[Test1]
Window : (300, 300)

ArmBase : (150, 300)

ArmLinks : [
                (100, 90, (0, 180)), 
                (50, 0, (-120, 120)), 
                (25, 0, (-150, 150)), 
            ]

Obstacles : [
                (120, 200, 10),
                (100, 220, 10),
                (130, 240, 10)
            ]

Goals : [
            (100, 250, 13)
        ]


[Test2]
Window : (300, 300)

ArmBase : (150, 300)

ArmLinks : [
                (100, 90, (0, 180)), 
           ]

Obstacles : [
            ]

Goals : [
            (80, 220, 10)
        ]