How to program Lidar with an angle to robot base

Hello,
.
I have a custom robot which has a 2 wheel robot base and a body with 2 trailing wheels . Lidar is mounted on to the body of the robot which is connected with a hinge joint to the base. So on the rotation of the robot , there is an angle between robot and the lidar. (hinge joint angle). When I get the hinge angle from unity to my code, tried writing it to the pose tree, as an angle between body and lidar , But robot gets lost while i navigate . Is there any documentations/ samples on how to program this lidar angle to the pos tree?

here is the config part in my robot json file (replacing carter.json)

“config”: {
“pose_initializers”: {
“body_initializer”: {
“lhs_frame”: “robot”,
“pose”: [
1.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.34
],
“rhs_frame”: “body”
}
},
“pose_initializers2”: {
“lidar_initializer”: {
“lhs_frame”: “body”,
“pose”: [
1.0,
0.0,
0.0,
0.0,
0.14,
0.0,
0.0
],
“rhs_frame”: “lidar”
}
},
“simulation.scenario_manager”: {
“scenario_manager”: {
“robot_name”: “carter”,
“robot_prefab”: “longboard”
}
}
}