From 4a88c6c373c31411db17173ef9a572f6699393f0 Mon Sep 17 00:00:00 2001
From: hollydinkel <holly.dinkel@gmail.com>
Date: Tue, 23 Jul 2024 08:31:50 -0500
Subject: [PATCH] [FIX] small typo (extra comma when producing reachable.json)
 causing json read errors

---
 abb_control/config/config.json               | 4 ++--
 abb_control/config/reachable.json            | 3 ++-
 abb_control/src/abb_compute_reachability.cpp | 2 +-
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/abb_control/config/config.json b/abb_control/config/config.json
index 1564833..d407dde 100644
--- a/abb_control/config/config.json
+++ b/abb_control/config/config.json
@@ -336,13 +336,13 @@
         [0.3, 0.3, 0.3, 1],
         [0.3, 0.3, 0.4, 1],
         [0.3, 0.3, 0.5, 0.902174],
-        [0.4, -0.4, 0, 0.5],
+        [0.4, -0.4, 0, 1],
         [0.4, -0.4, 0.1, 1],
         [0.4, -0.4, 0.2, 1],
         [0.4, -0.4, 0.3, 1],
         [0.4, -0.4, 0.4, 1],
         [0.4, -0.4, 0.5, 0.883333],
-        [0.4, -0.3, 0, 0.5],
+        [0.4, -0.3, 0, 0.993902],
         [0.4, -0.3, 0.1, 1],
         [0.4, -0.3, 0.2, 1],
         [0.4, -0.3, 0.3, 1],
diff --git a/abb_control/config/reachable.json b/abb_control/config/reachable.json
index cf5b851..0fa3419 100644
--- a/abb_control/config/reachable.json
+++ b/abb_control/config/reachable.json
@@ -88,6 +88,7 @@
         [0.3, 0.3, 0.2],
         [0.3, 0.3, 0.3],
         [0.3, 0.3, 0.4],
+        [0.4, -0.4, 0],
         [0.4, -0.4, 0.1],
         [0.4, -0.4, 0.2],
         [0.4, -0.4, 0.3],
@@ -118,5 +119,5 @@
         [0.4, 0.3, 0.2],
         [0.4, 0.3, 0.3],
         [0.4, 0.3, 0.4]
-    ],
+    ]
 }
diff --git a/abb_control/src/abb_compute_reachability.cpp b/abb_control/src/abb_compute_reachability.cpp
index 29a1daf..e3abbd1 100755
--- a/abb_control/src/abb_compute_reachability.cpp
+++ b/abb_control/src/abb_compute_reachability.cpp
@@ -162,7 +162,7 @@ int main(int argc, char** argv) {
                 }
                 reachable_json_file << "\n";
             }
-            reachable_json_file << "    ],\n";
+            reachable_json_file << "    ]\n";
             reachable_json_file << "}\n";
         } catch (const std::exception& e) {
             ROS_ERROR("Error writing to JSON file: %s", e.what());