Head-on collision, "stop and move" and static

dimension of angular data = Lidar(1X1020) + goal(1X2) + angular_velocity(1X1) dimension of linear data = Lidar(1X1020) + goal(1X2) + linear_velocity(1X1) obstacle_velocity = position of obstacle (x,y) + orientation of obstacle w.r.t agent(theta) + distance of obstacle w.r.t agent+ acceleration of obstacle (x) + acceleration of obstacle (y) + velocity of obstacle(x) + velocity of obstacle (y)