{
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    "obstacles": {
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        {
          "obstacles": [
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       ,{
          "obstacles": [
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       ,{
          "obstacles": [
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       ,{
          "obstacles": [
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       ,{
          "obstacles": [
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          "obstacles": [
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       ,{
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       ,{
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       ,{
          "obstacles": [
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       ,{
          "obstacles": [
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       ,{
          "obstacles": [
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       ,{
          "obstacles": [
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        }
       ,{
          "obstacles": [
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        }
       ,{
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      ]
    }
   ,"robotParams": {
      "halfWheelBase_mm": 24
     ,"maxVelocity_mmps": 60
     ,"maxReverseVelocity_mmps": 25
    }
  }
 ,"goals": 
 [
   {
     "goalID": 0,
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    ,"y_mm": -16.5339
    ,"theta_rads": -1.0472
   }
 ]
 ,"start": {
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   ,"y_mm": 217.98
   ,"theta_rads": -0.0294512
  }
 ,"free_turn_at_goal": 0
 ,"force_replan": 1
}