# 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 ACKERMANN_DRIVE

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

# robot mass
#mass 6 0 5 5

# the file name of the OpenInventor model used for this robi
model ModelCar.obj 0 0 0 0 180 0

collider box 100 82 200 0 82 0
collider box 100 5 30 0 6 104

# axis is the distance between the center of the robi and the center of
# the robis axis, e.g. a value of 0 means the axis is in the center of
# the robi, if no value is given, it is set to 0.
axel drive 22.7 -94
axel turn  12.6 66.1


# psd sensor definition: (psd names are followed by id-number from "hdt_sem.h")
# "psd", id, name, relative position to robi center(x,y,z) in mm, x,y,z rotation in deg
#psd -200 PSD_FRONT  60   20	30    0  0  0
#psd -205 PSD_LEFT   56   45   30     0 -90 0
#psd -210 PSD_RIGHT  56  -45   30     0  90 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  200  0    0 0    640 480

# lidar position relative to robots centre x y z (in mm), and rotation x y z (in deg),
# angular range [1...360], tilt angle to driving plane (in deg, -90..90), number of points
lidar 0 100 100 0 0 0 180 0 1000


# Ackermann: Using motor for driving, servo for steering (0=45 d.left, 128=straight, 255=45 d.right)
# wheel diameter [mm], max. rotational velocity [deg/s], encoder ticks/rev., wheel-base distance [mm]
wheel drive 40  7200  640  44.5
wheel turn  28  7200  640  40.63


