
bitmap "bitmaps/3walls.png"
obstacle_return 1
blob_return 1
)
# load an environment bitmap
floorplan
(
color "blue"
name "one"
size [16.000 0.800 0.800]
pose [0 7.6 0 0]
bitmap "bitmaps/1wall.png"
obstacle_return 1
#blob_return 1
fiducial_return 2
)
define carton model
(
# a carton is retangular
# so make a square shape and use size[]
block
(
points 4
point[0] [1 0]
point[1] [1 1]
point[2] [0 1]
point[3] [0 0]
z [0 1]
)
# average litre carton size is ~ 20cm x 10cm x 5cm ish
size [0.5 0.5 0.5]
color "DarkBlue"
)
alice2d
(
# can refer to the robot by this name
name "a0"
pose [ 6.946 6.947 0 45.000 ]
# demonstrate a plugin controller, implemented in examples/ctrl/wander.cc
# you probably should comment this out when using simple.cfg with Player
#ctrl "wander"
# report error-free position in world coordinates
localization "gps"
localization_origin [ 0 0 0 0 ]
)
carton()
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