%--------
% initial conditions
%--------
%x =5; y =0; theta =0; v =0.1;
0  0  0.3  0.3
%--------
% circles
%--------
% number of circles
0
%x  y  r
%--------------------------------------------------------------------
% wall's segments        
%----------------
%xa  ya  xb  yb
-10   -10  -2   -7
 -2    -7  -4   0
 -4     0  0   6
  0      6  7  4
  7      4  -1   4
 -1     4   -1  -10
 -1    -10   6 -10
  6 -10   6   -4
  6   -4   7   -4
  7   -4   7   -10
  7  -10   10  -8
 10  -8  10  10
 10  10   -8   10
 -8  10  -10 -10
