# Desc: Test world file containing examples of pretty much every entity, #       showing how to include some pre-defined objects# Author: Andrew Howard, Richard Vaughan# Date: 4 Jun 2002# CVS: $Id: everything.world,v 1.12.4.1 2003/03/08 18:32:21 gerkey Exp $include "usc_pioneer.inc"include "beacons.inc"resolution 0.03## load an environmental bitmap#bitmap(  file "cave.pnm.gz"  resolution 0.03)## setup the window parameters#gui(  size [600.000 600.000]  origin [7.538 7.464]  scale 0.026  grid [0.2 1]  showgrid 1)## define a large colored cylinder object#define visionbeacon box (  shape "circle"   size [0.2 0.2]   color "red")laser( pose [ 2 2 0 ] port 7777 )laser( pose [ 3 2 0 ] port 7778 )## define primary colored pucks for moving with the gripper#define red_puck puck( color "red" )define green_puck puck( color "green" )define blue_puck puck( color "blue" )# generate some pioneer robots in USC configuariousc_pioneer(color "red" name "robot1" port 6665 pose [3.195 1.237 40 ]            mcom())usc_pioneer_gripper( color "green" name "robot2"                      port 6666 pose [3.753 7.901 -2.915 ])usc_pioneer_bumper( color "blue" name "robot3"                     port 6667 pose [7.950 1.381 89.451] )amigobot( color "red" name "amigo1" port 6670 pose [11.774 4.104 -135.514] )amigobot( color "red" name "amigo2" port 6671 pose [11.514 4.754 -121.652] )amigobot( color "red" name "amigo3" port 6672 pose [12.476 3.974 -126.121] )# generate some laser beaconslaserbeacon( pose [6.420 3.600 -143.139] fiducial_id 5 )laserbeacon( pose [3.040 4.260 -88.274] fiducial_id 7 )# generate some of the large cylinders we defined abovevisionbeacon( pose [3.679 1.813 0.000] color "cyan" )visionbeacon( pose [3.949 1.542 0.000] color "magenta" )visionbeacon( pose [3.331 1.952 0.000] color "yellow" )# generate some pucks we defined abovered_puck( pose [5.113 7.404 0.000] )red_puck( pose [4.612 7.890 0.000] )red_puck( pose [4.872 7.691 0.000] )red_puck( pose [5.345 7.694 0.000] )blue_puck( pose [5.328 8.232 0.000] )blue_puck( pose [5.103 8.475 0.000] )blue_puck( pose [4.869 8.197 0.000] )blue_puck( pose [5.058 7.898 0.000] )