New starting positions in Initial (#98)

Co-authored-by: Gijs de Jong <[email protected]>
IntelligentRoboticsLab · Jul 5, 2023 · 2ee8ee4 · 2ee8ee4
1 parent 47d2d2d
commit 2ee8ee4
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Showing 2 changed files with 35 additions and 10 deletions.
diff --git a/etc/configuration/default.json b/etc/configuration/default.json
@@ -10,8 +10,8 @@
   },
   "wee_sound": {
     "timeout": {
-        "nanos": 0,
-        "secs": 3
+      "nanos": 0,
+      "secs": 3
     }
   },
   "ball_detection": {
@@ -521,24 +521,24 @@
     "initial_hypothesis_score": 10.0,
     "initial_poses": {
       "one": {
-        "center_line_offset_x": -3.0,
+        "center_line_offset_x": -2.8499999046325684,
         "side": "Left"
       },
       "two": {
-        "center_line_offset_x": -2.0,
+        "center_line_offset_x": -1.375,
         "side": "Left"
       },
       "three": {
-        "center_line_offset_x": -2.0,
+        "center_line_offset_x": -2.8499999046325684,
         "side": "Right"
       },
       "four": {
-        "center_line_offset_x": -1.0,
-        "side": "Left"
+        "center_line_offset_x": -0.75,
+        "side": "Right"
       },
       "five": {
-        "center_line_offset_x": -1.0,
-        "side": "Right"
+        "center_line_offset_x": -0.75,
+        "side": "Left"
       }
     },
     "line_length_acceptance_factor": 1.5,

diff --git a/etc/configuration/head.P0000074A04S8C700011.json b/etc/configuration/head.P0000074A04S8C700011.json
@@ -8,5 +8,30 @@
       ]
     }
   },
-  "player_number": "Two"
+  "disable_communication_acceptor": true,
+  "localization": {
+    "initial_poses": {
+      "five": {
+        "center_line_offset_x": -0.75,
+        "side": "Left"
+      },
+      "four": {
+        "center_line_offset_x": -0.75,
+        "side": "Right"
+      },
+      "one": {
+        "center_line_offset_x": -3.900000095367432,
+        "side": "Left"
+      },
+      "three": {
+        "center_line_offset_x": -2.8499999046325684,
+        "side": "Right"
+      },
+      "two": {
+        "center_line_offset_x": -2.8499999046325684,
+        "side": "Left"
+      }
+    }
+  },
+  "player_number": "One"
 }