Adding obstacle to the scenario

CommonRoad-Search
1

Hi,
I tried to add obstacles to the tutorial scenario ZAM_Tutorial_Urban-3_2 in the tutorial_informed_search.ipynb.

We can change the position of the goal with the following code:

    print(state)
    state.position = state.position.translate_rotate(np.array([0, 4]), 0)

I looked at planning_problem.py but couldn’t see an attribute for the obstacles. How can we add obstacles to this scenario?