From 88f35982b0fa4171e258dd8ccb5f469e02793833 Mon Sep 17 00:00:00 2001
From: armar6-demo <armar6-demo@kit.edu>
Date: Wed, 22 Jul 2020 10:54:33 +0200
Subject: [PATCH] Demo: Add new obstacle map
---
.../2d_scene_obstacles.json | 90 +++++++++++++++++++
.../r034_2d_scene_obstacles.json | 68 --------------
2 files changed, 90 insertions(+), 68 deletions(-)
create mode 100644 data/RobotAPI/obstacle_avoidance/2d_scene_obstacles.json
delete mode 100644 data/RobotAPI/obstacle_avoidance/r034_2d_scene_obstacles.json
diff --git a/data/RobotAPI/obstacle_avoidance/2d_scene_obstacles.json b/data/RobotAPI/obstacle_avoidance/2d_scene_obstacles.json
new file mode 100644
index 000000000..1f1e3df0c
--- /dev/null
+++ b/data/RobotAPI/obstacle_avoidance/2d_scene_obstacles.json
@@ -0,0 +1,90 @@
+[{
+ "name": "guard_frame_right",
+ "posX": 3170,
+ "posY": 2320,
+ "yaw": 0.0,
+ "axisLengthX": 150,
+ "axisLengthY": 750,
+ "refPosX": 3170,
+ "refPosY": 2320,
+ "safetyMarginX": 400,
+ "safetyMarginY": 400
+},{
+"name": "guard_corner_fix",
+ "posX": 3670,
+ "posY": 2820,
+ "yaw": 0.0,
+ "axisLengthX": 150,
+ "axisLengthY": 150,
+ "refPosX": 3170,
+ "refPosY": 2320,
+ "safetyMarginX": 400,
+ "safetyMarginY": 400
+},{
+ "name": "ctrl_table",
+ "posX": 4400,
+ "posY": 2000,
+ "yaw": 0.0,
+ "axisLengthX": 1500,
+ "axisLengthY": 150,
+ "refPosX": 3170,
+ "refPosY": 2000,
+ "safetyMarginX": 400,
+ "safetyMarginY": 400
+},{
+ "name": "guard_frame_left",
+ "posX": 100,
+ "posY": 3000,
+ "yaw": 0.0,
+ "axisLengthX": 200,
+ "axisLengthY": 2000,
+ "refPosX": 400,
+ "refPosY": 3550,
+ "safetyMarginX": 400,
+ "safetyMarginY": 400
+},{
+ "name": "guard_stander",
+ "posX": 305,
+ "posY": 6680,
+ "yaw": -0.23,
+ "axisLengthX": 700,
+ "axisLengthY": 200,
+ "refPosX": 305,
+ "refPosY": 6680,
+ "safetyMarginX": 400,
+ "safetyMarginY": 400
+},{
+ "name": "table_left",
+ "posX": 3700,
+ "posY": 4700,
+ "yaw": 0.75,
+ "axisLengthX": 550,
+ "axisLengthY": 300,
+ "refPosX": 4200,
+ "refPosY": 4900,
+ "safetyMarginX": 300,
+ "safetyMarginY": 300
+},{
+ "name": "table_right",
+ "posX": 4600,
+ "posY": 4700,
+ "yaw": -0.75,
+ "axisLengthX": 550,
+ "axisLengthY": 300,
+ "refPosX": 4200,
+ "refPosY": 4900,
+ "safetyMarginX": 400,
+ "safetyMarginY": 400
+},{
+ "name": "table_corner",
+ "posX": 3400,
+ "posY": 5216,
+ "yaw": 0,
+ "axisLengthX": 200,
+ "axisLengthY": 1000,
+ "refPosX": 3400,
+ "refPosY": 5216,
+ "safetyMarginX": 400,
+ "safetyMarginY": 400
+}
+]
diff --git a/data/RobotAPI/obstacle_avoidance/r034_2d_scene_obstacles.json b/data/RobotAPI/obstacle_avoidance/r034_2d_scene_obstacles.json
deleted file mode 100644
index 094d069bd..000000000
--- a/data/RobotAPI/obstacle_avoidance/r034_2d_scene_obstacles.json
+++ /dev/null
@@ -1,68 +0,0 @@
-[{
- "name": "scene_obstacle_1",
- "posX": 3170,
- "posY": 2320,
- "yaw": 0.0,
- "axisLengthX": 150,
- "axisLengthY": 750,
- "refPosX": 3170,
- "refPosY": 2320,
- "safetyMarginX": 300,
- "safetyMarginY": 150
-},{
- "name": "scene_obstacle_2",
- "posX": 4400,
- "posY": 2000,
- "yaw": 0.0,
- "axisLengthX": 1500,
- "axisLengthY": 150,
- "refPosX": 3170,
- "refPosY": 2000,
- "safetyMarginX": 300,
- "safetyMarginY": 300
-},{
- "name": "scene_obstacle_3",
- "posX": 300,
- "posY": 3000,
- "yaw": 0.0,
- "axisLengthX": 200,
- "axisLengthY": 2000,
- "refPosX": 400,
- "refPosY": 3550,
- "safetyMarginX": 300,
- "safetyMarginY": 300
-},{
- "name": "scene_obstacle_4",
- "posX": 1000,
- "posY": 5400,
- "yaw": 0.0,
- "axisLengthX": 700,
- "axisLengthY": 200,
- "refPosX": 1000,
- "refPosY": 5400,
- "safetyMarginX": 300,
- "safetyMarginY": 300
-},{
- "name": "scene_obstacle_5",
- "posX": 3700,
- "posY": 4700,
- "yaw": 0.75,
- "axisLengthX": 550,
- "axisLengthY": 300,
- "refPosX": 4200,
- "refPosY": 4900,
- "safetyMarginX": 300,
- "safetyMarginY": 300
-},{
- "name": "scene_obstacle_6",
- "posX": 4600,
- "posY": 4700,
- "yaw": -0.75,
- "axisLengthX": 550,
- "axisLengthY": 300,
- "refPosX": 4200,
- "refPosY": 4900,
- "safetyMarginX": 300,
- "safetyMarginY": 300
-}
-]
--
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