# Desc: Stage demo with lots of models. Works with everything.cfg.
# CVS: $Id: everything.world,v 1.85 2006/03/29 05:11:00 rtv Exp $

# the size of a pixel in Stage's underlying raytrace model in meters
resolution     0.02

interval_sim 100  # milliseconds per update step
interval_real 100 # real-time milliseconds per update step

# defines Pioneer-like robots
include "rit-pioneer.inc"

# defines 'map' object used for floorplans
include "map.inc"

size [131.2 41]

gui_disable 0
gui_interval 100
gui_menu_interval 20

window( 
  size [ 960.000 300.000 ] 
  scale 0.14 
)

map( 
  bitmap "bitmaps/3large.png" 
  map_resolution 0.082
  size [131.2 41] 
  name "golisano"
)

pioneer2dx
(
  name "p0"
  color "red"
  pose [-15.5 12 0]
)
pioneer2dx
(
  name "p1"
  color "green"
  pose [-16.5 12 180]
)
pioneer2dx
(
  name "p2"
  color "cyan"
  pose [-5 -10.5 0]
)
pioneer2dx
(
  name "p3"
  color "magenta"
  pose [7.5 1 90]
)
pioneer2dx
(
  name "p4"
  color "yellow"
  pose [-48 12 90]
)
pioneer2dx
(
  name "p5"
  color "grey"
  pose [-48 -10.5 270]
)
pioneer2dx
(
  name "p6"
  color "blue"
  pose [7.5 -5 90]
)
pioneer2dx
(
  name "p7"
  color "white"
  pose [0 -7 270]
)