Revision: 7818
http://playerstage.svn.sourceforge.net/playerstage/?rev=7818&view=rev
Author: rtv
Date: 2009-06-08 07:00:15 +0000 (Mon, 08 Jun 2009)
Log Message:
-----------
cleaning up world files
Added Paths:
-----------
code/stage/trunk/worlds/SFU.world
Added: code/stage/trunk/worlds/SFU.world
===================================================================
--- code/stage/trunk/worlds/SFU.world (rev 0)
+++ code/stage/trunk/worlds/SFU.world 2009-06-08 07:00:15 UTC (rev 7818)
@@ -0,0 +1,65 @@
+# simple.world - basic world file example
+# Authors: Richard Vaughan
+# $Id$
+
+include "pioneer.inc"
+include "map.inc"
+include "sick.inc"
+
+interval_sim 100 # simulation timestep in milliseconds
+interval_real 20 # real-time interval between simulation updates in
milliseconds
+
+quit_time 1800
+
+paused 0
+
+resolution 0.02
+
+# configure the GUI window
+window
+(
+ size [ 635.000 666.000 ] # in pixels
+ scale 46.931
+ # pixels per meter
+ center [ 0.349 -1.327 ]
+ rotate [ 0 0 ]
+
+ show_data 1 # 1=on 0=off
+)
+
+# load an environment bitmap
+floorplan
+(
+ name "cave"
+ size [200.000 130.000 0.800]
+ pose [0 0 0 0]
+ bitmap "bitmaps/SFU_800x600.png"
+)
+
+
+define wanderer pioneer2dx
+(
+ sicklaser( samples 32 )
+ ctrl "wander"
+
+ # report error-free position in world coordinates
+ localization "gps"
+ localization_origin [ 0 0 0 0 ]
+)
+
+wanderer( pose [ 2.022 0.847 0 0 ] )
+wanderer( pose [ -1.986 2.410 0 108.862 ] )
+wanderer( pose [ -1.259 -0.947 0 -91.673 ] )
+wanderer( pose [ 0.572 1.794 0 105.997 ] )
+wanderer( pose [ 0.671 -1.257 0 -80.214 ] )
+wanderer( pose [ 1.765 -0.661 0 -28.648 ] )
+wanderer( pose [ -0.532 1.129 0 97.403 ] )
+wanderer( pose [ -0.178 0.170 0 -37.242 ] )
+wanderer( pose [ -0.331 2.500 0 88.809 ] )
+wanderer( pose [ -0.213 -1.215 0 -57.296 ] )
+wanderer( pose [ 0.850 0.469 0 40.107 ] )
+wanderer( pose [ -1.282 1.875 0 111.727 ] )
+wanderer( pose [ -3.071 0.661 0 171.887 ] )
+wanderer( pose [ -1.763 1.151 0 134.645 ] )
+wanderer( pose [ -1.764 -0.128 0 168.059 ] )
+wanderer( pose [ -2.084 -1.044 0 -143.239 ] )
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