start 15.0 19.5
goal 100.0 100.0
obstacle 12.0 12.0, 40.0 30.0, 25.0 50.0
obstacle 60.0 60.0, 60.0 70.0, 70.0 70.0, 70.0 60.0

start 15.0 19.5
goal 90 90
obstacle 10 13, 40 30, 25 50
obstacle 60 60, 60 70, 70 70, 70 60