{
  "basicSpeed": 0.2,
  "DriveTaskInterval": 50,
  "script": "MultiWheelC.dll",
  "detourHost": "127.0.0.1",
  "detourPort": 4421,
  "msConf": {
    "MultiVehicleMasterEndpoint": "127.0.0.1:8008",
    "MultiVehicleFleetNum": 2,
    "MultiVehicleSyncInterval": 50,
    "TestCarSyncDistance": 2400,
    "TestCarSyncTh": 0,
    "ManualCarSyncVxFac": 1.0,
    "ManualCarSyncVthFac": 1.0,
    "SyncThAccPerSec": 30,
    "PosAvailable": true,
    "SimpleIp": "127.0.0.1",
    "CarNum": 2
  },
  "layout": {
    "chassis": {
      "width": 1000,
      "length": 1550,
      "contour": [
        750, -500, -750, -500, -750, -300, -800, -280, -800, -220,
        -750, -200, -750, 200, -800, 220, -800, 280, -750, 300,
        -750, 500, 750, 500
      ]
    },
    "components": [
      {
        "type": "lidar2d",
        "options": {
          "name": "front_lidar_2",
          "x": 700, "y": 0, "yaw": 0, "z": 0, "pitch": 0, "roll": 0,
          "isCircle": false, "ignoreDist": 100, "maxDist": 200000,
          "filterChassis": true
        }
      },
      {
        "type": "lidar2d",
        "options": {
          "name": "rear_left_lidar_2",
          "x": -700, "y": 450, "yaw": 180, "z": 0, "pitch": 0, "roll": 0,
          "isCircle": false, "ignoreDist": 100, "maxDist": 200000,
          "filterChassis": true
        }
      },
      {
        "type": "lidar2d",
        "options": {
          "name": "rear_right_lidar_2",
          "x": -700, "y": -450, "yaw": 180, "z": 0, "pitch": 0, "roll": 0,
          "isCircle": false, "ignoreDist": 100, "maxDist": 200000,
          "filterChassis": true
        }
      }
    ]
  }
}