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rotorpy/worlds/README.md

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+# World Module
+
+Worlds are used to represent obstacles in the map. Maps are implemented as `.json` files using the following structure: 
+
+The world bounds are defined by the "bounds" key: 
+```
+{
+    "bounds": {"extents": [xmin, xmax, ymin, ymax, zmin, zmax]},
+
+```
+Obstacles are defined using cuboids. The cuboids are defined as follows: 
+```
+    "blocks": [
+        {"extents": [xmin, xmax, ymin, ymax, zmin, zmax], "color": [R, G, B]},
+        ...
+    ]
+}
+```
+where the "color" value is a specified by RGB values between 0 and 1. As an example: 
+```
+{"extents": [0, 1, -3, 2, 0, 10], "color": [0, 1, 0]}
+```
+will create a box with corners (0,-3,0), (0, 2,0), (0,-3,10), (0,2,10), (1,-3,0), (1,2,0), (1,-3,10), (1,2,10). In other words, a box that has LWH dimensions (1m)x(5m)x(10m). The `[0,1,0]` label indicates it will be rendered in green.