# populated world for Bigbob robot
# Author: Jennifer Owen

include "map.inc"
include "bigbob.inc"

# size of the whole simulation
size [15 15]


# configure the GUI window
window
( 
	size [ 700.000 700.000 ] 
	scale 0.025
)


# load an environment bitmap
map
(
  bitmap "bitmaps/cave.png"
  size [15 15]	
)

bigbob
(
	name "bob1"
	pose [-5 -6 45]
	color "green"
)


define orange model
(
	# this is a picture of a black circle
	bitmap "bitmaps/circle.png"
	size [0.15 0.15]
	color "orange"
	
	gui_outline 0
	gripper_return 1
)

define carton model
(
	# a carton is retangular
	# so make a square shape and use size[]
	polygons 1
	polygon[0].points 4
	polygon[0].point[0] [0 0]
	polygon[0].point[1] [0 1]
	polygon[0].point[2] [1 1]
	polygon[0].point[3] [1 0]
	
	# average litre carton size is ~ 20cm x 10cm x 5cm
	size [0.1 0.2]
	
	color "DarkBlue"
	gripper_return 1
)

orange(name "orange1" pose [-1 -5 0])
orange(name "orange2" pose [-2 -5 0])
orange(name "orange3" pose [-3 -5 0])
orange(name "orange4" pose [-4 -5 0])

carton(name "carton1" pose [-2 -4 0])
carton(name "carton2" pose [-2 -3 0])
carton(name "carton3" pose [-2 -2 0])
carton(name "carton4" pose [-2 -1 0])