Robi file:
# 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  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 LIDARBOT

# robot mass
mass 50 0 30 -30

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


# Front
collider box 95 74 65 0 46 -50 
# Back
collider box 95 40 30 0 30 60
collider capsule 10 50 0 21 -60

# 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 22.7 10.8

# psd sensor definition:
# "psd", id, name, relative position to robi center (r, f, u) in mm (r right, f forward, u up]
# R,U,F axis rotations in deg [clockwise is positive]
psd 1 PSD_FRONT    0  60 30     0  0    0
psd 2 PSD_LEFT    45  60 30     0  0  -90
psd 3 PSD_RIGHT  -45  60 30     0  0   90
psd 4 PSD_BACK     0 -60 30     0  0 -180
psd 5 PSD_FL      45  60 30     0  0  -45
psd 6 PSD_FR     -45  60 30     0  0   45
psd 7 PSD_FFL     45  60 30     0  0  -25
psd 8 PSD_FFR    -45  60 30     0  0   25


# 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 62 0 60 0 0 482 162

# wheel diameter [mm], max. rotational velocity [deg/s], encoder ticks/rev., wheel-base distance [mm]
wheel  54  3600  1100  45

# lidar pos relative to robot centre x y z [mm], rotation x y z [deg]
# angular range [1..360], tilt angle to driving plane [-90°..+90°], number of data points
lidar  0 0 100  0 0 0  180 10 180
