{
  "schema": "unit-compose.navigation-snapshot/v1",
  "module": "navigation-dijkstra-no-smoothing",
  "units": [
    {
      "id": "decode",
      "type": "nav.ros_map_decoder/v1",
      "config": "max_cells=1920",
      "timing": {
        "samples": 1000,
        "median_ns": 19527,
        "p95_ns": 20859
      }
    },
    {
      "id": "inflate",
      "type": "nav.binary_inflation/v1",
      "config": "max_cells=1920,radius=0",
      "timing": {
        "samples": 1000,
        "median_ns": 1353,
        "p95_ns": 1753
      }
    },
    {
      "id": "plan",
      "type": "nav.dijkstra/v1",
      "config": "max_cells=1920,max_expansions=1920,max_path=256",
      "timing": {
        "samples": 1000,
        "median_ns": 535645,
        "p95_ns": 556774
      }
    }
  ],
  "width": 48,
  "height": 40,
  "start": {
    "x": 18,
    "y": 9
  },
  "goal": {
    "x": 35,
    "y": 29
  },
  "binary_map": [
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1
  ],
  "cost_map": [
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1,
    1
  ],
  "raw_path": [
    {
      "x": 18,
      "y": 9
    },
    {
      "x": 19,
      "y": 9
    },
    {
      "x": 20,
      "y": 9
    },
    {
      "x": 21,
      "y": 9
    },
    {
      "x": 22,
      "y": 9
    },
    {
      "x": 23,
      "y": 9
    },
    {
      "x": 24,
      "y": 9
    },
    {
      "x": 25,
      "y": 9
    },
    {
      "x": 26,
      "y": 9
    },
    {
      "x": 27,
      "y": 9
    },
    {
      "x": 28,
      "y": 9
    },
    {
      "x": 29,
      "y": 9
    },
    {
      "x": 30,
      "y": 9
    },
    {
      "x": 31,
      "y": 9
    },
    {
      "x": 32,
      "y": 9
    },
    {
      "x": 32,
      "y": 10
    },
    {
      "x": 33,
      "y": 10
    },
    {
      "x": 34,
      "y": 10
    },
    {
      "x": 35,
      "y": 10
    },
    {
      "x": 35,
      "y": 11
    },
    {
      "x": 35,
      "y": 12
    },
    {
      "x": 35,
      "y": 13
    },
    {
      "x": 35,
      "y": 14
    },
    {
      "x": 35,
      "y": 15
    },
    {
      "x": 35,
      "y": 16
    },
    {
      "x": 35,
      "y": 17
    },
    {
      "x": 35,
      "y": 18
    },
    {
      "x": 35,
      "y": 19
    },
    {
      "x": 35,
      "y": 20
    },
    {
      "x": 35,
      "y": 21
    },
    {
      "x": 35,
      "y": 22
    },
    {
      "x": 35,
      "y": 23
    },
    {
      "x": 35,
      "y": 24
    },
    {
      "x": 35,
      "y": 25
    },
    {
      "x": 35,
      "y": 26
    },
    {
      "x": 35,
      "y": 27
    },
    {
      "x": 35,
      "y": 28
    },
    {
      "x": 35,
      "y": 29
    }
  ],
  "final_path": [
    {
      "x": 18,
      "y": 9
    },
    {
      "x": 19,
      "y": 9
    },
    {
      "x": 20,
      "y": 9
    },
    {
      "x": 21,
      "y": 9
    },
    {
      "x": 22,
      "y": 9
    },
    {
      "x": 23,
      "y": 9
    },
    {
      "x": 24,
      "y": 9
    },
    {
      "x": 25,
      "y": 9
    },
    {
      "x": 26,
      "y": 9
    },
    {
      "x": 27,
      "y": 9
    },
    {
      "x": 28,
      "y": 9
    },
    {
      "x": 29,
      "y": 9
    },
    {
      "x": 30,
      "y": 9
    },
    {
      "x": 31,
      "y": 9
    },
    {
      "x": 32,
      "y": 9
    },
    {
      "x": 32,
      "y": 10
    },
    {
      "x": 33,
      "y": 10
    },
    {
      "x": 34,
      "y": 10
    },
    {
      "x": 35,
      "y": 10
    },
    {
      "x": 35,
      "y": 11
    },
    {
      "x": 35,
      "y": 12
    },
    {
      "x": 35,
      "y": 13
    },
    {
      "x": 35,
      "y": 14
    },
    {
      "x": 35,
      "y": 15
    },
    {
      "x": 35,
      "y": 16
    },
    {
      "x": 35,
      "y": 17
    },
    {
      "x": 35,
      "y": 18
    },
    {
      "x": 35,
      "y": 19
    },
    {
      "x": 35,
      "y": 20
    },
    {
      "x": 35,
      "y": 21
    },
    {
      "x": 35,
      "y": 22
    },
    {
      "x": 35,
      "y": 23
    },
    {
      "x": 35,
      "y": 24
    },
    {
      "x": 35,
      "y": 25
    },
    {
      "x": 35,
      "y": 26
    },
    {
      "x": 35,
      "y": 27
    },
    {
      "x": 35,
      "y": 28
    },
    {
      "x": 35,
      "y": 29
    }
  ],
  "smoothed": false,
  "raw_path_metrics": {
    "points": 38,
    "length": 37.0,
    "turns": 3,
    "collision_free": true
  },
  "final_path_metrics": {
    "points": 38,
    "length": 37.0,
    "turns": 3,
    "collision_free": true
  },
  "storage": {
    "slots": 3,
    "estimated_bytes": 9856
  },
  "timing": {
    "samples": 1000,
    "median_ns": 557246,
    "p95_ns": 579457
  },
  "allocation_operations": {
    "allocations": 0,
    "reallocations": 0,
    "deallocations": 0
  }
}