diff --git a/src/CoveragePathPlanner/CoveragePathPlanner.cs b/src/CoveragePathPlanner/CoveragePathPlanner.cs
index 710510b..1054677 100644
--- a/src/CoveragePathPlanner/CoveragePathPlanner.cs
+++ b/src/CoveragePathPlanner/CoveragePathPlanner.cs
@@ -32,7 +32,7 @@ public class CoveragePathPlanner
 
   public void AddObstacleCell(int x, int y)
   {
-    _obstacles.Add(new Obstacle { X = x, Y = y, Width = 0, Height = 0, IsRectangle = false });
+    _obstacles.Add(new Obstacle { X = x, Y = y, Width = 1, Height = 1, IsRectangle = false });
   }
 
   public List<Point> PlanPath()
diff --git a/src/Server/RobotControlServer/Routes/RoutePlan.cs b/src/Server/RobotControlServer/Routes/RoutePlan.cs
index e95897c..1cbb325 100644
--- a/src/Server/RobotControlServer/Routes/RoutePlan.cs
+++ b/src/Server/RobotControlServer/Routes/RoutePlan.cs
@@ -27,7 +27,7 @@ public class RoutePlan: IRoute {
       CoveragePathPlanner planner = new CoveragePathPlanner(500, 500);
 
       // Add obstacles cell by cell
-      foreach (var obj in parsedBody?.objects)
+      foreach (var obj in $"[{parsedBody?.objects}]".FromJson<int[][]>())
       {
         planner.AddObstacleCell(obj[0], obj[1]); // Get x and y for every coordinate in the parsedbody array
       }