map_eecs.json

{
    "bodies": [
      {
        "aabb": {
          "center": [
            2.5, 
            5.5, 
            0
          ], 
          "extents": [
            0.5, 
            4.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                0.5, 
                4.5, 
                1
              ], 
              "point": {
                "x": 2.5, 
                "y": 5.5, 
                "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": "e11", 
        "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": [
            4.5, 
            1.5, 
            0
          ], 
          "extents": [
            1.5, 
            0.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                1.5, 
                0.5, 
                1
              ], 
              "point": {
                "x": 4.5, 
                "y": 1.5, 
                "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": "e12", 
        "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": [
            4.5, 
            5.5, 
            0
          ], 
          "extents": [
            1.5, 
            0.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                1.5, 
                0.5, 
                1
              ], 
              "point": {
                "x": 4.5, 
                "y": 5.5, 
                "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": "e13", 
        "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": [
            4.5, 
            9.5, 
            0
          ], 
          "extents": [
            1.5, 
            0.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                1.5, 
                0.5, 
                1
              ], 
              "point": {
                "x": 4.5, 
                "y": 9.5, 
                "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": "e14", 
        "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": [
            8.5, 
            5.5, 
            0
          ], 
          "extents": [
            0.5, 
            4.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                0.5, 
                4.5, 
                1
              ], 
              "point": {
                "x": 8.5, 
                "y": 5.5, 
                "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": "e21", 
        "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": [
            10.5, 
            1.5, 
            0
          ], 
          "extents": [
            1.5, 
            0.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                1.5, 
                0.5, 
                1
              ], 
              "point": {
                "x": 10.5, 
                "y": 1.5, 
                "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": "e22", 
        "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": [
            10.5, 
            5.5, 
            0
          ], 
          "extents": [
            1.5, 
            0.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                1.5, 
                0.5, 
                1
              ], 
              "point": {
                "x": 10.5, 
                "y": 5.5, 
                "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": "e23", 
        "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": [
            10.5, 
            9.5, 
            0
          ], 
          "extents": [
            1.5, 
            0.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                1.5, 
                0.5, 
                1
              ], 
              "point": {
                "x": 10.5, 
                "y": 9.5, 
                "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": "e24", 
        "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": [
            14.5, 
            5.5, 
            0
          ], 
          "extents": [
            0.5, 
            4.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                0.5, 
                4.5, 
                1
              ], 
              "point": {
                "x": 14.5, 
                "y": 5.5, 
                "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": "c1", 
        "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": [
            16.5, 
            1.5, 
            0
          ], 
          "extents": [
            1.5, 
            0.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                1.5, 
                0.5, 
                1
              ], 
              "point": {
                "x": 16.5, 
                "y": 1.5, 
                "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": "c2", 
        "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": [
            16.5, 
            9.5, 
            0
          ], 
          "extents": [
            1.5, 
            0.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                1.5, 
                0.5, 
                1
              ], 
              "point": {
                "x": 16.5, 
                "y": 9.5, 
                "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": "c3", 
        "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": [
            20.5, 
            7.5, 
            0
          ], 
          "extents": [
            0.5, 
            2.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                0.5, 
                2.5, 
                1
              ], 
              "point": {
                "x": 20.5, 
                "y": 7.5, 
                "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": "s1", 
        "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": [
            23.5, 
            3.5, 
            0
          ], 
          "extents": [
            0.5, 
            2.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                0.5, 
                2.5, 
                1
              ], 
              "point": {
                "x": 23.5, 
                "y": 3.5, 
                "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": "s2", 
        "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": [
            21.5, 
            1.5, 
            0
          ], 
          "extents": [
            1.5, 
            0.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                1.5, 
                0.5, 
                1
              ], 
              "point": {
                "x": 21.5, 
                "y": 1.5, 
                "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": "s3", 
        "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": [
            22.5, 
            9.5, 
            0
          ], 
          "extents": [
            1.5, 
            0.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                1.5, 
                0.5, 
                1
              ], 
              "point": {
                "x": 22.5, 
                "y": 9.5, 
                "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": "s4", 
        "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": [
            22, 
            5.5, 
            0
          ], 
          "extents": [
            1, 
            0.5, 
            1
          ]
        }, 
        "links": [
          [
            {
              "color": {
              "a": 1.0, 
              "b": 0.550000011920929, 
              "g": 0.699999988079071, 
              "r": 0.8199999928474426
              }, 
              "extents": [
                1, 
                0.5, 
                1
              ], 
              "point": {
                "x": 22, 
                "y": 5.5, 
                "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": "s5", 
        "point": {
          "x": 0.0, 
          "y": 0.0, 
          "z": 0.0
        }, 
        "quat": {
          "w": 1.0, 
          "x": 0.0, 
          "y": 0.0, 
          "z": 0.0
        }
      }


    ], 
    "camera": {
      "point": {
        "x": 0.0, 
        "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
        }
      }
    ]
  }