maniproject.world

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

include "pioneer.inc"
include "map.inc"

speedup -1
paused 1

# stop Stage after x seconds, 0 = run forever
#quit_time 1200.0

# low resolution gives fast raytracing. set this only as small as you need for your application
resolution 0.02

# this is very helpful if you have multiple CPUs - a good value is $(number of CPU cores) - 
 threads 2

# configure the GUI window
window
(
  size [ 742.000 730.000 ] # in pixels
#  scale 10.150            
  center [ 0  0 ]
  rotate [ 0  0 ]
  show_data 1              # 1=on 0=off
)

# load an environment bitmap
floorplan
(				
  name "blank"
  size [40.000 40.000 0.800]
  pose [0 0 0 0]
  bitmap "bitmaps/rink.png"  
)

#define agent pioneer2dx_front_sonar
#define agent pioneer3dx
#define agent pioneer2dx
#define agent fancypioneer2dx
#define agent pioneer2dx_front_sonar
define agent pioneer2dx_base_no_sonar
(		  
  color "random"
#  ctrl "pioneer_flocking"
  ctrl "contribcircle"
  fiducial_return 2
  obstacle_return 0
#  fiducial()
  fiducial( range_max_id 9 range_max 9 fov 359 pose [ 0 0 0 0 ] )
#   fiducial( range_max 1 fov 359 pose [ 0 0 0 0 ] )  

  localization "gps"
  localization_origin [ 0 0 0 0 ]
  gui_nose 1
  drive "omni"
)

agent( pose [ -5 -3 0 0 ] )
agent( pose [ -5 5 0 0 ] )
agent( pose [ 5 3 0 0 ] )
agent( pose [ 7 -1 0 0 ] )
agent( pose [ 3 -3 0 0 ] )
agent( pose [ 5 -3 0 0 ] )

agent( pose [ -5 -5 0 0 ] )
agent( pose [ 5 -4.5 0 0 ] )
#agent( pose [ 6.2 1.5 0 0 ] )
#agent( pose [ -3.3 -0.5 0 0 ] )

#agent( pose [ -3 -3 0 0 ] )
#agent( pose [ 7 -2.2 0 0 ] )
#agent( pose [ -6 -4 0 0 ] )
#agent( pose [ -2 1.5 0 0 ] )

#agent( pose [ -4 -1 0 0 ] )
#agent( pose [ 8 2.2 0 0 ] )
#agent( pose [ 6.5 0 0 0 ] )
#agent( pose [ -7 -11 0 0 ] )