# 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 predator pioneer2dx
(
  sick_laser
  (
    pose [0.030 0.000 0.000]
    fiducialfinder(range_max 8 range_max_id 5)
  )

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

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

  fiducial_return 2
  gripper_return 0
  localization "gps"
  localization_origin [0 0 0]
)

# create a predator robot
predator
(
  color "red"
  name "predator1"
  pose [-7  4.5 10]
  gripper(pose [0.200 0.000 0.000] color "gray")
)

# create a predator robot
predator
(
  color "red"
  name "predator2"
  pose [-10 2 100]
  gripper(pose [0.200 0.000 0.000] color "gray")
)

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