def METHOD_NAME():
    """Add a list of waypoints to `WaypointCollection` and return Navigation2 compatible JSON string."""
    collection = WaypointCollection()
    collection.add(position=[0, 0], orientation=0)      # Initial pose
    collection.add(orientation=-pi/2)                   # Explore the hall, rotate
    collection.add(orientation=0)                       # Explore the hall, rotate
    collection.add(position=[0.28, 0], orientation=0)   # Move near RED entrance
    collection.add(orientation=pi/2)                    # Rotate towards RED
    collection.add(position=[0.28, 0.2])                # Move inside RED
    collection.add(orientation=0)                       # Explore RED, rotate
    collection.add(orientation=-pi)                     # Explore RED, rotate
    collection.add(orientation=-pi/2)                   # Rotate towards BLUE
    collection.add(position=[0.23, -0.2])               # Move inside BLUE
    collection.add(orientation=0)                       # Explore BLUE, rotate
    collection.add(orientation=pi/3)                    # Explore BLUE, rotate
    collection.add(orientation=-pi/2)                   # Explore BLUE, rotate
    collection.add(orientation=-2.7*pi)                 # Explore BLUE, rotate
    collection.add(orientation=pi/2)                    # Rotate towards the hall
    collection.add(position=[0.23, 0])                  # Go to the hall
    collection.add(orientation=1/3*pi)                  # Explore the hall, rotate
    collection.add(orientation=pi)                      # Rotate towards back
    collection.add(position=[-0.1, 0])                  # Go to the GREEN entrance
    collection.add(orientation=pi/2)                    # Explore hall, rotate
    collection.add(orientation=pi/4)                    # Explore hall, rotate
    collection.add(orientation=2/3*pi)                  # Explore hall, rotate
    collection.add(orientation=-pi/2)                   # Rotate towards the GREEN
    collection.add(position=[-0.1, -0.2])               # Move inside GREEN
    collection.add(orientation=0)                       # Explore GREEN, rotate
    collection.add(orientation=pi/3)                    # Explore GREEN, rotate
    collection.add(orientation=-pi/2)                   # Explore GREEN, rotate
    collection.add(orientation=3/4*pi)                  # Explore GREEN, rotate
    return collection.export()