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

# time to pause (in GUI mode) or quit (in headless mode (-g)) the simulation
quit_time 3600 # 1 hour of simulated time

paused 1

# spatial resolution of the underlying occupancy grid. Default is 0.02m.
resolution 0.02

# set the multiple of real time that Stage should try to achieve. Default is 1. 
# set to 0 to go as fast as possible.
speedup 1 

# configure the GUI window
window
(
  size [ 700.000 700.000 ] # in pixels
  scale 20  # pixels per meter
  center [ 0  0 ]
  rotate [ 0  0 ]
  			
  show_data 1              # 1=on 0=off
)

# load an environment bitmap
floorplan
( 
  bitmap "bitmaps/wavy-world.png"
  map_resolution 0.02
  name "simplerooms"
  size [30.000 30.000 0.800]
  pose [0 0 0 0]
)


pioneer2dx
(		  
  # can refer to the robot by this name
  name "r0"
  pose [ -12.0 -12.0 0 45.000 ] 
  gripper(pose [0.200 0.000 0.000 0] color "red")
  # pioneer2dx's sonars	will be ranger:0 and the laser will be ranger:1
  sicklaser( pose [ 0 0 0 0 ] ) 
 
  # report error-free position in world coordinates
  localization "gps"
  localization_origin [ 0 0 0 0 ]
)