From 33fe49a182cace99038ca49323ea0f11802c4681 Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadv@intrinsic.ai>
Date: Mon, 29 Jan 2024 19:12:06 +0800
Subject: [PATCH] Remove a few assets from the office world (#209)

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
---
 .../maps/office/office.building.yaml          | 63 +++++++++----------
 1 file changed, 30 insertions(+), 33 deletions(-)

diff --git a/rmf_demos_maps/maps/office/office.building.yaml b/rmf_demos_maps/maps/office/office.building.yaml
index d66093c8..223e5338 100644
--- a/rmf_demos_maps/maps/office/office.building.yaml
+++ b/rmf_demos_maps/maps/office/office.building.yaml
@@ -57,36 +57,36 @@ levels:
       - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, black_concrete], indoor: [2, 0], texture_name: [1, black_concrete], texture_rotation: [3, 0], texture_scale: [3, 1]}
         vertices: [6, 33, 34, 35, 37, 38, 24, 23, 22, 19, 20, 21, 15, 16, 9, 69, 68]
     lanes:
-      - [39, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [43, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [43, 44, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [48, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [40, 49, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [49, 41, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [49, 51, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [55, 46, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [51, 56, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [56, 57, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [39, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [59, 48, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [59, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [41, 42, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [41, 60, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [60, 61, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [61, 43, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [54, 62, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [53, 63, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [49, 64, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [64, 52, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [45, 46, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [55, 65, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [46, 66, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [66, 50, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [57, 54, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [54, 53, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [53, 65, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [59, 67, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
-      - [59, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [39, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [43, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [43, 44, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [48, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [40, 49, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [49, 41, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [49, 51, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [55, 46, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [51, 56, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [56, 57, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [39, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [59, 48, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [59, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [41, 42, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [41, 60, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [60, 61, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [61, 43, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [54, 62, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [53, 63, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [49, 64, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [64, 52, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [45, 46, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [55, 65, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [46, 66, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [66, 50, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [57, 54, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [54, 53, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [53, 65, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [59, 67, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [59, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
     layers:
       office_laserscan:
         color: [0.20799999999999999, 0.51800000000000002, 0.89400000000000002, 0.5]
@@ -139,7 +139,6 @@ levels:
       - {dispensable: false, model_name: OpenRobotics/BigCubicle, name: BigCubicle, static: true, x: 1950.675, y: 961.06899999999996, yaw: 1.6108, z: 0}
       - {dispensable: false, model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 2607.625, y: 1219.095, yaw: 4.6087999999999996, z: 0}
       - {dispensable: false, model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 2644, y: 896, yaw: 4.5815999999999999, z: 0}
-      - {dispensable: false, model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 2410.5320000000002, y: 992.92999999999995, yaw: 0.0094000000000000004, z: 0}
       - {dispensable: false, model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 2354.6289999999999, y: 849.779, yaw: 1.5732999999999999, z: 0}
       - {dispensable: false, model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 883, y: 457, yaw: 4.2286000000000001, z: 0}
       - {dispensable: false, model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 1536.4100000000001, y: 657.46100000000001, yaw: 1.5913999999999999, z: 0}
@@ -175,7 +174,6 @@ levels:
       - {dispensable: false, model_name: OpenRobotics/RecTable, name: OpenRobotics/RecTable, static: true, x: 899.73800000000006, y: 967.89999999999998, yaw: 1.0973999999999999, z: 0}
       - {dispensable: false, model_name: OpenRobotics/SquareShelf, name: OpenRobotics/SquareShelf, static: true, x: 2450.9459999999999, y: 362.63799999999998, yaw: -0.0083000000000000001, z: 0}
       - {dispensable: false, model_name: OpenRobotics/Fridge, name: OpenRobotics/Fridge, static: true, x: 1875.9770000000001, y: 604.197, yaw: 1.5708, z: 0}
-      - {dispensable: false, model_name: OpenRobotics/RecTable, name: OpenRobotics/RecTable, static: true, x: 2302.6599999999999, y: 391.375, yaw: 3.1103999999999998, z: 0}
       - {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1471.6030000000001, y: 1374.8610000000001, yaw: 3.1000000000000001, z: 0}
       - {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1522.318, y: 1375.692, yaw: 3.0893000000000002, z: 0}
       - {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 1571.0940000000001, y: 1377.078, yaw: 3.1097000000000001, z: 0}
@@ -200,7 +198,6 @@ levels:
       - {dispensable: false, model_name: OpenRobotics/MetalCabinet, name: OpenRobotics/MetalCabinet, static: true, x: 2561.8960000000002, y: 759.04300000000001, yaw: -0.024400000000000002, z: 0}
       - {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 2339.9650000000001, y: 1065.9090000000001, yaw: 1.5708, z: 0}
       - {dispensable: false, model_name: OpenRobotics/Drawer, name: OpenRobotics/Drawer, static: true, x: 2339.9650000000001, y: 1116.1400000000001, yaw: 1.5708, z: 0}
-      - {dispensable: false, model_name: OpenRobotics/OfficeChairBlack, name: OpenRobotics/OfficeChairBlack, static: true, x: 2423.8319999999999, y: 1070.241, yaw: -3.1415999999999999, z: 0}
     vertices:
       - [80.269999999999996, 1024.9739999999999, 0, ""]
       - [580.79499999999996, 43.396000000000001, 0, ""]