rpar.json

   1 {
   2         "init": [-1.1, 6.5, 1.5707963267948966],
   3         "goal": [1.1, 14.37, 1.5707963267948966],
   4         "slot": {
   5                 "polygon": [
   6                         [0, 13],
   7                         [2.2, 13],
   8                         [2.2, 19.5],
   9                         [0, 19.5]
  10                 ]
  11         },
  12         "obst": [
  13                 {
  14                         "segment": [
  15                                 [0, 0],
  16                                 [0, 13]
  17                         ]
  18                 },
  19                 {
  20                         "segment": [
  21                                 [0, 13],
  22                                 [2.2, 13]
  23                         ]
  24                 },
  25                 {
  26                         "segment": [
  27                                 [2.2, 13],
  28                                 [2.2, 19.5]
  29                         ]
  30                 },
  31                 {
  32                         "segment": [
  33                                 [2.2, 19.5],
  34                                 [0, 19.5]
  35                         ]
  36                 },
  37                 {
  38                         "segment": [
  39                                 [0, 19.5],
  40                                 [0, 26]
  41                         ]
  42                 },
  43                 {
  44                         "segment": [
  45                                 [-15.5, 0],
  46                                 [-15.5, 26]
  47                         ]
  48                 },
  49                 {
  50                         "segment": [
  51                                 [0, 0],
  52                                 [-15.5, 0]
  53                         ]
  54                 },
  55                 {
  56                         "segment": [
  57                                 [0, 26],
  58                                 [-15.5, 26]
  59                         ]
  60                 }
  61         ]
  62 }