{
  "kind": "illustrative-configuration-space",
  "units": "meters",
  "width": 8,
  "height": 6,
  "robotRadius": 0.4,
  "clearance": 0.1,
  "obstacles": [
    {
      "x": 3,
      "y": 1.2,
      "width": 2,
      "height": 1.5
    },
    {
      "x": 3,
      "y": 3.3,
      "width": 2,
      "height": 1.5
    }
  ],
  "start": [
    1,
    3
  ],
  "goal": [
    7,
    3
  ],
  "directRoute": [
    [
      1,
      3
    ],
    [
      7,
      3
    ]
  ],
  "detourRoute": [
    [
      1,
      3
    ],
    [
      2.2,
      3
    ],
    [
      2.2,
      0.6
    ],
    [
      5.8,
      0.6
    ],
    [
      5.8,
      3
    ],
    [
      7,
      3
    ]
  ],
  "gap": 0.6,
  "requiredGap": 1.0,
  "assumptions": "Static axis-aligned obstacles, circular translating robot, uniform 0.1 m clearance. Inflate obstacles by 0.5 m using rounded corners. Piecewise-linear detour is a geometric path, not a time-parameterized trajectory or shortest-path result. A physical robot needs motion limits, timing and validation."
}