Archivo free.yaml contiene mapa para misión 4

cap4/free.yaml

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+# 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:
+- [4way    , 4way         , 4way     , 4way]
+- [4way    , 4way         , 4way     , 4way]
+- [4way    , 4way         , 4way     , 4way]
+- [4way    , 4way         , 4way     , 4way]
+
+# 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: duckie
+  pos: [2, 2]
+  rotate: -90
+  height: 0.08
+  optional: true
+
+tile_size: 1.0