# robi description file for the EyeBot simulator EyeSim 6.0
# by Andreas Koestler, Thomas Braunl, 2004

# EyeSim 5.0 by Axel Waggershauser, Thomas Braunl, 2002
# inspired by the parameter file for EyeSim 1.0 by
# Thomas Braunl - Ghee Ong - Nicholas Tay, 1998

# the format: valid lines contain a keyword followed by a list of
# parameters seperated by white space. every line not starting with
# a keyword is ignored.

# every parameter describing a length is specified in milli meter
# every parameter describing a angle is specified in degree

drive  THRUSTER_DRIVE

# the name of the robi, the used string is the rest of the line
# behind the keyword without the surrounding white space
name Mako

# mass <kilos> <Vector3 centerOfMass>
mass 35 0 -100 0

# model path, x y z offset, rotation about x y z axis
model mako.obj 0 0 0 0 0 0

# Colliders
# collider <type> <Vector3 size> <Vector3 centre>
collider box 220 240 1690 0 225 0
collider box 810 170 310 0 300 -50
collider box 220 220 950 0 455 0
collider box 220 220 660 0 110 0

# PSD Sensors
psd 1 PSD_FRONT         0  700 100  0  0   0
psd 2 PSD_FRONT_LEFT -100  300 100  0  0 -90
psd 3 PSD_FRONT_RIGHT 100  300 100  0  0  90
psd 4 PSD_BACK_LEFT  -100 -300 100  0  0 -90
psd 5 PSD_BACK_RIGHT  100 -300 100  0  0  90
psd 6 PSD_DOWN        0      0   0 90  0   0

# color camera sensor definition:
# "camera", relative position to the robi center (x,y,z), default
# pan-tilt-angle (pan, tilt), maximum image width and height in pixel
camera 0 500 400 0 0 90 90

# thruster <id> <name> <diameter> <maxSpeed> <Vector3 pos> <Vector3 rot>
thruster 1 THRUSTER_LEFT  180 1000 -320 -170 290  90 0 0
thruster 2 THRUSTER_FRONT 180 1000    0  730 340   0 0 0
thruster 3 THRUSTER_RIGHT 180 1000  320 -170 290  90 0 0
thruster 4 THRUSTER_BACK  180 1000    0 -730 340   0 0 0

# buoyancy <volume>
buoyancy 0.036
