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maniproject_big.world
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maniproject_big.world
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# simple.world - basic world file example
# Authors: Richard Vaughan, Mani
# $Id$
include "pioneer.inc"
include "map.inc"
speedup -1
paused 1
# stop Stage after x seconds, 0 = run forever
quit_time 3600.0
# low resolution gives fast raytracing. set this only as small as you need for your application
resolution 0.02
# this is very helpful if you have multiple CPUs - a good value is $(number of CPU cores) -
threads 2
# configure the GUI window
window
(
size [ 742.000 730.000 ] # in pixels
# scale 10.150
center [ 0 0 ]
rotate [ 0 0 ]
show_data 1 # 1=on 0=off
)
# load an environment bitmap
floorplan
(
name "blank"
size [80.000 80.000 0.800]
pose [0 0 0 0]
bitmap "bitmaps/rink.png"
)
#define agent pioneer2dx_front_sonar
#define agent pioneer3dx
#define agent pioneer2dx
#define agent fancypioneer2dx
define agent pioneer2dx_front_sonar
(
color "random"
# ctrl "pioneer_flocking"
ctrl "contribcircle"
fiducial_return 2
obstacle_return 0
# fiducial()
fiducial( range_max_id 5 range_max 5 fov 359 pose [ 0 0 0 0 ] )
# fiducial( range_max 1 fov 359 pose [ 0 0 0 0 ] )
localization "gps"
localization_origin [ 0 0 0 0 ]
gui_nose 1
drive "omni"
)
agent( pose [ -5 -3 0 0 ] )
agent( pose [ -5 5 0 0 ] )
agent( pose [ 5 3 0 0 ] )
agent( pose [ 7 -1 0 0 ] )
agent( pose [ 3 -3 0 0 ] )
agent( pose [ 5 -3 0 0 ] )
agent( pose [ -5 -5 0 0 ] )
agent( pose [ 5 -4.5 0 0 ] )
agent( pose [ 6.2 1.5 0 0 ] )
agent( pose [ -3.3 -0.5 0 0 ] )
agent( pose [ -3 -3 0 0 ] )
agent( pose [ 7 -2.2 0 0 ] )
agent( pose [ -6 -4 0 0 ] )
agent( pose [ -2 1.5 0 0 ] )
agent( pose [ -4 -1 0 0 ] )
agent( pose [ 8 2.2 0 0 ] )
agent( pose [ 6.5 0 0 0 ] )
agent( pose [ -7 -11 0 0 ] )
agent( pose [ -5 -3 0 0 ] )
agent( pose [ -5 5 0 0 ] )
agent( pose [ 5 3 0 0 ] )
agent( pose [ 7 -1 0 0 ] )
agent( pose [ 3 -3 0 0 ] )
agent( pose [ 5 -3 0 0 ] )
agent( pose [ -5 -5 0 0 ] )
agent( pose [ 5 -4.5 0 0 ] )
agent( pose [ 6.2 1.5 0 0 ] )
agent( pose [ -3.3 -0.5 0 0 ] )
agent( pose [ -3 -3 0 0 ] )
agent( pose [ 7 -2.2 0 0 ] )
agent( pose [ -6 -4 0 0 ] )
agent( pose [ -2 1.5 0 0 ] )
agent( pose [ -4 -1 0 0 ] )
agent( pose [ 8 2.2 0 0 ] )
agent( pose [ 6.5 0 0 0 ] )
agent( pose [ -7 -11 0 0 ] )