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map_lturn.json
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{
"bodies": [
{
"aabb": {
"center": [
10,
-2,
0
],
"extents": [
6,
1,
1
]
},
"links": [
[
{
"color": {
"a": 1.0,
"b": 0.550000011920929,
"g": 0.699999988079071,
"r": 0.8199999928474426
},
"extents": [
6,
1,
1
],
"point": {
"x": 10,
"y": -2,
"z": 0
},
"quat": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"specular": [
0.0,
0.0,
0.0
],
"type": "box"
}
]
],
"name": "midWall1",
"point": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"quat": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
{
"aabb": {
"center": [
8,
2,
0
],
"extents": [
4,
1,
1
]
},
"links": [
[
{
"color": {
"a": 1.0,
"b": 0.550000011920929,
"g": 0.699999988079071,
"r": 0.8199999928474426
},
"extents": [
4,
4,
1
],
"point": {
"x": 8,
"y": 5,
"z": 0
},
"quat": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"specular": [
0.0,
0.0,
0.0
],
"type": "box"
}
]
],
"name": "midWall2",
"point": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"quat": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
{
"aabb": {
"center": [
8,
2,
0
],
"extents": [
4,
1,
1
]
},
"links": [
[
{
"color": {
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},
"extents": [
1,
5,
1
],
"point": {
"x": 15,
"y": 4,
"z": 0
},
"quat": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"specular": [
0.0,
0.0,
0.0
],
"type": "box"
}
]
],
"name": "midWall3",
"point": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"quat": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
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}
}
],
"camera": {
"point": {
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"y": -4.0,
"z": 5.0
},
"quat": {
"w": -0.3006393848790935,
"x": 0.9537378886567945,
"y": 0.0,
"z": 0.0
}
},
"name": "simple",
"robots": [
{
"conf": {
"bl_caster_l_wheel_joint": [
0.0
],
"bl_caster_r_wheel_joint": [
0.0
],
"bl_caster_rotation_joint": [
0.0
],
"br_caster_l_wheel_joint": [
0.0
],
"br_caster_r_wheel_joint": [
0.0
],
"br_caster_rotation_joint": [
0.0
],
"fl_caster_l_wheel_joint": [
0.0
],
"fl_caster_r_wheel_joint": [
0.0
],
"fl_caster_rotation_joint": [
0.0
],
"fr_caster_l_wheel_joint": [
0.0
],
"fr_caster_r_wheel_joint": [
0.0
],
"fr_caster_rotation_joint": [
0.0
],
"head_pan_joint": [
0.0
],
"head_tilt_joint": [
0.0
],
"l_elbow_flex_joint": [
-2.32099996
],
"l_forearm_roll_joint": [
3.5407791217927564e-33
],
"l_gripper_l_finger_joint": [
0.0
],
"l_shoulder_lift_joint": [
1.29023451
],
"l_shoulder_pan_joint": [
0.0
],
"l_upper_arm_roll_joint": [
0.0
],
"l_wrist_flex_joint": [
-0.69800004
],
"l_wrist_roll_joint": [
2.076803138743828e-33
],
"laser_tilt_mount_joint": [
0.0
],
"r_elbow_flex_joint": [
-2.32100002
],
"r_forearm_roll_joint": [
3.5407791217927564e-33
],
"r_gripper_l_finger_joint": [
0.0
],
"r_shoulder_lift_joint": [
1.27843491
],
"r_shoulder_pan_joint": [
0.0
],
"r_upper_arm_roll_joint": [
0.0
],
"r_wrist_flex_joint": [
-0.69799996
],
"r_wrist_roll_joint": [
2.076803138743828e-33
],
"torso_lift_joint": [
0.011499999999999955
]
},
"name": "pr2",
"point": {
"x": -3.4,
"y": -1.4,
"z": 0.05
},
"quat": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
]
}