{ "agentRadius": 0.4, "areas": [ { "available": true, "name": "main_corridor", "polygon": [ [ -45.0, 20.0 ], [ 15.0, 20.0 ], [ 15.0, -37.0 ], [ -45.0, -37.0 ] ] } ], "boundaryPadding": 0.1, "cellSize": 0.1, "floorY": 0.0, "objectPadding": 0.1, "obstacles": [ ] }