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sim_config.json
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sim_config.json
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{
"end_distance": 0.35,
"time_step": 0.02,
"iteration_limit": 5000,
"map_size": 12.0,
"start_position": [ 5.0, -1.5 ],
"start_angle": 180,
"waypoints": [
[ -3.25, -5.0 ],
[ -5.0, -5.0 ],
[ -5.0, -2.0 ],
[ -2.75, 5.0 ],
[ 0.0, 3.0 ]
],
"obstacles": [
[ [ 1.0, -2.0 ], [ 2.0, -2.0 ], [ 2.0, -4.0 ], [ 1.0, -4.0 ] ],
[ [ 3.0, -2.0 ], [ 4.0, -2.0 ], [ 4.0, -4.0 ], [ 3.0, -4.0 ] ],
[ [ -1.5, -2.0 ], [ -2.0, -2.0 ], [ -2.0, -2.2 ], [ -1.5, -2.2 ] ],
[ [ -1.5, -2.9 ], [ -2.0, -2.9 ], [ -2.0, -3.1 ], [ -1.5, -3.1 ] ],
[ [ -1.5, -3.8 ], [ -2.0, -3.8 ], [ -2.0, -4.0 ], [ -1.5, -4.0 ] ],
[ [ -3.5, -2.0 ], [ -4.0, -2.0 ], [ -4.0, -2.2 ], [ -3.5, -2.2 ] ],
[ [ -3.5, -2.9 ], [ -4.0, -2.9 ], [ -4.0, -3.1 ], [ -3.5, -3.1 ] ],
[ [ -3.5, -3.8 ], [ -4.0, -3.8 ], [ -4.0, -4.0 ], [ -3.5, -4.0 ] ],
[ [ -4.0, -1.0 ], [ 4.0, -1.0 ], [ 4.0, 6.0 ], [ 3.0, 6.0 ], [ 3.0, 0 ], [ -2.0, 0 ], [ -2.0, 4.0 ], [ -4.0, 4.0 ] ]
]
}