Added new coursework, cleaned up structure

OSU Coursework/ROB 456 - Intelligent Robotics/Homework 3 - Part 1 - Occupancy Grids/worlds/manyDotsNoisyOdom.world

@@ -0,0 +1,73 @@
+define block model
+(
+  size [0.5 0.5 0.5]
+  gui_nose 0
+)
+
+define topurg ranger
+(
+	sensor( 			
+    range [ 0.0  20.0 ]
+    fov 270.25
+   samples 1081
+  )
+
+  # generic model properties
+  color "black"
+  size [ 0.05 0.05 0.1 ]
+)
+
+define erratic position
+(
+  #size [0.415 0.392 0.25]
+  size [0.35 0.35 0.25]
+  origin [-0.05 0 0 0]
+  gui_nose 0
+  drive "diff"
+  localization "odom"
+  topurg(pose [ 0.050 0.000 0 0.000 ])
+  odom_error [0.05 0.05 0.01 0.02 0.01 0.02]
+)
+
+define floorplan model
+(
+  # sombre, sensible, artistic
+  color "gray30"
+
+  # most maps will need a bounding box
+  boundary 1
+
+  gui_nose 0
+  gui_grid 0
+
+  gui_outline 0
+  gripper_return 0
+  fiducial_return 0
+  laser_return 1
+)
+
+# set the resolution of the underlying raytrace model in meters
+resolution 0.005
+
+interval_sim 100  # simulation timestep in milliseconds
+
+
+window
+( 
+  size [ 745.000 448.000 ] 
+
+  rotate [ 0.000 0.000 ]
+  scale 5
+)
+
+# load an environment bitmap
+floorplan
+( 
+  name "manyDots"
+  bitmap "manyDots.pgm"
+  size [54.0 58.7 0.5]
+  pose [ 0 0.0 0 90.000 ]
+)
+
+# throw in a robot
+erratic( pose [ -10.000 10.000 0 90.000 ] name "era" color "blue" localizaion "gps" localization_origin [0 0 0 0])