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