# 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

# Omni-drive: Motors with encoders (FL,FR,BL,BR)
drive  OMNI_DRIVE  MOTOR_FL QUAD_FL  MOTOR_FR QUAD_FR  MOTOR_BL QUAD_BL  MOTOR_BR QUAD_BR
# drive DIFFERENTIAL_DRIVE

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

# robot diameter mm
diameter 375

# max linear velocity in mm/s
speed    600 	

# max rotational velocity in deg/s
turn     300	

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

# 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.
#axis     60

# psd sensor definition:
# "psd", id, name, relative position to robi center(x,y,z) in mm, x,y,z rotation in deg
psd 1 PSD_FRONT  120   0 50   0   0 0
psd 2 PSD_LEFT    0  160 50   0  90 0
psd 3 PSD_RIGHT   0 -160 50   0 -90 0
psd 4 PSD_BACK  -120   0 50   0 180 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	   115  0  105    0  0    80  60

# wheel diameter [mm], max. rotational velocity [deg/s], encoder ticks/rev., wheel-base distance [mm]
wheel  100  360  7300  220

