Consider a motion planning problem in the plane where the ground is the x-axis. A robotic crane, whose base is anchored at the origin, can stretch vertically up to any height h 0 above the x-axis, and at its highest point it can extend horizontally to the right of the y-axis by any distance w 0. There is a hook dangling down at a distance 1 from the tip of the crane. Defining the points p0=(0,0), p1=(0, h), p2=(w, h) and p3=(w, h 1), we require that none of the three line segments p0p1, p1p2, p2p3 intersects any obstacles in the robots workspace.