library:
  name: "2x3" # change to "2x3" for 2x3
  x_max: 2 # change to 2 for 2x3
  y_max: 3 # change to 3 for 2x3

initial_guess_type: "db" # options are db, line, None

robot_radius: .5

environment:
  circle_obs: [] # [[5,3,1]] # [x, y, radius] # change to [] for 2x3 
  rectangle_obs: []

cost_weights:
  dist_robots_weight: 8
  dist_obstacles_weight: 8
  control_costs_weight: 3
  time_weight: 1
  goal_weight: 5

N: 40

num_trials: 1

control_point_distance: -.8

grid_resolution: 2

solver_options:
  print_time: 0
  print_level: 0
  acceptable_tol: 1.0e-6
  acceptable_iter: 100



