Field model: work/field/missions.json

The map of the mat, in inches, on a 1 in grid. Origin (0, 0) = bottom-left corner as seen from your launch side; +x right, +y up. Headings: 0 = far wall, clockwise positive.

Today the hub code does not read this file (the hub can't parse JSON). The simulator reads mat and robot; the planned editor/code generator will use the rest (see the roadmap). Keep it filled in anyway: it's the team's source of truth for coordinates.

Sections

Key	Contents
season	season name
mat	width_in (long side, default 93), height_in (default 45), grid_in (1)
robot	wheel_diameter_mm, axle_track_mm, footprint_in {width, length}, center_offset_in {forward} (tracked point, in front of the axle)
launch_areas[]	id, name, polygon (≥ 3 [x, y] corners), default_start_pose {x, y, heading}
alignment_features[]	walls / black lines the robot can square against: id, type, segment [[x,y],[x,y]], note
missions[]	id (e.g. M01), name, points, polygon (footprint of the model), approach {x, y, heading} (where to stop before doing it), attachment, notes
obstacles[]	non-mission things to drive around: id, polygon, note
runs[]	id, start (launch area id), missions (ids), waypoints, notes

Placeholder values to replace

season, robot.footprint_in (0), center_offset_in, all launch_areas polygons (zeros), the M00_example mission (delete it), the example obstacle. Measure real values (see the Robolyst task list) and edit the file.

Example mission entry

{
  "id": "M03",
  "name": "Swing the crane",
  "points": 20,
  "polygon": [[40, 20], [46, 20], [46, 26], [40, 26]],
  "approach": {"x": 43, "y": 16, "heading": 0},
  "attachment": "A",
  "notes": "push the lever with attachment A"
}

Then in a run: drive_to(43, 16, 8), turn_to(0), drive(4, 4).