# Desc: Stage demo with lots of models. Works with everything.cfg.
# CVS: $Id: everything.world,v 1.84 2006/03/24 20:12:42 pooya Exp $

# the size of a pixel in Stage's underlying raytrace model in meters
resolution     0.02

interval_sim 100  # milliseconds per update step
interval_real 100 # real-time milliseconds per update step

# defines Pioneer-like robots
include "pioneer.inc"

# defines 'map' object used for floorplans
include "map.inc"

# defines the laser model `sick_laser' configured like a Sick LMS-200
include "sick.inc"

size [10 10 ]

gui_disable 0
gui_interval 100
gui_menu_interval 20

window( 
  size [ 600.000 600.000 ] 
  center [0 0] 
  scale 0.02 
)

map( 
  bitmap "bitmaps/vuoto.png" 
  map_resolution 0.2
  size [10 10] 
  name "vuoto"
)


# a block for gripping
define puck model(
  size [ 0.08 0.08 ]
  gripper_return 1
  gui_movemask 3
  gui_nose 0
  fiducial_return 10
)

# extend the pioneer2dx definition from pioneer.inc
#
define trickedoutpioneer pioneer2dx
(
  sick_laser(  
    pose [0.030 0.000 0.000 ]
    fiducialfinder( range_max 8 range_max_id 5 ) 

    ptz(
      blobfinder( 
        channel_count 6 
        channels [ "red" "blue" "green" "cyan" "yellow" "magenta" ]  
      )
    )
  )

  fiducial_return 1
  gripper_return 0

  localization "gps"
  localization_origin [ 0 0 0 ]
)


trickedoutpioneer
(
  name "robot1"
  pose [4 4 225]
  color "red"
  gripper( pose [0.200 0.000 0.000] color "gray" )
  speech()
)


trickedoutpioneer
(
  name "robot2"
  pose [-4 -4 45]
  color "blue"
  gripper( pose [0.200 0.000 0.000] color "gray" )
  speech()
)