{
    "resolution": 100,
    "initial_state": [10, 10],
    "goal_state": [22, 25],
    "obstacles": [
        {
            "shape": "polygon",
            "property": {
                "vertices": [
                    [5, 20],
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                    [5, 25],
                    [15, 25]
                ]
            }
        },
        {
            "shape": "polygon",
            "property": {
                "vertices": [
                    [25, 25],
                    [30, 25],
                    [25, 20],
                    [30, 20]
                ]
            }
        },
        
    ]
}