{
  "env": {
    "obstacles": {
      "angles": [
        {
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
       ,{
          "obstacles": [
          ]
        }
      ]
    }
   ,"robotParams": {
      "halfWheelBase_mm": 24
     ,"maxVelocity_mmps": 60
     ,"maxReverseVelocity_mmps": 25
    }
  }
 ,"goals": [
    {
      "goalID": 0,
      "x_mm": -310.693
     ,"y_mm": -150.601
     ,"theta_rads": -2.87979
    }
  ]
 ,"start": {
    "x_mm": 385.858
   ,"y_mm": -14.5442
   ,"theta_rads": -1.01847
  }
 ,"free_turn_at_goal": 0
 ,"force_replan": 1
}
