# 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 SAE

# robot mass
mass 600 0 500 500

# the file name of the OpenInventor model used for this robi
model SAE.obj 0 0 0 -90 0 0

collider box 400 800 300 0 700 -550 
collider box 600 450 1700 0 230 10 

# 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 turn 250 735
axel drive 250 -800

# 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 1000 0 0 0 482 162

# 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 1000 100 0 0 0 180 0 1000

# wheel diameter [mm], max. rotational velocity [deg/s], encoder ticks/rev., wheel-base distance [mm]
wheel drive 600  2000  1100 666
wheel turn 600  2000 1100 666

