
# Desc: Test world file with a fully loaded robot.
# Author: Andrew Howard, Richard Vaughan
# Date: 4 Jun 2002
# CVS: $Id: test.world 1384 2003-05-10 00:42:15Z gerkey $

resolution 0.03

bitmap
(
  file "cave.pnm.gz"
  resolution 0.03
)

position
(
  port 0
  name "robot 0"  
  pose [4.990 2.090 90.000]

  broadcast ()
  gps () truth ()
  sonar ()
  laser (lbd()) 
  ptz (vision())
)


position
(
  port 1
  name "robot 1"  
  pose [5.990 2.090 90.000]

  broadcast ()
  gps () truth ()
  sonar ()
  laser (lbd()) 
  ptz (vision())
)

define visionbeacon box (color "red" shape "circle" size [0.2 0.2])

visionbeacon (color "red" pose [4.490 3.030 0.000])
visionbeacon (color "green" pose [5.060 2.990 0.000])
visionbeacon (color "blue" pose [5.630 2.980 0.000])
