# defines Pioneer-like robots
include "/usr/local/share/stage/worlds/pioneer.inc"

# defines 'map' object used for floorplans
include "/usr/local/share/stage/worlds/map.inc"

# defines the laser model `sick_laser' configured like a Sick LMS-200
include "/usr/local/share/stage/worlds/sick.inc"

# set the resolution of the underlying raytrace model in meters
resolution 0.04

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

size [25 25]

gui_disable 0
gui_interval 100
gui_menu_interval 20

window( 
  size [ 850 900 ]
  center [0  0] 
  scale 0.03
)

map( 
  bitmap "/usr/local/share/stage/worlds/bitmaps/autolab.png" 
  map_resolution 0.02
  size [24 24] 
  name "autolab"
)

# define a robot type
define robotProj3 pioneer2dx
(
  sick_laser
  (
    pose [0.030 0.000 0.000]
  )

  gripper_return 0
  localization "gps"
  localization_origin [0 0 0]
)

# create a  robot
robotProj3
(
  color "red"
  name "robotProj3"
  pose [-3 2 250]
  gripper(pose [0.200 0.000 0.000] color "gray")
)