define bigbobs_sonars ranger
(
	# number of sonars
	scount 4
	# define the pose of each transducer [xpos ypos heading]
	spose[0] [ 0.75 0.1875 0 ] #fr left tooth
	spose[1] [ 0.75 -0.1875 0 ] #fr right tooth
	spose[2] [ 0.25 0.5 30] # left corner
	spose[3] [ 0.25 -0.5 -30] # right corner
	# define the field of view of each transducer
	# [range_min range_max view_angle]
	sview [0.3 2.0 10]
	# define the size of each transducer [xsize ysize] in metres
	ssize [0.01 0.05]
)

# bigbob's body
define bigbob position
(
	# Bigbob's centre of rotation is offset from its centre of area
	origin [.125 0 0 0]
	# estimated mass in KG
	mass 15.0
	# the shape of Bigbob
	# actual size
	size [1.25 1 1]

	# the shape of Bigbob
	block
	(
		points 6
		point[0] [0 0]
		point[1] [0 1]
		point[2] [0.75 1]
		point[3] [1 0.75]
		point[4] [1 0.25]
		point[5] [0.75 0]
		z [0 .22]
	)
	# first tooth
	block
	(
		points 4
		point[0] [1 0.75]
		point[1] [1.25 0.75]
		point[2] [1.25 0.625]
		point[3] [1 0.625]
		z [0 .22]
	)
	# second tooth
	block
	(
		points 4
		point[0] [1 0.375]
		point[1] [1.25 0.375]
		point[2] [1.25 0.25]
		point[3] [1 0.25]
		z [0 .22]
	)
	blobfinder
	(
		# number of colours to look for
		colors_count 2
		# which colours to look for
		colors ["orange" "blue"]
		# camera parameters
		image [160 120] #resolution
		range 5.00
		fov 3.14159/3 # 60 degrees = pi/3 radians
	)
	#bigbobs_sonars()
)