# robi description file for the EyeBot simulator EyeSimVR 1.0

# 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
# angles are rotations about axis. Z is forwards, Y is up, X is right

# motors and encoders for low level drive routines
# Diff.-drive: left motor, left encoder, right motor, right encoder
drive DIFFERENTIAL_DRIVE MOTOR_LEFT QUAD_LEFT  MOTOR_RIGHT QUAD_RIGHT

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

# robot mass
mass 50 0 0 -10

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

# collider Size x y z Centre x y z
collider box 130 80 170 0 40 0
collider capsule 5 40 0 17 -30
collider capsule 29 40 0 110 45

# 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 y (vertical) z (forward)
#axis 160 100

# psd sensor definition:
# id-num has to match file "hdt.h"
# "psd", name, id, relative position to robi center(x,y,z) in mm, angle in x-y plane in deg
# "psd", id, name, relative position to robi center(x,y,z) in mm, x,y,z rotation in deg
psd 1 PSD_FRONT 65 0 62 0 0 0 
psd 2 PSD_LEFT 45 25 62 0 90 0
psd 3 PSD_RIGHT 45 -25 62 0 -90 0
psd 4 PSD_BACK -40 0 62 0 180 0
#psd 5 PSD_FRONT2  5 80	62 0 -5 0
#psd 6 PSD_LEFTDIAG 45 80 62 0 0 0
#psd 7 PSD_RIGHTDIAG -45 80	62 0 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 70 0 111 0 -10 80 60

# wheel diameter [mm], max. rotational velocity [deg/s], encoder ticks/rev., wheel-base distance [mm]
wheel 50 3600 540 60

