Fix find init pose for right perp. parking

[hubacji1/iamcar.git] / lpar.json

diff --git a/lpar.json b/lpar.json
index 59ab23db957d20f1fba3ce410a353a1092184f3b..0e11fe262f494eaa638c4ac75381cc4295dfa8d0 100644 (file)
--- a/lpar.json
+++ b/lpar.json
@@ -1,6 +1,15 @@
 {
         "init": [1.1, 6.5, 1.5707963267948966],
-        "goal": [-1.1, 14.37, 1.5707963267948966],
+        "goal": [-1.1, 14.055, 1.5707963267948966],
+        "rgoal": [-0.8225, 13.665, 1.5707963267948966],
+        "slot": {
+                "polygon": [
+                        [0, 13],
+                        [-2.2, 13],
+                        [-2.2, 17.56],
+                        [0, 17.56]
+                ]
+        },
         "obst": [
                 {
                         "segment": [
@@ -17,37 +26,37 @@
                 {
                         "segment": [
                                 [-2.2, 13],
-                                [-2.2, 19.5]
+                                [-2.2, 17.56]
                         ]
                 },
                 {
                         "segment": [
-                                [-2.2, 19.5],
-                                [0, 19.5]
+                                [-2.2, 17.56],
+                                [0, 17.56]
                         ]
                 },
                 {
                         "segment": [
-                                [0, 19.5],
+                                [0, 17.56],
                                 [0, 26]
                         ]
                 },
                 {
                         "segment": [
-                                [2.75, 0],
+                                [0, 26],
                                 [2.75, 26]
                         ]
                 },
                 {
                         "segment": [
-                                [0, 0],
+                                [2.75, 26],
                                 [2.75, 0]
                         ]
                 },
                 {
                         "segment": [
-                                [0, 26],
-                                [2.75, 26]
+                                [2.75, 0],
+                                [0, 0]
                         ]
                 }
         ]