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1 {
2         "bcnt" : 3,
3         "cost" : 34.601280688875164,
4         "costs" : 
5         [
6                 34.601280688875164
7         ],
8         "entry" : 
9         [
10                 11.345355980781841,
11                 1.3510033734891989,
12                 0.41800000000000043,
13                 0.41800000000000043
14         ],
15         "goal" : 
16         [
17                 10.20592845165619,
18                 0.96919577878401486,
19                 -0.0086395252451976004
20         ],
21         "goal_cc" : 25.438751953322399,
22         "icnt" : 255,
23         "init" : 
24         [
25                 0,
26                 0,
27                 0
28         ],
29         "ispath" : 
30         [
31                 [
32                         11.253965717332093,
33                         1.3104100274016226,
34                         0.41800000000000043
35                 ],
36                 [
37                         11.253965717332093,
38                         1.3104100274016226,
39                         0.41800000000000043
40                 ],
41                 [
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44                         0.066649802739249087
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48                         0.96919577878401486,
49                         -0.0086395252451976004
50                 ]
51         ],
52         "ncnt" : 6,
53         "obst" : 
54         [
55                 [
56                         [
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59                         ],
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115                         ],
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155                         ],
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163                         ]
164                 ],
165                 [
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169                         ],
170                         [
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172                                 -2.25
173                         ],
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176                                 -1.75
177                         ],
178                         [
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181                         ],
182                         [
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185                         ]
186                 ]
187         ],
188         "ogoal_cc" : 34.601280688875164,
189         "opath" : 
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1684                                 0.85436836650912373,
1685                                 -0.25093029103458675,
1686                                 1,
1687                                 false
1688                         ],
1689                         [
1690                                 12.381972486826751,
1691                                 2.0205011498789851,
1692                                 0.72890322099183003,
1693                                 -0.37639543655188046,
1694                                 1,
1695                                 false
1696                         ],
1697                         [
1698                                 11.989133323336754,
1699                                 1.7117138190408001,
1700                                 0.60343807547453654,
1701                                 -0.50186058206917394,
1702                                 1,
1703                                 false
1704                         ],
1705                         [
1706                                 11.560741561016867,
1707                                 1.4545121043611511,
1708                                 0.4779729299572435,
1709                                 -0.62732572758646699,
1710                                 1,
1711                                 false
1712                         ],
1713                         [
1714                                 11.345355980781841,
1715                                 1.3510033734891989,
1716                                 0.41800000000000043,
1717                                 0.0,
1718                                 0,
1719                                 false
1720                         ]
1721                 ]
1722         ],
1723         "rcnt" : 8,
1724         "slot" : 
1725         [
1726                 [
1727                         8.75,
1728                         1.9999999999999996
1729                 ],
1730                 [
1731                         8.75,
1732                         -0.20000000000000057
1733                 ],
1734                 [
1735                         15.25,
1736                         -0.20000000000000018
1737                 ],
1738                 [
1739                         15.25,
1740                         2.0
1741                 ]
1742         ],
1743         "time" : 0.0
1744 }