{
    "preload_models": [
        {
            "gen": false,
            "id": 1,
            "name": "biped_s42",
            "obj_type": 1,
            "description": "a biped robot model",
            "ability_code": ["move", "both_grab", "both_place", "identify", "turn", "head"]
        },
        {
            "gen": true,
            "id": 2,
            "name": "table1",
            "obj_type": 3,
            "description": "a table model",
            "pose": {
                "position": {
                    "x": 0,
                    "y": 2,
                    "z": 0.8
                },
                "orientation": {
                    "row": 0,
                    "pitch": 0,
                    "yaw": 0
                }
            }
        },
        {
            "gen": true,
            "id": 3,
            "name": "table2",
            "obj_type": 3,
            "description": "a table model",
            "pose": {
                "position": {
                    "x": 0,
                    "y": -2,
                    "z": 0.8
                },
                "orientation": {
                    "row": 0,
                    "pitch": 0,
                    "yaw": 0
                }
            }
        },
        {
            "gen": true,
            "id": 4,
            "name": "box",
            "obj_type": 2,
            "description": "a box model",
            "pose": {
                "position": {
                    "x": 0,
                    "y": 2,
                    "z": 1.0
                },
                "orientation": {
                    "row": 0,
                    "pitch": 0,
                    "yaw": 0
                }
            },
            "mass": 1,
            "size": {
                "length": 0.25,
                "width": 0.2,
                "height": 0.2
            },
            "tag_id": 1
        },
        {
            "gen": true,
            "id": 5,
            "name": "tag",
            "obj_type": 4,
            "description": "a tag model",
            "pose": {
                "position": {
                    "x": 0,
                    "y": -1.8,
                    "z": 1.6
                },
                "orientation": {
                    "row": 0,
                    "pitch": 1.57,
                    "yaw": 1.57
                }
            },
            "tag_id": 0
        }
    ]
}