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dubins.json
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{"use_map" : 1,
"boundary":[
{"x_min": 0, "x_max": 10, "y_min": 0, "y_max": 10, "boundary_width": 0.2}
],
"maps": {
"no-ob-1": {"x": 5, "y": 5, "goal_x": 3, "goal_y": 4,
"obstacles": []
},
"no-ob-2": {"x": 5, "y": 8, "goal_x": 7, "goal_y": 1,
"obstacles": []
},
"no-ob-3": {"x": 7, "y": 3, "goal_x": 3, "goal_y": 0,
"obstacles": []
},
"no-ob-4": {"x": 5, "y": 6, "goal_x": 3, "goal_y": 3,
"obstacles": []
},
"no-ob-5": {"x": 8, "y": 1, "goal_x": 1, "goal_y": 1,
"obstacles": []
},
"ob-1": {"x": 4, "y": 6, "goal_x": 6, "goal_y": 3,
"obstacles": [
{"x": 2, "y": 4, "width": 1.5, "height": 1 },
{"x": 4.5, "y": 4, "width": 2, "height": 1 }
]
},
"ob-2": {"x": 4, "y": 6, "goal_x": 6, "goal_y": 3,
"obstacles": [
{"x": 2, "y": 4, "width": 1, "height": 0.5 },
{"x": 4, "y": 4, "width": 1, "height": 0.5 },
{"x": 6, "y": 4, "width": 1, "height": 0.5 }
]
},
"ob-3": {"x": 4, "y": 6, "goal_x": 6, "goal_y": 3,
"obstacles": [
{"x": 2, "y": 4, "width": 1, "height": 0.5 },
{"x": 3.5, "y": 4, "width": 1, "height": 0.5 },
{"x": 5, "y": 4, "width": 1, "height": 0.5 }
]
},
"ob-4": { "x": 2, "y": 6, "goal_x": 6, "goal_y": 3,
"obstacles": [
{"x": 2, "y": 4, "width": 1, "height": 0.5 },
{"x": 3.5, "y": 4, "width": 1, "height": 0.5 },
{"x": 5, "y": 4, "width": 1, "height": 0.5 }
]
},
"ob-5": { "x": 4, "y": 6, "goal_x": 6, "goal_y": 3,
"obstacles": [
{"x": 2, "y": 4, "width": 1.2, "height": 0.5 },
{"x": 3.5, "y": 4, "width": 1.2, "height": 0.5 },
{"x": 5, "y": 4, "width": 1, "height": 0.5 }
]
},
"ob-6": {"x": 4, "y": 6, "goal_x": 6, "goal_y": 3,
"obstacles": [
{"x": 2, "y": 4, "width": 1.2, "height": 0.5 },
{"x": 3.5, "y": 4, "width": 4, "height": 0.5 }
]
},
"ob-7": {"x": 4, "y": 6, "goal_x": 6, "goal_y": 3,
"obstacles": [
{"x": 2, "y": 4, "width": 3.5, "height": 0.5 },
{"x": 6.5, "y": 4, "width": 4, "height": 0.5 }
]
},
"ob-8": {"x": 2, "y": 6, "goal_x": 6, "goal_y": 3,
"obstacles": [
{"x": 2, "y": 4, "width": 1.2, "height": 0.5 },
{"x": 3.5, "y": 4, "width": 1.2, "height": 0.5 },
{"x": 5, "y": 4, "width": 1, "height": 0.5 }
]
},
"ob-9": {"x": 7, "y": 6, "goal_x": 6, "goal_y": 3,
"obstacles": [
{"x": 0, "y": 4, "width": 6.0, "height": 0.5 },
{"x": 6.8, "y": 4, "width": 4, "height": 0.5 }
]
},
"ob-10": {"x": 7, "y": 6, "goal_x": 4, "goal_y": 3,
"obstacles": [
{"x": 0, "y": 4, "width": 6.0, "height": 0.5 },
{"x": 6.8, "y": 4, "width": 4, "height": 0.5 }
]
},
"ob-11": {"x": 7, "y": 6, "goal_x": 4, "goal_y": 1.5,
"obstacles": [
{"x": 0, "y": 4, "width": 6.0, "height": 0.5 },
{"x": 6.8, "y": 4, "width": 4, "height": 0.5 },
{"x": 0, "y": 2.5, "width": 4.0, "height": 0.5 },
{"x": 4.8, "y": 2.5, "width": 5.2, "height": 0.5 }
]
},
"u": {"x": 5.5, "y": 3.5, "goal_x": 5.5, "goal_y": 7.5,
"obstacles": [
{"x": 4, "y": 4, "width": 0.5, "height": 2 },
{"x": 4.5, "y": 6, "width": 2, "height": 0.5 },
{"x": 6.5, "y": 4, "width": 0.5, "height": 2 }
]
},
"cave-mini": {"x": 0.5, "y": 0.5, "goal_x": 7, "goal_y": 9,
"boundary": {"x_min": 0, "x_max": 10, "y_min": 0, "y_max": 10, "boundary_width": 0.2},
"obstacles": [
{"x": 1, "y": 0, "width": 3, "height": 1 },
{"x": 4.25, "y": 1.0, "width": 1.5, "height": 1.65 },
{"x": 1.75, "y": 2.0, "width": 1.5, "height": 1.75 },
{"x": 1.4, "y": 5.4, "width": 1.3, "height": 1.85 },
{"x": 4.25, "y": 3.8, "width": 6.0, "height": 1.7 },
{"x": 4.0, "y": 6.5, "width": 2.5, "height": 1.25 },
{"x": 7.6, "y": 8.0, "width": 2.4, "height": 2.0 }
]
}
}
}