Permalink
Find file Copy path
Fetching contributors…
Cannot retrieve contributors at this time
98 lines (90 sloc) 2.74 KB
# The following section defines the grid layout.
#
# Each row is an array of tiles descriptions.
# The top-left tile in this file maps to coordinates (0, 0) in the world
# Each tile contains a string with the kind of tile and its orientation.
# The orientations are North, South, East, West. This is the direction in
# which the agent is expected to drive when going onto this tile.
tiles:
- [floor , floor , floor , floor , floor , floor , floor , floor]
- [floor , curve_left/W , straight/W, 3way_left/W , straight/W, straight/W , curve_left/N , asphalt]
- [floor , straight/S , grass , straight/N , asphalt , asphalt , straight/N , asphalt]
- [floor , 3way_left/S , straight/W, 3way_left/N , asphalt , asphalt , straight/N , asphalt]
- [floor , straight/S , grass , straight/N , asphalt , curve_right/N , curve_left/E , asphalt]
- [floor , curve_left/S , straight/E, 3way_left/E , straight/E, curve_left/E , asphalt , asphalt]
- [floor , floor , floor , floor , floor , floor , floor , floor]
# The following is a listing of 3D objects placed on the map
#
# pos: object positions are scaled according to the tile size, so
# that (1.5, 2.5) would be exactly in the middle of tile (1, 2)
# height: Objects can be scaled according to their real-world height in meters
# Duckietown tiles are 61cm, or 0.61 meter
# rotate: the rotation angle determine the object's orientation
# a positive rotation angle corresponds to a counter-clockwise
# (leftward) rotation. The angles are in degrees.
# Models should, at angle 0, face towards the positive X axis.
objects:
- kind: tree
pos: [2.5, 4.5]
rotate: 180
height: 0.25
optional: true
- kind: duckie
pos: [2.5, 2.9]
rotate: -90
height: 0.08
optional: true
- kind: sign_stop
pos: [2.08, 4.05]
rotate: 90
height: 0.18
- kind: sign_left_T_intersect
pos: [0.94, 3.96]
rotate: 90
height: 0.18
- kind: sign_stop
pos: [2.08, 2.96]
rotate: -90
height: 0.18
- kind: sign_right_T_intersect
pos: [0.94, 3.05]
rotate: -90
height: 0.18
- kind: sign_stop
pos: [0.94, 4.05]
rotate: 0
height: 0.18
- kind: sign_T_intersect
pos: [0.94, 2.96]
rotate: 0
height: 0.18
- kind: house
pos: [4.8, 2.6]
rotate: 90
height: 0.5
optional: true
- kind: truck
pos: [1.6, 6.3]
rotate: 0
height: 0.2
optional: true
- kind: bus
pos: [2.0, 0.5]
rotate: 0
height: 0.18
optional: true
- kind: bus
pos: [4, 0.5]
rotate: 0
height: 0.18
optional: true
- kind: bus
pos: [6.0, 0.5]
rotate: 0
height: 0.18
optional: true
- kind: truck
pos: [7.5, 0.5]
rotate: 180
height: 0.2
optional: true