# 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"

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

# update the screen every 10ms
gui_interval 10

size [ 30 21 ] 

# configure the GUI window
window(
	size [ 755.000 600.000 ]
	center [0 0]
	scale 0.04
)


####USE THE PROPER MAP -- GRADS vs. UNDERGRADS

# UNDERGRAD version: load an environment bitmap
map(
	bitmap "bitmaps/Env-one-box.png"
	map_resolution 0.02
	size [30 21]
	name "Env-boxes"
)



# GRAD VERSION:  load an environment bitmap
#map(
#	bitmap "bitmaps/Env-boxes.png"
#	map_resolution 0.02
#	size [30 21]
#	name "Env-boxes"
#)

# define a robot type
define HW3pioneer pioneer2dx
(
  sick_laser
  (
    pose [0.030 0.000 0.000]
  )

  localization "gps"
  localization_origin [0 0 0]
)

# create a robot
HW3pioneer
(
  name "robot1"
  pose [-10 3 0 ]
  gripper(pose [0.200 0.000 0.000] color "gray")
)