[Test1]                                 
Window : (300, 200)                     # (Width, Height)

ArmBase : (150, 190)                    # (x-coordinate, y-coordinate) 

ArmLinks : [
                (100, 40, (20, 160)),    # (length, initial angle, (min angle, max angle)
                (80, 0, (-150, 150)),                 
           ]

Obstacles : [                
                (70, 50, 15),
                (140, 30, 17),     
                (115, 75, 17)
            ]

Goals : [
            (110, 40, 10)               # (x-coordinate, y-coordinate, radius)        
        ]

[Test2]                                 
Window : (300, 200)                     # (Width, Height)

ArmBase : (150, 190)                    # (x-coordinate, y-coordinate) 

ArmLinks : [
                (100, 60, (20, 160)),    # (length, initial angle, (min angle, max angle)
                (100, 60, (-150, 150)),                 
           ]

Obstacles : [                
                (220, 120, 15),
                (150, 60, 17),     
                (200, 50, 17)
            ]

Goals : [
            (240, 80, 10)               # (x-coordinate, y-coordinate, radius)        
        ] 

[BasicMap]
Window : (300, 200)                     # (Width, Height)

ArmBase : (150, 200)                    # (x-coordinate, y-coordinate) 

ArmLinks : [
                (100, 90, (0, 180)),    # (length, initial angle, (min angle, max angle)
                (50, 60, (-150, 150)),                 
           ]

Obstacles : [
                (125, 70, 10),          # (x-coordinate, y-coordinate, radius)    
                (80, 90, 10),
                (165, 30, 10),     
                (185, 60, 10)
            ]

Goals : [
            (150, 50, 10)               # (x-coordinate, y-coordinate, radius)        
        ]
        

