# A simple world for a pioneer robot unit_length "m" # All units are in meters resolution .01 gui ( size [520 520] # the width and height of GUI in pixels # i.e. how big the window will be origin [2.5 2.5] # Where in the GUI the origin is at scale .01 # 1 pixel = 0.01 meters ) # This box is the world boundary. The robot lives inside it. box ( size [5.0 4.8] color "black" pose [2.5 2.5 0.0] ) # This is a brick, it's red so that we can figure this out later box ( size [0.27 0.09] # width, height color "red" pose [.3 .55 0] # x , y, angle ) # This is a brick box ( size [0.27 0.09] # width, height color "blue" pose [.6 .55 0] # x , y, angle ) # This is a brick box ( size [0.27 0.09] # width, height color "blue" pose [.9 .55 0] # x , y, angle ) # This is a brick box ( size [0.27 0.09] # width, height color "blue" pose [1.2 .55 0] # x , y, angle ) # This is a brick box ( size [0.27 0.09] # width, height color "blue" pose [1.5 .55 0] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [1.8 .55 0] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [2.1 .55 0] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [2.4 .55 0] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [2.7 .55 0] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [3 .55 0] # x , y, angle ) # This is the first vertical brick box ( size [0.28 0.09] # width, height color "red" pose [3.4 .55 90] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [3.55 .55 90] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [3.7 .55 90] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [3.85 .55 90] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [4 .55 90] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [4.3 .55 90] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [4.15 .55 90] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [4.45 .55 90] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [4.6 .55 90] # x , y, angle ) # This is a brick box ( size [0.28 0.09] # width, height color "blue" pose [4.75 .55 90] # x , y, angle ) # Your excellency, the robot itself include "sparko.inc" sparko ( color "red" name "Pioneer" port 6666 pose [2.0 1.5 -270] truth() )