willow.world

define block model
(
  size [0.5 0.5 0.75]
  gui_nose 0
)

define topurg ranger
(
  sensor
  (
    range_min 0.0
    range_max 30.0
    fov 270.25
    samples 1081
  )
  # generic model properties
  color "black"
  size [ 0.05 0.05 0.1 ]
)

define pr2 position
(
  size [0.65 0.65 0.25]
  origin [-0.05 0 0 0]
  gui_nose 1
  drive "omni"
  topurg(pose [0.275 0.000 0 0.000])
)

define floorplan model
(
  # sombre, sensible, artistic
  color "gray30"

  # most maps will need a bounding box
  boundary 1

  gui_nose 0
  gui_grid 0
#gui_movemask 0
  gui_outline 0
  gripper_return 0
  fiducial_return 0
  laser_return 1
)

# set the resolution of the underlying raytrace model in meters
resolution 0.01

interval_sim 100  # simulation timestep in milliseconds
#interval_real 100  # real-time interval between simulation updates in milliseconds 

window
( 
  size [ 745.000 448.000 ] 
#center [327.990 371.960] 
#rotate [ 0.000 -1.560 ]
  rotate [ 0.000 90.0 ]
  scale 18.806 
)

# load an environment bitmap
floorplan
( 
  name "willow"
  bitmap "willow.pgm"
  #size [58.05 45.625 1.0]
  size [56.3 45.625 1.0]
  #pose [-22.812 29.250 0 90.000]
  pose [29.25 22.812 0 0.0]
)

# throw in a robot
#pr2( pose [-27.950 15.629 0 90.0] name "pr2" color "blue")
pr2( pose [15.629 27.950 0 90.0] name "pr2" color "blue")
#block( pose [ -27.924 13.020 0 0.000 ] color "red")
block( pose [ 13.020 27.924 0 0.000 ] color "red")