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Obstacle updates

Robbie Goldman requested to merge obstacle-updates into master
  • Introduced new proto node for obstacles. It allows for: rectangular, cylindrical, conical and spherical shapes. They also have working physics. They can be added manually and height, width, depth and x / z position set. There is also a guide for the clearance.
  • Generator now places these obstacles in valid positions with 20cm clearance to walls. (not spheres currently but can change)
  • Main supervisor now checks obstacles at the start and removes any that are too close to the walls. (Proto only)
  • Updated change log

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