exsc.json

   1 {
   2         "init": [0, 1, 1.5707963267948966],
   3         "goal": [3.5, 13, 1.5707963267948966],
   4         "obst": [
   5                 {"circle": [4.5, 11, 0.5]},
   6                 {"circle": [3, 11, 0.5]},
   7                 {"segment": [[0, 10], [0, 14]]},
   8                 {"segment": [[2, 14], [-2, 14]]},
   9                 {"segment": [[-2, 14], [-2, 16]]},
  10                 {"segment": [[2, 14], [2, 16]]},
  11
  12                 {"nosegment": [[-5, 20], [-4, 20]]},
  13                 {"nosegment": [[-4, 20], [-4, 21]]},
  14                 {"nosegment": [[-4, 21], [-3, 21]]},
  15                 {"nosegment": [[-3, 21], [-3,22]]},
  16                 {"nosegment": [[-3, 22], [-2, 22]]},
  17                 {"nosegment": [[-2, 22], [-2, 23]]},
  18                 {"nosegment": [[-2, 23], [-1, 23]]},
  19                 {"nosegment": [[-1, 23], [-1, 24]]},
  20                 {"nosegment": [[-1, 24], [0, 24]]},
  21                 {"nosegment": [[0, 24], [0, 25]]},
  22                 {"nosegment": [[0, 25], [-3, 25]]},
  23                 {"nosegment": [[-3, 25], [-5, 22]]},
  24                 {"nosegment": [[-5, 22], [-5, 20]]},
  25
  26                 {"nosegment": [[1, 24], [5, 22]]},
  27                 {"nosegment": [[5, 22], [5, 25]]},
  28                 {"nosegment": [[5, 25], [1, 24]]},
  29
  30                 {
  31                         "segment": [
  32                                 [-5.3, 0],
  33                                 [-5.3, 26]
  34                         ]
  35                 },
  36                 {
  37                         "segment": [
  38                                 [-5.3, 26],
  39                                 [5.5, 26]
  40                         ]
  41                 },
  42                 {
  43                         "segment": [
  44                                 [5.5, 26],
  45                                 [5.5, 0]
  46                         ]
  47                 },
  48                 {
  49                         "segment": [
  50                                 [5.5, 0],
  51                                 [-5.3, 0]
  52                         ]
  53                 }
  54         ]
  55 }