# 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 "BMW-X5"

# robot mass
mass 2000 0 500 500

# the file name of the OpenInventor model used for this robi
model BMW-X5.obj 0 0 0 0 -90 0

#x_size y_size z_size x_centre y_centre z_centre
# All values are in millimetres, and are in model space. ( X is right, Y is up, Z is the forwards)
collider box 1200  250 1500 0 750 1000
collider box 1200 1000 2000 0 800 -750
collider box 1200  350  200 0 450 1650


# 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  1750  750    0  20    80  60

# Up and forwards are positive values for the offset.
#axis vertical_offset horizontal_offset
axel turn 300 1150
axel drive 300 -1070

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

# Ackermann: Using motor for driving, servo for steering (0=45 d.left, 128=straight, 255=45 d.right)

