wo2.json

   1 {
   2         "init": [1.1, 6.5, 1.5707963267948966],
   3         "goal": [-1.1, 14.37, 1.5707963267948966],
   4         "obst": [
   5                 {"circle": [1.5, 16.25, 0.25]},
   6                 {
   7                         "nosegment": [
   8                                 [0.2, 14.37],
   9                                 [0.7, 14.37]
  10                         ]
  11                 },
  12                 {
  13                         "nosegment": [
  14                                 [0.7, 14.37],
  15                                 [0.7, 14.87]
  16                         ]
  17                 },
  18                 {
  19                         "nosegment": [
  20                                 [0.7, 14.87],
  21                                 [0.2, 14.87]
  22                         ]
  23                 },
  24                 {
  25                         "nosegment": [
  26                                 [0.2, 14.87],
  27                                 [0.2, 14.37]
  28                         ]
  29                 },
  30                 {
  31                         "segment": [
  32                                 [0, 2],
  33                                 [0, 13]
  34                         ]
  35                 },
  36                 {
  37                         "segment": [
  38                                 [0, 13],
  39                                 [-2.2, 13]
  40                         ]
  41                 },
  42                 {
  43                         "segment": [
  44                                 [-2.2, 13],
  45                                 [-2.2, 19.5]
  46                         ]
  47                 },
  48                 {
  49                         "segment": [
  50                                 [-2.2, 19.5],
  51                                 [0, 19.5]
  52                         ]
  53                 },
  54                 {
  55                         "segment": [
  56                                 [0, 19.5],
  57                                 [0, 26]
  58                         ]
  59                 },
  60                 {
  61                         "segment": [
  62                                 [2.75, 2],
  63                                 [2.75, 26]
  64                         ]
  65                 },
  66                 {
  67                         "segment": [
  68                                 [0, 2],
  69                                 [2.75, 2]
  70                         ]
  71                 },
  72                 {
  73                         "segment": [
  74                                 [0, 26],
  75                                 [2.75, 26]
  76                         ]
  77                 }
  78         ]
  79 }