diff --git a/world/bitmaps/SFU_medium.png b/world/bitmaps/SFU_medium.png
deleted file mode 100644
index 50662c8..0000000
Binary files a/world/bitmaps/SFU_medium.png and /dev/null differ
diff --git a/world/bitmaps/cave.png b/world/bitmaps/cave.png
deleted file mode 100644
index 21a8b11..0000000
Binary files a/world/bitmaps/cave.png and /dev/null differ
diff --git a/world/bitmaps/cave_.png b/world/bitmaps/cave_.png
deleted file mode 100644
index 66df564..0000000
Binary files a/world/bitmaps/cave_.png and /dev/null differ
diff --git a/world/fasr.world b/world/fasr.world
deleted file mode 100644
index 4bd9615..0000000
--- a/world/fasr.world
+++ /dev/null
@@ -1,238 +0,0 @@
-# FASR demo world
-# Authors: Richard Vaughan
-# $Id: fasr.world,v 1.7 2009-03-27 19:05:27 vaughan Exp $
-
-include "pioneer.inc"
-include "map.inc"
-include "sick.inc"
-
-interval_sim 100  # simulation timestep in milliseconds
-interval_real 0 # real-time interval between simulation updates in milliseconds
-paused 0
-
-# resolution of items in the world [m]
-resolution 0.02
-
-# threads may speed things up here depending on available CPU cores & workload
-# threadpool 0
- threadpool 0
-
-
-# configure the GUI window
-window
-(
-  size [ 788.000 842.000 ]
-
-  center [ 0 0 ]
-  rotate [ 0 0 ]
-  #scale 35.648
-  scale 20.746
-
-  pcam_loc [ 0 -4.000 2.000 ]
-  pcam_angle [ 70.000 0 ]
-  pcam_on 0
-
-  show_data 1
-  show_flags 1
-
-  interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
-  name "cave"
-  size [32.000 32.000 0.600]
-  pose [0 0 0 0]
-  bitmap "bitmaps/cave.png"
-)
-
-###############################################################################
-# Sources and sinks
-zone
-(
-  color "green"
-  # parameterString "rate 0.01 capacity 2 queuedir 25 "
-  db_count 3
-  db [ "rate<float>0.01" "capacity<int>2" "queuedir<float>25" ]
-
-  pose [ -15.000 -15.000 0 0 ]
-  name "sourceA"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "red"
-
-  # parameterString "queuedir -95"
-  db_count 1
-  db [ "queuedir<float>-95" ]
-
-  pose [ 15.000 15.000 0 0 ]
-  name "sinkA"
-  ctrl "sink"
-)
-
-zone
-(
-  color "blue"
-  # parameterString "rate 0.01 capacity 2 queuedir -85 "
-
-  db_count 3
-  db [ "rate<float>0.01" "capacity<int>2" "queuedir<float>-85" ]
-
-  pose [ -15.000 15.000 0 0 ]
-  name "sourceB"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "purple"
-
-  #parameterString "queuedir 165"
-  db_count 1
-  db [ "queuedir<float>165" ]
-
-  pose [ 15.000 -15.000 0 0 ]
-  name "sinkB"
-  ctrl "sink"
-)
-
-###############################################################################
-# Redraw hack
-
-#redraw
-#(
-#  pose [ 17.000 17.000 0 0 ]
-#  name "redraw"
-#  ctrl "redraw"
-#)
-
-###############################################################################
-# Robot definition
-
-define charging_bump model
-(
-  pose [0.240 0 -0.100 0 ]
-  size [0.120 0.050 0.100]
-  take_watts 1000.0
-  color "orange"
-  obstacle_return 0
-)
-
-define autorob pioneer2dx
-(
- localization "gps"
- localization_origin [ 0 0 0 0 ]
-
- sicklaser( samples 128 range_max 5 laser_return 2 watts 30 fov 270 origin [-0.040 0 0 0] )
- ctrl "autolab-fasr"
- joules 100000
- joules_capacity 400000
- fiducial_return 1
- charging_bump( fiducial( range_max 5 range_max_id 5 fov 225 pose [ 0 0 -0.100 0 ] ) )
-
- #gripper(
- #         pose [0.250 0 -0.220 0]
- #         take_watts 1000.0
- #         fiducial( range 3 )
- #         # paddles [ "closed" "up" ]
- #         obstacle_return 0 # cheating for simplicity
- #         # autosnatch 1
- #        )
-)
-
-autorob( pose [3.498 7.422 0  -115.364] joules 300000 name "R01")
-autorob( pose [6.200 8.432 0    24.954] joules 300000 name "R02")
-autorob( pose [13.903 7.710 0 -145.889] joules 300000 name "R03")
-autorob( pose [15.121 8.820 0 -325.333] joules 300000 name "R04")
-autorob( pose [14.252 4.225 0 -251.825] joules 300000 name "R05")
-autorob( pose [5.974 10.456 0 -139.630] joules 300000 name "R06")
-autorob( pose [5.974 11.456 0 -139.630] joules 300000 name "R07")
-autorob( pose [10.469 6.265 0 -325.186] joules 300000 name "R08")
-autorob( pose [4.463 11.722 0   23.256] joules 300000 name "R09")
-autorob( pose [5.463 11.722 0   23.256] joules 300000 name "R10")
-autorob( pose [5.861 12.491 0 -118.196] joules 300000 name "R11")
-autorob( pose [9.199 10.275 0   24.264] joules 300000 name "R12")
-autorob( pose [8.011 12.155 0 -112.449] joules 300000 name "R13")
-autorob( pose [9.135 12.095 0   23.677] joules 300000 name "R14")
-autorob( pose [12.973 7.804 0   35.095] joules 300000 name "R15")
-autorob( pose [4.616 6.192 0    24.142] joules 300000 name "R16")
-autorob( pose [9.741 6.432 0   -92.998] joules 300000 name "R17")
-
-###############################################################################
-# Charging station stuff
-
-define charge_station model
-(
-  size [ 0.100 0.300 0.100 ]
-  color "purple"
-
-  # side blocks to restrict view angle
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
-
-  # the charging block
-  model(
-    pose [ 0.010 0 0 0 ]
-    color "yellow"
-    size [ 0.050 0.200 0.100 ]
-    joules -1  # provides infinite energy
-    give_watts 5000
-    fiducial_return 2 # look for this in the fiducial sensor
-   )
-
-)
-
-charge_station(  pose [ 15.940 -4.500 0 0 ] )
-#wait_queue( pose [ 15.5 -5.5 0 90] )
-
-charge_station(  pose [ 15.940 -5.500 0 0 ] )
-charge_station(  pose [ 15.940 -6.500 0 0 ] )
-charge_station(  pose [ 15.940 -7.500 0 0 ] )
-
-
-
-###############################################################################
-# Puck stuff
-define puck model (
-  size [0.120 0.120 0.100]
-  color "violet"
-  gripper_return 1
-  obstacle_return 0
-)
-
-#puck( pose [ 1.175 2.283 0 0 ] )
-#puck( pose [ 0.875 3.139 0 0 ] )
-#puck( pose [ 1.043 2.825 0 0 ] )
-#puck( pose [ 1.349 2.734 0 0 ] )
-#puck( pose [ 2.625 3.068 0 0 ] )
-#puck( pose [ 0.447 2.689 0 0 ] )
-#puck( pose [ 0.143 3.308 0 0 ] )
-#puck( pose [ 0.334 3.441 0 0 ] )
-#puck( pose [ 1.439 3.218 0 0 ] )
-#puck( pose [ 0.747 2.741 0 0 ] )
-#puck( pose [ 0.955 2.086 0 0 ] )
-#puck( pose [ 1.781 2.593 0 0 ] )
-#puck( pose [ 1.068 2.476 0 0 ] )
-
-#puck( pose [ 0.488 3.190 0 0 ] )
-#puck( pose [ 1.708 3.198 0 0 ] )
-#puck( pose [ 1.440 2.416 0 0 ] )
-#puck( pose [ 1.140 3.045 0 0 ] )
-#puck( pose [ 0.682 2.969 0 0 ] )
-#puck( pose [ 2.205 3.268 0 0 ] )
-#puck( pose [ 1.990 2.312 0 0 ] )
-#puck( pose [ 0.646 3.486 0 0 ] )
-#puck( pose [ 1.670 2.907 0 0 ] )
-#puck( pose [ 2.091 2.830 0 0 ] )
-#puck( pose [ -0.103 2.564 0 0 ] )
-#puck( pose [ 1.950 3.462 0 0 ] )
-#puck( pose [ 2.668 2.674 0 0 ] )
-#puck( pose [ 0.549 2.367 0 0 ] )
-#puck( pose [ 0.162 2.983 0 0 ] )
-#puck( pose [ 1.067 3.367 0 0 ] )
-#puck( pose [ 1.412 3.604 0 0 ] )
-
diff --git a/world/fasr_cost.world b/world/fasr_cost.world
deleted file mode 100644
index 7a27309..0000000
--- a/world/fasr_cost.world
+++ /dev/null
@@ -1,230 +0,0 @@
-# FASR demo world
-# Authors: Richard Vaughan, Jens Wawerla
-# $Id: fasr_cost.world,v 1.20 2009-04-25 16:08:26 jwawerla Exp $
-
-include "pioneer.inc"
-include "map.inc"
-include "sick.inc"
-
-interval_sim 100  # simulation timestep in milliseconds
-interval_real 0 # real-time interval between simulation updates in milliseconds
-paused 1
-
-# stop Stage after x seconds, 0 = run for ever
-#quit_time 7200.0
-
-# resolution of items in the world [m]
-resolution 0.02
-
-# threads may speed things up here depending on available CPU cores & workload
-# threadpool 0
- threadpool 0
-
-# configure the GUI window
-window
-(
-  size [ 853.000 752.000 ]
-
-  center [ -3.856 -0.964 ]
-  rotate [ 0 0 ]
-  #scale 35.648
-  scale 20.746
-
-  pcam_loc [ 0 -4.000 2.000 ]
-  pcam_angle [ 70.000 0 ]
-  pcam_on 0
-
-  show_data 1
-  show_flags 1
-
-  interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
-  name "background"
-  size [32.000 32.000 0.600]
-  pose [0 0 0 0]
-  bitmap "bitmaps/cave.png"
-)
-
-
-###############################################################################
-# Taskmanager, Depot
-model
-(
-  pose [ 19.0 19.0 0 0]
-  name "taskmanager"
-  ctrl "taskmanager"
-  db_count 3
-  db [ "scriptname<string>tasks.txt" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-)
-
-model
-(
-  name "depot"
-  pose [-14.0 0.0 0.0 0.0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 1
-  db [ "queuedir<float>-90.0"]
-)
-
-model
-(
-  name "charger"
-  pose [13.0 -6.0 0 0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 2
-  db [ "chargerate<float>5000.0" "queuedir<float>-150.0"]
-)
-
-###############################################################################
-# Sources and sinks
-
-zone
-(
-  color "green"
-  db_count 2
-  db [ "scriptname<string>tasks.txt" "queuedir<float>25" ]
-
-  pose [ -15.000 -15.000 0 0 ]
-  name "sourceA"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkGreen"
-
-  db_count 1
-  db [ "queuedir<float>165" ]
-
-  pose [ 15.000 -15.000 0 0 ]
-  name "sinkA"
-  ctrl "sink"
-)
-
-zone
-(
-  color "blue"
-  db_count 2
-  db [ "scriptname<string>tasks.txt" "queuedir<float>-85" ]
-  pose [ -15.000 15.000 0 0 ]
-  name "sourceB"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkBlue"
-  db_count 1
-  db [ "queuedir<float>-95" ]
-  pose [ 15.000 15.000 0 0 ]
-  name "sinkB"
-  ctrl "sink"
-)
-
-
-
-###############################################################################
-# Robot definition
-
-define charging_bump model
-(
-  pose [0.240 0 -0.100 0 ]
-  size [0.120 0.050 0.100]
-  take_watts 1000.0
-  color "orange"
-  obstacle_return 0
-)
-
-define autorob pioneer2dx
-(
- localization "gps"
- localization_origin [ 0 0 0 0 ]
- sicklaser( samples 128 range_max 5 laser_return 2 watts 30 fov 270 orgin [-0.040 0 0 0] color "red" )
- ctrl "autolab-fasr"
- joules 100000
- #joules_capacity 400000
- joules_capacity 40000
- fiducial_return 1
- charging_bump( fiducial( range_max 5 range_max_id 5 fov 270 pose [ 0 0 -0.100 0 ] ) )
-
- db_count 3
- db [ "policy<string>replan" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
- #db [ "policy<string>waitprob" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-
-)
-
-#barrier( pose [ 15.5 -5.5 0 90] )
-
-autorob( pose [3.498 7.422 0  -115.364] joules 3000 name "R01")
-autorob( pose [6.200 8.432 0    24.954] joules 3000 name "R02")
-autorob( pose [13.903 7.710 0 -145.889] joules 3000 name "R03")
-autorob( pose [15.121 8.820 0 -325.333] joules 3000 name "R04")
-autorob( pose [14.252 4.225 0 -251.825] joules 3000 name "R05")
-autorob( pose [5.974 11.456 0 -139.630] joules 3000 name "R07")
-autorob( pose [10.469 6.265 0 -325.186] joules 3000 name "R08")
-autorob( pose [4.463 11.722 0   23.256] joules 3000 name "R09")
-autorob( pose [5.463 11.722 0   23.256] joules 3000 name "R10")
-autorob( pose [5.861 12.491 0 -118.196] joules 3000 name "R11")
-autorob( pose [9.199 10.275 0   24.264] joules 3000 name "R12")
-autorob( pose [8.011 12.155 0 -112.449] joules 3000 name "R13")
-autorob( pose [9.135 12.095 0   23.677] joules 3000 name "R14")
-autorob( pose [12.973 7.804 0   35.095] joules 3000 name "R15")
-autorob( pose [4.616 6.192 0    24.142] joules 3000 name "R16")
-autorob( pose [4.741 5.432 0   -92.998] joules 3000 name "R17")
-autorob( pose [3.973 7.804 0    35.095] joules 3000 name "R18")
-autorob( pose [4.616 7.192 0    24.142] joules 3000 name "R19")
-autorob( pose [9.741 8.432 0   -92.998] joules 300000 name "R20")
-
-###############################################################################
-# Charging station stuff
-
-define charge_station model
-(
-  size [ 0.100 0.300 0.100 ]
-  color "purple"
-
-  # side blocks to restrict view angle
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
-
-  # the charging block
-  model(
-    pose [ 0.010 0 0 0 ]
-    color "yellow"
-    size [ 0.050 0.200 0.100 ]
-    joules -1  # provides infinite energy
-    give_watts 5000
-    fiducial_return 2 # look for this in the fiducial sensor
-   )
-
-)
-
-charge_station(  pose [ 15.940 -4.500 0 0 ] )
-charge_station(  pose [ 15.940 -5.500 0 0 ] )
-charge_station(  pose [ 15.940 -6.500 0 0 ] )
-charge_station(  pose [ 15.940 -7.500 0 0 ] )
-
diff --git a/world/fasr_large.world b/world/fasr_large.world
deleted file mode 100644
index d3c978b..0000000
--- a/world/fasr_large.world
+++ /dev/null
@@ -1,225 +0,0 @@
-# FASR demo world
-# Authors: Richard Vaughan, Jens Wawerla
-# $Id: fasr_large.world,v 1.10 2009-04-25 16:08:26 jwawerla Exp $
-
-include "pioneer.inc"
-include "map.inc"
-include "sick.inc"
-
-interval_sim 100  # simulation timestep in milliseconds
-interval_real 0 # real-time interval between simulation updates in milliseconds
-paused 1
-
-# stop Stage after x seconds, 0 = run for ever
-#quit_time 7200.0
-
-# resolution of items in the world [m]
-resolution 0.02
-
-# threads may speed things up here depending on available CPU cores & workload
-# threadpool 0
- threadpool 0
-
-# configure the GUI window
-window
-(
-  size [ 1254.000 948.000 ]
-
-  center [ 23.885 -22.174 ]
-  rotate [ 0 0 ]
-  #scale 35.648
-  scale 1.100
-
-  pcam_loc [ 0 -4.000 2.000 ]
-  pcam_angle [ 70.000 0 ]
-  pcam_on 0
-
-  show_data 1
-  show_flags 1
-
-  interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
-  name "background"
-  pose [0 0 0 0]
-  size [1000.000 750.000 0.600]
-  bitmap "bitmaps/SFU_medium.png"
-)
-
-# TODO - specify global params in one place
-
-###############################################################################
-# Taskmanager, Depot
-model
-(
-  pose [ -2.536 11.410 0 0]
-  name "taskmanager"
-  ctrl "taskmanager"
-  db_count 3
-  db [ "scriptname<string>tasks_large.txt"  "mapmodel<string>background" "wavefrontcellsize<float>10.0" ]
-)
-
-model
-(
-  name "depot"
-  pose [-14.000 0 0 0]
-  size [0 0 0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 1
-  db [ "queuedir<float>-90.0"]
-)
-
-model
-(
-  name "charger"
-  pose [-5.000 11.000 0 0]
-  size [0 0 0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 1
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 2
-  db [ "chargerate<float>5000.0" "queuedir<float>-150.0"]
-)
-
-###############################################################################
-# Sources and sinks
-
-zone
-(
-  color "green"
-  db_count 2
-  db [ "scriptname<string>tasks.txt" "queuedir<float>25" ]
-
-  pose [ -364.897 -78.336 0 0 ]
-  name "sourceA"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkGreen"
-
-  db_count 1
-  db [ "queuedir<float>165" ]
-
-  pose [ 264.204 -363.338 0 0 ]
-  name "sinkA"
-  ctrl "sink"
-)
-
-zone
-(
-  color "blue"
-  db_count 2
-  db [ "scriptname<string>tasks.txt" "queuedir<float>-85" ]
-  pose [ -315.675 164.141 0 0 ]
-  name "sourceB"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkBlue"
-  db_count 1
-  db [ "queuedir<float>-95" ]
-  pose [ 266.245 237.247 0 0 ]
-  name "sinkB"
-  ctrl "sink"
-)
-
-###############################################################################
-# Robot definition
-
-define charging_bump model
-(
-  pose [0.240 0 -0.100 0 ]
-  size [0.120 0.050 0.100]
-  take_watts 1000.0
-  color "orange"
-  obstacle_return 0
-)
-
-define autorob pioneer2dx
-(
- localization "gps"
- localization_origin [ 0 0 0 0 ]
- sicklaser( samples 128 range_max 5 laser_return 2 watts 30 fov 270 origin [-0.040 0 0 0] color "red" )
- ctrl "fasrrobot"
- joules 100000
- joules_capacity 400000
- fiducial_return 1
- charging_bump( fiducial( range_max 5 range_max_id 5 fov 225 pose [ 0 0 -0.100 0 ] ) )
-
- db_count 3
- #db [ "policy<string>replan" "mapmodel<string>background" "wavefrontcellsize<float>1.0" ]
- db [ "policy<string>waitprob" "mapmodel<string>background" "wavefrontcellsize<float>4" ]
-
-
-)
-
-#barrier( pose [ 15.5 -5.5 0 90] )
-
-autorob( pose [-19.913 34.144 0  -115.364] joules 300000 name "R01")
-#autorob( pose [-20.856 30.972 0    24.954] joules 300000 name "R02")
-#autorob( pose [-28.085 39.923 0 -145.889] joules 300000 name "R03")
-#autorob( pose [-26.935 40.538 0   34.667] joules 300000 name "R04")
-#autorob( pose [-25.174 38.255 0 -139.630] joules 300000 name "R06")
-#autorob( pose [-21.050 33.996 0 -139.630] joules 300000 name "R07")
-#autorob( pose [-22.982 40.321 0   34.814] joules 300000 name "R08")
-#autorob( pose [-22.008 32.820 0   23.256] joules 300000 name "R10")
-#autorob( pose [-17.184 28.121 0 -118.196] joules 300000 name "R11")
-#autorob( pose [-26.851 43.288 0   24.264] joules 300000 name "R12")
-#autorob( pose [-21.623 34.629 0 -112.449] joules 300000 name "R13")
-#autorob( pose [-22.889 37.803 0   23.677] joules 300000 name "R14")
-#autorob( pose [-25.856 38.765 0   35.095] joules 300000 name "R15")
-#autorob( pose [-23.913 38.398 0   24.142] joules 300000 name "R16")
-#autorob( pose [-26.481 42.104 0  -92.998] joules 300000 name "R17")
-
-###############################################################################
-# Charging station stuff
-
-define charge_station model
-(
-  size [ 0.100 0.300 0.100 ]
-  color "purple"
-
-  # side blocks to restrict view angle
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
-
-  # the charging block
-  model(
-    pose [ 0.010 0 0 0 ]
-    color "yellow"
-    size [ 0.050 0.200 0.100 ]
-    joules -1  # provides infinite energy
-    give_watts 5000
-    fiducial_return 2 # look for this in the fiducial sensor
-   )
-
-)
-
-charge_station(  pose [ -3.520 12.332 0 0 ] )
-charge_station(  pose [ -3.520 11.332 0 0 ] )
-charge_station(  pose [ -3.552 10.364 0 0 ] )
-charge_station(  pose [ -3.520 9.332 0 0 ] )
-
diff --git a/world/fasr_replan.world b/world/fasr_replan.world
deleted file mode 100644
index 8861b15..0000000
--- a/world/fasr_replan.world
+++ /dev/null
@@ -1,230 +0,0 @@
-# FASR demo world
-# Authors: Richard Vaughan, Jens Wawerla
-# $Id: fasr_cost.world,v 1.10 2009-03-31 23:53:00 jwawerla Exp $
-
-include "pioneer.inc"
-include "map.inc"
-include "sick.inc"
-
-interval_sim 100  # simulation timestep in milliseconds
-interval_real 0 # real-time interval between simulation updates in milliseconds
-paused 0
-
-# stop Stage after x seconds, 0 = run for ever
-#quit_time 7200.0
-quit_time 10.0
-
-# resolution of items in the world [m]
-resolution 0.02
-
-# threads may speed things up here depending on available CPU cores & workload
-# threadpool 0
- threadpool 0
-
-# configure the GUI window
-window
-(
-  size [ 788.000 842.000 ]
-
-  center [ 0 0 ]
-  rotate [ 0 0 ]
-  #scale 35.648
-  scale 20.746
-
-  pcam_loc [ 0 -4.000 2.000 ]
-  pcam_angle [ 70.000 0 ]
-  pcam_on 0
-
-  show_data 1
-  show_flags 1
-
-  interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
-  name "background"
-  size [32.000 32.000 0.600]
-  pose [0 0 0 0]
-  bitmap "bitmaps/cave.png"
-)
-
-
-###############################################################################
-# Taskmanager, Depot
-model
-(
-  pose [ 19.0 19.0 0 0]
-  name "taskmanager"
-  ctrl "taskmanager"
-
-  db_count 3
-  db [ "scriptname<string>tempTasks.txt" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-)
-
-model
-(
-  name "depot"
-  pose [-14.0 0.0 0.0 0.0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 1
-  db [ "queuedir<float>-90.0"]
-)
-
-model
-(
-  name "charger"
-  pose [13.0 -6.0 0 0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 2
-  db [ "chargerate<float>5000.0" "queuedir<float>-150.0"]
-)
-
-###############################################################################
-# Sources and sinks
-
-zone
-(
-  color "green"
-  db_count 2
-  db [ "scriptname<string>tempTasks.txt" "queuedir<float>25" ]
-
-  pose [ -15.000 -15.000 0 0 ]
-  name "sourceA"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkGreen"
-
-  db_count 1
-  db [ "queuedir<float>165" ]
-
-  pose [ 15.000 -15.000 0 0 ]
-  name "sinkA"
-  ctrl "sink"
-)
-
-zone
-(
-  color "blue"
-  db_count 2
-  db [ "scriptname<string>tempTasks.txt" "queuedir<float>-85" ]
-  pose [ -15.000 15.000 0 0 ]
-  name "sourceB"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkBlue"
-  db_count 1
-  db [ "queuedir<float>-95" ]
-  pose [ 15.000 15.000 0 0 ]
-  name "sinkB"
-  ctrl "sink"
-)
-
-
-
-###############################################################################
-# Robot definition
-
-define charging_bump model
-(
-  pose [0.240 0 -0.100 0 ]
-  size [0.120 0.050 0.100]
-  take_watts 1000.0
-  color "orange"
-  obstacle_return 0
-)
-
-define autorob pioneer2dx
-(
- localization "gps"
- localization_origin [ 0 0 0 0 ]
- sicklaser( samples 128 range_max 5 laser_return 2 watts 30 fov 270 origin [-0.040 0 0 0] color "red" )
- ctrl "fasrrobot"
- joules 100000
- joules_capacity 400000
- fiducial_return 1
- charging_bump( fiducial( range_max 5 range_max_id 5 fov 225 pose [ 0 0 -0.100 0 ] ) )
-
- db_count 3
- db [ "policy<string>replan" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
- #db [ "policy<string>waitprob" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-)
-
-#barrier( pose [ 15.5 -5.5 0 90] )
-
-autorob( pose [3.498 7.422 0  -115.364] joules 300000 name "R01")
-autorob( pose [6.200 8.432 0    24.954] joules 300000 name "R02")
-autorob( pose [13.903 7.710 0 -145.889] joules 300000 name "R03")
-autorob( pose [15.121 8.820 0 -325.333] joules 300000 name "R04")
-autorob( pose [14.252 4.225 0 -251.825] joules 300000 name "R05")
-autorob( pose [5.974 11.456 0 -139.630] joules 300000 name "R07")
-autorob( pose [10.469 6.265 0 -325.186] joules 300000 name "R08")
-autorob( pose [4.463 11.722 0   23.256] joules 300000 name "R09")
-autorob( pose [5.463 11.722 0   23.256] joules 300000 name "R10")
-autorob( pose [5.861 12.491 0 -118.196] joules 300000 name "R11")
-autorob( pose [9.199 10.275 0   24.264] joules 300000 name "R12")
-autorob( pose [8.011 12.155 0 -112.449] joules 300000 name "R13")
-autorob( pose [9.135 12.095 0   23.677] joules 300000 name "R14")
-autorob( pose [12.973 7.804 0   35.095] joules 300000 name "R15")
-autorob( pose [4.616 6.192 0    24.142] joules 300000 name "R16")
-autorob( pose [4.741 5.432 0   -92.998] joules 300000 name "R17")
-autorob( pose [3.973 7.804 0    35.095] joules 300000 name "R18")
-autorob( pose [4.616 7.192 0    24.142] joules 300000 name "R19")
-autorob( pose [9.741 8.432 0   -92.998] joules 300000 name "R20")
-
-###############################################################################
-# Charging station stuff
-
-define charge_station model
-(
-  size [ 0.100 0.300 0.100 ]
-  color "purple"
-
-  # side blocks to restrict view angle
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
-
-  # the charging block
-  model(
-    pose [ 0.010 0 0 0 ]
-    color "yellow"
-    size [ 0.050 0.200 0.100 ]
-    joules -1  # provides infinite energy
-    give_watts 5000
-    fiducial_return 2 # look for this in the fiducial sensor
-   )
-
-)
-
-charge_station(  pose [ 15.940 -4.500 0 0 ] )
-charge_station(  pose [ 15.940 -5.500 0 0 ] )
-charge_station(  pose [ 15.940 -6.500 0 0 ] )
-charge_station(  pose [ 15.940 -7.500 0 0 ] )
-
diff --git a/world/fasr_replan1.world b/world/fasr_replan1.world
deleted file mode 100644
index fb816a3..0000000
--- a/world/fasr_replan1.world
+++ /dev/null
@@ -1,230 +0,0 @@
-# FASR demo world
-# Authors: Richard Vaughan, Jens Wawerla
-# $Id: fasr_cost.world,v 1.10 2009-03-31 23:53:00 jwawerla Exp $
-
-include "pioneer.inc"
-include "map.inc"
-include "sick.inc"
-
-interval_sim 100  # simulation timestep in milliseconds
-interval_real 0 # real-time interval between simulation updates in milliseconds
-paused 0
-
-# stop Stage after x seconds, 0 = run for ever
-quit_time 7200.0
-
-
-# resolution of items in the world [m]
-resolution 0.02
-
-# threads may speed things up here depending on available CPU cores & workload
-# threadpool 0
- threadpool 0
-
-# configure the GUI window
-window
-(
-  size [ 788.000 842.000 ]
-
-  center [ 0 0 ]
-  rotate [ 0 0 ]
-  #scale 35.648
-  scale 20.746
-
-  pcam_loc [ 0 -4.000 2.000 ]
-  pcam_angle [ 70.000 0 ]
-  pcam_on 0
-
-  show_data 1
-  show_flags 1
-
-  interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
-  name "background"
-  size [32.000 32.000 0.600]
-  pose [0 0 0 0]
-  bitmap "bitmaps/cave.png"
-)
-
-
-###############################################################################
-# Taskmanager, Depot
-model
-(
-  pose [ 19.0 19.0 0 0]
-  name "taskmanager"
-  ctrl "taskmanager"
-
-  db_count 3
-  db [ "scriptname<string>tempTasks1.txt" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-)
-
-model
-(
-  name "depot"
-  pose [-14.0 0.0 0.0 0.0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 1
-  db [ "queuedir<float>-90.0"]
-)
-
-model
-(
-  name "charger"
-  pose [13.0 -6.0 0 0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 2
-  db [ "chargerate<float>5000.0" "queuedir<float>-150.0"]
-)
-
-###############################################################################
-# Sources and sinks
-
-zone
-(
-  color "green"
-  db_count 2
-  db [ "scriptname<string>tempTasks1.txt" "queuedir<float>25" ]
-
-  pose [ -15.000 -15.000 0 0 ]
-  name "sourceA"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkGreen"
-
-  db_count 1
-  db [ "queuedir<float>165" ]
-
-  pose [ 15.000 -15.000 0 0 ]
-  name "sinkA"
-  ctrl "sink"
-)
-
-zone
-(
-  color "blue"
-  db_count 2
-  db [ "scriptname<string>tempTasks1.txt" "queuedir<float>-85" ]
-  pose [ -15.000 15.000 0 0 ]
-  name "sourceB"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkBlue"
-  db_count 1
-  db [ "queuedir<float>-95" ]
-  pose [ 15.000 15.000 0 0 ]
-  name "sinkB"
-  ctrl "sink"
-)
-
-
-
-###############################################################################
-# Robot definition
-
-define charging_bump model
-(
-  pose [0.240 0 -0.100 0 ]
-  size [0.120 0.050 0.100]
-  take_watts 1000.0
-  color "orange"
-  obstacle_return 0
-)
-
-define autorob pioneer2dx
-(
- localization "gps"
- localization_origin [ 0 0 0 0 ]
- sicklaser( samples 128 range_max 5 laser_return 2 watts 30 fov 270 origin [-0.040 0 0 0] color "red" )
- ctrl "fasrrobot"
- joules 100000
- joules_capacity 400000
- fiducial_return 1
- charging_bump( fiducial( range_max 5 range_max_id 5 fov 225 pose [ 0 0 -0.100 0 ] ) )
-
- db_count 3
- db [ "policy<string>replan" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
- #db [ "policy<string>waitprob" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-)
-
-#barrier( pose [ 15.5 -5.5 0 90] )
-
-autorob( pose [3.498 7.422 0  -115.364] joules 300000 name "R01")
-autorob( pose [6.200 8.432 0    24.954] joules 300000 name "R02")
-autorob( pose [13.903 7.710 0 -145.889] joules 300000 name "R03")
-autorob( pose [15.121 8.820 0 -325.333] joules 300000 name "R04")
-autorob( pose [14.252 4.225 0 -251.825] joules 300000 name "R05")
-autorob( pose [5.974 11.456 0 -139.630] joules 300000 name "R07")
-autorob( pose [10.469 6.265 0 -325.186] joules 300000 name "R08")
-autorob( pose [4.463 11.722 0   23.256] joules 300000 name "R09")
-autorob( pose [5.463 11.722 0   23.256] joules 300000 name "R10")
-autorob( pose [5.861 12.491 0 -118.196] joules 300000 name "R11")
-autorob( pose [9.199 10.275 0   24.264] joules 300000 name "R12")
-autorob( pose [8.011 12.155 0 -112.449] joules 300000 name "R13")
-autorob( pose [9.135 12.095 0   23.677] joules 300000 name "R14")
-autorob( pose [12.973 7.804 0   35.095] joules 300000 name "R15")
-autorob( pose [4.616 6.192 0    24.142] joules 300000 name "R16")
-autorob( pose [4.741 5.432 0   -92.998] joules 300000 name "R17")
-autorob( pose [3.973 7.804 0    35.095] joules 300000 name "R18")
-autorob( pose [4.616 7.192 0    24.142] joules 300000 name "R19")
-autorob( pose [9.741 8.432 0   -92.998] joules 300000 name "R20")
-
-###############################################################################
-# Charging station stuff
-
-define charge_station model
-(
-  size [ 0.100 0.300 0.100 ]
-  color "purple"
-
-  # side blocks to restrict view angle
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
-
-  # the charging block
-  model(
-    pose [ 0.010 0 0 0 ]
-    color "yellow"
-    size [ 0.050 0.200 0.100 ]
-    joules -1  # provides infinite energy
-    give_watts 5000
-    fiducial_return 2 # look for this in the fiducial sensor
-   )
-
-)
-
-charge_station(  pose [ 15.940 -4.500 0 0 ] )
-charge_station(  pose [ 15.940 -5.500 0 0 ] )
-charge_station(  pose [ 15.940 -6.500 0 0 ] )
-charge_station(  pose [ 15.940 -7.500 0 0 ] )
-
diff --git a/world/fasr_replan2.world b/world/fasr_replan2.world
deleted file mode 100644
index 26b41bc..0000000
--- a/world/fasr_replan2.world
+++ /dev/null
@@ -1,230 +0,0 @@
-# FASR demo world
-# Authors: Richard Vaughan, Jens Wawerla
-# $Id: fasr_cost.world,v 1.10 2009-03-31 23:53:00 jwawerla Exp $
-
-include "pioneer.inc"
-include "map.inc"
-include "sick.inc"
-
-interval_sim 100  # simulation timestep in milliseconds
-interval_real 0 # real-time interval between simulation updates in milliseconds
-paused 0
-
-# stop Stage after x seconds, 0 = run for ever
-quit_time 7200.0
-
-
-# resolution of items in the world [m]
-resolution 0.02
-
-# threads may speed things up here depending on available CPU cores & workload
-# threadpool 0
- threadpool 0
-
-# configure the GUI window
-window
-(
-  size [ 788.000 842.000 ]
-
-  center [ 0 0 ]
-  rotate [ 0 0 ]
-  #scale 35.648
-  scale 20.746
-
-  pcam_loc [ 0 -4.000 2.000 ]
-  pcam_angle [ 70.000 0 ]
-  pcam_on 0
-
-  show_data 1
-  show_flags 1
-
-  interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
-  name "background"
-  size [32.000 32.000 0.600]
-  pose [0 0 0 0]
-  bitmap "bitmaps/cave.png"
-)
-
-
-###############################################################################
-# Taskmanager, Depot
-model
-(
-  pose [ 19.0 19.0 0 0]
-  name "taskmanager"
-  ctrl "taskmanager"
-
-  db_count 3
-  db [ "scriptname<string>tempTasks2.txt" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-)
-
-model
-(
-  name "depot"
-  pose [-14.0 0.0 0.0 0.0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 1
-  db [ "queuedir<float>-90.0"]
-)
-
-model
-(
-  name "charger"
-  pose [13.0 -6.0 0 0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 2
-  db [ "chargerate<float>5000.0" "queuedir<float>-150.0"]
-)
-
-###############################################################################
-# Sources and sinks
-
-zone
-(
-  color "green"
-  db_count 2
-  db [ "scriptname<string>tempTasks2.txt" "queuedir<float>25" ]
-
-  pose [ -15.000 -15.000 0 0 ]
-  name "sourceA"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkGreen"
-
-  db_count 1
-  db [ "queuedir<float>165" ]
-
-  pose [ 15.000 -15.000 0 0 ]
-  name "sinkA"
-  ctrl "sink"
-)
-
-zone
-(
-  color "blue"
-  db_count 2
-  db [ "scriptname<string>tempTasks2.txt" "queuedir<float>-85" ]
-  pose [ -15.000 15.000 0 0 ]
-  name "sourceB"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkBlue"
-  db_count 1
-  db [ "queuedir<float>-95" ]
-  pose [ 15.000 15.000 0 0 ]
-  name "sinkB"
-  ctrl "sink"
-)
-
-
-
-###############################################################################
-# Robot definition
-
-define charging_bump model
-(
-  pose [0.240 0 -0.100 0 ]
-  size [0.120 0.050 0.100]
-  take_watts 1000.0
-  color "orange"
-  obstacle_return 0
-)
-
-define autorob pioneer2dx
-(
- localization "gps"
- localization_origin [ 0 0 0 0 ]
- sicklaser( samples 128 range_max 5 laser_return 2 watts 30 fov 270 origin [-0.040 0 0 0] color "red" )
- ctrl "fasrrobot"
- joules 100000
- joules_capacity 400000
- fiducial_return 1
- charging_bump( fiducial( range_max 5 range_max_id 5 fov 225 pose [ 0 0 -0.100 0 ] ) )
-
- db_count 3
- db [ "policy<string>replan" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
- #db [ "policy<string>waitprob" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-)
-
-#barrier( pose [ 15.5 -5.5 0 90] )
-
-autorob( pose [3.498 7.422 0  -115.364] joules 300000 name "R01")
-autorob( pose [6.200 8.432 0    24.954] joules 300000 name "R02")
-autorob( pose [13.903 7.710 0 -145.889] joules 300000 name "R03")
-autorob( pose [15.121 8.820 0 -325.333] joules 300000 name "R04")
-autorob( pose [14.252 4.225 0 -251.825] joules 300000 name "R05")
-autorob( pose [5.974 11.456 0 -139.630] joules 300000 name "R07")
-autorob( pose [10.469 6.265 0 -325.186] joules 300000 name "R08")
-autorob( pose [4.463 11.722 0   23.256] joules 300000 name "R09")
-autorob( pose [5.463 11.722 0   23.256] joules 300000 name "R10")
-autorob( pose [5.861 12.491 0 -118.196] joules 300000 name "R11")
-autorob( pose [9.199 10.275 0   24.264] joules 300000 name "R12")
-autorob( pose [8.011 12.155 0 -112.449] joules 300000 name "R13")
-autorob( pose [9.135 12.095 0   23.677] joules 300000 name "R14")
-autorob( pose [12.973 7.804 0   35.095] joules 300000 name "R15")
-autorob( pose [4.616 6.192 0    24.142] joules 300000 name "R16")
-autorob( pose [4.741 5.432 0   -92.998] joules 300000 name "R17")
-autorob( pose [3.973 7.804 0    35.095] joules 300000 name "R18")
-autorob( pose [4.616 7.192 0    24.142] joules 300000 name "R19")
-autorob( pose [9.741 8.432 0   -92.998] joules 300000 name "R20")
-
-###############################################################################
-# Charging station stuff
-
-define charge_station model
-(
-  size [ 0.100 0.300 0.100 ]
-  color "purple"
-
-  # side blocks to restrict view angle
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
-
-  # the charging block
-  model(
-    pose [ 0.010 0 0 0 ]
-    color "yellow"
-    size [ 0.050 0.200 0.100 ]
-    joules -1  # provides infinite energy
-    give_watts 5000
-    fiducial_return 2 # look for this in the fiducial sensor
-   )
-
-)
-
-charge_station(  pose [ 15.940 -4.500 0 0 ] )
-charge_station(  pose [ 15.940 -5.500 0 0 ] )
-charge_station(  pose [ 15.940 -6.500 0 0 ] )
-charge_station(  pose [ 15.940 -7.500 0 0 ] )
-
diff --git a/world/fasr_waitprob.world b/world/fasr_waitprob.world
deleted file mode 100644
index 1f9cb0f..0000000
--- a/world/fasr_waitprob.world
+++ /dev/null
@@ -1,228 +0,0 @@
-# FASR demo world
-# Authors: Richard Vaughan, Jens Wawerla
-# $Id: fasr_cost.world,v 1.10 2009-03-31 23:53:00 jwawerla Exp $
-
-include "pioneer.inc"
-include "map.inc"
-include "sick.inc"
-
-interval_sim 100  # simulation timestep in milliseconds
-interval_real 0 # real-time interval between simulation updates in milliseconds
-paused 0
-
-# stop Stage after x seconds, 0 = run for ever
-quit_time 7200.0
-
-# resolution of items in the world [m]
-resolution 0.02
-
-# threads may speed things up here depending on available CPU cores & workload
-# threadpool 0
- threadpool 0
-
-# configure the GUI window
-window
-(
-  size [ 788.000 842.000 ]
-
-  center [ 0 0 ]
-  rotate [ 0 0 ]
-  #scale 35.648
-  scale 20.746
-
-  pcam_loc [ 0 -4.000 2.000 ]
-  pcam_angle [ 70.000 0 ]
-  pcam_on 0
-
-  show_data 1
-  show_flags 1
-
-  interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
-  name "background"
-  size [32.000 32.000 0.600]
-  pose [0 0 0 0]
-  bitmap "bitmaps/cave.png"
-)
-
-
-###############################################################################
-# Taskmanager, Depot
-model
-(
-  pose [ 19.0 19.0 0 0]
-  name "taskmanager"
-  ctrl "taskmanager"
-  db_count 3
-  db [ "scriptname<string>tempTasks.txt" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-)
-
-model
-(
-  name "depot"
-  pose [-14.0 0.0 0.0 0.0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 1
-  db [ "queuedir<float>-90.0"]
-)
-
-model
-(
-  name "charger"
-  pose [13.0 -6.0 0 0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 2
-  db [ "chargerate<float>5000.0" "queuedir<float>-150.0"]
-)
-
-###############################################################################
-# Sources and sinks
-
-zone
-(
-  color "green"
-  db_count 2
-  db [ "scriptname<string>tempTasks.txt" "queuedir<float>25" ]
-
-  pose [ -15.000 -15.000 0 0 ]
-  name "sourceA"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkGreen"
-
-  db_count 1
-  db [ "queuedir<float>165" ]
-
-  pose [ 15.000 -15.000 0 0 ]
-  name "sinkA"
-  ctrl "sink"
-)
-
-zone
-(
-  color "blue"
-  db_count 2
-  db [ "scriptname<string>tempTasks.txt" "queuedir<float>-85" ]
-  pose [ -15.000 15.000 0 0 ]
-  name "sourceB"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkBlue"
-  db_count 1
-  db [ "queuedir<float>-95" ]
-  pose [ 15.000 15.000 0 0 ]
-  name "sinkB"
-  ctrl "sink"
-)
-
-
-
-###############################################################################
-# Robot definition
-
-define charging_bump model
-(
-  pose [0.240 0 -0.100 0 ]
-  size [0.120 0.050 0.100]
-  take_watts 1000.0
-  color "orange"
-  obstacle_return 0
-)
-
-define autorob pioneer2dx
-(
- localization "gps"
- localization_origin [ 0 0 0 0 ]
- sicklaser( samples 128 range_max 5 laser_return 2 watts 30 fov 270 origin [-0.040 0 0 0] color "red" )
- ctrl "fasrrobot"
- joules 100000
- joules_capacity 400000
- fiducial_return 1
- charging_bump( fiducial( range_max 5 range_max_id 5 fov 225 pose [ 0 0 -0.100 0 ] ) )
-
- db_count 3
- #db [ "policy<string>replan" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
- db [ "policy<string>waitprob" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-)
-
-#barrier( pose [ 15.5 -5.5 0 90] )
-
-autorob( pose [3.498 7.422 0  -115.364] joules 300000 name "R01")
-autorob( pose [6.200 8.432 0    24.954] joules 300000 name "R02")
-autorob( pose [13.903 7.710 0 -145.889] joules 300000 name "R03")
-autorob( pose [15.121 8.820 0 -325.333] joules 300000 name "R04")
-autorob( pose [14.252 4.225 0 -251.825] joules 300000 name "R05")
-autorob( pose [5.974 11.456 0 -139.630] joules 300000 name "R07")
-autorob( pose [10.469 6.265 0 -325.186] joules 300000 name "R08")
-autorob( pose [4.463 11.722 0   23.256] joules 300000 name "R09")
-autorob( pose [5.463 11.722 0   23.256] joules 300000 name "R10")
-autorob( pose [5.861 12.491 0 -118.196] joules 300000 name "R11")
-autorob( pose [9.199 10.275 0   24.264] joules 300000 name "R12")
-autorob( pose [8.011 12.155 0 -112.449] joules 300000 name "R13")
-autorob( pose [9.135 12.095 0   23.677] joules 300000 name "R14")
-autorob( pose [12.973 7.804 0   35.095] joules 300000 name "R15")
-autorob( pose [4.616 6.192 0    24.142] joules 300000 name "R16")
-autorob( pose [4.741 5.432 0   -92.998] joules 300000 name "R17")
-autorob( pose [3.973 7.804 0    35.095] joules 300000 name "R18")
-autorob( pose [4.616 7.192 0    24.142] joules 300000 name "R19")
-autorob( pose [9.741 8.432 0   -92.998] joules 300000 name "R20")
-
-###############################################################################
-# Charging station stuff
-
-define charge_station model
-(
-  size [ 0.100 0.300 0.100 ]
-  color "purple"
-
-  # side blocks to restrict view angle
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
-
-  # the charging block
-  model(
-    pose [ 0.010 0 0 0 ]
-    color "yellow"
-    size [ 0.050 0.200 0.100 ]
-    joules -1  # provides infinite energy
-    give_watts 5000
-    fiducial_return 2 # look for this in the fiducial sensor
-   )
-
-)
-
-charge_station(  pose [ 15.940 -4.500 0 0 ] )
-charge_station(  pose [ 15.940 -5.500 0 0 ] )
-charge_station(  pose [ 15.940 -6.500 0 0 ] )
-charge_station(  pose [ 15.940 -7.500 0 0 ] )
-
diff --git a/world/fasr_waitprob1.world b/world/fasr_waitprob1.world
deleted file mode 100644
index d7e8009..0000000
--- a/world/fasr_waitprob1.world
+++ /dev/null
@@ -1,228 +0,0 @@
-# FASR demo world
-# Authors: Richard Vaughan, Jens Wawerla
-# $Id: fasr_cost.world,v 1.10 2009-03-31 23:53:00 jwawerla Exp $
-
-include "pioneer.inc"
-include "map.inc"
-include "sick.inc"
-
-interval_sim 100  # simulation timestep in milliseconds
-interval_real 0 # real-time interval between simulation updates in milliseconds
-paused 0
-
-# stop Stage after x seconds, 0 = run for ever
-quit_time 7200.0
-
-# resolution of items in the world [m]
-resolution 0.02
-
-# threads may speed things up here depending on available CPU cores & workload
-# threadpool 0
- threadpool 0
-
-# configure the GUI window
-window
-(
-  size [ 788.000 842.000 ]
-
-  center [ 0 0 ]
-  rotate [ 0 0 ]
-  #scale 35.648
-  scale 20.746
-
-  pcam_loc [ 0 -4.000 2.000 ]
-  pcam_angle [ 70.000 0 ]
-  pcam_on 0
-
-  show_data 1
-  show_flags 1
-
-  interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
-  name "background"
-  size [32.000 32.000 0.600]
-  pose [0 0 0 0]
-  bitmap "bitmaps/cave.png"
-)
-
-
-###############################################################################
-# Taskmanager, Depot
-model
-(
-  pose [ 19.0 19.0 0 0]
-  name "taskmanager"
-  ctrl "taskmanager"
-  db_count 3
-  db [ "scriptname<string>tempTasks1.txt" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-)
-
-model
-(
-  name "depot"
-  pose [-14.0 0.0 0.0 0.0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 1
-  db [ "queuedir<float>-90.0"]
-)
-
-model
-(
-  name "charger"
-  pose [13.0 -6.0 0 0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 2
-  db [ "chargerate<float>5000.0" "queuedir<float>-150.0"]
-)
-
-###############################################################################
-# Sources and sinks
-
-zone
-(
-  color "green"
-  db_count 2
-  db [ "scriptname<string>tempTasks1.txt" "queuedir<float>25" ]
-
-  pose [ -15.000 -15.000 0 0 ]
-  name "sourceA"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkGreen"
-
-  db_count 1
-  db [ "queuedir<float>165" ]
-
-  pose [ 15.000 -15.000 0 0 ]
-  name "sinkA"
-  ctrl "sink"
-)
-
-zone
-(
-  color "blue"
-  db_count 2
-  db [ "scriptname<string>tempTasks1.txt" "queuedir<float>-85" ]
-  pose [ -15.000 15.000 0 0 ]
-  name "sourceB"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkBlue"
-  db_count 1
-  db [ "queuedir<float>-95" ]
-  pose [ 15.000 15.000 0 0 ]
-  name "sinkB"
-  ctrl "sink"
-)
-
-
-
-###############################################################################
-# Robot definition
-
-define charging_bump model
-(
-  pose [0.240 0 -0.100 0 ]
-  size [0.120 0.050 0.100]
-  take_watts 1000.0
-  color "orange"
-  obstacle_return 0
-)
-
-define autorob pioneer2dx
-(
- localization "gps"
- localization_origin [ 0 0 0 0 ]
- sicklaser( samples 128 range_max 5 laser_return 2 watts 30 fov 270 origin [-0.040 0 0 0] color "red" )
- ctrl "fasrrobot"
- joules 100000
- joules_capacity 400000
- fiducial_return 1
- charging_bump( fiducial( range_max 5 range_max_id 5 fov 225 pose [ 0 0 -0.100 0 ] ) )
-
- db_count 3
- #db [ "policy<string>replan" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
- db [ "policy<string>waitprob" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-)
-
-#barrier( pose [ 15.5 -5.5 0 90] )
-
-autorob( pose [3.498 7.422 0  -115.364] joules 300000 name "R01")
-autorob( pose [6.200 8.432 0    24.954] joules 300000 name "R02")
-autorob( pose [13.903 7.710 0 -145.889] joules 300000 name "R03")
-autorob( pose [15.121 8.820 0 -325.333] joules 300000 name "R04")
-autorob( pose [14.252 4.225 0 -251.825] joules 300000 name "R05")
-autorob( pose [5.974 11.456 0 -139.630] joules 300000 name "R07")
-autorob( pose [10.469 6.265 0 -325.186] joules 300000 name "R08")
-autorob( pose [4.463 11.722 0   23.256] joules 300000 name "R09")
-autorob( pose [5.463 11.722 0   23.256] joules 300000 name "R10")
-autorob( pose [5.861 12.491 0 -118.196] joules 300000 name "R11")
-autorob( pose [9.199 10.275 0   24.264] joules 300000 name "R12")
-autorob( pose [8.011 12.155 0 -112.449] joules 300000 name "R13")
-autorob( pose [9.135 12.095 0   23.677] joules 300000 name "R14")
-autorob( pose [12.973 7.804 0   35.095] joules 300000 name "R15")
-autorob( pose [4.616 6.192 0    24.142] joules 300000 name "R16")
-autorob( pose [4.741 5.432 0   -92.998] joules 300000 name "R17")
-autorob( pose [3.973 7.804 0    35.095] joules 300000 name "R18")
-autorob( pose [4.616 7.192 0    24.142] joules 300000 name "R19")
-autorob( pose [9.741 8.432 0   -92.998] joules 300000 name "R20")
-
-###############################################################################
-# Charging station stuff
-
-define charge_station model
-(
-  size [ 0.100 0.300 0.100 ]
-  color "purple"
-
-  # side blocks to restrict view angle
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
-
-  # the charging block
-  model(
-    pose [ 0.010 0 0 0 ]
-    color "yellow"
-    size [ 0.050 0.200 0.100 ]
-    joules -1  # provides infinite energy
-    give_watts 5000
-    fiducial_return 2 # look for this in the fiducial sensor
-   )
-
-)
-
-charge_station(  pose [ 15.940 -4.500 0 0 ] )
-charge_station(  pose [ 15.940 -5.500 0 0 ] )
-charge_station(  pose [ 15.940 -6.500 0 0 ] )
-charge_station(  pose [ 15.940 -7.500 0 0 ] )
-
diff --git a/world/fasr_waitprob2.world b/world/fasr_waitprob2.world
deleted file mode 100644
index ec9264b..0000000
--- a/world/fasr_waitprob2.world
+++ /dev/null
@@ -1,228 +0,0 @@
-# FASR demo world
-# Authors: Richard Vaughan, Jens Wawerla
-# $Id: fasr_cost.world,v 1.10 2009-03-31 23:53:00 jwawerla Exp $
-
-include "pioneer.inc"
-include "map.inc"
-include "sick.inc"
-
-interval_sim 100  # simulation timestep in milliseconds
-interval_real 0 # real-time interval between simulation updates in milliseconds
-paused 0
-
-# stop Stage after x seconds, 0 = run for ever
-quit_time 7200.0
-
-# resolution of items in the world [m]
-resolution 0.02
-
-# threads may speed things up here depending on available CPU cores & workload
-# threadpool 0
- threadpool 0
-
-# configure the GUI window
-window
-(
-  size [ 788.000 842.000 ]
-
-  center [ 0 0 ]
-  rotate [ 0 0 ]
-  #scale 35.648
-  scale 20.746
-
-  pcam_loc [ 0 -4.000 2.000 ]
-  pcam_angle [ 70.000 0 ]
-  pcam_on 0
-
-  show_data 1
-  show_flags 1
-
-  interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
-  name "background"
-  size [32.000 32.000 0.600]
-  pose [0 0 0 0]
-  bitmap "bitmaps/cave.png"
-)
-
-
-###############################################################################
-# Taskmanager, Depot
-model
-(
-  pose [ 19.0 19.0 0 0]
-  name "taskmanager"
-  ctrl "taskmanager"
-  db_count 3
-  db [ "scriptname<string>tempTasks2.txt" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-)
-
-model
-(
-  name "depot"
-  pose [-14.0 0.0 0.0 0.0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 1
-  db [ "queuedir<float>-90.0"]
-)
-
-model
-(
-  name "charger"
-  pose [13.0 -6.0 0 0]
-  size [0.0 0.0 0.0]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-
-  db_count 2
-  db [ "chargerate<float>5000.0" "queuedir<float>-150.0"]
-)
-
-###############################################################################
-# Sources and sinks
-
-zone
-(
-  color "green"
-  db_count 2
-  db [ "scriptname<string>tempTasks2.txt" "queuedir<float>25" ]
-
-  pose [ -15.000 -15.000 0 0 ]
-  name "sourceA"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkGreen"
-
-  db_count 1
-  db [ "queuedir<float>165" ]
-
-  pose [ 15.000 -15.000 0 0 ]
-  name "sinkA"
-  ctrl "sink"
-)
-
-zone
-(
-  color "blue"
-  db_count 2
-  db [ "scriptname<string>tempTasks2.txt" "queuedir<float>-85" ]
-  pose [ -15.000 15.000 0 0 ]
-  name "sourceB"
-  ctrl "fasrsource"
-)
-
-zone
-(
-  color "DarkBlue"
-  db_count 1
-  db [ "queuedir<float>-95" ]
-  pose [ 15.000 15.000 0 0 ]
-  name "sinkB"
-  ctrl "sink"
-)
-
-
-
-###############################################################################
-# Robot definition
-
-define charging_bump model
-(
-  pose [0.240 0 -0.100 0 ]
-  size [0.120 0.050 0.100]
-  take_watts 1000.0
-  color "orange"
-  obstacle_return 0
-)
-
-define autorob pioneer2dx
-(
- localization "gps"
- localization_origin [ 0 0 0 0 ]
- sicklaser( samples 128 range_max 5 laser_return 2 watts 30 fov 270 origin [-0.040 0 0 0] color "red" )
- ctrl "fasrrobot"
- joules 100000
- joules_capacity 400000
- fiducial_return 1
- charging_bump( fiducial( range_max 5 range_max_id 5 fov 225 pose [ 0 0 -0.100 0 ] ) )
-
- db_count 3
- #db [ "policy<string>replan" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
- db [ "policy<string>waitprob" "mapmodel<string>background" "wavefrontcellsize<float>0.4" ]
-)
-
-#barrier( pose [ 15.5 -5.5 0 90] )
-
-autorob( pose [3.498 7.422 0  -115.364] joules 300000 name "R01")
-autorob( pose [6.200 8.432 0    24.954] joules 300000 name "R02")
-autorob( pose [13.903 7.710 0 -145.889] joules 300000 name "R03")
-autorob( pose [15.121 8.820 0 -325.333] joules 300000 name "R04")
-autorob( pose [14.252 4.225 0 -251.825] joules 300000 name "R05")
-autorob( pose [5.974 11.456 0 -139.630] joules 300000 name "R07")
-autorob( pose [10.469 6.265 0 -325.186] joules 300000 name "R08")
-autorob( pose [4.463 11.722 0   23.256] joules 300000 name "R09")
-autorob( pose [5.463 11.722 0   23.256] joules 300000 name "R10")
-autorob( pose [5.861 12.491 0 -118.196] joules 300000 name "R11")
-autorob( pose [9.199 10.275 0   24.264] joules 300000 name "R12")
-autorob( pose [8.011 12.155 0 -112.449] joules 300000 name "R13")
-autorob( pose [9.135 12.095 0   23.677] joules 300000 name "R14")
-autorob( pose [12.973 7.804 0   35.095] joules 300000 name "R15")
-autorob( pose [4.616 6.192 0    24.142] joules 300000 name "R16")
-autorob( pose [4.741 5.432 0   -92.998] joules 300000 name "R17")
-autorob( pose [3.973 7.804 0    35.095] joules 300000 name "R18")
-autorob( pose [4.616 7.192 0    24.142] joules 300000 name "R19")
-autorob( pose [9.741 8.432 0   -92.998] joules 300000 name "R20")
-
-###############################################################################
-# Charging station stuff
-
-define charge_station model
-(
-  size [ 0.100 0.300 0.100 ]
-  color "purple"
-
-  # side blocks to restrict view angle
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
-  model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
-
-  # the charging block
-  model(
-    pose [ 0.010 0 0 0 ]
-    color "yellow"
-    size [ 0.050 0.200 0.100 ]
-    joules -1  # provides infinite energy
-    give_watts 5000
-    fiducial_return 2 # look for this in the fiducial sensor
-   )
-
-)
-
-charge_station(  pose [ 15.940 -4.500 0 0 ] )
-charge_station(  pose [ 15.940 -5.500 0 0 ] )
-charge_station(  pose [ 15.940 -6.500 0 0 ] )
-charge_station(  pose [ 15.940 -7.500 0 0 ] )
-
diff --git a/world/map.inc b/world/map.inc
deleted file mode 100644
index 882df73..0000000
--- a/world/map.inc
+++ /dev/null
@@ -1,63 +0,0 @@
-# map.inc - useful setup for a floorplan bitmap
-# Authors: Richard Vaughan
-# $Id: map.inc,v 1.4 2009-03-31 23:53:00 jwawerla Exp $
-
-define floorplan model
-(
-  # sombre, sensible, artistic
-  color "gray30"
-
-  # most maps will need a bounding box
-  boundary 1
-
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 0
-  gui_outline 0
-  gripper_return 0
-  fiducial_return 0
-  laser_return 1
-)
-
-define zone model
-(
-  color "orange"
-  size [ 2 2 0.02 ]
-
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 1
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-)
-
-define redraw model
-(
-  color "orange"
-  size [ 0.1 0.1 0.02 ]
-  gui_nose 0
-  gui_grid 0
-  gui_movemask 0
-  gui_outline 0
-
-  # insensible to collision and range sensors
-  obstacle_return 0
-  laser_return 0
-  ranger_return 0
-)
-
-
-define barrier model
-(
-  color "black"
-  size [6.000 0.050 1.000]
-  pose [ -1.5 -0.500 0 0 ]
-
-  obstacle_return 1
-  laser_return 1
-  ranger_return 1
-)
diff --git a/world/pioneer.inc b/world/pioneer.inc
deleted file mode 100644
index 7071ded..0000000
--- a/world/pioneer.inc
+++ /dev/null
@@ -1,387 +0,0 @@
-
-# Desc: Device definitions for Activemedia robots.
-# Author: Richard Vaughan, Andrew Howard,  Luis Riazuelo
-# Date: 10 Jun 2002
-# CVS: $Id: pioneer.inc,v 1.2 2009-03-20 03:05:24 jwawerla Exp $
-
-# The Pioneer2DX sonar array
-define p2dx_sonar ranger
-(
-  scount 16 # the number of transducers
-
-  # define the pose of each transducer [xpos ypos heading]
-  spose[0] [ 0.075 0.130 90 ]
-  spose[1] [ 0.115 0.115 50 ]
-  spose[2] [ 0.150 0.080 30 ]
-  spose[3] [ 0.170 0.025 10 ]
-  spose[4] [ 0.170 -0.025 -10 ]
-  spose[5] [ 0.150 -0.080 -30 ]
-  spose[6] [ 0.115 -0.115 -50 ]
-  spose[7] [ 0.075 -0.130 -90 ]
-  spose[8] [ -0.155 -0.130 -90 ]
-  spose[9] [ -0.195 -0.115 -130 ]
-  spose[10] [ -0.230 -0.080 -150 ]
-  spose[11] [ -0.250 -0.025 -170 ]
-  spose[12] [ -0.250 0.025 170 ]
-  spose[13] [ -0.230 0.080 150 ]
-  spose[14] [ -0.195 0.115 130 ]
-  spose[15] [ -0.155 0.130 90 ]
-
-  # define the field of view of each transducer [range_min range_max view_angle]
-  sview [0 5.0 15]
-
-  # define the size of each transducer [xsize ysize] in meters
-  ssize [0.01 0.05]
-)
-
-# The Pioneer3DX sonar array
-define p3dx_sonar ranger
-(
-  scount 16
-
-  # define the pose of each transducer [xpos ypos heading]
-  spose[0] [ 0.069 0.136 90 ]
-  spose[1] [ 0.114 0.119 50 ]
-  spose[2] [ 0.148 0.078 30 ]
-  spose[3] [ 0.166 0.027 10 ]
-  spose[4] [ 0.166 -0.027 -10 ]
-  spose[5] [ 0.148 -0.078 -30 ]
-  spose[6] [ 0.114 -0.119 -50 ]
-  spose[7] [ 0.069 -0.136 -90 ]
-  spose[8] [ -0.157 -0.136 -90 ]
-  spose[9] [ -0.203 -0.119 -130 ]
-  spose[10] [ -0.237 -0.078 -150 ]
-  spose[11] [ -0.255 -0.027 -170 ]
-  spose[12] [ -0.255 0.027 170 ]
-  spose[13] [ -0.237 0.078 150 ]
-  spose[14] [ -0.103 0.119 130 ]
-  spose[15] [ -0.157 0.136 90 ]	
-
-  # define the field of view of each transducer [range_min range_max view_angle]
-  sview [0.1 5.0 30]  # min (m), max (m), field of view (deg)
-
-  # define the size of each transducer [xsize ysize] in meters
-  ssize [0.01 0.04]
-)
-
-# The Pioneer3AT sonar array
-define p3at_sonar ranger
-(
-  scount 16
-
-  # define the pose of each transducer [xpos ypos heading]
-  spose[0] [0.147 0.136 90]
-  spose[1] [0.193 0.119 50]
-  spose[2] [0.227 0.079 30]
-  spose[3] [0.245 0.027 10]
-  spose[4] [0.245 -0.027 -10]
-  spose[5] [0.227 -0.079 -30]
-  spose[6] [0.193 -0.119 -50]
-  spose[7] [0.147 -0.136 -90]
-  spose[8] [-0.144 -0.136 -90]
-  spose[9] [-0.189 -0.119 -130]
-  spose[10] [-0.223 -0.079 -150]
-  spose[11] [-0.241 -0.027 -170]
-  spose[12] [-0.241 0.027 170]
-  spose[13] [-0.223 0.079 150]
-  spose[14] [-0.189 0.119 130]
-  spose[15] [-0.144 0.136 90]
-
-  # define the field of view of each transducer [range_min range_max view_angle]
-  sview [0.1 5.0 30]  # min (m), max (m), field of view (deg)
-
-  # define the size of each transducer [xsize ysize] in meters
-  ssize [0.01 0.04]
-)
-
-define pioneer_base position
-(
-  color "red"			# Default color.
-  drive "diff"		 	# Differential steering model.
-  gui_nose 1                  	# Draw a nose on the robot so we can see which way it points
-  obstacle_return 1           	# Can hit things.
-  laser_return 1                # reflects laser beams
-  ranger_return 1             	# reflects sonar beams
-  blobfinder_return 1         	# Seen by blobfinders  
-  fiducial_return 1           	# Seen as "1" fiducial finders
-
-  localization "gps"
-  localization_origin [0 0 0] 	# Start odometry at (0, 0, 0).
-
-  # alternative odometric localization with simple error model
-  # localization "odom"         # Change to "gps" to have impossibly perfect, global odometry
-  #  odom_error [ 0.05 0.05 0.1 ]   	# Odometry error or slip in X, Y and Theta
-                                   	# (Uniform random distribution)
-)
-
-
-define pioneer2dx_base pioneer_base
-(
-  # actual size
-  size [0.44 0.38 0.22] # sizes from MobileRobots' web site
-
-  # the pioneer's center of rotation is offset from its center of area
-  origin [-0.04 0 0 0]
-
-  # draw a nose on the robot so we can see which way it points
-  gui_nose 1
-
-  # estimated mass in KG
-  mass 23.0
-
-  # use the sonar array defined above with a small vertical offset to
-  # drop the sensors into the robot body
-  p2dx_sonar( pose [0 0 -0.03 0] )
-
-  # differential steering model
-  drive "diff"
- )
-
-define pioneer2dx pioneer2dx_base
-(
-  # simplified Body shape:
-  block(
-    points 8
-    point[0] [-0.2 0.12]
-    point[1] [-0.2 -0.12]
-    point[2] [-0.12 -0.2555]
-    point[3] [0.12 -0.2555]
-    point[4] [0.2 -0.12]
-    point[5] [0.2 0.12]
-    point[6] [0.12 0.2555]
-    point[7] [-0.12 0.2555]
-    z [0 0.22]
-  )
-)
-
-
-# a Pioneer 2 or 3 in standard configuration
-define fancypioneer2dx pioneer2dx_base
-(
-  # this set of blocks approximates the shape of a real Pioneer
-
-  #  The geometry is from the Webots v5.3.0 manual. Thanks to Webots
-  #  and Olivier Michel. If Stage or Gazebo do not do what you want,
-  #  take a look at Webots. It's a very nice commercial simulator.
-
-  # main body
-  block
-  (
-    points 8
-    point[0] [ -0.185 -0.135 ]
-    point[1] [  0.095 -0.135 ]
-    point[2] [  0.11  -0.08  ]
-    point[3] [  0.11   0.08  ]
-    point[4] [  0.095  0.135 ]
-    point[5] [ -0.185  0.135 ]
-    point[6] [ -0.215  0.1   ]
-    point[7] [ -0.215 -0.1   ]
-    z [ 0.059 0.234 ]
-  )
-
-  # sonar case
-  block
-  (
-    points 9
-    point[0]  [ -0.135  0.136 ]
-    point[1]  [ -0.185  0.136 ]
-    point[2]  [ -0.223  0.101 ]
-    point[3]  [ -0.248  0.054 ]
-    point[4]  [ -0.258  0     ]
-    point[5]  [ -0.248 -0.054 ]
-    point[6]  [ -0.223 -0.101 ]
-    point[7]  [ -0.185 -0.136 ]
-    point[8]  [ -0.135 -0.136 ]
-    z [ 0.184 0.234 ]
-  )
-
-  # sonar case
-  block
-  (
-    points 9
-    point[0]  [ 0.046 -0.136 ]
-    point[1]  [ 0.096 -0.136 ]
-    point[2]  [ 0.134 -0.101 ]
-    point[3]  [ 0.159 -0.054 ]
-    point[4]  [ 0.168  0     ]
-    point[5]  [ 0.159  0.054 ]
-    point[6]  [ 0.134  0.101 ]
-    point[7]  [ 0.096  0.136 ]
-    point[8]  [ 0.046  0.136 ]
-    z [ 0.184 0.234 ]
-  )
-
-  # left wheel
-  block
-  (
-    points 4
-    point[0] [  0.083  0.177 ]
-    point[1] [ -0.083  0.177 ]
-    point[2] [ -0.083  0.140 ]
-    point[3] [  0.083  0.140 ]
-    z [0 0.165 ]
-    color "gray15"
-  )
-
-  # right wheel
-  block
-  (
-    points 4
-    point[0] [  0.083  -0.14 ]
-    point[1] [ -0.083  -0.14 ]
-    point[2] [ -0.083  -0.177 ]
-    point[3] [  0.083  -0.177 ]
-    z [ 0 0.165 ]
-    color "gray15"
-  )
-
-  # castor
-  block
-  (
-    points 4
-    point[3] [ -0.2475  0.012 ]
-    point[2] [ -0.1825  0.012 ]
-    point[1] [ -0.1825 -0.012 ]
-    point[0] [ -0.2475 -0.012 ]
-    z [ 0 0.065 ]
-    color "gray15"
-  )
-
-  # lid
-  block
-  (
-    points 22
-    point[21] [  0.174 0 ]
-    point[20] [  0.166 -0.056 ]
-    point[19] [  0.145 -0.107 ]
-    point[18] [  0.112 -0.155 ]
-    point[17] [  0.064 -0.190 ]
-    point[16] [  -0.074 -0.190 ]
-    point[15] [  -0.096 -0.160 ]
-    point[14] [  -0.151 -0.160 ]
-    point[13] [  -0.2   -0.155 ]
-    point[12] [  -0.236 -0.107 ]
-    point[11] [  -0.256 -0.056 ]
-    point[10] [  -0.264  0     ]
-    point[9] [  -0.256  0.056 ]
-    point[8] [ -0.236  0.107 ]
-    point[7] [ -0.2    0.155 ]
-    point[6] [ -0.151  0.160 ]
-    point[5] [ -0.096  0.160 ]
-    point[4] [ -0.074  0.190 ]
-    point[3] [  0.064  0.190 ]
-    point[2] [  0.112  0.155 ]
-    point[1] [  0.145  0.107 ]
-    point[0] [  0.166  0.056 ]
-    z [ 0.234 0.24 ]
-
-    # a dark top looks more realistic, but isn't very useful 
-    # for a top-down view
-    #color "gray10"
-  )
-)
-
-
-# define 10 straight bumpers around the edge of the robot
-#
-# (these angles are correct for p2dx but the offsets are approximate - RTV)
-# format: bumper[x] [x y th length radius] (zero radius gives a straight line)
-# WARNING: bumpers are not currently supported by Stage>=1.5
-# define pioneer2dxbumper bumper
-# ( 
-#   bumpers10
-#   bumper[0] [  0.17 -0.22  -52  0.105 0.0 ]
-#   bumper[1] [  0.24 -0.12  -19  0.105 0.0 ]
-#   bumper[2] [  0.26  0.00    0  0.105 0.0 ]
-#   bumper[3] [  0.24  0.12   19  0.105 0.0 ]
-#   bumper[4] [  0.17  0.22   52  0.105 0.0 ]
-#   bumper[5] [ -0.25  0.22  128  0.105 0.0 ]
-#   bumper[6] [ -0.32  0.12  161  0.105 0.0 ]
-#   bumper[7] [ -0.34  0.00  180  0.105 0.0 ]
-#   bumper[8] [ -0.32 -0.12  199  0.105 0.0 ]
-#   bumper[9] [ -0.25 -0.22  232  0.105 0.0 ]
-# )
-
-
-# The Pioneer3DX standard configuration
-define pioneer3dx pioneer_base
-(
-  # Actual size
-  size [0.511 0.4 0.22 ]
-
-  # The pioneer's center of rotation is offset from its center of area
-  origin [-0.04465 0.0 0.0]
-
-  # Estimated mass in KG
-  mass 23.0 
-
-  # Body shape:
-  block( 
-    points 8
-    point[0] [-0.2 0.12]
-    point[1] [-0.2 -0.12]
-    point[2] [-0.12 -0.2555]
-    point[3] [0.12 -0.2555]
-    point[4] [0.2 -0.12]
-    point[5] [0.2 0.12]
-    point[6] [0.12 0.2555]
-    point[7] [-0.12 0.2555]
-    z [0 0.22]
-  )
-
-  # Use the sonar array defined above
-  p3dx_sonar( pose [ 0 0 -0.03 0 ] )  
-)
-
-# The Pioneer3AT standard configuration
-define pioneer3at pioneer_base
-(
-  # Actual size
-  size [0.626 0.505]
-
-  # The pioneer's center of rotation is offset from its center of area
-  origin [-0.04465 0.0 0.0]
-
-  # Estimated mass in KG
-  mass 40.0
-
-  # Body shape:
-  block(
-    points 8
-    point[0] [-0.18 0.313]
-    point[1] [0.18 0.313]
-    point[2] [0.2525 0.18]
-    point[3] [0.2525 -0.18]
-    point[4] [0.18 -0.313]
-    point[5] [-0.18 -0.313]
-    point[6] [-0.2525 -0.18]
-    point[7] [-0.2525 0.18]
-  )
-
-  # Use the sonar array defined above
-  p3at_sonar( pose [ 0 0 -0.03 0 ] )  
-)
-
-
-### AMIGOBOT ####
-
-# The AmigoBot sonar array
-define amigo_sonar ranger
-(
-  scount 8
-  spose[0] [ 0.073 0.105 90 ]
-  spose[1] [ 0.130 0.078 41 ]
-  spose[2] [ 0.154 0.030 15 ]
-  spose[3] [ 0.154 -0.030 -15 ]
-  spose[4] [ 0.130 -0.078 -41 ]	
-  spose[5] [ 0.073 -0.105 -90 ]
-  spose[6] [ -0.146 -0.060 -145 ]
-  spose[7] [ -0.146 0.060 145 ]
-)
-
-define amigobot position
-(
-  size [0.330 0.280 0.25]
-  origin [0 0 0 0] # what should this value be? send email to vaughan@sfu.ca.
-  amigo_sonar( pose [0 0 -0.02 0 ] )
-)
diff --git a/world/sick.inc b/world/sick.inc
deleted file mode 100644
index 66ced3b..0000000
--- a/world/sick.inc
+++ /dev/null
@@ -1,77 +0,0 @@
-
-define sicklaser laser
-(
-  # laser-specific properties
-  # factory settings for LMS200	
-  range_min 0.0
-  range_max 8.0
-  fov 180.0
-  samples 361
-
-  #samples 90 # still useful but much faster to compute
-
-  # generic model properties
-  color "blue"
-  #size [ 0.156 0.155 0.19 ] # dimensions from LMS200 data sheet
-  #size [ 0.34 0.37  0.19 ] # make the laser the same size as the robot
-  size [0.44 0.38 0.19]
-
-  block(
-    points 8
-    point[0] [-0.2 0.12]
-    point[1] [-0.2 -0.12]
-    point[2] [-0.12 -0.2555]
-    point[3] [0.12 -0.2555]
-    point[4] [0.2 -0.12]
-    point[5] [0.2 0.12]
-    point[6] [0.12 0.2555]
-    point[7] [-0.12 0.2555]
-    z [0 0.19]
-  )
-)
-
-# extends sicklaser to add nice-looking but relatively expensive geometry
-define fancysicklaser sicklaser
-(
-  # bottom
-  block(
-    points 4
-    point[0] [ -0.02 -0.077 ]
-    point[1] [  0.078 -0.077 ]
-    point[2] [  0.078  0.077 ]
-    point[3] [ -0.02  0.077 ]
-    z [0 0.02 ]
-  )
-
-  # back
-  block(
-    points 4
-    point[0] [ -0.078 -0.077 ]
-    point[1] [ -0.02  -0.077 ]
-    point[2] [ -0.02   0.077 ]
-    point[3] [ -0.078  0.077 ]
-    z [0 0.21 ]
-  )
-
-  # top
-  block( points 4
-    point[0] [ -0.02 -0.077 ]
-    point[1] [  0.078 -0.077 ]
-    point[2] [  0.078  0.077 ]
-    point[3] [ -0.02  0.077 ]
-    z [0.12 0.21 ]  
-  )
-
-  # laser bit
-  block( points 4
-    point[0] [ -0.02 -0.05 ]
-    point[1] [  0.06 -0.05 ]
-    point[2] [  0.06 7 0.05 ]
-    point[3] [ -0.02  0.05 ]
-    z [0.02 0.12 ]
-   color "gray10"
-  )
-)
-
-
-