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# simple.world - basic world file example
# Authors: Richard Vaughan
# $Id$
include "irobot.inc"
include "map.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
(
name "cave"
size [16.000 16.000 0.800]
pose [0 0 0 0]
bitmap "bitmaps/cave.png"
)
roomba
(
# can refer to the robot by this name
name "r0"
pose [ -6.946 -6.947 0 45.000 ]
# report error-free position in world coordinates
localization "gps"
localization_origin [ 0 0 0 0 ]
)
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