points:
[(-4,-3,0), (-4,0,0), (-4,4,0), (-3,-4,0), (-3,-1,0), (-2,2,0), (-1,-3,0), (0,0,0), (0,1,0), (0,2,0), (2,-4,0), (2,2,0), (3,-3,0), (0,0,1), (0,0,2), (0,0,-1)]

goals:
[(0,0,0)]