#HW6.world

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

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

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

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

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


window( 
  size [ 950 500 ]
  center [0 0] 
  scale 23 
)

floorplan( 
  bitmap "bitmaps/hospital_section.png" 
  map_resolution 0.02
  size [40 18 0.8] 
  name "hospital"
)

# define a robot type
define HW6pioneer pioneer2dx
(
  sick_laser
  (
    pose [0.030 0.000 0.000]
	fiducialfinder(range_max 8 range_max_id 5)
  )

  fiducial_return 1
  localization "gps"
  localization_origin [0 0 0]
)

#define robot types
define DiffPioneer pioneer2dx
(
  sicklaser
  (
    pose [0.030 0.000 0.000 0 ]
   # alwayson 1
  )
  localization "gps"
  localization_origin [ 0 0 0 0 ]
)


#create a robot
DiffPioneer
(
  color "red"
  name "robot3"
  pose [-10.071 3.186 180 0]
  gripper(pose [0.200 0.000 0.000 0] color "red")
)