# Desc: Stage demo with lots of models. Works with everything.cfg.
# CVS: $Id: everything.world,v 1.87 2008-02-12 02:53:53 rtv Exp $

# the size of a pixel in Stage's underlying raytrace model in meters
resolution     0.04

include "pioneer.inc"
include "irobot.inc"
include "map.inc"
include "sick.inc"

window
( 
  size [ 700 700 ] 
  center [0 0] 
  scale 20

  show_data 1
)

floorplan
( 
  bitmap "bitmaps/autolab.png" 
  map_resolution 0.2
  size [30.000 30.000 08] 
  name "autolab"
)



# extend the pioneer2dx definition from pioneer.inc
#
define robotProj3 pioneer2dx
(
	ranger( alwayson 0 )

  sicklaser( pose [0.030 0 0 0 ]  alwayson 1 )

  gripper_return 0

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


robotProj3
(
  name "robotProj3"
  pose [-3 2 0 -2.333]

  gripper( pose [0.23 0.000 -0.20 0.000] color "gray" )
)