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map_hard.json
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{
"start_pose": [20, 20, 0],
"goal_pose": [380, 380, 0],
"width": 400,
"height": 400,
"obstacles": [
{
"type": "rectangle",
"coordinates": [25, 15, 35, 30]
},
{
"type": "rectangle",
"coordinates": [40, 55, 55, 65]
},
{
"type": "rectangle",
"coordinates": [55, 20, 80, 30]
},
{
"type": "rectangle",
"coordinates": [70, 30, 80, 55]
},
{
"type": "rectangle",
"coordinates": [70, 70, 90, 90]
},
{
"type": "rectangle",
"coordinates": [50, 110, 65, 125]
},
{
"type": "rectangle",
"coordinates": [65, 120, 100, 140]
},
{
"type": "rectangle",
"coordinates": [20, 170, 60, 230]
},
{
"type": "rectangle",
"coordinates": [30, 255, 40, 275]
},
{
"type": "rectangle",
"coordinates": [5, 280, 20, 320]
},
{
"type": "rectangle",
"coordinates": [50, 275, 55, 280]
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{
"type": "rectangle",
"coordinates": [30, 290, 55, 305]
},
{
"type": "rectangle",
"coordinates": [20, 350, 70, 380]
},
{
"type": "circle",
"parameters": [80, 250, 15]
},
{
"type": "rectangle",
"coordinates": [75, 275, 140, 300]
},
{
"type": "rectangle",
"coordinates": [110, 20, 170, 55]
},
{
"type": "rectangle",
"coordinates": [100, 75, 125, 100]
},
{
"type": "circle",
"parameters": [130, 120, 10]
},
{
"type": "rectangle",
"coordinates": [100, 150, 115, 200]
},
{
"type": "rectangle",
"coordinates": [160, 100, 170, 120]
},
{
"type": "rectangle",
"coordinates": [125, 140, 190, 175]
},
{
"type": "rectangle",
"coordinates": [190, 165, 210, 175]
},
{
"type": "rectangle",
"coordinates": [125, 200, 220, 225]
},
{
"type": "rectangle",
"coordinates": [125, 225, 145, 250]
},
{
"type": "rectangle",
"coordinates": [150, 245, 165, 270]
},
{
"type": "rectangle",
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},
{
"type": "rectangle",
"coordinates": [140, 330, 160, 375]
},
{
"type": "rectangle",
"coordinates": [180, 70, 220, 75]
},
{
"type": "circle",
"parameters": [200, 115, 15]
},
{
"type": "rectangle",
"coordinates": [200, 30, 260, 60]
},
{
"type": "rectangle",
"coordinates": [230, 200, 250, 225]
},
{
"type": "rectangle",
"coordinates": [265, 200, 270, 225]
},
{
"type": "rectangle",
"coordinates": [190, 245, 255, 270]
},
{
"type": "rectangle",
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},
{
"type": "rectangle",
"coordinates": [180, 330, 220, 340]
},
{
"type": "rectangle",
"coordinates": [180, 355, 260, 380]
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{
"type": "circle",
"parameters": [280, 70, 10]
},
{
"type": "rectangle",
"coordinates": [310, 20, 360, 65]
},
{
"type": "rectangle",
"coordinates": [330, 65, 365, 100]
},
{
"type": "rectangle",
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{
"type": "rectangle",
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{
"type": "rectangle",
"coordinates": [285, 185, 315, 225]
},
{
"type": "rectangle",
"coordinates": [275, 245, 295, 270]
},
{
"type": "rectangle",
"coordinates": [260, 320, 290, 360]
},
{
"type": "circle",
"parameters": [320, 320, 10]
},
{
"type": "rectangle",
"coordinates": [275, 375, 340, 380]
},
{
"type": "rectangle",
"coordinates": [330, 200, 375, 260]
},
{
"type": "rectangle",
"coordinates": [320, 275, 375, 285]
},
{
"type": "rectangle",
"coordinates": [365, 285, 375, 320]
},
{
"type": "rectangle",
"coordinates": [335, 335, 355, 355]
}
]
}