# 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 BlueROV2

# mass <kilos> <Vector3 centerOfMass>
mass 10 0 0 0

# model path, x y z offset, rotation about x y z axis
model bluerov2.obj 0 0 0 0 0 0

# Colliders
# collider <type> <Vector3 size> <Vector3 centre>
collider box 340 250 460 0 125 0


# psd <id> <name> <Vector3 pos> <Vector3 rot>
psd 1 PSD_FRONT 0 180 190  0 0   0
psd 2 PSD_LEFT  0 180 190  0 0 -90
psd 3 PSD_RIGHT 0 180 190  0 0  90
psd 4 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 0 190 180 0 0 90 90

# thruster <id> <name> <diameter> <maxSpeed> <Vector3 pos> <Vector3 rot>
thruster 1 THRUSTER_TOP_LEFT    100 1000 -110    0 200   0 0   0
thruster 2 THRUSTER_TOP_RIGHT   100 1000  110    0 200   0 0   0
thruster 3 THRUSTER_FRONT_LEFT  100 1000 -100  150 120  90 0  45
thruster 4 THRUSTER_FRONT_RIGHT 100 1000  100  150 120  90 0 -45
thruster 5 THRUSTER_BACK_LEFT   100 1000 -100 -150 120 -90 0 -45
thruster 6 THRUSTER_BACK_RIGHT  100 1000  100 -150 120 -90 0  45

# buoyancy <volume>
buoyancy 0.01025
