lpar.json

   1 {
   2         "init": [1.1, 6.5, 1.5707963267948966],
   3         "goal": [-1.1, 14.055, 1.5707963267948966],
   4         "rgoal": [-0.8225, 13.665, 1.5707963267948966],
   5         "slot": {
   6                 "polygon": [
   7                         [0, 13],
   8                         [-2.2, 13],
   9                         [-2.2, 17.56],
  10                         [0, 17.56]
  11                 ]
  12         },
  13         "obst": [
  14                 {
  15                         "segment": [
  16                                 [0, 0],
  17                                 [0, 13]
  18                         ]
  19                 },
  20                 {
  21                         "segment": [
  22                                 [0, 13],
  23                                 [-2.2, 13]
  24                         ]
  25                 },
  26                 {
  27                         "segment": [
  28                                 [-2.2, 13],
  29                                 [-2.2, 17.56]
  30                         ]
  31                 },
  32                 {
  33                         "segment": [
  34                                 [-2.2, 17.56],
  35                                 [0, 17.56]
  36                         ]
  37                 },
  38                 {
  39                         "segment": [
  40                                 [0, 17.56],
  41                                 [0, 26]
  42                         ]
  43                 },
  44                 {
  45                         "segment": [
  46                                 [0, 26],
  47                                 [15.5, 26]
  48                         ]
  49                 },
  50                 {
  51                         "segment": [
  52                                 [15.5, 26],
  53                                 [15.5, 0]
  54                         ]
  55                 },
  56                 {
  57                         "segment": [
  58                                 [15.5, 0],
  59                                 [0, 0]
  60                         ]
  61                 }
  62         ]
  63 }