orig-pa1.json

   1 {
   2         "bcnt": 3,
   3         "entry": [
   4                 12.637516874478637,
   5                 -2.68850949253713,
   6                 0.43200000000000033,
   7                 0.43200000000000033
   8         ],
   9         "goal": [
  10                 11.195607733343952,
  11                 -3.0556974467173648,
  12                 0.010457708409401582
  13         ],
  14         "goal_cc": 19.77898426162166,
  15         "icnt": 963,
  16         "init": [
  17                 0,
  18                 0,
  19                 0
  20         ],
  21         "ispath": [
  22                 [
  23                         12.54670385540914,
  24                         -2.730378282434658,
  25                         0.43200000000000033
  26                 ],
  27                 [
  28                         12.54670385540914,
  29                         -2.730378282434658,
  30                         0.43200000000000033
  31                 ],
  32                 [
  33                         11.195607733343952,
  34                         -3.0556974467173648,
  35                         0.010457708409401582
  36                 ]
  37         ],
  38         "log_path_cost": [
  39                 0.0,
  40                 0.0,
  41                 0.0,
  42                 0.0,
  43                 0.0,
  44                 0.0,
  45                 0.0,
  46                 0.0,
  47                 0.0,
  48                 0.0,
  49                 0.0,
  50                 0.0,
  51                 0.0,
  52                 0.0,
  53                 0.0,
  54                 0.0,
  55                 0.0,
  56                 0.0,
  57                 0.0,
  58                 0.0,
  59                 0.0,
  60                 0.0,
  61                 0.0,
  62                 0.0,
  63                 0.0,
  64                 0.0,
  65                 0.0,
  66                 0.0,
  67                 0.0,
  68                 0.0,
  69                 0.0,
  70                 0.0,
  71                 0.0,
  72                 0.0,
  73                 0.0,
  74                 0.0,
  75                 0.0,
  76                 0.0,
  77                 0.0,
  78                 0.0,
  79                 0.0,
  80                 0.0,
  81                 0.0,
  82                 0.0,
  83                 0.0,
  84                 0.0,
  85                 0.0,
  86                 0.0,
  87                 0.0,
  88                 0.0,
  89                 0.0,
  90                 0.0,
  91                 0.0,
  92                 0.0,
  93                 0.0,
  94                 0.0,
  95                 0.0,
  96                 0.0,
  97                 0.0,
  98                 0.0,
  99                 0.0,
 100                 0.0,
 101                 0.0,
 102                 0.0,
 103                 0.0,
 104                 0.0,
 105                 0.0,
 106                 0.0,
 107                 0.0,
 108                 0.0,
 109                 0.0,
 110                 0.0,
 111                 0.0,
 112                 0.0,
 113                 0.0,
 114                 0.0,
 115                 0.0,
 116                 29.271889455294318,
 117                 29.271889455294318,
 118                 29.271889455294318,
 119                 29.271889455294318,
 120                 29.271889455294318,
 121                 29.271889455294318,
 122                 29.271889455294318,
 123                 29.271889455294318,
 124                 29.271889455294318,
 125                 29.271889455294318,
 126                 29.271889455294318,
 127                 29.271889455294318,
 128                 29.271889455294318,
 129                 29.271889455294318,
 130                 29.271889455294318,
 131                 29.271889455294318,
 132                 29.271889455294318,
 133                 29.271889455294318,
 134                 29.271889455294318,
 135                 29.271889455294318,
 136                 29.271889455294318,
 137                 29.271889455294318,
 138                 29.271889455294318,
 139                 29.271889455294318,
 140                 29.271889455294318,
 141                 29.271889455294318,
 142                 29.271889455294318,
 143                 29.271889455294318,
 144                 29.271889455294318,
 145                 29.271889455294318,
 146                 29.271889455294318,
 147                 29.271889455294318,
 148                 29.271889455294318,
 149                 29.271889455294318,
 150                 29.271889455294318,
 151                 29.271889455294318,
 152                 29.271889455294318,
 153                 29.271889455294318,
 154                 29.271889455294318,
 155                 29.271889455294318,
 156                 29.271889455294318,
 157                 29.271889455294318,
 158                 29.271889455294318,
 159                 29.271889455294318,
 160                 29.271889455294318,
 161                 29.271889455294318,
 162                 29.271889455294318,
 163                 29.271889455294318,
 164                 29.271889455294318,
 165                 29.271889455294318,
 166                 29.271889455294318,
 167                 29.271889455294318,
 168                 26.20474615562739,
 169                 26.20474615562739,
 170                 26.20474615562739,
 171                 26.20474615562739,
 172                 26.20474615562739,
 173                 26.20474615562739,
 174                 26.20474615562739,
 175                 26.20474615562739,
 176                 26.20474615562739,
 177                 26.20474615562739,
 178                 26.20474615562739,
 179                 26.20474615562739,
 180                 26.20474615562739,
 181                 26.20474615562739,
 182                 26.20474615562739,
 183                 26.20474615562739,
 184                 26.20474615562739,
 185                 26.20474615562739,
 186                 26.20474615562739,
 187                 26.20474615562739,
 188                 26.20474615562739,
 189                 26.20474615562739,
 190                 26.20474615562739,
 191                 26.20474615562739,
 192                 26.20474615562739,
 193                 26.20474615562739,
 194                 26.20474615562739,
 195                 26.20474615562739,
 196                 26.20474615562739,
 197                 26.20474615562739,
 198                 26.20474615562739,
 199                 26.20474615562739,
 200                 26.20474615562739,
 201                 26.20474615562739,
 202                 26.20474615562739,
 203                 26.20474615562739,
 204                 26.20474615562739,
 205                 26.20474615562739,
 206                 26.20474615562739,
 207                 26.20474615562739,
 208                 26.20474615562739,
 209                 26.20474615562739,
 210                 26.20474615562739,
 211                 26.20474615562739,
 212                 26.20474615562739,
 213                 26.20474615562739,
 214                 26.20474615562739,
 215                 26.20474615562739,
 216                 26.20474615562739,
 217                 26.20474615562739,
 218                 26.20474615562739,
 219                 26.20474615562739,
 220                 26.20474615562739,
 221                 26.20474615562739,
 222                 26.20474615562739,
 223                 26.20474615562739,
 224                 26.20474615562739,
 225                 26.20474615562739,
 226                 26.20474615562739,
 227                 26.20474615562739,
 228                 26.20474615562739,
 229                 26.20474615562739,
 230                 26.20474615562739,
 231                 26.20474615562739,
 232                 26.20474615562739,
 233                 26.20474615562739,
 234                 26.20474615562739,
 235                 26.20474615562739,
 236                 26.20474615562739,
 237                 26.20474615562739,
 238                 26.20474615562739,
 239                 26.20474615562739,
 240                 26.20474615562739,
 241                 26.20474615562739,
 242                 26.20474615562739,
 243                 26.20474615562739,
 244                 26.20474615562739,
 245                 26.20474615562739,
 246                 26.20474615562739,
 247                 26.20474615562739,
 248                 26.20474615562739,
 249                 26.20474615562739,
 250                 26.20474615562739,
 251                 26.20474615562739,
 252                 26.20474615562739,
 253                 26.20474615562739,
 254                 26.20474615562739,
 255                 26.20474615562739,
 256                 26.20474615562739,
 257                 26.20474615562739,
 258                 26.20474615562739,
 259                 26.20474615562739,
 260                 26.20474615562739,
 261                 26.20474615562739,
 262                 26.20474615562739,
 263                 26.20474615562739,
 264                 26.20474615562739,
 265                 26.20474615562739,
 266                 26.20474615562739,
 267                 26.20474615562739,
 268                 26.20474615562739,
 269                 26.20474615562739,
 270                 26.20474615562739,
 271                 26.20474615562739,
 272                 26.20474615562739,
 273                 26.20474615562739,
 274                 26.20474615562739,
 275                 26.20474615562739,
 276                 26.20474615562739,
 277                 26.20474615562739,
 278                 26.20474615562739,
 279                 26.20474615562739,
 280                 26.20474615562739,
 281                 26.20474615562739,
 282                 26.20474615562739,
 283                 26.20474615562739,
 284                 26.20474615562739,
 285                 26.20474615562739,
 286                 26.20474615562739,
 287                 26.20474615562739,
 288                 26.20474615562739,
 289                 26.20474615562739,
 290                 26.20474615562739,
 291                 26.20474615562739,
 292                 26.20474615562739,
 293                 26.20474615562739,
 294                 26.20474615562739,
 295                 26.20474615562739,
 296                 26.20474615562739,
 297                 26.20474615562739,
 298                 26.20474615562739,
 299                 26.20474615562739,
 300                 26.20474615562739,
 301                 26.20474615562739,
 302                 26.20474615562739,
 303                 26.20474615562739,
 304                 26.20474615562739,
 305                 26.20474615562739,
 306                 26.20474615562739,
 307                 26.20474615562739,
 308                 26.20474615562739,
 309                 26.20474615562739,
 310                 26.20474615562739,
 311                 26.20474615562739,
 312                 26.20474615562739,
 313                 26.20474615562739,
 314                 26.20474615562739,
 315                 26.20474615562739,
 316                 26.20474615562739,
 317                 26.20474615562739,
 318                 26.20474615562739,
 319                 26.20474615562739,
 320                 26.20474615562739,
 321                 26.20474615562739,
 322                 26.20474615562739,
 323                 26.20474615562739,
 324                 26.20474615562739,
 325                 26.20474615562739,
 326                 26.20474615562739,
 327                 26.20474615562739,
 328                 26.20474615562739,
 329                 26.20474615562739,
 330                 26.20474615562739,
 331                 26.20474615562739,
 332                 26.20474615562739,
 333                 26.20474615562739,
 334                 26.20474615562739,
 335                 26.20474615562739,
 336                 26.20474615562739,
 337                 26.20474615562739,
 338                 26.20474615562739,
 339                 26.20474615562739,
 340                 26.20474615562739,
 341                 26.20474615562739,
 342                 19.77898426162166,
 343                 19.77898426162166,
 344                 19.77898426162166,
 345                 19.77898426162166,
 346                 19.77898426162166,
 347                 19.77898426162166,
 348                 19.77898426162166,
 349                 19.77898426162166,
 350                 19.77898426162166,
 351                 19.77898426162166,
 352                 19.77898426162166,
 353                 19.77898426162166,
 354                 19.77898426162166,
 355                 19.77898426162166,
 356                 19.77898426162166,
 357                 19.77898426162166,
 358                 19.77898426162166,
 359                 19.77898426162166,
 360                 19.77898426162166,
 361                 19.77898426162166,
 362                 19.77898426162166,
 363                 19.77898426162166,
 364                 19.77898426162166,
 365                 19.77898426162166,
 366                 19.77898426162166,
 367                 19.77898426162166,
 368                 19.77898426162166,
 369                 19.77898426162166,
 370                 19.77898426162166,
 371                 19.77898426162166,
 372                 19.77898426162166,
 373                 19.77898426162166,
 374                 19.77898426162166,
 375                 19.77898426162166,
 376                 19.77898426162166,
 377                 19.77898426162166,
 378                 19.77898426162166,
 379                 19.77898426162166,
 380                 19.77898426162166,
 381                 19.77898426162166,
 382                 19.77898426162166,
 383                 19.77898426162166,
 384                 19.77898426162166,
 385                 19.77898426162166,
 386                 19.77898426162166,
 387                 19.77898426162166,
 388                 19.77898426162166,
 389                 19.77898426162166,
 390                 19.77898426162166,
 391                 19.77898426162166,
 392                 19.77898426162166,
 393                 19.77898426162166,
 394                 19.77898426162166,
 395                 19.77898426162166,
 396                 19.77898426162166,
 397                 19.77898426162166,
 398                 19.77898426162166,
 399                 19.77898426162166,
 400                 19.77898426162166,
 401                 19.77898426162166,
 402                 19.77898426162166,
 403                 19.77898426162166,
 404                 19.77898426162166,
 405                 19.77898426162166,
 406                 19.77898426162166,
 407                 19.77898426162166,
 408                 19.77898426162166,
 409                 19.77898426162166,
 410                 19.77898426162166,
 411                 19.77898426162166,
 412                 19.77898426162166,
 413                 19.77898426162166,
 414                 19.77898426162166,
 415                 19.77898426162166,
 416                 19.77898426162166,
 417                 19.77898426162166,
 418                 19.77898426162166,
 419                 19.77898426162166,
 420                 19.77898426162166,
 421                 19.77898426162166,
 422                 19.77898426162166,
 423                 19.77898426162166,
 424                 19.77898426162166,
 425                 19.77898426162166,
 426                 19.77898426162166,
 427                 19.77898426162166,
 428                 19.77898426162166,
 429                 19.77898426162166,
 430                 19.77898426162166,
 431                 19.77898426162166,
 432                 19.77898426162166,
 433                 19.77898426162166,
 434                 19.77898426162166,
 435                 19.77898426162166,
 436                 19.77898426162166,
 437                 19.77898426162166,
 438                 19.77898426162166,
 439                 19.77898426162166,
 440                 19.77898426162166,
 441                 19.77898426162166,
 442                 19.77898426162166,
 443                 19.77898426162166,
 444                 19.77898426162166,
 445                 19.77898426162166,
 446                 19.77898426162166,
 447                 19.77898426162166,
 448                 19.77898426162166,
 449                 19.77898426162166,
 450                 19.77898426162166,
 451                 19.77898426162166,
 452                 19.77898426162166,
 453                 19.77898426162166,
 454                 19.77898426162166,
 455                 19.77898426162166,
 456                 19.77898426162166,
 457                 19.77898426162166,
 458                 19.77898426162166,
 459                 19.77898426162166,
 460                 19.77898426162166,
 461                 19.77898426162166,
 462                 19.77898426162166,
 463                 19.77898426162166,
 464                 19.77898426162166,
 465                 19.77898426162166,
 466                 19.77898426162166,
 467                 19.77898426162166,
 468                 19.77898426162166,
 469                 19.77898426162166,
 470                 19.77898426162166,
 471                 19.77898426162166,
 472                 19.77898426162166,
 473                 19.77898426162166,
 474                 19.77898426162166,
 475                 19.77898426162166,
 476                 19.77898426162166,
 477                 19.77898426162166,
 478                 19.77898426162166,
 479                 19.77898426162166,
 480                 19.77898426162166,
 481                 19.77898426162166,
 482                 19.77898426162166,
 483                 19.77898426162166,
 484                 19.77898426162166,
 485                 19.77898426162166,
 486                 19.77898426162166,
 487                 19.77898426162166,
 488                 19.77898426162166,
 489                 19.77898426162166,
 490                 19.77898426162166,
 491                 19.77898426162166,
 492                 19.77898426162166,
 493                 19.77898426162166,
 494                 19.77898426162166,
 495                 19.77898426162166,
 496                 19.77898426162166,
 497                 19.77898426162166,
 498                 19.77898426162166,
 499                 19.77898426162166,
 500                 19.77898426162166,
 501                 19.77898426162166,
 502                 19.77898426162166,
 503                 19.77898426162166,
 504                 19.77898426162166,
 505                 19.77898426162166,
 506                 19.77898426162166,
 507                 19.77898426162166,
 508                 19.77898426162166,
 509                 19.77898426162166,
 510                 19.77898426162166,
 511                 19.77898426162166,
 512                 19.77898426162166,
 513                 19.77898426162166,
 514                 19.77898426162166,
 515                 19.77898426162166,
 516                 19.77898426162166,
 517                 19.77898426162166,
 518                 19.77898426162166,
 519                 19.77898426162166,
 520                 19.77898426162166,
 521                 19.77898426162166,
 522                 19.77898426162166,
 523                 19.77898426162166,
 524                 19.77898426162166,
 525                 19.77898426162166,
 526                 19.77898426162166,
 527                 19.77898426162166,
 528                 19.77898426162166,
 529                 19.77898426162166,
 530                 19.77898426162166,
 531                 19.77898426162166,
 532                 19.77898426162166,
 533                 19.77898426162166,
 534                 19.77898426162166,
 535                 19.77898426162166,
 536                 19.77898426162166,
 537                 19.77898426162166,
 538                 19.77898426162166,
 539                 19.77898426162166,
 540                 19.77898426162166,
 541                 19.77898426162166,
 542                 19.77898426162166,
 543                 19.77898426162166,
 544                 19.77898426162166,
 545                 19.77898426162166,
 546                 19.77898426162166,
 547                 19.77898426162166,
 548                 19.77898426162166,
 549                 19.77898426162166,
 550                 19.77898426162166,
 551                 19.77898426162166,
 552                 19.77898426162166,
 553                 19.77898426162166,
 554                 19.77898426162166,
 555                 19.77898426162166,
 556                 19.77898426162166,
 557                 19.77898426162166,
 558                 19.77898426162166,
 559                 19.77898426162166,
 560                 19.77898426162166,
 561                 19.77898426162166,
 562                 19.77898426162166,
 563                 19.77898426162166,
 564                 19.77898426162166,
 565                 19.77898426162166,
 566                 19.77898426162166,
 567                 19.77898426162166,
 568                 19.77898426162166,
 569                 19.77898426162166,
 570                 19.77898426162166,
 571                 19.77898426162166,
 572                 19.77898426162166,
 573                 19.77898426162166,
 574                 19.77898426162166,
 575                 19.77898426162166,
 576                 19.77898426162166,
 577                 19.77898426162166,
 578                 19.77898426162166,
 579                 19.77898426162166,
 580                 19.77898426162166,
 581                 19.77898426162166,
 582                 19.77898426162166,
 583                 19.77898426162166,
 584                 19.77898426162166,
 585                 19.77898426162166,
 586                 19.77898426162166,
 587                 19.77898426162166,
 588                 19.77898426162166,
 589                 19.77898426162166,
 590                 19.77898426162166,
 591                 19.77898426162166,
 592                 19.77898426162166,
 593                 19.77898426162166,
 594                 19.77898426162166,
 595                 19.77898426162166,
 596                 19.77898426162166,
 597                 19.77898426162166,
 598                 19.77898426162166,
 599                 19.77898426162166,
 600                 19.77898426162166,
 601                 19.77898426162166,
 602                 19.77898426162166,
 603                 19.77898426162166,
 604                 19.77898426162166,
 605                 19.77898426162166,
 606                 19.77898426162166,
 607                 19.77898426162166,
 608                 19.77898426162166,
 609                 19.77898426162166,
 610                 19.77898426162166,
 611                 19.77898426162166,
 612                 19.77898426162166,
 613                 19.77898426162166,
 614                 19.77898426162166,
 615                 19.77898426162166,
 616                 19.77898426162166,
 617                 19.77898426162166,
 618                 19.77898426162166,
 619                 19.77898426162166,
 620                 19.77898426162166,
 621                 19.77898426162166,
 622                 19.77898426162166,
 623                 19.77898426162166,
 624                 19.77898426162166,
 625                 19.77898426162166,
 626                 19.77898426162166,
 627                 19.77898426162166,
 628                 19.77898426162166,
 629                 19.77898426162166,
 630                 19.77898426162166,
 631                 19.77898426162166,
 632                 19.77898426162166,
 633                 19.77898426162166,
 634                 19.77898426162166,
 635                 19.77898426162166,
 636                 19.77898426162166,
 637                 19.77898426162166,
 638                 19.77898426162166,
 639                 19.77898426162166,
 640                 19.77898426162166,
 641                 19.77898426162166,
 642                 19.77898426162166,
 643                 19.77898426162166,
 644                 19.77898426162166,
 645                 19.77898426162166,
 646                 19.77898426162166,
 647                 19.77898426162166,
 648                 19.77898426162166,
 649                 19.77898426162166,
 650                 19.77898426162166,
 651                 19.77898426162166,
 652                 19.77898426162166,
 653                 19.77898426162166,
 654                 19.77898426162166,
 655                 19.77898426162166,
 656                 19.77898426162166,
 657                 19.77898426162166,
 658                 19.77898426162166,
 659                 19.77898426162166,
 660                 19.77898426162166,
 661                 19.77898426162166,
 662                 19.77898426162166,
 663                 19.77898426162166,
 664                 19.77898426162166,
 665                 19.77898426162166,
 666                 19.77898426162166,
 667                 19.77898426162166,
 668                 19.77898426162166,
 669                 19.77898426162166,
 670                 19.77898426162166,
 671                 19.77898426162166,
 672                 19.77898426162166,
 673                 19.77898426162166,
 674                 19.77898426162166,
 675                 19.77898426162166,
 676                 19.77898426162166,
 677                 19.77898426162166,
 678                 19.77898426162166,
 679                 19.77898426162166,
 680                 19.77898426162166,
 681                 19.77898426162166,
 682                 19.77898426162166,
 683                 19.77898426162166,
 684                 19.77898426162166,
 685                 19.77898426162166,
 686                 19.77898426162166,
 687                 19.77898426162166,
 688                 19.77898426162166,
 689                 19.77898426162166,
 690                 19.77898426162166,
 691                 19.77898426162166,
 692                 19.77898426162166,
 693                 19.77898426162166,
 694                 19.77898426162166,
 695                 19.77898426162166,
 696                 19.77898426162166,
 697                 19.77898426162166,
 698                 19.77898426162166,
 699                 19.77898426162166,
 700                 19.77898426162166,
 701                 19.77898426162166,
 702                 19.77898426162166,
 703                 19.77898426162166,
 704                 19.77898426162166,
 705                 19.77898426162166,
 706                 19.77898426162166,
 707                 19.77898426162166,
 708                 19.77898426162166,
 709                 19.77898426162166,
 710                 19.77898426162166,
 711                 19.77898426162166,
 712                 19.77898426162166,
 713                 19.77898426162166,
 714                 19.77898426162166,
 715                 19.77898426162166,
 716                 19.77898426162166,
 717                 19.77898426162166,
 718                 19.77898426162166,
 719                 19.77898426162166,
 720                 19.77898426162166,
 721                 19.77898426162166,
 722                 19.77898426162166,
 723                 19.77898426162166,
 724                 19.77898426162166,
 725                 19.77898426162166,
 726                 19.77898426162166,
 727                 19.77898426162166,
 728                 19.77898426162166,
 729                 19.77898426162166,
 730                 19.77898426162166,
 731                 19.77898426162166,
 732                 19.77898426162166,
 733                 19.77898426162166,
 734                 19.77898426162166,
 735                 19.77898426162166,
 736                 19.77898426162166,
 737                 19.77898426162166,
 738                 19.77898426162166,
 739                 19.77898426162166,
 740                 19.77898426162166,
 741                 19.77898426162166,
 742                 19.77898426162166,
 743                 19.77898426162166,
 744                 19.77898426162166,
 745                 19.77898426162166,
 746                 19.77898426162166,
 747                 19.77898426162166,
 748                 19.77898426162166,
 749                 19.77898426162166,
 750                 19.77898426162166,
 751                 19.77898426162166,
 752                 19.77898426162166,
 753                 19.77898426162166,
 754                 19.77898426162166,
 755                 19.77898426162166,
 756                 19.77898426162166,
 757                 19.77898426162166,
 758                 19.77898426162166,
 759                 19.77898426162166,
 760                 19.77898426162166,
 761                 19.77898426162166,
 762                 19.77898426162166,
 763                 19.77898426162166,
 764                 19.77898426162166,
 765                 19.77898426162166,
 766                 19.77898426162166,
 767                 19.77898426162166,
 768                 19.77898426162166,
 769                 19.77898426162166,
 770                 19.77898426162166,
 771                 19.77898426162166,
 772                 19.77898426162166,
 773                 19.77898426162166,
 774                 19.77898426162166,
 775                 19.77898426162166,
 776                 19.77898426162166,
 777                 19.77898426162166,
 778                 19.77898426162166,
 779                 19.77898426162166,
 780                 19.77898426162166,
 781                 19.77898426162166,
 782                 19.77898426162166,
 783                 19.77898426162166,
 784                 19.77898426162166,
 785                 19.77898426162166,
 786                 19.77898426162166,
 787                 19.77898426162166,
 788                 19.77898426162166,
 789                 19.77898426162166,
 790                 19.77898426162166,
 791                 19.77898426162166,
 792                 19.77898426162166,
 793                 19.77898426162166,
 794                 19.77898426162166,
 795                 19.77898426162166,
 796                 19.77898426162166,
 797                 19.77898426162166,
 798                 19.77898426162166,
 799                 19.77898426162166,
 800                 19.77898426162166,
 801                 19.77898426162166,
 802                 19.77898426162166,
 803                 19.77898426162166,
 804                 19.77898426162166,
 805                 19.77898426162166,
 806                 19.77898426162166,
 807                 19.77898426162166,
 808                 19.77898426162166,
 809                 19.77898426162166,
 810                 19.77898426162166,
 811                 19.77898426162166,
 812                 19.77898426162166,
 813                 19.77898426162166,
 814                 19.77898426162166,
 815                 19.77898426162166,
 816                 19.77898426162166,
 817                 19.77898426162166,
 818                 19.77898426162166,
 819                 19.77898426162166,
 820                 19.77898426162166,
 821                 19.77898426162166,
 822                 19.77898426162166,
 823                 19.77898426162166,
 824                 19.77898426162166,
 825                 19.77898426162166,
 826                 19.77898426162166,
 827                 19.77898426162166,
 828                 19.77898426162166,
 829                 19.77898426162166,
 830                 19.77898426162166,
 831                 19.77898426162166,
 832                 19.77898426162166,
 833                 19.77898426162166,
 834                 19.77898426162166,
 835                 19.77898426162166,
 836                 19.77898426162166,
 837                 19.77898426162166,
 838                 19.77898426162166,
 839                 19.77898426162166,
 840                 19.77898426162166,
 841                 19.77898426162166,
 842                 19.77898426162166,
 843                 19.77898426162166,
 844                 19.77898426162166,
 845                 19.77898426162166,
 846                 19.77898426162166,
 847                 19.77898426162166,
 848                 19.77898426162166,
 849                 19.77898426162166,
 850                 19.77898426162166,
 851                 19.77898426162166,
 852                 19.77898426162166,
 853                 19.77898426162166,
 854                 19.77898426162166,
 855                 19.77898426162166,
 856                 19.77898426162166,
 857                 19.77898426162166,
 858                 19.77898426162166,
 859                 19.77898426162166,
 860                 19.77898426162166,
 861                 19.77898426162166,
 862                 19.77898426162166,
 863                 19.77898426162166,
 864                 19.77898426162166,
 865                 19.77898426162166,
 866                 19.77898426162166,
 867                 19.77898426162166,
 868                 19.77898426162166,
 869                 19.77898426162166,
 870                 19.77898426162166,
 871                 19.77898426162166,
 872                 19.77898426162166,
 873                 19.77898426162166,
 874                 19.77898426162166,
 875                 19.77898426162166,
 876                 19.77898426162166,
 877                 19.77898426162166,
 878                 19.77898426162166,
 879                 19.77898426162166,
 880                 19.77898426162166,
 881                 19.77898426162166,
 882                 19.77898426162166,
 883                 19.77898426162166,
 884                 19.77898426162166,
 885                 19.77898426162166,
 886                 19.77898426162166,
 887                 19.77898426162166,
 888                 19.77898426162166,
 889                 19.77898426162166,
 890                 19.77898426162166,
 891                 19.77898426162166,
 892                 19.77898426162166,
 893                 19.77898426162166,
 894                 19.77898426162166,
 895                 19.77898426162166,
 896                 19.77898426162166,
 897                 19.77898426162166,
 898                 19.77898426162166,
 899                 19.77898426162166,
 900                 19.77898426162166,
 901                 19.77898426162166,
 902                 19.77898426162166,
 903                 19.77898426162166,
 904                 19.77898426162166,
 905                 19.77898426162166,
 906                 19.77898426162166,
 907                 19.77898426162166,
 908                 19.77898426162166,
 909                 19.77898426162166,
 910                 19.77898426162166,
 911                 19.77898426162166,
 912                 19.77898426162166,
 913                 19.77898426162166,
 914                 19.77898426162166,
 915                 19.77898426162166,
 916                 19.77898426162166,
 917                 19.77898426162166,
 918                 19.77898426162166,
 919                 19.77898426162166,
 920                 19.77898426162166,
 921                 19.77898426162166,
 922                 19.77898426162166,
 923                 19.77898426162166,
 924                 19.77898426162166,
 925                 19.77898426162166,
 926                 19.77898426162166,
 927                 19.77898426162166,
 928                 19.77898426162166,
 929                 19.77898426162166,
 930                 19.77898426162166,
 931                 19.77898426162166,
 932                 19.77898426162166,
 933                 19.77898426162166,
 934                 19.77898426162166,
 935                 19.77898426162166,
 936                 19.77898426162166,
 937                 19.77898426162166,
 938                 19.77898426162166,
 939                 19.77898426162166,
 940                 19.77898426162166,
 941                 19.77898426162166,
 942                 19.77898426162166,
 943                 19.77898426162166,
 944                 19.77898426162166,
 945                 19.77898426162166,
 946                 19.77898426162166,
 947                 19.77898426162166,
 948                 19.77898426162166,
 949                 19.77898426162166,
 950                 19.77898426162166,
 951                 19.77898426162166,
 952                 19.77898426162166,
 953                 19.77898426162166,
 954                 19.77898426162166,
 955                 19.77898426162166,
 956                 19.77898426162166,
 957                 19.77898426162166,
 958                 19.77898426162166,
 959                 19.77898426162166,
 960                 19.77898426162166,
 961                 19.77898426162166,
 962                 19.77898426162166,
 963                 19.77898426162166,
 964                 19.77898426162166,
 965                 19.77898426162166,
 966                 19.77898426162166,
 967                 19.77898426162166,
 968                 19.77898426162166,
 969                 19.77898426162166,
 970                 19.77898426162166,
 971                 19.77898426162166,
 972                 19.77898426162166,
 973                 19.77898426162166,
 974                 19.77898426162166,
 975                 19.77898426162166,
 976                 19.77898426162166,
 977                 19.77898426162166,
 978                 19.77898426162166,
 979                 19.77898426162166,
 980                 19.77898426162166,
 981                 19.77898426162166,
 982                 19.77898426162166,
 983                 19.77898426162166,
 984                 19.77898426162166,
 985                 19.77898426162166,
 986                 19.77898426162166,
 987                 19.77898426162166,
 988                 19.77898426162166,
 989                 19.77898426162166,
 990                 19.77898426162166,
 991                 19.77898426162166,
 992                 19.77898426162166,
 993                 19.77898426162166,
 994                 19.77898426162166,
 995                 19.77898426162166,
 996                 19.77898426162166,
 997                 19.77898426162166,
 998                 19.77898426162166,
 999                 19.77898426162166,
1000                 19.77898426162166,
1001                 19.77898426162166
1002         ],
1003         "ncnt": 6,
1004         "obst": [
1005                 [
1006                         [
1007                                 10,
1008                                 2
1009                         ],
1010                         [
1011                                 10,
1012                                 3
1013                         ],
1014                         [
1015                                 11,
1016                                 3
1017                         ],
1018                         [
1019                                 11,
1020                                 2
1021                         ]
1022                 ],
1023                 [
1024                         [
1025                                 13,
1026                                 1
1027                         ],
1028                         [
1029                                 13,
1030                                 3
1031                         ],
1032                         [
1033                                 14,
1034                                 3
1035                         ],
1036                         [
1037                                 14,
1038                                 1
1039                         ]
1040                 ],
1041                 [
1042                         [
1043                                 10,
1044                                 -2
1045                         ],
1046                         [
1047                                 10,
1048                                 -4.2
1049                         ],
1050                         [
1051                                 9,
1052                                 -4.2
1053                         ],
1054                         [
1055                                 9,
1056                                 -2
1057                         ]
1058                 ],
1059                 [
1060                         [
1061                                 10,
1062                                 -4.2
1063                         ],
1064                         [
1065                                 16.5,
1066                                 -4.2
1067                         ],
1068                         [
1069                                 16.5,
1070                                 -5.2
1071                         ],
1072                         [
1073                                 10,
1074                                 -5.2
1075                         ]
1076                 ],
1077                 [
1078                         [
1079                                 16.5,
1080                                 -4.2
1081                         ],
1082                         [
1083                                 16.5,
1084                                 -2
1085                         ],
1086                         [
1087                                 17.5,
1088                                 -2
1089                         ],
1090                         [
1091                                 17.5,
1092                                 -4.2
1093                         ]
1094                 ]
1095         ],
1096         "ogoal_cc": 41.88062976215145,
1097         "opath": [
1098                 [
1099                         0.0,
1100                         0.0,
1101                         0.0,
1102                         0.0
1103                 ],
1104                 [
1105                         0.0,
1106                         0.0,
1107                         0.0,
1108                         0.0
1109                 ],
1110                 [
1111                         0.4986892401969264,
1112                         0.031325161923024473,
1113                         0.1254651455172934,
1114                         0.1254651455172934
1115                 ],
1116                 [
1117                         0.9895386546723984,
1118                         0.12480818908185064,
1119                         0.2509302910345868,
1120                         0.2509302910345868
1121                 ],
1122                 [
1123                         1.4648316665388816,
1124                         0.27897944752057025,
1125                         0.3763954365518802,
1126                         0.3763954365518802
1127                 ],
1128                 [
1129                         1.9170962589985263,
1130                         0.4914152318531608,
1131                         0.5018605820691736,
1132                         0.5018605820691736
1133                 ],
1134                 [
1135                         2.3392224419030225,
1136                         0.758775868006225,
1137                         0.627325727586467,
1138                         0.627325727586467
1139                 ],
1140                 [
1141                         2.7245740269417356,
1142                         1.0768582157808897,
1143                         0.7527908731037604,
1144                         0.7527908731037604
1145                 ],
1146                 [
1147                         3.0670929542555916,
1148                         1.4406617458482287,
1149                         0.8782560186210538,
1150                         0.8782560186210538
1151                 ],
1152                 [
1153                         3.3613945303721975,
1154                         1.8444671523907525,
1155                         1.0037211641383472,
1156                         1.0037211641383472
1157                 ],
1158                 [
1159                         3.6017103057652675,
1160                         2.279512130512435,
1161                         1.1291863096556405,
1162                         -0.0003350576463674315
1163                 ],
1164                 [
1165                         3.6017103057652675,
1166                         2.279512130512435,
1167                         1.1291863096556405,
1168                         0.0
1169                 ],
1170                 [
1171                         3.786527908081144,
1172                         2.7437477150295018,
1173                         1.254651455172934,
1174                         0.1254651455172934
1175                 ],
1176                 [
1177                         3.911800070455414,
1178                         3.2274615864367266,
1179                         1.3801166006902272,
1180                         0.2509302910345868
1181                 ],
1182                 [
1183                         3.9755574062608936,
1184                         3.7230493447486923,
1185                         1.5055817462075207,
1186                         0.3763954365518802
1187                 ],
1188                 [
1189                         3.976797595092633,
1190                         4.222719922218841,
1191                         1.631046891724814,
1192                         0.5018605820691736
1193                 ],
1194                 [
1195                         3.9774376590433285,
1196                         4.338590906636525,
1197                         1.7565120372421075,
1198                         -0.04831395692809348
1199                 ],
1200                 [
1201                         4.100307124606765,
1202                         3.85426114450142,
1203                         1.881977182759401,
1204                         -0.17377910244538686
1205                 ],
1206                 [
1207                         4.282817986594285,
1208                         3.389113845988074,
1209                         2.0074423282766944,
1210                         -0.29924424796268034
1211                 ],
1212                 [
1213                         4.522101016566772,
1214                         2.9504615285145697,
1215                         2.1329074737939875,
1216                         -0.4247093934799737
1217                 ],
1218                 [
1219                         4.814394478553455,
1220                         2.545200185505479,
1221                         2.258372619311281,
1222                         -0.550174538997267
1223                 ],
1224                 [
1225                         5.155103266791489,
1226                         2.1797008754171268,
1227                         2.3838377648285745,
1228                         -0.6756396845145605
1229                 ],
1230                 [
1231                         5.538871144758712,
1232                         1.8597095631940805,
1233                         2.509302910345868,
1234                         -0.801104830031854
1235                 ],
1236                 [
1237                         5.959664949839526,
1238                         1.590256788735732,
1239                         2.6347680558631614,
1240                         -0.9265699755491472
1241                 ],
1242                 [
1243                         6.410869439853855,
1244                         1.3755785824627131,
1245                         2.760233201380455,
1246                         -1.0520351210664407
1247                 ],
1248                 [
1249                         6.885391290379754,
1250                         1.2190498712587692,
1251                         2.8856983468977484,
1252                         -1.1775002665837342
1253                 ],
1254                 [
1255                         7.375770607941927,
1256                         1.1231314217042216,
1257                         3.0111634924150414,
1258                         -1.3029654121010275
1259                 ],
1260                 [
1261                         7.87429820598248,
1262                         1.0893311546992335,
1263                         3.136628637932335,
1264                         -1.428430557618321
1265                 ],
1266                 [
1267                         7.87429820598248,
1268                         1.0893311546992335,
1269                         3.136628637932335,
1270                         0.0
1271                 ],
1272                 [
1273                         8.372825804023034,
1274                         1.0555308876942453,
1275                         3.0111634924150414,
1276                         -0.1254651455172934
1277                 ],
1278                 [
1279                         8.863205121585207,
1280                         0.9596124381396973,
1281                         2.885698346897748,
1282                         -0.2509302910345868
1283                 ],
1284                 [
1285                         9.337726972111104,
1286                         0.8030837269357537,
1287                         2.760233201380455,
1288                         -0.3763954365518802
1289                 ],
1290                 [
1291                         9.788931462125435,
1292                         0.5884055206627349,
1293                         2.6347680558631614,
1294                         -0.5018605820691736
1295                 ],
1296                 [
1297                         10.209725267206249,
1298                         0.3189527462043865,
1299                         2.509302910345868,
1300                         -0.627325727586467
1301                 ],
1302                 [
1303                         10.59349314517347,
1304                         -0.0010385660186598145,
1305                         2.3838377648285745,
1306                         -0.7527908731037604
1307                 ],
1308                 [
1309                         10.59349314517347,
1310                         -0.0010385660186598145,
1311                         2.3838377648285745,
1312                         0.0
1313                 ],
1314                 [
1315                         10.644647148622596,
1316                         -0.0235138894545495,
1317                         2.509302910345868,
1318                         -0.06946778663123512
1319                 ],
1320                 [
1321                         11.06544095370341,
1322                         -0.29296666391289794,
1323                         2.6347680558631614,
1324                         -0.19493293214852853
1325                 ],
1326                 [
1327                         11.516645443717739,
1328                         -0.5076448701859159,
1329                         2.7602332013804545,
1330                         -0.3203980776658219
1331                 ],
1332                 [
1333                         11.991167294243638,
1334                         -0.6641735813898604,
1335                         2.885698346897748,
1336                         -0.44586322318311533
1337                 ],
1338                 [
1339                         12.481546611805811,
1340                         -0.7600920309444084,
1341                         3.0111634924150414,
1342                         -0.5713283687004087
1343                 ],
1344                 [
1345                         12.980074209846364,
1346                         -0.7938922979493965,
1347                         3.136628637932335,
1348                         -0.6967935142177021
1349                 ],
1350                 [
1351                         13.478912803798199,
1352                         -0.7650430130042065,
1353                         -3.021091523729958,
1354                         -0.8222586597349956
1355                 ],
1356                 [
1357                         13.97022021996979,
1358                         -0.6739977117938476,
1359                         -2.8956263782126648,
1360                         -0.9477238052522889
1361                 ],
1362                 [
1363                         13.97022021996979,
1364                         -0.6739977117938476,
1365                         -2.8956263782126648,
1366                         0.0
1367                 ],
1368                 [
1369                         14.461527636141382,
1370                         -0.5829524105834882,
1371                         -3.0210915237299583,
1372                         -0.1254651455172934
1373                 ],
1374                 [
1375                         14.955874976571668,
1376                         -0.5097308537316472,
1377                         -2.9348805957565354,
1378                         -0.10583803674535819
1379                 ],
1380                 [
1381                         15.437518364627165,
1382                         -0.3767200616878641,
1383                         -2.809415450239242,
1384                         -0.23130318226265156
1385                 ],
1386                 [
1387                         15.437518364627165,
1388                         -0.3767200616878641,
1389                         -2.809415450239242,
1390                         0.0
1391                 ],
1392                 [
1393                         15.919161752682662,
1394                         -0.24370926964408102,
1395                         -2.9348805957565354,
1396                         -0.1254651455172934
1397                 ],
1398                 [
1399                         16.413663685526508,
1400                         -0.1720150406476578,
1401                         -3.060345741273829,
1402                         -0.2509302910345868
1403                 ],
1404                 [
1405                         16.913250165526655,
1406                         -0.16276446992195207,
1407                         3.0973744203884643,
1408                         -0.3763954365518802
1409                 ],
1410                 [
1411                         16.913250165526655,
1412                         -0.16276446992195207,
1413                         3.0973744203884643,
1414                         0.0
1415                 ],
1416                 [
1417                         17.412836645526806,
1418                         -0.15351389919624633,
1419                         -3.0603457412738284,
1420                         -0.1254651455172934
1421                 ],
1422                 [
1423                         17.907338578370652,
1424                         -0.08181967019982266,
1425                         -2.934880595756535,
1426                         -0.2509302910345868
1427                 ],
1428                 [
1429                         18.391162604435586,
1430                         0.04383819327052313,
1431                         -2.897160776738249,
1432                         -0.04387266324950356
1433                 ],
1434                 [
1435                         18.882609141966523,
1436                         0.1341295262241685,
1437                         -3.0226259222555423,
1438                         -0.169337808766797
1439                 ],
1440                 [
1441                         19.38149141497387,
1442                         0.16221336030557462,
1443                         3.135094239406751,
1444                         -0.29480295428409037
1445                 ],
1446                 [
1447                         19.879966563093618,
1448                         0.127648193378659,
1449                         3.0096290938894574,
1450                         -0.42026809980138374
1451                 ],
1452                 [
1453                         19.965864244580185,
1454                         0.12623250319082305,
1455                         2.884163948372164,
1456                         0.052124463206962124
1457                 ],
1458                 [
1459                         19.491583129985713,
1460                         0.2834891354729596,
1461                         2.7586988028548705,
1462                         0.1775896087242556
1463                 ],
1464                 [
1465                         19.04070857291836,
1466                         0.4988594162616631,
1467                         2.6332336573375774,
1468                         0.3030547542415489
1469                 ],
1470                 [
1471                         18.62032871096907,
1472                         0.7689575386638529,
1473                         2.507768511820284,
1474                         0.42851989975884236
1475                 ],
1476                 [
1477                         18.227708576208915,
1478                         1.0784195884128125,
1479                         2.503055892631832,
1480                         0.06037626316442085
1481                 ],
1482                 [
1483                         17.808606247195765,
1484                         1.3504957944166522,
1485                         2.6285210381491253,
1486                         0.18584140868171412
1487                 ],
1488                 [
1489                         17.808606247195765,
1490                         1.3504957944166522,
1491                         2.6285210381491253,
1492                         0.0
1493                 ],
1494                 [
1495                         17.389503918182612,
1496                         1.622572000420492,
1497                         2.503055892631832,
1498                         0.1254651455172934
1499                 ],
1500                 [
1501                         17.007742506899923,
1502                         1.9449544579350722,
1503                         2.3775907471145383,
1504                         0.2509302910345868
1505                 ],
1506                 [
1507                         16.669323632573427,
1508                         2.312575036191075,
1509                         2.2521256015972453,
1510                         0.3763954365518802
1511                 ],
1512                 [
1513                         16.379567532300126,
1514                         2.719654422075574,
1515                         2.126660456079952,
1516                         0.5018605820691736
1517                 ],
1518                 [
1519                         16.379567532300126,
1520                         2.719654422075574,
1521                         2.126660456079952,
1522                         0.0
1523                 ],
1524                 [
1525                         16.143029422324457,
1526                         3.1597929759274606,
1527                         2.0011953105626583,
1528                         0.1254651455172934
1529                 ],
1530                 [
1531                         15.963427886103242,
1532                         3.6260713394021886,
1533                         1.875730165045365,
1534                         0.2509302910345868
1535                 ],
1536                 [
1537                         15.843586414960905,
1538                         4.1111592137632496,
1539                         1.7502650195280716,
1540                         0.3763954365518802
1541                 ],
1542                 [
1543                         15.74038023739681,
1544                         4.600119887587137,
1545                         1.838837344815766,
1546                         0.10701873540249396
1547                 ],
1548                 [
1549                         15.578099335174795,
1550                         5.072705470134575,
1551                         1.9643024903330595,
1552                         0.23248388091978733
1553                 ],
1554                 [
1555                         15.578099335174795,
1556                         5.072705470134575,
1557                         1.9643024903330595,
1558                         0.0
1559                 ],
1560                 [
1561                         15.740380237396808,
1562                         4.600119887587137,
1563                         1.838837344815766,
1564                         -0.1254651455172934
1565                 ],
1566                 [
1567                         15.842247960550147,
1568                         4.110941810566871,
1569                         1.7133721992984727,
1570                         -0.2509302910345868
1571                 ],
1572                 [
1573                         15.882101056013521,
1574                         3.6128615410924825,
1575                         1.5879070537811792,
1576                         -0.3763954365518802
1577                 ],
1578                 [
1579                         15.859312998693332,
1580                         3.113709331339523,
1581                         1.462441908263886,
1582                         -0.5018605820691736
1583                 ],
1584                 [
1585                         15.774242036539443,
1586                         2.6213322853108694,
1587                         1.3369767627465925,
1588                         -0.627325727586467
1589                 ],
1590                 [
1591                         15.62883158471608,
1592                         2.143251634808234,
1593                         1.2294964612060826,
1594                         -0.01798484397678346
1595                 ],
1596                 [
1597                         15.461475452513156,
1598                         1.6720914444121466,
1599                         1.2294964612060826,
1600                         -0.14344998949407695
1601                 ],
1602                 [
1603                         15.294119320310234,
1604                         1.2009312540160586,
1605                         1.2294964612060826,
1606                         -0.2689151350113703
1607                 ],
1608                 [
1609                         15.126763188107311,
1610                         0.729771063619971,
1611                         1.2294964612060826,
1612                         -0.3943802805286636
1613                 ],
1614                 [
1615                         14.959407055904387,
1616                         0.25861087322388254,
1617                         1.2294964612060826,
1618                         -0.5198454260459571
1619                 ],
1620                 [
1621                         14.792050923701465,
1622                         -0.21254931717220504,
1623                         1.2294964612060826,
1624                         -0.6453105715632506
1625                 ],
1626                 [
1627                         14.614326108802217,
1628                         -0.6797333088922759,
1629                         1.154837264579553,
1630                         -0.07465919662652964
1631                 ],
1632                 [
1633                         14.384168004160719,
1634                         -1.123241449658063,
1635                         1.0293721190622596,
1636                         -0.20012434214382313
1637                 ],
1638                 [
1639                         14.10032010219963,
1640                         -1.5344623059019797,
1641                         0.903906973544966,
1642                         -0.3255894876611166
1643                 ],
1644                 [
1645                         13.767244737181262,
1646                         -1.9069311304706558,
1647                         0.7784418280276727,
1648                         -0.4510546331784099
1649                 ],
1650                 [
1651                         13.390178141619515,
1652                         -2.2347923916302603,
1653                         0.6529766825103792,
1654                         -0.5765197786957034
1655                 ],
1656                 [
1657                         12.975048128180692,
1658                         -2.5128918270845126,
1659                         0.5275115369930857,
1660                         -0.7019849242129969
1661                 ],
1662                 [
1663                         12.637516874478637,
1664                         -2.68850949253713,
1665                         0.43200000000000033,
1666                         0.0
1667                 ]
1668         ],
1669         "otime": 0.00022455100000001726,
1670         "path": [
1671                 [
1672                         0.0,
1673                         0.0,
1674                         0.0,
1675                         0.0,
1676                         0
1677                 ],
1678                 [
1679                         0.499642702991898,
1680                         -0.01782739608762909,
1681                         -0.04305059921439219,
1682                         0.08241454630290121,
1683                         0
1684                 ],
1685                 [
1686                         0.9991794360251599,
1687                         -0.0393460473105916,
1688                         -0.04305059921439219,
1689                         0.2078796918201946,
1690                         0
1691                 ],
1692                 [
1693                         1.4987161690584219,
1694                         -0.06086469853355411,
1695                         -0.04305059921439219,
1696                         0.333344837337488,
1697                         0
1698                 ],
1699                 [
1700                         1.9982529020916842,
1701                         -0.08238334975651664,
1702                         -0.04305059921439219,
1703                         0.4588099828547814,
1704                         0
1705                 ],
1706                 [
1707                         2.4977896351249465,
1708                         -0.10390200097947916,
1709                         -0.04305059921439219,
1710                         0.5842751283720748,
1711                         0
1712                 ],
1713                 [
1714                         2.9973263681582076,
1715                         -0.12542065220244164,
1716                         -0.04305059921439219,
1717                         0.7097402738893681,
1718                         0
1719                 ],
1720                 [
1721                         3.49686310119147,
1722                         -0.14693930342540418,
1723                         -0.04305059921439219,
1724                         0.8352054194066616,
1725                         0
1726                 ],
1727                 [
1728                         3.996399834224732,
1729                         -0.16845795464836671,
1730                         -0.04305059921439219,
1731                         0.9606705649239551,
1732                         0
1733                 ],
1734                 [
1735                         4.495936567257994,
1736                         -0.1899766058713292,
1737                         -0.04305059921439219,
1738                         1.0861357104412483,
1739                         0
1740                 ],
1741                 [
1742                         4.995473300291256,
1743                         -0.21149525709429173,
1744                         -0.04305059921439219,
1745                         1.2116008559585418,
1746                         0
1747                 ],
1748                 [
1749                         5.495010033324518,
1750                         -0.23301390831725424,
1751                         -0.04305059921439219,
1752                         1.3370660014758353,
1753                         0
1754                 ],
1755                 [
1756                         5.99454676635778,
1757                         -0.25453255954021675,
1758                         -0.04305059921439219,
1759                         1.4625311469931286,
1760                         0
1761                 ],
1762                 [
1763                         6.494083499391042,
1764                         -0.2760512107631793,
1765                         -0.04305059921439219,
1766                         1.587996292510422,
1767                         0
1768                 ],
1769                 [
1770                         6.993620232424305,
1771                         -0.2975698619861418,
1772                         -0.04305059921439219,
1773                         1.7134614380277156,
1774                         0
1775                 ],
1776                 [
1777                         7.493156965457566,
1778                         -0.3190885132091043,
1779                         -0.04305059921439219,
1780                         1.8389265835450088,
1781                         0
1782                 ],
1783                 [
1784                         7.99269369849083,
1785                         -0.34060716443206684,
1786                         -0.04305059921439219,
1787                         1.9643917290623023,
1788                         0
1789                 ],
1790                 [
1791                         8.49223043152409,
1792                         -0.3621258156550293,
1793                         -0.04305059921439219,
1794                         2.0898568745795956,
1795                         0
1796                 ],
1797                 [
1798                         8.99176716455735,
1799                         -0.38364446687799175,
1800                         -0.04305059921439219,
1801                         2.2153220200968886,
1802                         0
1803                 ],
1804                 [
1805                         9.491303897590614,
1806                         -0.4051631181009543,
1807                         -0.04305059921439219,
1808                         2.340787165614182,
1809                         0
1810                 ],
1811                 [
1812                         9.990840630623875,
1813                         -0.4266817693239168,
1814                         -0.04305059921439219,
1815                         2.4662523111314756,
1816                         0
1817                 ],
1818                 [
1819                         10.490377363657139,
1820                         -0.44820042054687936,
1821                         -0.04305059921439219,
1822                         2.591717456648769,
1823                         0
1824                 ],
1825                 [
1826                         10.9899140966904,
1827                         -0.4697190717698419,
1828                         -0.04305059921439219,
1829                         2.7171826021660626,
1830                         0
1831                 ],
1832                 [
1833                         11.489450829723664,
1834                         -0.4912377229928043,
1835                         -0.04305059921439219,
1836                         2.842647747683356,
1837                         0
1838                 ],
1839                 [
1840                         11.988987562756924,
1841                         -0.5127563742157668,
1842                         -0.04305059921439219,
1843                         2.968112893200649,
1844                         0
1845                 ],
1846                 [
1847                         12.488524295790187,
1848                         -0.5342750254387293,
1849                         -0.04305059921439219,
1850                         3.0935780387179426,
1851                         0
1852                 ],
1853                 [
1854                         12.988061028823449,
1855                         -0.5557936766616919,
1856                         -0.04305059921439219,
1857                         3.219043184235236,
1858                         0
1859                 ],
1860                 [
1861                         13.487597761856712,
1862                         -0.5773123278846544,
1863                         -0.04305059921439219,
1864                         3.3445083297525295,
1865                         0
1866                 ],
1867                 [
1868                         13.987346337976652,
1869                         -0.5836984314049003,
1870                         0.0441088883689022,
1871                         0.08715948758329439,
1872                         1
1873                 ],
1874                 [
1875                         14.484169263347605,
1876                         -0.5304142415964951,
1877                         0.16957403388619524,
1878                         0.21262463310058743,
1879                         1
1880                 ],
1881                 [
1882                         14.970419162938168,
1883                         -0.4153783376105709,
1884                         0.2950391794034887,
1885                         0.3380897786178809,
1886                         1
1887                 ],
1888                 [
1889                         15.43845176820876,
1890                         -0.24039918324835893,
1891                         0.4205043249207822,
1892                         0.4635549241351744,
1893                         1
1894                 ],
1895                 [
1896                         15.511231784472887,
1897                         -0.20697201989759018,
1898                         0.4406015102254593,
1899                         0.4448712918009573,
1900                         1
1901                 ],
1902                 [
1903                         15.403881470518565,
1904                         -0.28275960837988123,
1905                         0.5660666557427527,
1906                         -0.07911813797516115,
1907                         -1
1908                 ],
1909                 [
1910                         14.999779464204533,
1911                         -0.5766537943561716,
1912                         0.6915318012600462,
1913                         -0.20458328349245453,
1914                         -1
1915                 ],
1916                 [
1917                         14.635630686499207,
1918                         -0.9188056491712628,
1919                         0.8169969467773395,
1920                         -0.3300484290097478,
1921                         -1
1922                 ],
1923                 [
1924                         14.317159870811235,
1925                         -1.3038362500495952,
1926                         0.942462092294633,
1927                         -0.4555135745270413,
1928                         -1
1929                 ],
1930                 [
1931                         14.317159870811235,
1932                         -1.3038362500495952,
1933                         0.942462092294633,
1934                         0.0,
1935                         0
1936                 ],
1937                 [
1938                         13.998689055123263,
1939                         -1.6888668509279272,
1940                         0.8169969467773396,
1941                         -0.1254651455172934,
1942                         1
1943                 ],
1944                 [
1945                         13.635339765337704,
1946                         -2.0319524537081963,
1947                         0.7163697734652197,
1948                         -0.02483797220517353,
1949                         0
1950                 ],
1951                 [
1952                         13.243361758918239,
1953                         -2.3418777626994194,
1954                         0.6073735621754048,
1955                         -0.10899621128981482,
1956                         1
1957                 ],
1958                 [
1959                         12.815985525386473,
1960                         -2.600763411335827,
1961                         0.48190841665811146,
1962                         -0.23446135680710825,
1963                         1
1964                 ],
1965                 [
1966                         12.637516874478637,
1967                         -2.68850949253713,
1968                         0.43200000000000033,
1969                         0.0,
1970                         0
1971                 ]
1972         ],
1973         "rcnt": 8,
1974         "slot": [
1975                 [
1976                         10,
1977                         -2
1978                 ],
1979                 [
1980                         10,
1981                         -4.2
1982                 ],
1983                 [
1984                         16.5,
1985                         -4.2
1986                 ],
1987                 [
1988                         16.5,
1989                         -2
1990                 ]
1991         ],
1992         "time": 0.491167439,
1993         "nnpath": [
1994                 [
1995                         15.43845176820876,
1996                         -0.24039918324835893,
1997                         0.4205043249207822,
1998                         0.4635549241351744,
1999                         1
2000                 ],
2001                 [
2002                         15.511231784472887,
2003                         -0.20697201989759018,
2004                         0.4406015102254593,
2005                         0.4448712918009573,
2006                         1
2007                 ],
2008                 [
2009                         15.403881470518565,
2010                         -0.28275960837988123,
2011                         0.5660666557427527,
2012                         -0.07911813797516115,
2013                         -1
2014                 ],
2015                 [
2016                         14.999779464204533,
2017                         -0.5766537943561716,
2018                         0.6915318012600462,
2019                         -0.20458328349245453,
2020                         -1
2021                 ],
2022                 [
2023                         14.635630686499207,
2024                         -0.9188056491712628,
2025                         0.8169969467773395,
2026                         -0.3300484290097478,
2027                         -1
2028                 ],
2029                 [
2030                         14.317159870811235,
2031                         -1.3038362500495952,
2032                         0.942462092294633,
2033                         -0.4555135745270413,
2034                         -1
2035                 ],
2036                 [
2037                         14.317159870811235,
2038                         -1.3038362500495952,
2039                         0.942462092294633,
2040                         0.0,
2041                         0
2042                 ],
2043                 [
2044                         13.998689055123263,
2045                         -1.6888668509279272,
2046                         0.8169969467773396,
2047                         -0.1254651455172934,
2048                         1
2049                 ],
2050                 [
2051                         13.635339765337704,
2052                         -2.0319524537081963,
2053                         0.7163697734652197,
2054                         -0.02483797220517353,
2055                         0
2056                 ],
2057                 [
2058                         13.243361758918239,
2059                         -2.3418777626994194,
2060                         0.6073735621754048,
2061                         -0.10899621128981482,
2062                         1
2063                 ],
2064                 [
2065                         12.815985525386473,
2066                         -2.600763411335827,
2067                         0.48190841665811146,
2068                         -0.23446135680710825,
2069                         1
2070                 ],
2071                 [
2072                         12.637516874478637,
2073                         -2.68850949253713,
2074                         0.43200000000000033,
2075                         0.0,
2076                         0
2077                 ]
2078         ],
2079         "traj": [
2080                 [
2081                         0.0002,
2082                         0.0,
2083                         0.0,
2084                         0,
2085                         0.01,
2086                         0.5
2087                 ]
2088         ]
2089 }