text: import sys
  # sys.path.append('/home/yuheng/DiffCo/')
  from diffco.DiffCo import *
  
  # from import kernel
  obstacles = [
      ('circle', (6, 2), 2),
      # ('circle', (2, 7), 1),
      ('rect', (3.5, 6), (2, 1)),
      ('rect', (4, 7), (1, 1)),
      ('rect', (5, 8), (10, 1)),
      ('rect', (7.5, 6), (2, 1)),
      ('rect', (8, 7), (1, 1)),]
  obstacles = [Obstacle(*param) for param in obstacles]
  # kernel = kernel.CauchyKernel(100)
  # k = kernel.TangentKernel(0.8, 0)
  k = kernel.RQKernel(20)
  # k = kernel.MultiQuadratic(0.7)
  # lambda x, x_prime: -k(x, x_prime)+k(np.array([0, 0]), np.array([[10, 10]]))
  checker = DiffCo(obstacles, kernel_func=k, beta=1)
  vis(checker, 400, seed=1917)