# 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()
)