diff --git a/bag/.gitignore b/bag/.gitignore
index f960d912890e91380115a86c1fd01b87eee9efd5..b31508bea3f98d2266bee18e116937c12bfb5f0c 100644
--- a/bag/.gitignore
+++ b/bag/.gitignore
@@ -1,5 +1,7 @@
-*
-*/
+*.bag
+CSV/
+recordings/
+!analysys/
 !.gittignore
 !*.bash
 !*.py
diff --git a/bag/analysys/ang10.jpg b/bag/analysys/ang10.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a09435389ff57b74c7bb5c040a70b9b83625ac21
Binary files /dev/null and b/bag/analysys/ang10.jpg differ
diff --git a/bag/analysys/compare.asv b/bag/analysys/compare.asv
new file mode 100644
index 0000000000000000000000000000000000000000..0f21731e915dd1c99315bdce92458e33f04ea406
--- /dev/null
+++ b/bag/analysys/compare.asv
@@ -0,0 +1,44 @@
+clc; clear; clearvars; close all;
+
+CSVFolder = '../CSV/transp/';
+if ~isfolder(CSVFolder)
+    errorMessage = sprintf('Error: The following folder does not exist:\n%s\nPlease specify a new folder.', myFolder);
+    uiwait(warndlg(errorMessage));
+    myFolder = uigetdir(); % Ask for a new one.
+    if myFolder == 0
+         % User clicked Cancel
+         return;
+    end
+end
+Gvec = [];
+Evec = [];
+myFiles = dir(fullfile(CSVFolder,'*.csv')); %gets all csv files in struct
+for k = 1:length(myFiles)
+    baseFileName = myFiles(k).name;
+    fullFileName = fullfile(CSVFolder, baseFileName);
+    fprintf('Now reading file %s\n', baseFileName);
+    Table = readtable(fullFileName,'PreserveVariableNames',true);
+    if baseFileName(1) == 'G'
+        [Gx, Gy, Gz, Gang, Gt, Gts] = extractGT(Table);
+        Gvec = [Gvec, {baseFileName, Gx, Gy, Gz, Gang, Gt, Gts}'];
+    elseif baseFileName(1) == 'E'
+        [Ex, Ey, Ez, Eang, Et, Ets] = extractdata(Table);
+        Evec = [Evec, {baseFileName, Ex, Ey, Ez, Eang, Et, Ets}'];
+    end
+
+%     
+%     t10 = linspace(0,min(Gt(end),gt10(end))-1,1e6);
+%     ts0 = resample(Gts, t10);
+%     ts1 = resample(gts10, t10);
+%     ploterrs(ts0, ts1)
+%     
+%     GC20 = readtable('trajectory_ana_lab_2_exp_20_transp.csv','PreserveVariableNames',true);
+%     [gx20, gy20, gz20, gth20, gt20, gts20] = extractdata(GC20);
+%     
+%     t20 = linspace(0,min(Gt(end),gt20(end))-1,1e6);
+%     ts0 = resample(Gts, t20);
+%     ts2 = resample(gts20, t20);
+%     ploterrs(ts0, ts2)
+end
+
+[Edata, Gdata] = matchaxes(Gvec{7,1}, Evec{7,1}, 1, 2);
diff --git a/bag/analysys/compare.m b/bag/analysys/compare.m
new file mode 100644
index 0000000000000000000000000000000000000000..f1a596d7247dfee62f137978aa9533a49cb86f39
--- /dev/null
+++ b/bag/analysys/compare.m
@@ -0,0 +1,45 @@
+clc; clear; clearvars; close all;
+
+CSVFolder = '../CSV/transp/';
+if ~isfolder(CSVFolder)
+    errorMessage = sprintf('Error: The following folder does not exist:\n%s\nPlease specify a new folder.', myFolder);
+    uiwait(warndlg(errorMessage));
+    myFolder = uigetdir(); % Ask for a new one.
+    if myFolder == 0
+         % User clicked Cancel
+         return;
+    end
+end
+Gvec = [];
+Evec = [];
+myFiles = dir(fullfile(CSVFolder,'*.csv')); %gets all csv files in struct
+for k = 1:length(myFiles)
+    baseFileName = myFiles(k).name;
+    fullFileName = fullfile(CSVFolder, baseFileName);
+    fprintf('Now reading file %s\n', baseFileName);
+    Table = readtable(fullFileName,'PreserveVariableNames',true);
+    if baseFileName(1) == 'G'
+        [Gx, Gy, Gz, Gang, Gt, Gts] = extractGT(Table);
+        Gvec = [Gvec, {baseFileName, Gx, Gy, Gz, Gang, Gt, Gts}'];
+    elseif baseFileName(1) == 'E'
+        [Ex, Ey, Ez, Eang, Et, Ets] = extractdata(Table);
+        Evec = [Evec, {baseFileName, Ex, Ey, Ez, Eang, Et, Ets}'];
+    end
+
+%     
+%     t10 = linspace(0,min(Gt(end),gt10(end))-1,1e6);
+%     ts0 = resample(Gts, t10);
+%     ts1 = resample(gts10, t10);
+%     ploterrs(ts0, ts1)
+%     
+%     GC20 = readtable('trajectory_ana_lab_2_exp_20_transp.csv','PreserveVariableNames',true);
+%     [gx20, gy20, gz20, gth20, gt20, gts20] = extractdata(GC20);
+%     
+%     t20 = linspace(0,min(Gt(end),gt20(end))-1,1e6);
+%     ts0 = resample(Gts, t20);
+%     ts2 = resample(gts20, t20);
+%     ploterrs(ts0, ts2)
+end
+
+[Edata, Gdata] = matchaxes(Gvec{7,1}, Evec{7,1}, 2, 3);
+error = vecnorm(Edata(end,:)-Gdata(end,:))
\ No newline at end of file
diff --git a/bag/analysys/dist10.jpg b/bag/analysys/dist10.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f19f158772e70f3be6d24bf33cd46459b0ced593
Binary files /dev/null and b/bag/analysys/dist10.jpg differ
diff --git a/bag/analysys/extractGT.asv b/bag/analysys/extractGT.asv
new file mode 100644
index 0000000000000000000000000000000000000000..b5467a2dd2f0306811477c72b7908758b8aa79cf
--- /dev/null
+++ b/bag/analysys/extractGT.asv
@@ -0,0 +1,39 @@
+function [Gx, Gy, Gz, Gth, Gt, Gts] = extractGT(GT)
+    t0 = GT(6,2).Var2;
+    GT(1,2).Var2 = (GT(1,2).Var2 - t0)*1e-9;
+    GT(3,2).Var2 = (GT(3,2).Var2 - t0)*1e-9;
+    texpr = 'field.poses\d{1,4}.header.stamp';
+    xexpr = 'field.poses\d{1,4}.pose.position.x';
+    yexpr = 'field.poses\d{1,4}.pose.position.y';
+    zexpr = 'field.poses\d{1,4}.pose.position.z';
+    thexpr = 'field.poses\d{1,4}.pose.orientation.x';
+
+    Gt = [];
+    Gx = [];
+    Gy = [];
+    Gz = [];
+    Gth = [];
+    for i=1:height(GT)
+        if (size(regexp(GT(i,1).Var1{1,1}, texpr)) > 0)
+            GT(i,2).Var2 = (GT(i, 2).Var2 - t0)*1e-9;
+            Gt = [Gt, GT(i,2).Var2];
+        end
+        if (size(regexp(GT(i,1).Var1{1,1}, xexpr)) > 0)
+            Gx = [Gx, GT(i,2).Var2];
+        end
+        if (size(regexp(GT(i,1).Var1{1,1}, yexpr)) > 0)
+            Gy = [Gy, GT(i,2).Var2];
+        end
+        if (size(regexp(GT(i,1).Var1{1,1}, zexpr)) > 0)
+            Gz = [Gz, GT(i,2).Var2];
+        end
+        if (size(regexp(GT(i,1).Var1{1,1}, thexpr)) > 0)
+            [r1 r2 r3] = quat2angle([GT(i+3,2).Var2 GT(i,2).Var2 GT(i+1,2).Var2 GT(i+2,2).Var2]);
+            Gth = [Gth, r1];
+        end
+    end
+    
+    Gts = timeseries([Gx' Gy' Gz' Gth'], Gt, 'name', 'groundtruth');
+    Gts.TimeInfo.Units='seconds';
+    
+end
\ No newline at end of file
diff --git a/bag/analysys/extractGT.m b/bag/analysys/extractGT.m
new file mode 100644
index 0000000000000000000000000000000000000000..c410639daff939f411d5aa721c976996882af37f
--- /dev/null
+++ b/bag/analysys/extractGT.m
@@ -0,0 +1,45 @@
+function [Gx, Gy, Gz, Gang, Gt, Gts] = extractGT(GT)
+    t0 = GT(6,2).Var2;
+    GT(1,2).Var2 = (GT(1,2).Var2 - t0)*1e-9;
+    GT(3,2).Var2 = (GT(3,2).Var2 - t0)*1e-9;
+    texpr = 'field.poses\d{1,4}.header.stamp';
+    xexpr = 'field.poses\d{1,4}.pose.position.x';
+    yexpr = 'field.poses\d{1,4}.pose.position.y';
+    zexpr = 'field.poses\d{1,4}.pose.position.z';
+    thexpr = 'field.poses\d{1,4}.pose.orientation.x';
+
+    Gt = [];
+    Gx = [];
+    Gy = [];
+    Gz = [];
+    Gang = [];
+    for i=1:height(GT)
+        if (size(regexp(GT(i,1).Var1{1,1}, texpr)) > 0)
+            GT(i,2).Var2 = (GT(i, 2).Var2 - t0)*1e-9;
+            Gt = [Gt, GT(i,2).Var2];
+        end
+        if (size(regexp(GT(i,1).Var1{1,1}, xexpr)) > 0)
+            Gx = [Gx, GT(i,2).Var2];
+        end
+        if (size(regexp(GT(i,1).Var1{1,1}, yexpr)) > 0)
+            Gy = [Gy, GT(i,2).Var2];
+        end
+        if (size(regexp(GT(i,1).Var1{1,1}, zexpr)) > 0)
+            Gz = [Gz, GT(i,2).Var2];
+        end
+        if (size(regexp(GT(i,1).Var1{1,1}, thexpr)) > 0)
+            [r1 r2 r3] = quat2angle([GT(i+3,2).Var2 GT(i,2).Var2 GT(i+1,2).Var2 GT(i+2,2).Var2]);
+            Gang = [Gang, [r1 r2 r3]'];
+        end
+    end
+
+    posts = timeseries([Gx' Gy' Gz'], Gt, 'name', 'pos');
+    posts.DataInfo.Units='meters';
+    angts = timeseries(Gang', Gt, 'name', 'ang');
+    angts.DataInfo.Units='radians';
+
+    Gts = tscollection({posts angts}, 'name', 'groundtruth');
+
+    Gts.TimeInfo.Units='seconds';
+    Gts.TimeInfo.Format='SS';
+end
\ No newline at end of file
diff --git a/bag/analysys/extractdata.m b/bag/analysys/extractdata.m
new file mode 100644
index 0000000000000000000000000000000000000000..082612ec05dbf5a17edc16930c796958153d341d
--- /dev/null
+++ b/bag/analysys/extractdata.m
@@ -0,0 +1,32 @@
+function [gx, gy, gz, gang, gt, gts] = extractdata(GC)
+    t0 = GC(2,3).Variables;
+    gx = GC{:,5}';
+    gy = GC{:,6}';
+    gz = GC{:,7}';
+    [R1, R2, R3] = quat2angle([GC{:,11} GC{:,8} GC{:,9} GC{:,10}]);
+    gang = [R1'; R2'; R3'];
+    gt = GC{:,3}';
+    gt = gt-t0;
+    gt = gt*1e-9;
+    
+    %remove duplicates
+    [~,~,idx] = unique(gt);
+    gt = accumarray(idx,gt,[],@mean)';
+    gx = accumarray(idx,gx,[],@mean)';
+    gy = accumarray(idx,gy,[],@mean)';
+    gz = accumarray(idx,gz,[],@mean)';
+    gangx = accumarray(idx,gang(1,:),[],@mean);
+    gangy = accumarray(idx,gang(2,:),[],@mean);
+    gangz = accumarray(idx,gang(3,:),[],@mean);
+    gang = [gangx gangy gangz]';
+
+    posts = timeseries([gx' gy' gz'], gt, 'name', 'pos');
+    posts.DataInfo.Units='meters';
+    angts = timeseries(gang', gt, 'name', 'ang');
+    angts.DataInfo.Units='radians';
+
+    gts = tscollection({posts angts}, 'name', 'poses');
+
+    gts.TimeInfo.Units='seconds';
+    gts.TimeInfo.Format='SS';
+end
\ No newline at end of file
diff --git a/bag/analysys/groundtruth_trajectory_lab2.csv b/bag/analysys/groundtruth_trajectory_lab2.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ef9d267c065a04149928b57bd9b45ab03e86709
--- /dev/null
+++ b/bag/analysys/groundtruth_trajectory_lab2.csv
@@ -0,0 +1,4034 @@
+%time,1620124328920440479
+field.header.seq,376
+field.header.stamp,1620124328920440479
+field.header.frame_id,map
+field.poses0.header.seq,0
+field.poses0.header.stamp,1620123952214157104
+field.poses0.header.frame_id,map
+field.poses0.pose.position.x,0.0
+field.poses0.pose.position.y,0.0
+field.poses0.pose.position.z,0.0
+field.poses0.pose.orientation.x,0.0
+field.poses0.pose.orientation.y,0.0
+field.poses0.pose.orientation.z,0.0
+field.poses0.pose.orientation.w,1.0
+field.poses1.header.seq,0
+field.poses1.header.stamp,1620123953121871948
+field.poses1.header.frame_id,map
+field.poses1.pose.position.x,0.00134373139636
+field.poses1.pose.position.y,-0.000686299781911
+field.poses1.pose.position.z,0.0
+field.poses1.pose.orientation.x,-0.0
+field.poses1.pose.orientation.y,-0.0
+field.poses1.pose.orientation.z,-6.28856489924e-06
+field.poses1.pose.orientation.w,0.99999999998
+field.poses2.header.seq,0
+field.poses2.header.stamp,1620123954029603958
+field.poses2.header.frame_id,map
+field.poses2.pose.position.x,0.000666698166592
+field.poses2.pose.position.y,0.000235315058279
+field.poses2.pose.position.z,0.0
+field.poses2.pose.orientation.x,-0.0
+field.poses2.pose.orientation.y,-0.0
+field.poses2.pose.orientation.z,-0.000195253704813
+field.poses2.pose.orientation.w,0.999999980938
+field.poses3.header.seq,0
+field.poses3.header.stamp,1620123954937335491
+field.poses3.header.frame_id,map
+field.poses3.pose.position.x,-0.000801812486712
+field.poses3.pose.position.y,-0.00023973559733
+field.poses3.pose.position.z,0.0
+field.poses3.pose.orientation.x,-0.0
+field.poses3.pose.orientation.y,-0.0
+field.poses3.pose.orientation.z,-0.000235050376267
+field.poses3.pose.orientation.w,0.999999972376
+field.poses4.header.seq,0
+field.poses4.header.stamp,1620123955845076084
+field.poses4.header.frame_id,map
+field.poses4.pose.position.x,0.00147400308088
+field.poses4.pose.position.y,-0.000418365366708
+field.poses4.pose.position.z,0.0
+field.poses4.pose.orientation.x,0.0
+field.poses4.pose.orientation.y,0.0
+field.poses4.pose.orientation.z,1.52572078245e-05
+field.poses4.pose.orientation.w,0.999999999884
+field.poses5.header.seq,0
+field.poses5.header.stamp,1620123956752829075
+field.poses5.header.frame_id,map
+field.poses5.pose.position.x,-0.00100001217114
+field.poses5.pose.position.y,-0.000420271379225
+field.poses5.pose.position.z,0.0
+field.poses5.pose.orientation.x,0.0
+field.poses5.pose.orientation.y,0.0
+field.poses5.pose.orientation.z,0.00010044363796
+field.poses5.pose.orientation.w,0.999999994956
+field.poses6.header.seq,0
+field.poses6.header.stamp,1620123957660562515
+field.poses6.header.frame_id,map
+field.poses6.pose.position.x,-0.000755074219509
+field.poses6.pose.position.y,-0.00115095371493
+field.poses6.pose.position.z,0.0
+field.poses6.pose.orientation.x,-0.0
+field.poses6.pose.orientation.y,-0.0
+field.poses6.pose.orientation.z,-6.02254165517e-05
+field.poses6.pose.orientation.w,0.999999998186
+field.poses7.header.seq,0
+field.poses7.header.stamp,1620123958568284512
+field.poses7.header.frame_id,map
+field.poses7.pose.position.x,0.0994014763065
+field.poses7.pose.position.y,-0.0099261377976
+field.poses7.pose.position.z,0.0
+field.poses7.pose.orientation.x,-0.0
+field.poses7.pose.orientation.y,-0.0
+field.poses7.pose.orientation.z,-0.000422646991331
+field.poses7.pose.orientation.w,0.999999910685
+field.poses8.header.seq,0
+field.poses8.header.stamp,1620123959476058006
+field.poses8.header.frame_id,map
+field.poses8.pose.position.x,0.137316363482
+field.poses8.pose.position.y,-0.0122273418795
+field.poses8.pose.position.z,0.0
+field.poses8.pose.orientation.x,-0.0
+field.poses8.pose.orientation.y,-0.0
+field.poses8.pose.orientation.z,-0.000230702650794
+field.poses8.pose.orientation.w,0.999999973388
+field.poses9.header.seq,0
+field.poses9.header.stamp,1620123960383762598
+field.poses9.header.frame_id,map
+field.poses9.pose.position.x,0.478905990327
+field.poses9.pose.position.y,-0.0400958627061
+field.poses9.pose.position.z,0.0
+field.poses9.pose.orientation.x,0.0
+field.poses9.pose.orientation.y,0.0
+field.poses9.pose.orientation.z,0.000132126876052
+field.poses9.pose.orientation.w,0.999999991271
+field.poses10.header.seq,0
+field.poses10.header.stamp,1620123961291556358
+field.poses10.header.frame_id,map
+field.poses10.pose.position.x,0.693130277261
+field.poses10.pose.position.y,-0.0573052539174
+field.poses10.pose.position.z,0.0
+field.poses10.pose.orientation.x,-0.0
+field.poses10.pose.orientation.y,-0.0
+field.poses10.pose.orientation.z,-0.00295952102027
+field.poses10.pose.orientation.w,0.999995620608
+field.poses11.header.seq,0
+field.poses11.header.stamp,1620123962199296236
+field.poses11.header.frame_id,map
+field.poses11.pose.position.x,0.676458101594
+field.poses11.pose.position.y,-0.0378686360688
+field.poses11.pose.position.z,0.0
+field.poses11.pose.orientation.x,-0.0
+field.poses11.pose.orientation.y,-0.0
+field.poses11.pose.orientation.z,-0.0743725667404
+field.poses11.pose.orientation.w,0.997230525664
+field.poses12.header.seq,0
+field.poses12.header.stamp,1620123963107027054
+field.poses12.header.frame_id,map
+field.poses12.pose.position.x,0.70585353951
+field.poses12.pose.position.y,-0.0507026384675
+field.poses12.pose.position.z,0.0
+field.poses12.pose.orientation.x,-0.0
+field.poses12.pose.orientation.y,-0.0
+field.poses12.pose.orientation.z,-0.197493366585
+field.poses12.pose.orientation.w,0.980304223267
+field.poses13.header.seq,0
+field.poses13.header.stamp,1620123964014791965
+field.poses13.header.frame_id,map
+field.poses13.pose.position.x,0.931953280893
+field.poses13.pose.position.y,-0.2176264022
+field.poses13.pose.position.z,0.0
+field.poses13.pose.orientation.x,-0.0
+field.poses13.pose.orientation.y,-0.0
+field.poses13.pose.orientation.z,-0.314538728546
+field.poses13.pose.orientation.w,0.949244640883
+field.poses14.header.seq,0
+field.poses14.header.stamp,1620123964922483683
+field.poses14.header.frame_id,map
+field.poses14.pose.position.x,1.11816314684
+field.poses14.pose.position.y,-0.407182145853
+field.poses14.pose.position.z,0.0
+field.poses14.pose.orientation.x,-0.0
+field.poses14.pose.orientation.y,-0.0
+field.poses14.pose.orientation.z,-0.461139492391
+field.poses14.pose.orientation.w,0.887327655693
+field.poses15.header.seq,0
+field.poses15.header.stamp,1620123965830253839
+field.poses15.header.frame_id,map
+field.poses15.pose.position.x,1.25435312181
+field.poses15.pose.position.y,-0.657118566514
+field.poses15.pose.position.z,0.0
+field.poses15.pose.orientation.x,-0.0
+field.poses15.pose.orientation.y,-0.0
+field.poses15.pose.orientation.z,-0.487720065552
+field.poses15.pose.orientation.w,0.873000078842
+field.poses16.header.seq,0
+field.poses16.header.stamp,1620123966737987041
+field.poses16.header.frame_id,map
+field.poses16.pose.position.x,1.34011192703
+field.poses16.pose.position.y,-0.902730575637
+field.poses16.pose.position.z,0.0
+field.poses16.pose.orientation.x,-0.0
+field.poses16.pose.orientation.y,-0.0
+field.poses16.pose.orientation.z,-0.606075812258
+field.poses16.pose.orientation.w,0.795406883171
+field.poses17.header.seq,0
+field.poses17.header.stamp,1620123967645712852
+field.poses17.header.frame_id,map
+field.poses17.pose.position.x,1.36698113834
+field.poses17.pose.position.y,-1.26778058888
+field.poses17.pose.position.z,0.0
+field.poses17.pose.orientation.x,-0.0
+field.poses17.pose.orientation.y,-0.0
+field.poses17.pose.orientation.z,-0.671235783003
+field.poses17.pose.orientation.w,0.74124390292
+field.poses18.header.seq,0
+field.poses18.header.stamp,1620123968553500175
+field.poses18.header.frame_id,map
+field.poses18.pose.position.x,1.3770104298
+field.poses18.pose.position.y,-1.67012583825
+field.poses18.pose.position.z,0.0
+field.poses18.pose.orientation.x,-0.0
+field.poses18.pose.orientation.y,-0.0
+field.poses18.pose.orientation.z,-0.669054750985
+field.poses18.pose.orientation.w,0.743213118953
+field.poses19.header.seq,0
+field.poses19.header.stamp,1620123969461343765
+field.poses19.header.frame_id,map
+field.poses19.pose.position.x,1.39384704809
+field.poses19.pose.position.y,-2.14119386874
+field.poses19.pose.position.z,0.0
+field.poses19.pose.orientation.x,-0.0
+field.poses19.pose.orientation.y,-0.0
+field.poses19.pose.orientation.z,-0.669690430463
+field.poses19.pose.orientation.w,0.742640375516
+field.poses20.header.seq,0
+field.poses20.header.stamp,1620123970368954659
+field.poses20.header.frame_id,map
+field.poses20.pose.position.x,1.41281080959
+field.poses20.pose.position.y,-2.67675778582
+field.poses20.pose.position.z,0.0
+field.poses20.pose.orientation.x,-0.0
+field.poses20.pose.orientation.y,-0.0
+field.poses20.pose.orientation.z,-0.672797754926
+field.poses20.pose.orientation.w,0.739826453276
+field.poses21.header.seq,0
+field.poses21.header.stamp,1620123971276703596
+field.poses21.header.frame_id,map
+field.poses21.pose.position.x,1.42177204261
+field.poses21.pose.position.y,-3.20867245055
+field.poses21.pose.position.z,0.0
+field.poses21.pose.orientation.x,-0.0
+field.poses21.pose.orientation.y,-0.0
+field.poses21.pose.orientation.z,-0.673842223136
+field.poses21.pose.orientation.w,0.738875265738
+field.poses22.header.seq,0
+field.poses22.header.stamp,1620123972184431076
+field.poses22.header.frame_id,map
+field.poses22.pose.position.x,1.42902351666
+field.poses22.pose.position.y,-3.70644482148
+field.poses22.pose.position.z,0.0
+field.poses22.pose.orientation.x,-0.0
+field.poses22.pose.orientation.y,-0.0
+field.poses22.pose.orientation.z,-0.676245586374
+field.poses22.pose.orientation.w,0.736676256512
+field.poses23.header.seq,0
+field.poses23.header.stamp,1620123973092192173
+field.poses23.header.frame_id,map
+field.poses23.pose.position.x,1.43038758753
+field.poses23.pose.position.y,-3.95465378885
+field.poses23.pose.position.z,0.0
+field.poses23.pose.orientation.x,-0.0
+field.poses23.pose.orientation.y,-0.0
+field.poses23.pose.orientation.z,-0.676623664317
+field.poses23.pose.orientation.w,0.736329014019
+field.poses24.header.seq,0
+field.poses24.header.stamp,1620123973999977112
+field.poses24.header.frame_id,map
+field.poses24.pose.position.x,1.43264965239
+field.poses24.pose.position.y,-4.12965263014
+field.poses24.pose.position.z,0.0
+field.poses24.pose.orientation.x,-0.0
+field.poses24.pose.orientation.y,-0.0
+field.poses24.pose.orientation.z,-0.676900997065
+field.poses24.pose.orientation.w,0.736074072477
+field.poses25.header.seq,0
+field.poses25.header.stamp,1620123974907617331
+field.poses25.header.frame_id,map
+field.poses25.pose.position.x,1.41371528049
+field.poses25.pose.position.y,-4.11198304826
+field.poses25.pose.position.z,0.0
+field.poses25.pose.orientation.x,-0.0
+field.poses25.pose.orientation.y,-0.0
+field.poses25.pose.orientation.z,-0.540013110222
+field.poses25.pose.orientation.w,0.841656605029
+field.poses26.header.seq,0
+field.poses26.header.stamp,1620123975815402269
+field.poses26.header.frame_id,map
+field.poses26.pose.position.x,1.41198456575
+field.poses26.pose.position.y,-4.11360603564
+field.poses26.pose.position.z,0.0
+field.poses26.pose.orientation.x,-0.0
+field.poses26.pose.orientation.y,-0.0
+field.poses26.pose.orientation.z,-0.311557584685
+field.poses26.pose.orientation.w,0.950227273564
+field.poses27.header.seq,0
+field.poses27.header.stamp,1620123976723111629
+field.poses27.header.frame_id,map
+field.poses27.pose.position.x,1.41077473161
+field.poses27.pose.position.y,-4.12741652172
+field.poses27.pose.position.z,0.0
+field.poses27.pose.orientation.x,-0.0
+field.poses27.pose.orientation.y,-0.0
+field.poses27.pose.orientation.z,-0.0564755698759
+field.poses27.pose.orientation.w,0.998403981366
+field.poses28.header.seq,0
+field.poses28.header.stamp,1620123977630875111
+field.poses28.header.frame_id,map
+field.poses28.pose.position.x,1.42377025179
+field.poses28.pose.position.y,-4.14178962409
+field.poses28.pose.position.z,0.0
+field.poses28.pose.orientation.x,0.0
+field.poses28.pose.orientation.y,0.0
+field.poses28.pose.orientation.z,0.187055198558
+field.poses28.pose.orientation.w,0.982349404587
+field.poses29.header.seq,0
+field.poses29.header.stamp,1620123978538615227
+field.poses29.header.frame_id,map
+field.poses29.pose.position.x,1.4382210108
+field.poses29.pose.position.y,-4.15151635209
+field.poses29.pose.position.z,0.0
+field.poses29.pose.orientation.x,0.0
+field.poses29.pose.orientation.y,0.0
+field.poses29.pose.orientation.z,0.440494312187
+field.poses29.pose.orientation.w,0.897755401505
+field.poses30.header.seq,0
+field.poses30.header.stamp,1620123979446347475
+field.poses30.header.frame_id,map
+field.poses30.pose.position.x,1.44156828063
+field.poses30.pose.position.y,-4.15379190033
+field.poses30.pose.position.z,0.0
+field.poses30.pose.orientation.x,0.0
+field.poses30.pose.orientation.y,0.0
+field.poses30.pose.orientation.z,0.649589949264
+field.poses30.pose.orientation.w,0.760284747851
+field.poses31.header.seq,0
+field.poses31.header.stamp,1620123980354106903
+field.poses31.header.frame_id,map
+field.poses31.pose.position.x,1.44203370962
+field.poses31.pose.position.y,-4.15151147245
+field.poses31.pose.position.z,0.0
+field.poses31.pose.orientation.x,0.0
+field.poses31.pose.orientation.y,0.0
+field.poses31.pose.orientation.z,0.718501844648
+field.poses31.pose.orientation.w,0.695525052918
+field.poses32.header.seq,0
+field.poses32.header.stamp,1620123981261851788
+field.poses32.header.frame_id,map
+field.poses32.pose.position.x,1.43493282074
+field.poses32.pose.position.y,-4.14865531039
+field.poses32.pose.position.z,0.0
+field.poses32.pose.orientation.x,0.0
+field.poses32.pose.orientation.y,0.0
+field.poses32.pose.orientation.z,0.799828144496
+field.poses32.pose.orientation.w,0.600229072332
+field.poses33.header.seq,0
+field.poses33.header.stamp,1620123982169578552
+field.poses33.header.frame_id,map
+field.poses33.pose.position.x,1.3759410433
+field.poses33.pose.position.y,-3.85651541147
+field.poses33.pose.position.z,0.0
+field.poses33.pose.orientation.x,0.0
+field.poses33.pose.orientation.y,0.0
+field.poses33.pose.orientation.z,0.7983160217
+field.poses33.pose.orientation.w,0.602238764526
+field.poses34.header.seq,0
+field.poses34.header.stamp,1620123983077320576
+field.poses34.header.frame_id,map
+field.poses34.pose.position.x,1.33855024105
+field.poses34.pose.position.y,-3.59149195151
+field.poses34.pose.position.z,0.0
+field.poses34.pose.orientation.x,0.0
+field.poses34.pose.orientation.y,0.0
+field.poses34.pose.orientation.z,0.739145155676
+field.poses34.pose.orientation.w,0.673546166822
+field.poses35.header.seq,0
+field.poses35.header.stamp,1620123983985059977
+field.poses35.header.frame_id,map
+field.poses35.pose.position.x,1.33108492479
+field.poses35.pose.position.y,-3.22037435835
+field.poses35.pose.position.z,0.0
+field.poses35.pose.orientation.x,0.0
+field.poses35.pose.orientation.y,0.0
+field.poses35.pose.orientation.z,0.736978043925
+field.poses35.pose.orientation.w,0.675916683306
+field.poses36.header.seq,0
+field.poses36.header.stamp,1620123984892810345
+field.poses36.header.frame_id,map
+field.poses36.pose.position.x,1.33631381105
+field.poses36.pose.position.y,-2.80386614052
+field.poses36.pose.position.z,0.0
+field.poses36.pose.orientation.x,0.0
+field.poses36.pose.orientation.y,0.0
+field.poses36.pose.orientation.z,0.733893967215
+field.poses36.pose.orientation.w,0.679264046513
+field.poses37.header.seq,0
+field.poses37.header.stamp,1620123985800603390
+field.poses37.header.frame_id,map
+field.poses37.pose.position.x,1.36765653903
+field.poses37.pose.position.y,-2.48557892619
+field.poses37.pose.position.z,0.0
+field.poses37.pose.orientation.x,0.0
+field.poses37.pose.orientation.y,0.0
+field.poses37.pose.orientation.z,0.617169537776
+field.poses37.pose.orientation.w,0.786830198735
+field.poses38.header.seq,0
+field.poses38.header.stamp,1620123986708304167
+field.poses38.header.frame_id,map
+field.poses38.pose.position.x,1.46741683945
+field.poses38.pose.position.y,-2.20981372567
+field.poses38.pose.position.z,0.0
+field.poses38.pose.orientation.x,0.0
+field.poses38.pose.orientation.y,0.0
+field.poses38.pose.orientation.z,0.612806265269
+field.poses38.pose.orientation.w,0.790233181566
+field.poses39.header.seq,0
+field.poses39.header.stamp,1620123987616031647
+field.poses39.header.frame_id,map
+field.poses39.pose.position.x,1.54675173028
+field.poses39.pose.position.y,-1.98913464268
+field.poses39.pose.position.z,0.0
+field.poses39.pose.orientation.x,0.0
+field.poses39.pose.orientation.y,0.0
+field.poses39.pose.orientation.z,0.54879947234
+field.poses39.pose.orientation.w,0.835954029334
+field.poses40.header.seq,0
+field.poses40.header.stamp,1620123988523804188
+field.poses40.header.frame_id,map
+field.poses40.pose.position.x,1.64925376581
+field.poses40.pose.position.y,-1.81129194261
+field.poses40.pose.position.z,0.0
+field.poses40.pose.orientation.x,0.0
+field.poses40.pose.orientation.y,0.0
+field.poses40.pose.orientation.z,0.525759819877
+field.poses40.pose.orientation.w,0.850633065313
+field.poses41.header.seq,0
+field.poses41.header.stamp,1620123989431529522
+field.poses41.header.frame_id,map
+field.poses41.pose.position.x,1.76170111855
+field.poses41.pose.position.y,-1.63865222043
+field.poses41.pose.position.z,0.0
+field.poses41.pose.orientation.x,0.0
+field.poses41.pose.orientation.y,0.0
+field.poses41.pose.orientation.z,0.497983400591
+field.poses41.pose.orientation.w,0.867186561667
+field.poses42.header.seq,0
+field.poses42.header.stamp,1620123990339266777
+field.poses42.header.frame_id,map
+field.poses42.pose.position.x,1.993428441
+field.poses42.pose.position.y,-1.39112811209
+field.poses42.pose.position.z,0.0
+field.poses42.pose.orientation.x,0.0
+field.poses42.pose.orientation.y,0.0
+field.poses42.pose.orientation.z,0.350478126282
+field.poses42.pose.orientation.w,0.936570917228
+field.poses43.header.seq,0
+field.poses43.header.stamp,1620123991246997833
+field.poses43.header.frame_id,map
+field.poses43.pose.position.x,2.25267709545
+field.poses43.pose.position.y,-1.24644759888
+field.poses43.pose.position.z,0.0
+field.poses43.pose.orientation.x,0.0
+field.poses43.pose.orientation.y,0.0
+field.poses43.pose.orientation.z,0.204941637066
+field.poses43.pose.orientation.w,0.978774195306
+field.poses44.header.seq,0
+field.poses44.header.stamp,1620123992154729366
+field.poses44.header.frame_id,map
+field.poses44.pose.position.x,2.60404151947
+field.poses44.pose.position.y,-1.16510569569
+field.poses44.pose.position.z,0.0
+field.poses44.pose.orientation.x,0.0
+field.poses44.pose.orientation.y,0.0
+field.poses44.pose.orientation.z,0.0934266264691
+field.poses44.pose.orientation.w,0.995626167528
+field.poses45.header.seq,0
+field.poses45.header.stamp,1620123993062461376
+field.poses45.header.frame_id,map
+field.poses45.pose.position.x,3.0478662059
+field.poses45.pose.position.y,-1.13006709227
+field.poses45.pose.position.z,0.0
+field.poses45.pose.orientation.x,0.0
+field.poses45.pose.orientation.y,0.0
+field.poses45.pose.orientation.z,0.0664757014987
+field.poses45.pose.orientation.w,0.997788044181
+field.poses46.header.seq,0
+field.poses46.header.stamp,1620123993970191479
+field.poses46.header.frame_id,map
+field.poses46.pose.position.x,3.48748206227
+field.poses46.pose.position.y,-1.10503488513
+field.poses46.pose.position.z,0.0
+field.poses46.pose.orientation.x,0.0
+field.poses46.pose.orientation.y,0.0
+field.poses46.pose.orientation.z,0.0588334031233
+field.poses46.pose.orientation.w,0.998267815106
+field.poses47.header.seq,0
+field.poses47.header.stamp,1620123994878006458
+field.poses47.header.frame_id,map
+field.poses47.pose.position.x,3.78293007984
+field.poses47.pose.position.y,-1.09595878651
+field.poses47.pose.position.z,0.0
+field.poses47.pose.orientation.x,0.0
+field.poses47.pose.orientation.y,0.0
+field.poses47.pose.orientation.z,0.0569115088286
+field.poses47.pose.orientation.w,0.998379226628
+field.poses48.header.seq,0
+field.poses48.header.stamp,1620123995785699129
+field.poses48.header.frame_id,map
+field.poses48.pose.position.x,3.84514607278
+field.poses48.pose.position.y,-1.09488217036
+field.poses48.pose.position.z,0.0
+field.poses48.pose.orientation.x,0.0
+field.poses48.pose.orientation.y,0.0
+field.poses48.pose.orientation.z,0.0569618197143
+field.poses48.pose.orientation.w,0.99837635744
+field.poses49.header.seq,0
+field.poses49.header.stamp,1620123996693417072
+field.poses49.header.frame_id,map
+field.poses49.pose.position.x,3.84462401093
+field.poses49.pose.position.y,-1.09481537544
+field.poses49.pose.position.z,0.0
+field.poses49.pose.orientation.x,0.0
+field.poses49.pose.orientation.y,0.0
+field.poses49.pose.orientation.z,0.0570541254915
+field.poses49.pose.orientation.w,0.998371086703
+field.poses50.header.seq,0
+field.poses50.header.stamp,1620123997601166725
+field.poses50.header.frame_id,map
+field.poses50.pose.position.x,3.84652802135
+field.poses50.pose.position.y,-1.09404403766
+field.poses50.pose.position.z,0.0
+field.poses50.pose.orientation.x,0.0
+field.poses50.pose.orientation.y,0.0
+field.poses50.pose.orientation.z,0.0571551232558
+field.poses50.pose.orientation.w,0.998365309837
+field.poses51.header.seq,0
+field.poses51.header.stamp,1620123998508971214
+field.poses51.header.frame_id,map
+field.poses51.pose.position.x,3.88263702462
+field.poses51.pose.position.y,-1.09328557457
+field.poses51.pose.position.z,0.0
+field.poses51.pose.orientation.x,0.0
+field.poses51.pose.orientation.y,0.0
+field.poses51.pose.orientation.z,0.056087143021
+field.poses51.pose.orientation.w,0.998425877263
+field.poses52.header.seq,0
+field.poses52.header.stamp,1620123999416704655
+field.poses52.header.frame_id,map
+field.poses52.pose.position.x,3.883377528
+field.poses52.pose.position.y,-1.09430940953
+field.poses52.pose.position.z,0.0
+field.poses52.pose.orientation.x,0.0
+field.poses52.pose.orientation.y,0.0
+field.poses52.pose.orientation.z,0.0561503681304
+field.poses52.pose.orientation.w,0.998422323548
+field.poses53.header.seq,0
+field.poses53.header.stamp,1620124000324409723
+field.poses53.header.frame_id,map
+field.poses53.pose.position.x,3.88467346448
+field.poses53.pose.position.y,-1.09423845113
+field.poses53.pose.position.z,0.0
+field.poses53.pose.orientation.x,0.0
+field.poses53.pose.orientation.y,0.0
+field.poses53.pose.orientation.z,0.0559870582323
+field.poses53.pose.orientation.w,0.998431494551
+field.poses54.header.seq,0
+field.poses54.header.stamp,1620124001232152462
+field.poses54.header.frame_id,map
+field.poses54.pose.position.x,4.00886488628
+field.poses54.pose.position.y,-1.08860579831
+field.poses54.pose.position.z,0.0
+field.poses54.pose.orientation.x,0.0
+field.poses54.pose.orientation.y,0.0
+field.poses54.pose.orientation.z,0.0549754839494
+field.poses54.pose.orientation.w,0.998487704564
+field.poses55.header.seq,0
+field.poses55.header.stamp,1620124002139887333
+field.poses55.header.frame_id,map
+field.poses55.pose.position.x,3.98030442468
+field.poses55.pose.position.y,-1.09055907283
+field.poses55.pose.position.z,0.0
+field.poses55.pose.orientation.x,0.0
+field.poses55.pose.orientation.y,0.0
+field.poses55.pose.orientation.z,0.056143000839
+field.poses55.pose.orientation.w,0.99842273785
+field.poses56.header.seq,0
+field.poses56.header.stamp,1620124003047640324
+field.poses56.header.frame_id,map
+field.poses56.pose.position.x,3.97839625048
+field.poses56.pose.position.y,-1.09014006552
+field.poses56.pose.position.z,0.0
+field.poses56.pose.orientation.x,0.0
+field.poses56.pose.orientation.y,0.0
+field.poses56.pose.orientation.z,0.0562173325573
+field.poses56.pose.orientation.w,0.998418555276
+field.poses57.header.seq,0
+field.poses57.header.stamp,1620124003955343008
+field.poses57.header.frame_id,map
+field.poses57.pose.position.x,4.14689784841
+field.poses57.pose.position.y,-1.08356032514
+field.poses57.pose.position.z,0.0
+field.poses57.pose.orientation.x,0.0
+field.poses57.pose.orientation.y,0.0
+field.poses57.pose.orientation.z,0.0566984569928
+field.poses57.pose.orientation.w,0.998391348608
+field.poses58.header.seq,0
+field.poses58.header.stamp,1620124004863128901
+field.poses58.header.frame_id,map
+field.poses58.pose.position.x,4.36702458833
+field.poses58.pose.position.y,-1.07669559225
+field.poses58.pose.position.z,0.0
+field.poses58.pose.orientation.x,0.0
+field.poses58.pose.orientation.y,0.0
+field.poses58.pose.orientation.z,0.0615063629642
+field.poses58.pose.orientation.w,0.998106691349
+field.poses59.header.seq,0
+field.poses59.header.stamp,1620124005770836353
+field.poses59.header.frame_id,map
+field.poses59.pose.position.x,4.75198552604
+field.poses59.pose.position.y,-1.02438921329
+field.poses59.pose.position.z,0.0
+field.poses59.pose.orientation.x,0.0
+field.poses59.pose.orientation.y,0.0
+field.poses59.pose.orientation.z,0.106538023976
+field.poses59.pose.orientation.w,0.994308628871
+field.poses60.header.seq,0
+field.poses60.header.stamp,1620124006678577900
+field.poses60.header.frame_id,map
+field.poses60.pose.position.x,5.23324982095
+field.poses60.pose.position.y,-0.956844724089
+field.poses60.pose.position.z,0.0
+field.poses60.pose.orientation.x,0.0
+field.poses60.pose.orientation.y,0.0
+field.poses60.pose.orientation.z,0.105057964136
+field.poses60.pose.orientation.w,0.994466100062
+field.poses61.header.seq,0
+field.poses61.header.stamp,1620124007586400986
+field.poses61.header.frame_id,map
+field.poses61.pose.position.x,5.63988879207
+field.poses61.pose.position.y,-0.902669749813
+field.poses61.pose.position.z,0.0
+field.poses61.pose.orientation.x,0.0
+field.poses61.pose.orientation.y,0.0
+field.poses61.pose.orientation.z,0.102818029384
+field.poses61.pose.orientation.w,0.994700182383
+field.poses62.header.seq,0
+field.poses62.header.stamp,1620124008494081020
+field.poses62.header.frame_id,map
+field.poses62.pose.position.x,5.89714388962
+field.poses62.pose.position.y,-0.86907026502
+field.poses62.pose.position.z,0.0
+field.poses62.pose.orientation.x,0.0
+field.poses62.pose.orientation.y,0.0
+field.poses62.pose.orientation.z,0.101525314996
+field.poses62.pose.orientation.w,0.994832956036
+field.poses63.header.seq,0
+field.poses63.header.stamp,1620124009401881695
+field.poses63.header.frame_id,map
+field.poses63.pose.position.x,6.04565813532
+field.poses63.pose.position.y,-0.850479371837
+field.poses63.pose.position.z,0.0
+field.poses63.pose.orientation.x,0.0
+field.poses63.pose.orientation.y,0.0
+field.poses63.pose.orientation.z,0.0993265762832
+field.poses63.pose.orientation.w,0.995054888558
+field.poses64.header.seq,0
+field.poses64.header.stamp,1620124010309561729
+field.poses64.header.frame_id,map
+field.poses64.pose.position.x,6.10537902614
+field.poses64.pose.position.y,-0.854528985487
+field.poses64.pose.position.z,0.0
+field.poses64.pose.orientation.x,0.0
+field.poses64.pose.orientation.y,0.0
+field.poses64.pose.orientation.z,0.0147790533427
+field.poses64.pose.orientation.w,0.999890783827
+field.poses65.header.seq,0
+field.poses65.header.stamp,1620124011217383862
+field.poses65.header.frame_id,map
+field.poses65.pose.position.x,6.28211720126
+field.poses65.pose.position.y,-0.852454623221
+field.poses65.pose.position.z,0.0
+field.poses65.pose.orientation.x,-0.0
+field.poses65.pose.orientation.y,-0.0
+field.poses65.pose.orientation.z,-0.0399418346005
+field.poses65.pose.orientation.w,0.999202006528
+field.poses66.header.seq,0
+field.poses66.header.stamp,1620124012125041723
+field.poses66.header.frame_id,map
+field.poses66.pose.position.x,6.47079090201
+field.poses66.pose.position.y,-0.878061701101
+field.poses66.pose.position.z,0.0
+field.poses66.pose.orientation.x,-0.0
+field.poses66.pose.orientation.y,-0.0
+field.poses66.pose.orientation.z,-0.0448573146197
+field.poses66.pose.orientation.w,0.998993404045
+field.poses67.header.seq,0
+field.poses67.header.stamp,1620124013032762051
+field.poses67.header.frame_id,map
+field.poses67.pose.position.x,6.73368453182
+field.poses67.pose.position.y,-0.948106059425
+field.poses67.pose.position.z,0.0
+field.poses67.pose.orientation.x,-0.0
+field.poses67.pose.orientation.y,-0.0
+field.poses67.pose.orientation.z,-0.105515701079
+field.poses67.pose.orientation.w,0.994417637025
+field.poses68.header.seq,0
+field.poses68.header.stamp,1620124013940506458
+field.poses68.header.frame_id,map
+field.poses68.pose.position.x,6.96749125418
+field.poses68.pose.position.y,-1.01737895007
+field.poses68.pose.position.z,0.0
+field.poses68.pose.orientation.x,-0.0
+field.poses68.pose.orientation.y,-0.0
+field.poses68.pose.orientation.z,-0.103084699067
+field.poses68.pose.orientation.w,0.994672581716
+field.poses69.header.seq,0
+field.poses69.header.stamp,1620124014848294020
+field.poses69.header.frame_id,map
+field.poses69.pose.position.x,7.24819405567
+field.poses69.pose.position.y,-1.10326469151
+field.poses69.pose.position.z,0.0
+field.poses69.pose.orientation.x,-0.0
+field.poses69.pose.orientation.y,-0.0
+field.poses69.pose.orientation.z,-0.102617058666
+field.poses69.pose.orientation.w,0.994720935374
+field.poses70.header.seq,0
+field.poses70.header.stamp,1620124015756008625
+field.poses70.header.frame_id,map
+field.poses70.pose.position.x,7.30679944658
+field.poses70.pose.position.y,-1.11627290894
+field.poses70.pose.position.z,0.0
+field.poses70.pose.orientation.x,-0.0
+field.poses70.pose.orientation.y,-0.0
+field.poses70.pose.orientation.z,-0.103892890061
+field.poses70.pose.orientation.w,0.994588491485
+field.poses71.header.seq,0
+field.poses71.header.stamp,1620124016663780689
+field.poses71.header.frame_id,map
+field.poses71.pose.position.x,7.30776811855
+field.poses71.pose.position.y,-1.11619387801
+field.poses71.pose.position.z,0.0
+field.poses71.pose.orientation.x,-0.0
+field.poses71.pose.orientation.y,-0.0
+field.poses71.pose.orientation.z,-0.103704586177
+field.poses71.pose.orientation.w,0.994608143344
+field.poses72.header.seq,0
+field.poses72.header.stamp,1620124017571496010
+field.poses72.header.frame_id,map
+field.poses72.pose.position.x,7.30869180921
+field.poses72.pose.position.y,-1.11716598095
+field.poses72.pose.position.z,0.0
+field.poses72.pose.orientation.x,-0.0
+field.poses72.pose.orientation.y,-0.0
+field.poses72.pose.orientation.z,-0.104110907968
+field.poses72.pose.orientation.w,0.994565693578
+field.poses73.header.seq,0
+field.poses73.header.stamp,1620124018479260683
+field.poses73.header.frame_id,map
+field.poses73.pose.position.x,7.31078418406
+field.poses73.pose.position.y,-1.11694235981
+field.poses73.pose.position.z,0.0
+field.poses73.pose.orientation.x,-0.0
+field.poses73.pose.orientation.y,-0.0
+field.poses73.pose.orientation.z,-0.103984466243
+field.poses73.pose.orientation.w,0.994578921343
+field.poses74.header.seq,0
+field.poses74.header.stamp,1620124019386981010
+field.poses74.header.frame_id,map
+field.poses74.pose.position.x,7.30990140062
+field.poses74.pose.position.y,-1.11626746367
+field.poses74.pose.position.z,0.0
+field.poses74.pose.orientation.x,-0.0
+field.poses74.pose.orientation.y,-0.0
+field.poses74.pose.orientation.z,-0.103786209883
+field.poses74.pose.orientation.w,0.994599629317
+field.poses75.header.seq,0
+field.poses75.header.stamp,1620124020294704914
+field.poses75.header.frame_id,map
+field.poses75.pose.position.x,7.44388346851
+field.poses75.pose.position.y,-1.15416779145
+field.poses75.pose.position.z,0.0
+field.poses75.pose.orientation.x,-0.0
+field.poses75.pose.orientation.y,-0.0
+field.poses75.pose.orientation.z,-0.104683106859
+field.poses75.pose.orientation.w,0.994505629516
+field.poses76.header.seq,0
+field.poses76.header.stamp,1620124021202452898
+field.poses76.header.frame_id,map
+field.poses76.pose.position.x,7.83788724873
+field.poses76.pose.position.y,-1.27415069897
+field.poses76.pose.position.z,0.0
+field.poses76.pose.orientation.x,-0.0
+field.poses76.pose.orientation.y,-0.0
+field.poses76.pose.orientation.z,-0.106021057609
+field.poses76.pose.orientation.w,0.994363884774
+field.poses77.header.seq,0
+field.poses77.header.stamp,1620124022110216379
+field.poses77.header.frame_id,map
+field.poses77.pose.position.x,8.2314830785
+field.poses77.pose.position.y,-1.39004591771
+field.poses77.pose.position.z,0.0
+field.poses77.pose.orientation.x,-0.0
+field.poses77.pose.orientation.y,-0.0
+field.poses77.pose.orientation.z,-0.109692671789
+field.poses77.pose.orientation.w,0.993965551594
+field.poses78.header.seq,0
+field.poses78.header.stamp,1620124023017961025
+field.poses78.header.frame_id,map
+field.poses78.pose.position.x,8.65808282043
+field.poses78.pose.position.y,-1.52513090807
+field.poses78.pose.position.z,0.0
+field.poses78.pose.orientation.x,-0.0
+field.poses78.pose.orientation.y,-0.0
+field.poses78.pose.orientation.z,-0.11071135028
+field.poses78.pose.orientation.w,0.993852603216
+field.poses79.header.seq,0
+field.poses79.header.stamp,1620124023925703526
+field.poses79.header.frame_id,map
+field.poses79.pose.position.x,9.13205613859
+field.poses79.pose.position.y,-1.66346533685
+field.poses79.pose.position.z,0.0
+field.poses79.pose.orientation.x,-0.0
+field.poses79.pose.orientation.y,-0.0
+field.poses79.pose.orientation.z,-0.111533831967
+field.poses79.pose.orientation.w,0.99376063734
+field.poses80.header.seq,0
+field.poses80.header.stamp,1620124024833443165
+field.poses80.header.frame_id,map
+field.poses80.pose.position.x,9.54691520577
+field.poses80.pose.position.y,-1.78939713171
+field.poses80.pose.position.z,0.0
+field.poses80.pose.orientation.x,-0.0
+field.poses80.pose.orientation.y,-0.0
+field.poses80.pose.orientation.z,-0.109741875549
+field.poses80.pose.orientation.w,0.993960120302
+field.poses81.header.seq,0
+field.poses81.header.stamp,1620124025741141796
+field.poses81.header.frame_id,map
+field.poses81.pose.position.x,9.85414585395
+field.poses81.pose.position.y,-1.86388247055
+field.poses81.pose.position.z,0.0
+field.poses81.pose.orientation.x,-0.0
+field.poses81.pose.orientation.y,-0.0
+field.poses81.pose.orientation.z,-0.0353815260668
+field.poses81.pose.orientation.w,0.999373877792
+field.poses82.header.seq,0
+field.poses82.header.stamp,1620124026648917675
+field.poses82.header.frame_id,map
+field.poses82.pose.position.x,10.3288654379
+field.poses82.pose.position.y,-1.93424091442
+field.poses82.pose.position.z,0.0
+field.poses82.pose.orientation.x,-0.0
+field.poses82.pose.orientation.y,-0.0
+field.poses82.pose.orientation.z,-0.039763228017
+field.poses82.pose.orientation.w,0.999209130111
+field.poses83.header.seq,0
+field.poses83.header.stamp,1620124027556630373
+field.poses83.header.frame_id,map
+field.poses83.pose.position.x,10.528004274
+field.poses83.pose.position.y,-1.96521998464
+field.poses83.pose.position.z,0.0
+field.poses83.pose.orientation.x,-0.0
+field.poses83.pose.orientation.y,-0.0
+field.poses83.pose.orientation.z,-0.0422846651185
+field.poses83.pose.orientation.w,0.999105603575
+field.poses84.header.seq,0
+field.poses84.header.stamp,1620124028464364529
+field.poses84.header.frame_id,map
+field.poses84.pose.position.x,10.5282617506
+field.poses84.pose.position.y,-1.96459658528
+field.poses84.pose.position.z,0.0
+field.poses84.pose.orientation.x,-0.0
+field.poses84.pose.orientation.y,-0.0
+field.poses84.pose.orientation.z,-0.0424305402922
+field.poses84.pose.orientation.w,0.999099419102
+field.poses85.header.seq,0
+field.poses85.header.stamp,1620124029372144699
+field.poses85.header.frame_id,map
+field.poses85.pose.position.x,10.5324538827
+field.poses85.pose.position.y,-1.96419751824
+field.poses85.pose.position.z,0.0
+field.poses85.pose.orientation.x,-0.0
+field.poses85.pose.orientation.y,-0.0
+field.poses85.pose.orientation.z,-0.0419634593979
+field.poses85.pose.orientation.w,0.999119146086
+field.poses86.header.seq,0
+field.poses86.header.stamp,1620124030279997587
+field.poses86.header.frame_id,map
+field.poses86.pose.position.x,10.639412766
+field.poses86.pose.position.y,-1.9810474076
+field.poses86.pose.position.z,0.0
+field.poses86.pose.orientation.x,-0.0
+field.poses86.pose.orientation.y,-0.0
+field.poses86.pose.orientation.z,-0.041064463465
+field.poses86.pose.orientation.w,0.999156499173
+field.poses87.header.seq,0
+field.poses87.header.stamp,1620124031187599897
+field.poses87.header.frame_id,map
+field.poses87.pose.position.x,10.6342853032
+field.poses87.pose.position.y,-2.00321873443
+field.poses87.pose.position.z,0.0
+field.poses87.pose.orientation.x,0.0
+field.poses87.pose.orientation.y,0.0
+field.poses87.pose.orientation.z,0.125277091275
+field.poses87.pose.orientation.w,0.992121792121
+field.poses88.header.seq,0
+field.poses88.header.stamp,1620124032095320225
+field.poses88.header.frame_id,map
+field.poses88.pose.position.x,10.6585337454
+field.poses88.pose.position.y,-2.01378753542
+field.poses88.pose.position.z,0.0
+field.poses88.pose.orientation.x,0.0
+field.poses88.pose.orientation.y,0.0
+field.poses88.pose.orientation.z,0.370642422026
+field.poses88.pose.orientation.w,0.928775642981
+field.poses89.header.seq,0
+field.poses89.header.stamp,1620124033003061295
+field.poses89.header.frame_id,map
+field.poses89.pose.position.x,10.6724332914
+field.poses89.pose.position.y,-2.01718515222
+field.poses89.pose.position.z,0.0
+field.poses89.pose.orientation.x,0.0
+field.poses89.pose.orientation.y,0.0
+field.poses89.pose.orientation.z,0.589474463107
+field.poses89.pose.orientation.w,0.807787012365
+field.poses90.header.seq,0
+field.poses90.header.stamp,1620124033910821438
+field.poses90.header.frame_id,map
+field.poses90.pose.position.x,10.6756880178
+field.poses90.pose.position.y,-2.00719481413
+field.poses90.pose.position.z,0.0
+field.poses90.pose.orientation.x,0.0
+field.poses90.pose.orientation.y,0.0
+field.poses90.pose.orientation.z,0.778376594716
+field.poses90.pose.orientation.w,0.627797640007
+field.poses91.header.seq,0
+field.poses91.header.stamp,1620124034818602562
+field.poses91.header.frame_id,map
+field.poses91.pose.position.x,10.6767948193
+field.poses91.pose.position.y,-2.00034254005
+field.poses91.pose.position.z,0.0
+field.poses91.pose.orientation.x,0.0
+field.poses91.pose.orientation.y,0.0
+field.poses91.pose.orientation.z,0.910039192022
+field.poses91.pose.orientation.w,0.414522217721
+field.poses92.header.seq,0
+field.poses92.header.stamp,1620124035726362705
+field.poses92.header.frame_id,map
+field.poses92.pose.position.x,10.6796711829
+field.poses92.pose.position.y,-1.99064476375
+field.poses92.pose.position.z,0.0
+field.poses92.pose.orientation.x,0.0
+field.poses92.pose.orientation.y,0.0
+field.poses92.pose.orientation.z,0.984122203144
+field.poses92.pose.orientation.w,0.17749222315
+field.poses93.header.seq,0
+field.poses93.header.stamp,1620124036634054899
+field.poses93.header.frame_id,map
+field.poses93.pose.position.x,10.6868336746
+field.poses93.pose.position.y,-1.99105396446
+field.poses93.pose.position.z,0.0
+field.poses93.pose.orientation.x,0.0
+field.poses93.pose.orientation.y,0.0
+field.poses93.pose.orientation.z,0.99021247965
+field.poses93.pose.orientation.w,0.139568066352
+field.poses94.header.seq,0
+field.poses94.header.stamp,1620124037541817665
+field.poses94.header.frame_id,map
+field.poses94.pose.position.x,10.684051259
+field.poses94.pose.position.y,-1.99090548118
+field.poses94.pose.position.z,0.0
+field.poses94.pose.orientation.x,0.0
+field.poses94.pose.orientation.y,0.0
+field.poses94.pose.orientation.z,0.990035648418
+field.poses94.pose.orientation.w,0.140816955166
+field.poses95.header.seq,0
+field.poses95.header.stamp,1620124038449529648
+field.poses95.header.frame_id,map
+field.poses95.pose.position.x,10.6824418433
+field.poses95.pose.position.y,-1.99155029083
+field.poses95.pose.position.z,0.0
+field.poses95.pose.orientation.x,0.0
+field.poses95.pose.orientation.y,0.0
+field.poses95.pose.orientation.z,0.990066308291
+field.poses95.pose.orientation.w,0.140601227544
+field.poses96.header.seq,0
+field.poses96.header.stamp,1620124039357255220
+field.poses96.header.frame_id,map
+field.poses96.pose.position.x,10.6796460037
+field.poses96.pose.position.y,-1.99978859693
+field.poses96.pose.position.z,0.0
+field.poses96.pose.orientation.x,0.0
+field.poses96.pose.orientation.y,0.0
+field.poses96.pose.orientation.z,0.952531679844
+field.poses96.pose.orientation.w,0.304439483138
+field.poses97.header.seq,0
+field.poses97.header.stamp,1620124040265030861
+field.poses97.header.frame_id,map
+field.poses97.pose.position.x,10.6770083094
+field.poses97.pose.position.y,-1.99851792169
+field.poses97.pose.position.z,0.0
+field.poses97.pose.orientation.x,0.0
+field.poses97.pose.orientation.y,0.0
+field.poses97.pose.orientation.z,0.848156093036
+field.poses97.pose.orientation.w,0.529746393896
+field.poses98.header.seq,0
+field.poses98.header.stamp,1620124041172734737
+field.poses98.header.frame_id,map
+field.poses98.pose.position.x,10.6756993922
+field.poses98.pose.position.y,-1.99655783909
+field.poses98.pose.position.z,0.0
+field.poses98.pose.orientation.x,0.0
+field.poses98.pose.orientation.y,0.0
+field.poses98.pose.orientation.z,0.688504004742
+field.poses98.pose.orientation.w,0.725232538883
+field.poses99.header.seq,0
+field.poses99.header.stamp,1620124042080506325
+field.poses99.header.frame_id,map
+field.poses99.pose.position.x,10.6730426801
+field.poses99.pose.position.y,-1.98752331448
+field.poses99.pose.position.z,0.0
+field.poses99.pose.orientation.x,0.0
+field.poses99.pose.orientation.y,0.0
+field.poses99.pose.orientation.z,0.485325607377
+field.poses99.pose.orientation.w,0.874333491766
+field.poses100.header.seq,0
+field.poses100.header.stamp,1620124042988266468
+field.poses100.header.frame_id,map
+field.poses100.pose.position.x,10.6822307878
+field.poses100.pose.position.y,-1.97967952671
+field.poses100.pose.position.z,0.0
+field.poses100.pose.orientation.x,0.0
+field.poses100.pose.orientation.y,0.0
+field.poses100.pose.orientation.z,0.474843852494
+field.poses100.pose.orientation.w,0.880070062977
+field.poses101.header.seq,0
+field.poses101.header.stamp,1620124043896162987
+field.poses101.header.frame_id,map
+field.poses101.pose.position.x,10.681867007
+field.poses101.pose.position.y,-1.9792080372
+field.poses101.pose.position.z,0.0
+field.poses101.pose.orientation.x,0.0
+field.poses101.pose.orientation.y,0.0
+field.poses101.pose.orientation.z,0.475066679565
+field.poses101.pose.orientation.w,0.879949799686
+field.poses102.header.seq,0
+field.poses102.header.stamp,1620124044803721428
+field.poses102.header.frame_id,map
+field.poses102.pose.position.x,10.6871886826
+field.poses102.pose.position.y,-1.98318458291
+field.poses102.pose.position.z,0.0
+field.poses102.pose.orientation.x,0.0
+field.poses102.pose.orientation.y,0.0
+field.poses102.pose.orientation.z,0.572985622335
+field.poses102.pose.orientation.w,0.819565419352
+field.poses103.header.seq,0
+field.poses103.header.stamp,1620124045711495399
+field.poses103.header.frame_id,map
+field.poses103.pose.position.x,10.6887253691
+field.poses103.pose.position.y,-1.97938259246
+field.poses103.pose.position.z,0.0
+field.poses103.pose.orientation.x,0.0
+field.poses103.pose.orientation.y,0.0
+field.poses103.pose.orientation.z,0.754232216335
+field.poses103.pose.orientation.w,0.656607770166
+field.poses104.header.seq,0
+field.poses104.header.stamp,1620124046619269371
+field.poses104.header.frame_id,map
+field.poses104.pose.position.x,10.6887486946
+field.poses104.pose.position.y,-1.97308514908
+field.poses104.pose.position.z,0.0
+field.poses104.pose.orientation.x,0.0
+field.poses104.pose.orientation.y,0.0
+field.poses104.pose.orientation.z,0.894616025478
+field.poses104.pose.orientation.w,0.446835727039
+field.poses105.header.seq,0
+field.poses105.header.stamp,1620124047527017832
+field.poses105.header.frame_id,map
+field.poses105.pose.position.x,10.6980853301
+field.poses105.pose.position.y,-1.97303338955
+field.poses105.pose.position.z,0.0
+field.poses105.pose.orientation.x,0.0
+field.poses105.pose.orientation.y,0.0
+field.poses105.pose.orientation.z,0.976327111668
+field.poses105.pose.orientation.w,0.216299262647
+field.poses106.header.seq,0
+field.poses106.header.stamp,1620124048434741497
+field.poses106.header.frame_id,map
+field.poses106.pose.position.x,10.6987563408
+field.poses106.pose.position.y,-1.97161622544
+field.poses106.pose.position.z,0.0
+field.poses106.pose.orientation.x,0.0
+field.poses106.pose.orientation.y,0.0
+field.poses106.pose.orientation.z,0.993198941039
+field.poses106.pose.orientation.w,0.116429650513
+field.poses107.header.seq,0
+field.poses107.header.stamp,1620124049342408657
+field.poses107.header.frame_id,map
+field.poses107.pose.position.x,10.5374595187
+field.poses107.pose.position.y,-1.91859486548
+field.poses107.pose.position.z,0.0
+field.poses107.pose.orientation.x,0.0
+field.poses107.pose.orientation.y,0.0
+field.poses107.pose.orientation.z,0.993098631683
+field.poses107.pose.orientation.w,0.11728217149
+field.poses108.header.seq,0
+field.poses108.header.stamp,1620124050250261784
+field.poses108.header.frame_id,map
+field.poses108.pose.position.x,10.1774619157
+field.poses108.pose.position.y,-1.80590001939
+field.poses108.pose.position.z,0.0
+field.poses108.pose.orientation.x,0.0
+field.poses108.pose.orientation.y,0.0
+field.poses108.pose.orientation.z,0.993151937635
+field.poses108.pose.orientation.w,0.116829913859
+field.poses109.header.seq,0
+field.poses109.header.stamp,1620124051157920837
+field.poses109.header.frame_id,map
+field.poses109.pose.position.x,9.76640790807
+field.poses109.pose.position.y,-1.67611547015
+field.poses109.pose.position.z,0.0
+field.poses109.pose.orientation.x,0.0
+field.poses109.pose.orientation.y,0.0
+field.poses109.pose.orientation.z,0.992895349713
+field.poses109.pose.orientation.w,0.118990858969
+field.poses110.header.seq,0
+field.poses110.header.stamp,1620124052065706968
+field.poses110.header.frame_id,map
+field.poses110.pose.position.x,9.48406571831
+field.poses110.pose.position.y,-1.58389402029
+field.poses110.pose.position.z,0.0
+field.poses110.pose.orientation.x,0.0
+field.poses110.pose.orientation.y,0.0
+field.poses110.pose.orientation.z,0.992747458136
+field.poses110.pose.orientation.w,0.120218485956
+field.poses111.header.seq,0
+field.poses111.header.stamp,1620124052973384857
+field.poses111.header.frame_id,map
+field.poses111.pose.position.x,9.43877118797
+field.poses111.pose.position.y,-1.56823148806
+field.poses111.pose.position.z,0.0
+field.poses111.pose.orientation.x,0.0
+field.poses111.pose.orientation.y,0.0
+field.poses111.pose.orientation.z,0.992778637125
+field.poses111.pose.orientation.w,0.119960733859
+field.poses112.header.seq,0
+field.poses112.header.stamp,1620124053881182194
+field.poses112.header.frame_id,map
+field.poses112.pose.position.x,9.41132839785
+field.poses112.pose.position.y,-1.55969011045
+field.poses112.pose.position.z,0.0
+field.poses112.pose.orientation.x,0.0
+field.poses112.pose.orientation.y,0.0
+field.poses112.pose.orientation.z,0.992757696657
+field.poses112.pose.orientation.w,0.120133907485
+field.poses113.header.seq,0
+field.poses113.header.stamp,1620124054788886070
+field.poses113.header.frame_id,map
+field.poses113.pose.position.x,9.09838155322
+field.poses113.pose.position.y,-1.46129471483
+field.poses113.pose.position.z,0.0
+field.poses113.pose.orientation.x,0.0
+field.poses113.pose.orientation.y,0.0
+field.poses113.pose.orientation.z,0.992555081027
+field.poses113.pose.orientation.w,0.121796597358
+field.poses114.header.seq,0
+field.poses114.header.stamp,1620124055696640015
+field.poses114.header.frame_id,map
+field.poses114.pose.position.x,8.76519784298
+field.poses114.pose.position.y,-1.34949862294
+field.poses114.pose.position.z,0.0
+field.poses114.pose.orientation.x,0.0
+field.poses114.pose.orientation.y,0.0
+field.poses114.pose.orientation.z,0.992424454263
+field.poses114.pose.orientation.w,0.122856430768
+field.poses115.header.seq,0
+field.poses115.header.stamp,1620124056604446411
+field.poses115.header.frame_id,map
+field.poses115.pose.position.x,8.70244552304
+field.poses115.pose.position.y,-1.34382701545
+field.poses115.pose.position.z,0.0
+field.poses115.pose.orientation.x,0.0
+field.poses115.pose.orientation.y,0.0
+field.poses115.pose.orientation.z,0.999491739883
+field.poses115.pose.orientation.w,0.0318788629776
+field.poses116.header.seq,0
+field.poses116.header.stamp,1620124057512066364
+field.poses116.header.frame_id,map
+field.poses116.pose.position.x,8.69694411502
+field.poses116.pose.position.y,-1.3342038364
+field.poses116.pose.position.z,0.0
+field.poses116.pose.orientation.x,-0.0
+field.poses116.pose.orientation.y,-0.0
+field.poses116.pose.orientation.z,-0.977669846119
+field.poses116.pose.orientation.w,0.21014678677
+field.poses117.header.seq,0
+field.poses117.header.stamp,1620124058419830084
+field.poses117.header.frame_id,map
+field.poses117.pose.position.x,8.69144300958
+field.poses117.pose.position.y,-1.32907279103
+field.poses117.pose.position.z,0.0
+field.poses117.pose.orientation.x,-0.0
+field.poses117.pose.orientation.y,-0.0
+field.poses117.pose.orientation.z,-0.893929555534
+field.poses117.pose.orientation.w,0.448207485149
+field.poses118.header.seq,0
+field.poses118.header.stamp,1620124059327596188
+field.poses118.header.frame_id,map
+field.poses118.pose.position.x,8.68816941032
+field.poses118.pose.position.y,-1.30960298447
+field.poses118.pose.position.z,0.0
+field.poses118.pose.orientation.x,-0.0
+field.poses118.pose.orientation.y,-0.0
+field.poses118.pose.orientation.z,-0.857159143983
+field.poses118.pose.orientation.w,0.515051649727
+field.poses119.header.seq,0
+field.poses119.header.stamp,1620124060235440731
+field.poses119.header.frame_id,map
+field.poses119.pose.position.x,8.55867444203
+field.poses119.pose.position.y,-1.5223470737
+field.poses119.pose.position.z,0.0
+field.poses119.pose.orientation.x,-0.0
+field.poses119.pose.orientation.y,-0.0
+field.poses119.pose.orientation.z,-0.8547107448
+field.poses119.pose.orientation.w,0.519104558565
+field.poses120.header.seq,0
+field.poses120.header.stamp,1620124061143059492
+field.poses120.header.frame_id,map
+field.poses120.pose.position.x,8.54230387516
+field.poses120.pose.position.y,-1.54523733862
+field.poses120.pose.position.z,0.0
+field.poses120.pose.orientation.x,-0.0
+field.poses120.pose.orientation.y,-0.0
+field.poses120.pose.orientation.z,-0.79461922149
+field.poses120.pose.orientation.w,0.607108139328
+field.poses121.header.seq,0
+field.poses121.header.stamp,1620124062050817013
+field.poses121.header.frame_id,map
+field.poses121.pose.position.x,8.53168637141
+field.poses121.pose.position.y,-1.60520071206
+field.poses121.pose.position.z,0.0
+field.poses121.pose.orientation.x,-0.0
+field.poses121.pose.orientation.y,-0.0
+field.poses121.pose.orientation.z,-0.78501421897
+field.poses121.pose.orientation.w,0.619477744568
+field.poses122.header.seq,0
+field.poses122.header.stamp,1620124062958582401
+field.poses122.header.frame_id,map
+field.poses122.pose.position.x,8.41919047045
+field.poses122.pose.position.y,-1.96029702339
+field.poses122.pose.position.z,0.0
+field.poses122.pose.orientation.x,-0.0
+field.poses122.pose.orientation.y,-0.0
+field.poses122.pose.orientation.z,-0.786252151606
+field.poses122.pose.orientation.w,0.61790578092
+field.poses123.header.seq,0
+field.poses123.header.stamp,1620124063866274357
+field.poses123.header.frame_id,map
+field.poses123.pose.position.x,8.2514028143
+field.poses123.pose.position.y,-2.49137697305
+field.poses123.pose.position.z,0.0
+field.poses123.pose.orientation.x,-0.0
+field.poses123.pose.orientation.y,-0.0
+field.poses123.pose.orientation.z,-0.787386972958
+field.poses123.pose.orientation.w,0.61645904553
+field.poses124.header.seq,0
+field.poses124.header.stamp,1620124064774012804
+field.poses124.header.frame_id,map
+field.poses124.pose.position.x,8.10297194441
+field.poses124.pose.position.y,-2.94576405068
+field.poses124.pose.position.z,0.0
+field.poses124.pose.orientation.x,-0.0
+field.poses124.pose.orientation.y,-0.0
+field.poses124.pose.orientation.z,-0.787652991743
+field.poses124.pose.orientation.w,0.616119115592
+field.poses125.header.seq,0
+field.poses125.header.stamp,1620124065681743145
+field.poses125.header.frame_id,map
+field.poses125.pose.position.x,7.94901541365
+field.poses125.pose.position.y,-3.41595262484
+field.poses125.pose.position.z,0.0
+field.poses125.pose.orientation.x,-0.0
+field.poses125.pose.orientation.y,-0.0
+field.poses125.pose.orientation.z,-0.790172182318
+field.poses125.pose.orientation.w,0.612884917657
+field.poses126.header.seq,0
+field.poses126.header.stamp,1620124066589492559
+field.poses126.header.frame_id,map
+field.poses126.pose.position.x,7.82531312558
+field.poses126.pose.position.y,-3.77647447267
+field.poses126.pose.position.z,0.0
+field.poses126.pose.orientation.x,-0.0
+field.poses126.pose.orientation.y,-0.0
+field.poses126.pose.orientation.z,-0.791024811157
+field.poses126.pose.orientation.w,0.61178406986
+field.poses127.header.seq,0
+field.poses127.header.stamp,1620124067497251987
+field.poses127.header.frame_id,map
+field.poses127.pose.position.x,7.65290374051
+field.poses127.pose.position.y,-4.2705400902
+field.poses127.pose.position.z,0.0
+field.poses127.pose.orientation.x,-0.0
+field.poses127.pose.orientation.y,-0.0
+field.poses127.pose.orientation.z,-0.792797766711
+field.poses127.pose.orientation.w,0.609484783319
+field.poses128.header.seq,0
+field.poses128.header.stamp,1620124068404983044
+field.poses128.header.frame_id,map
+field.poses128.pose.position.x,7.56105491192
+field.poses128.pose.position.y,-4.53128631559
+field.poses128.pose.position.z,0.0
+field.poses128.pose.orientation.x,-0.0
+field.poses128.pose.orientation.y,-0.0
+field.poses128.pose.orientation.z,-0.794146471209
+field.poses128.pose.orientation.w,0.607726404121
+field.poses129.header.seq,0
+field.poses129.header.stamp,1620124069312705994
+field.poses129.header.frame_id,map
+field.poses129.pose.position.x,7.55161250943
+field.poses129.pose.position.y,-4.55716967614
+field.poses129.pose.position.z,0.0
+field.poses129.pose.orientation.x,-0.0
+field.poses129.pose.orientation.y,-0.0
+field.poses129.pose.orientation.z,-0.794281352661
+field.poses129.pose.orientation.w,0.607550107246
+field.poses130.header.seq,0
+field.poses130.header.stamp,1620124070220545292
+field.poses130.header.frame_id,map
+field.poses130.pose.position.x,7.54496462147
+field.poses130.pose.position.y,-4.5556824395
+field.poses130.pose.position.z,0.0
+field.poses130.pose.orientation.x,-0.0
+field.poses130.pose.orientation.y,-0.0
+field.poses130.pose.orientation.z,-0.858954323386
+field.poses130.pose.orientation.w,0.512052214463
+field.poses131.header.seq,0
+field.poses131.header.stamp,1620124071128218174
+field.poses131.header.frame_id,map
+field.poses131.pose.position.x,7.55596845561
+field.poses131.pose.position.y,-4.55501974811
+field.poses131.pose.position.z,0.0
+field.poses131.pose.orientation.x,-0.0
+field.poses131.pose.orientation.y,-0.0
+field.poses131.pose.orientation.z,-0.86048797653
+field.poses131.pose.orientation.w,0.509470747196
+field.poses132.header.seq,0
+field.poses132.header.stamp,1620124072035959721
+field.poses132.header.frame_id,map
+field.poses132.pose.position.x,7.65904350146
+field.poses132.pose.position.y,-4.39542341848
+field.poses132.pose.position.z,0.0
+field.poses132.pose.orientation.x,-0.0
+field.poses132.pose.orientation.y,-0.0
+field.poses132.pose.orientation.z,-0.860117713035
+field.poses132.pose.orientation.w,0.510095598612
+field.poses133.header.seq,0
+field.poses133.header.stamp,1620124072943693638
+field.poses133.header.frame_id,map
+field.poses133.pose.position.x,7.79721250869
+field.poses133.pose.position.y,-4.1881545919
+field.poses133.pose.position.z,0.0
+field.poses133.pose.orientation.x,-0.0
+field.poses133.pose.orientation.y,-0.0
+field.poses133.pose.orientation.z,-0.859245396269
+field.poses133.pose.orientation.w,0.511563631418
+field.poses134.header.seq,0
+field.poses134.header.stamp,1620124073851424932
+field.poses134.header.frame_id,map
+field.poses134.pose.position.x,7.83837815605
+field.poses134.pose.position.y,-4.10998998711
+field.poses134.pose.position.z,0.0
+field.poses134.pose.orientation.x,-0.0
+field.poses134.pose.orientation.y,-0.0
+field.poses134.pose.orientation.z,-0.853738706678
+field.poses134.pose.orientation.w,0.520701661914
+field.poses135.header.seq,0
+field.poses135.header.stamp,1620124074759166956
+field.poses135.header.frame_id,map
+field.poses135.pose.position.x,7.83916345733
+field.poses135.pose.position.y,-4.11252526995
+field.poses135.pose.position.z,0.0
+field.poses135.pose.orientation.x,-0.0
+field.poses135.pose.orientation.y,-0.0
+field.poses135.pose.orientation.z,-0.82290886782
+field.poses135.pose.orientation.w,0.56817338486
+field.poses136.header.seq,0
+field.poses136.header.stamp,1620124075667041302
+field.poses136.header.frame_id,map
+field.poses136.pose.position.x,7.90454073616
+field.poses136.pose.position.y,-3.9767889708
+field.poses136.pose.position.z,0.0
+field.poses136.pose.orientation.x,-0.0
+field.poses136.pose.orientation.y,-0.0
+field.poses136.pose.orientation.z,-0.822399954845
+field.poses136.pose.orientation.w,0.568909759339
+field.poses137.header.seq,0
+field.poses137.header.stamp,1620124076574680805
+field.poses137.header.frame_id,map
+field.poses137.pose.position.x,7.98421851474
+field.poses137.pose.position.y,-3.80122179421
+field.poses137.pose.position.z,0.0
+field.poses137.pose.orientation.x,-0.0
+field.poses137.pose.orientation.y,-0.0
+field.poses137.pose.orientation.z,-0.800082166399
+field.poses137.pose.orientation.w,0.59989042917
+field.poses138.header.seq,0
+field.poses138.header.stamp,1620124077482400417
+field.poses138.header.frame_id,map
+field.poses138.pose.position.x,7.98599743597
+field.poses138.pose.position.y,-3.79181393828
+field.poses138.pose.position.z,0.0
+field.poses138.pose.orientation.x,-0.0
+field.poses138.pose.orientation.y,-0.0
+field.poses138.pose.orientation.z,-0.800860314307
+field.poses138.pose.orientation.w,0.598851197685
+field.poses139.header.seq,0
+field.poses139.header.stamp,1620124078390154362
+field.poses139.header.frame_id,map
+field.poses139.pose.position.x,8.07577445648
+field.poses139.pose.position.y,-3.55357023837
+field.poses139.pose.position.z,0.0
+field.poses139.pose.orientation.x,-0.0
+field.poses139.pose.orientation.y,-0.0
+field.poses139.pose.orientation.z,-0.799204211766
+field.poses139.pose.orientation.w,0.601059587641
+field.poses140.header.seq,0
+field.poses140.header.stamp,1620124079297881126
+field.poses140.header.frame_id,map
+field.poses140.pose.position.x,8.23859085031
+field.poses140.pose.position.y,-3.11568504423
+field.poses140.pose.position.z,0.0
+field.poses140.pose.orientation.x,-0.0
+field.poses140.pose.orientation.y,-0.0
+field.poses140.pose.orientation.z,-0.79730736408
+field.poses140.pose.orientation.w,0.603573497747
+field.poses141.header.seq,0
+field.poses141.header.stamp,1620124080205585480
+field.poses141.header.frame_id,map
+field.poses141.pose.position.x,8.31679248386
+field.poses141.pose.position.y,-2.90196171168
+field.poses141.pose.position.z,0.0
+field.poses141.pose.orientation.x,-0.0
+field.poses141.pose.orientation.y,-0.0
+field.poses141.pose.orientation.z,-0.796124198561
+field.poses141.pose.orientation.w,0.605133258436
+field.poses142.header.seq,0
+field.poses142.header.stamp,1620124081113348961
+field.poses142.header.frame_id,map
+field.poses142.pose.position.x,8.31083597442
+field.poses142.pose.position.y,-2.89718990517
+field.poses142.pose.position.z,0.0
+field.poses142.pose.orientation.x,-0.0
+field.poses142.pose.orientation.y,-0.0
+field.poses142.pose.orientation.z,-0.72164166609
+field.poses142.pose.orientation.w,0.692266787997
+field.poses143.header.seq,0
+field.poses143.header.stamp,1620124082021155596
+field.poses143.header.frame_id,map
+field.poses143.pose.position.x,8.30484973636
+field.poses143.pose.position.y,-2.89275059413
+field.poses143.pose.position.z,0.0
+field.poses143.pose.orientation.x,-0.0
+field.poses143.pose.orientation.y,-0.0
+field.poses143.pose.orientation.z,-0.637800242607
+field.poses143.pose.orientation.w,0.770201824544
+field.poses144.header.seq,0
+field.poses144.header.stamp,1620124082928871155
+field.poses144.header.frame_id,map
+field.poses144.pose.position.x,8.30721562172
+field.poses144.pose.position.y,-2.86306784852
+field.poses144.pose.position.z,0.0
+field.poses144.pose.orientation.x,-0.0
+field.poses144.pose.orientation.y,-0.0
+field.poses144.pose.orientation.z,-0.606406286905
+field.poses144.pose.orientation.w,0.795154963012
+field.poses145.header.seq,0
+field.poses145.header.stamp,1620124083836588860
+field.poses145.header.frame_id,map
+field.poses145.pose.position.x,8.25552009161
+field.poses145.pose.position.y,-2.60248289102
+field.poses145.pose.position.z,0.0
+field.poses145.pose.orientation.x,-0.0
+field.poses145.pose.orientation.y,-0.0
+field.poses145.pose.orientation.z,-0.597711909072
+field.poses145.pose.orientation.w,0.801710966467
+field.poses146.header.seq,0
+field.poses146.header.stamp,1620124084744366884
+field.poses146.header.frame_id,map
+field.poses146.pose.position.x,8.24393549873
+field.poses146.pose.position.y,-2.55073086404
+field.poses146.pose.position.z,0.0
+field.poses146.pose.orientation.x,-0.0
+field.poses146.pose.orientation.y,-0.0
+field.poses146.pose.orientation.z,-0.516261704553
+field.poses146.pose.orientation.w,0.856430880113
+field.poses147.header.seq,0
+field.poses147.header.stamp,1620124085652044296
+field.poses147.header.frame_id,map
+field.poses147.pose.position.x,8.12071291576
+field.poses147.pose.position.y,-2.27577408678
+field.poses147.pose.position.z,0.0
+field.poses147.pose.orientation.x,-0.0
+field.poses147.pose.orientation.y,-0.0
+field.poses147.pose.orientation.z,-0.514511428317
+field.poses147.pose.orientation.w,0.857483521784
+field.poses148.header.seq,0
+field.poses148.header.stamp,1620124086559795380
+field.poses148.header.frame_id,map
+field.poses148.pose.position.x,8.05938865214
+field.poses148.pose.position.y,-2.14735762221
+field.poses148.pose.position.z,0.0
+field.poses148.pose.orientation.x,-0.0
+field.poses148.pose.orientation.y,-0.0
+field.poses148.pose.orientation.z,-0.488378337706
+field.poses148.pose.orientation.w,0.872631995322
+field.poses149.header.seq,0
+field.poses149.header.stamp,1620124087467577934
+field.poses149.header.frame_id,map
+field.poses149.pose.position.x,7.92029115134
+field.poses149.pose.position.y,-1.87781237394
+field.poses149.pose.position.z,0.0
+field.poses149.pose.orientation.x,-0.0
+field.poses149.pose.orientation.y,-0.0
+field.poses149.pose.orientation.z,-0.472356884195
+field.poses149.pose.orientation.w,0.881407382516
+field.poses150.header.seq,0
+field.poses150.header.stamp,1620124088375272989
+field.poses150.header.frame_id,map
+field.poses150.pose.position.x,7.85095409301
+field.poses150.pose.position.y,-1.77606883037
+field.poses150.pose.position.z,0.0
+field.poses150.pose.orientation.x,-0.0
+field.poses150.pose.orientation.y,-0.0
+field.poses150.pose.orientation.z,-0.407968853843
+field.poses150.pose.orientation.w,0.912995845716
+field.poses151.header.seq,0
+field.poses151.header.stamp,1620124089283017397
+field.poses151.header.frame_id,map
+field.poses151.pose.position.x,7.71761477706
+field.poses151.pose.position.y,-1.6046140489
+field.poses151.pose.position.z,0.0
+field.poses151.pose.orientation.x,-0.0
+field.poses151.pose.orientation.y,-0.0
+field.poses151.pose.orientation.z,-0.375900350585
+field.poses151.pose.orientation.w,0.926660092175
+field.poses152.header.seq,0
+field.poses152.header.stamp,1620124090190800667
+field.poses152.header.frame_id,map
+field.poses152.pose.position.x,7.57767816001
+field.poses152.pose.position.y,-1.44462778513
+field.poses152.pose.position.z,0.0
+field.poses152.pose.orientation.x,-0.0
+field.poses152.pose.orientation.y,-0.0
+field.poses152.pose.orientation.z,-0.372890192073
+field.poses152.pose.orientation.w,0.927875479068
+field.poses153.header.seq,0
+field.poses153.header.stamp,1620124091098530293
+field.poses153.header.frame_id,map
+field.poses153.pose.position.x,7.46422889583
+field.poses153.pose.position.y,-1.33144871773
+field.poses153.pose.position.z,0.0
+field.poses153.pose.orientation.x,-0.0
+field.poses153.pose.orientation.y,-0.0
+field.poses153.pose.orientation.z,-0.320856018027
+field.poses153.pose.orientation.w,0.947127982744
+field.poses154.header.seq,0
+field.poses154.header.stamp,1620124092006258011
+field.poses154.header.frame_id,map
+field.poses154.pose.position.x,7.2287094617
+field.poses154.pose.position.y,-1.11220287172
+field.poses154.pose.position.z,0.0
+field.poses154.pose.orientation.x,-0.0
+field.poses154.pose.orientation.y,-0.0
+field.poses154.pose.orientation.z,-0.274768510192
+field.poses154.pose.orientation.w,0.96151040858
+field.poses155.header.seq,0
+field.poses155.header.stamp,1620124092914035320
+field.poses155.header.frame_id,map
+field.poses155.pose.position.x,7.05245136372
+field.poses155.pose.position.y,-1.02535902979
+field.poses155.pose.position.z,0.0
+field.poses155.pose.orientation.x,-0.0
+field.poses155.pose.orientation.y,-0.0
+field.poses155.pose.orientation.z,-0.194912245754
+field.poses155.pose.orientation.w,0.980820685169
+field.poses156.header.seq,0
+field.poses156.header.stamp,1620124093821722746
+field.poses156.header.frame_id,map
+field.poses156.pose.position.x,7.01424178444
+field.poses156.pose.position.y,-1.00664025722
+field.poses156.pose.position.z,0.0
+field.poses156.pose.orientation.x,-0.0
+field.poses156.pose.orientation.y,-0.0
+field.poses156.pose.orientation.z,-0.194395969666
+field.poses156.pose.orientation.w,0.980923140199
+field.poses157.header.seq,0
+field.poses157.header.stamp,1620124094729507446
+field.poses157.header.frame_id,map
+field.poses157.pose.position.x,7.00617274002
+field.poses157.pose.position.y,-1.00007724533
+field.poses157.pose.position.z,0.0
+field.poses157.pose.orientation.x,-0.0
+field.poses157.pose.orientation.y,-0.0
+field.poses157.pose.orientation.z,-0.194323151557
+field.poses157.pose.orientation.w,0.980937568232
+field.poses158.header.seq,0
+field.poses158.header.stamp,1620124095637244225
+field.poses158.header.frame_id,map
+field.poses158.pose.position.x,6.93500257362
+field.poses158.pose.position.y,-0.96530641699
+field.poses158.pose.position.z,0.0
+field.poses158.pose.orientation.x,-0.0
+field.poses158.pose.orientation.y,-0.0
+field.poses158.pose.orientation.z,-0.194005011936
+field.poses158.pose.orientation.w,0.981000537892
+field.poses159.header.seq,0
+field.poses159.header.stamp,1620124096544968843
+field.poses159.header.frame_id,map
+field.poses159.pose.position.x,6.91468676966
+field.poses159.pose.position.y,-0.954946513772
+field.poses159.pose.position.z,0.0
+field.poses159.pose.orientation.x,-0.0
+field.poses159.pose.orientation.y,-0.0
+field.poses159.pose.orientation.z,-0.194107308468
+field.poses159.pose.orientation.w,0.980980301942
+field.poses160.header.seq,0
+field.poses160.header.stamp,1620124097452712774
+field.poses160.header.frame_id,map
+field.poses160.pose.position.x,6.65965198014
+field.poses160.pose.position.y,-0.8251173736
+field.poses160.pose.position.z,0.0
+field.poses160.pose.orientation.x,-0.0
+field.poses160.pose.orientation.y,-0.0
+field.poses160.pose.orientation.z,-0.192340907365
+field.poses160.pose.orientation.w,0.981328169041
+field.poses161.header.seq,0
+field.poses161.header.stamp,1620124098360420942
+field.poses161.header.frame_id,map
+field.poses161.pose.position.x,6.58782080746
+field.poses161.pose.position.y,-0.790384591918
+field.poses161.pose.position.z,0.0
+field.poses161.pose.orientation.x,-0.0
+field.poses161.pose.orientation.y,-0.0
+field.poses161.pose.orientation.z,-0.19156851912
+field.poses161.pose.orientation.w,0.981479242003
+field.poses162.header.seq,0
+field.poses162.header.stamp,1620124099268206120
+field.poses162.header.frame_id,map
+field.poses162.pose.position.x,6.48944024606
+field.poses162.pose.position.y,-0.737838109138
+field.poses162.pose.position.z,0.0
+field.poses162.pose.orientation.x,-0.0
+field.poses162.pose.orientation.y,-0.0
+field.poses162.pose.orientation.z,-0.19008422818
+field.poses162.pose.orientation.w,0.98176778629
+field.poses163.header.seq,0
+field.poses163.header.stamp,1620124100175901413
+field.poses163.header.frame_id,map
+field.poses163.pose.position.x,6.5109013928
+field.poses163.pose.position.y,-0.76862701672
+field.poses163.pose.position.z,0.0
+field.poses163.pose.orientation.x,-0.0
+field.poses163.pose.orientation.y,-0.0
+field.poses163.pose.orientation.z,-0.0546557753376
+field.poses163.pose.orientation.w,0.998505255981
+field.poses164.header.seq,0
+field.poses164.header.stamp,1620124101083644390
+field.poses164.header.frame_id,map
+field.poses164.pose.position.x,6.42490078487
+field.poses164.pose.position.y,-0.754401169486
+field.poses164.pose.position.z,0.0
+field.poses164.pose.orientation.x,-0.0
+field.poses164.pose.orientation.y,-0.0
+field.poses164.pose.orientation.z,-0.0548918595715
+field.poses164.pose.orientation.w,0.998492305305
+field.poses165.header.seq,0
+field.poses165.header.stamp,1620124101991417408
+field.poses165.header.frame_id,map
+field.poses165.pose.position.x,6.02472213219
+field.poses165.pose.position.y,-0.680270823777
+field.poses165.pose.position.z,0.0
+field.poses165.pose.orientation.x,-0.0
+field.poses165.pose.orientation.y,-0.0
+field.poses165.pose.orientation.z,-0.0534144627114
+field.poses165.pose.orientation.w,0.998572428607
+field.poses166.header.seq,0
+field.poses166.header.stamp,1620124102899165630
+field.poses166.header.frame_id,map
+field.poses166.pose.position.x,5.6721145954
+field.poses166.pose.position.y,-0.636965254672
+field.poses166.pose.position.z,0.0
+field.poses166.pose.orientation.x,0.0
+field.poses166.pose.orientation.y,0.0
+field.poses166.pose.orientation.z,0.0356058476576
+field.poses166.pose.orientation.w,0.999365910772
+field.poses167.header.seq,0
+field.poses167.header.stamp,1620124103806881428
+field.poses167.header.frame_id,map
+field.poses167.pose.position.x,5.58226469004
+field.poses167.pose.position.y,-0.630768347177
+field.poses167.pose.position.z,0.0
+field.poses167.pose.orientation.x,0.0
+field.poses167.pose.orientation.y,0.0
+field.poses167.pose.orientation.z,0.0860637720883
+field.poses167.pose.orientation.w,0.996289630145
+field.poses168.header.seq,0
+field.poses168.header.stamp,1620124104714640379
+field.poses168.header.frame_id,map
+field.poses168.pose.position.x,5.24612929865
+field.poses168.pose.position.y,-0.665622169646
+field.poses168.pose.position.z,0.0
+field.poses168.pose.orientation.x,0.0
+field.poses168.pose.orientation.y,0.0
+field.poses168.pose.orientation.z,0.0914311471231
+field.poses168.pose.orientation.w,0.995811400485
+field.poses169.header.seq,0
+field.poses169.header.stamp,1620124105622362614
+field.poses169.header.frame_id,map
+field.poses169.pose.position.x,4.83280506173
+field.poses169.pose.position.y,-0.713119709107
+field.poses169.pose.position.z,0.0
+field.poses169.pose.orientation.x,0.0
+field.poses169.pose.orientation.y,0.0
+field.poses169.pose.orientation.z,0.0944436042471
+field.poses169.pose.orientation.w,0.995530213312
+field.poses170.header.seq,0
+field.poses170.header.stamp,1620124106530152798
+field.poses170.header.frame_id,map
+field.poses170.pose.position.x,4.49316676192
+field.poses170.pose.position.y,-0.750762258678
+field.poses170.pose.position.z,0.0
+field.poses170.pose.orientation.x,0.0
+field.poses170.pose.orientation.y,0.0
+field.poses170.pose.orientation.z,0.114478570862
+field.poses170.pose.orientation.w,0.993425717814
+field.poses171.header.seq,0
+field.poses171.header.stamp,1620124107437891006
+field.poses171.header.frame_id,map
+field.poses171.pose.position.x,4.41661858466
+field.poses171.pose.position.y,-0.768224723533
+field.poses171.pose.position.z,0.0
+field.poses171.pose.orientation.x,0.0
+field.poses171.pose.orientation.y,0.0
+field.poses171.pose.orientation.z,0.35860701494
+field.poses171.pose.orientation.w,0.933488622767
+field.poses172.header.seq,0
+field.poses172.header.stamp,1620124108345626831
+field.poses172.header.frame_id,map
+field.poses172.pose.position.x,4.42932279427
+field.poses172.pose.position.y,-0.776128830308
+field.poses172.pose.position.z,0.0
+field.poses172.pose.orientation.x,0.0
+field.poses172.pose.orientation.y,0.0
+field.poses172.pose.orientation.z,0.576692486389
+field.poses172.pose.orientation.w,0.816961306392
+field.poses173.header.seq,0
+field.poses173.header.stamp,1620124109253324270
+field.poses173.header.frame_id,map
+field.poses173.pose.position.x,4.44402239318
+field.poses173.pose.position.y,-0.773249440431
+field.poses173.pose.position.z,0.0
+field.poses173.pose.orientation.x,0.0
+field.poses173.pose.orientation.y,0.0
+field.poses173.pose.orientation.z,0.768349942002
+field.poses173.pose.orientation.w,0.640029973225
+field.poses174.header.seq,0
+field.poses174.header.stamp,1620124110161061764
+field.poses174.header.frame_id,map
+field.poses174.pose.position.x,4.44573895999
+field.poses174.pose.position.y,-0.772626520861
+field.poses174.pose.position.z,0.0
+field.poses174.pose.orientation.x,0.0
+field.poses174.pose.orientation.y,0.0
+field.poses174.pose.orientation.z,0.905923483634
+field.poses174.pose.orientation.w,0.423441426647
+field.poses175.header.seq,0
+field.poses175.header.stamp,1620124111068844795
+field.poses175.header.frame_id,map
+field.poses175.pose.position.x,4.4551462496
+field.poses175.pose.position.y,-0.76629117657
+field.poses175.pose.position.z,0.0
+field.poses175.pose.orientation.x,0.0
+field.poses175.pose.orientation.y,0.0
+field.poses175.pose.orientation.z,0.983317810769
+field.poses175.pose.orientation.w,0.181895802655
+field.poses176.header.seq,0
+field.poses176.header.stamp,1620124111976530552
+field.poses176.header.frame_id,map
+field.poses176.pose.position.x,4.45419824451
+field.poses176.pose.position.y,-0.759956463848
+field.poses176.pose.position.z,0.0
+field.poses176.pose.orientation.x,0.0
+field.poses176.pose.orientation.y,0.0
+field.poses176.pose.orientation.z,0.996280151394
+field.poses176.pose.orientation.w,0.0861734294197
+field.poses177.header.seq,0
+field.poses177.header.stamp,1620124112884261847
+field.poses177.header.frame_id,map
+field.poses177.pose.position.x,4.16598451691
+field.poses177.pose.position.y,-0.688300518692
+field.poses177.pose.position.z,0.0
+field.poses177.pose.orientation.x,0.0
+field.poses177.pose.orientation.y,0.0
+field.poses177.pose.orientation.z,0.996542096325
+field.poses177.pose.orientation.w,0.0830894111954
+field.poses178.header.seq,0
+field.poses178.header.stamp,1620124113792019367
+field.poses178.header.frame_id,map
+field.poses178.pose.position.x,4.04134000124
+field.poses178.pose.position.y,-0.667671295664
+field.poses178.pose.position.z,0.0
+field.poses178.pose.orientation.x,0.0
+field.poses178.pose.orientation.y,0.0
+field.poses178.pose.orientation.z,0.999615711514
+field.poses178.pose.orientation.w,0.0277205572589
+field.poses179.header.seq,0
+field.poses179.header.stamp,1620124114699777842
+field.poses179.header.frame_id,map
+field.poses179.pose.position.x,3.96820350643
+field.poses179.pose.position.y,-0.637272626192
+field.poses179.pose.position.z,0.0
+field.poses179.pose.orientation.x,-0.0
+field.poses179.pose.orientation.y,-0.0
+field.poses179.pose.orientation.z,-0.999848554607
+field.poses179.pose.orientation.w,0.0174030988927
+field.poses180.header.seq,0
+field.poses180.header.stamp,1620124115607540607
+field.poses180.header.frame_id,map
+field.poses180.pose.position.x,3.58508198162
+field.poses180.pose.position.y,-0.621348381762
+field.poses180.pose.position.z,0.0
+field.poses180.pose.orientation.x,-0.0
+field.poses180.pose.orientation.y,-0.0
+field.poses180.pose.orientation.z,-0.999889125582
+field.poses180.pose.orientation.w,0.0148908207536
+field.poses181.header.seq,0
+field.poses181.header.stamp,1620124116515254498
+field.poses181.header.frame_id,map
+field.poses181.pose.position.x,3.04839277115
+field.poses181.pose.position.y,-0.586894145532
+field.poses181.pose.position.z,0.0
+field.poses181.pose.orientation.x,-0.0
+field.poses181.pose.orientation.y,-0.0
+field.poses181.pose.orientation.z,-0.999918384402
+field.poses181.pose.orientation.w,0.0127759357443
+field.poses182.header.seq,0
+field.poses182.header.stamp,1620124117422998905
+field.poses182.header.frame_id,map
+field.poses182.pose.position.x,2.58483520498
+field.poses182.pose.position.y,-0.562852106714
+field.poses182.pose.position.z,0.0
+field.poses182.pose.orientation.x,-0.0
+field.poses182.pose.orientation.y,-0.0
+field.poses182.pose.orientation.z,-0.999908571038
+field.poses182.pose.orientation.w,0.0135221878683
+field.poses183.header.seq,0
+field.poses183.header.stamp,1620124118330741405
+field.poses183.header.frame_id,map
+field.poses183.pose.position.x,2.11202298781
+field.poses183.pose.position.y,-0.539484974298
+field.poses183.pose.position.z,0.0
+field.poses183.pose.orientation.x,-0.0
+field.poses183.pose.orientation.y,-0.0
+field.poses183.pose.orientation.z,-0.999934678089
+field.poses183.pose.orientation.w,0.0114297661967
+field.poses184.header.seq,0
+field.poses184.header.stamp,1620124119238516331
+field.poses184.header.frame_id,map
+field.poses184.pose.position.x,1.62237273893
+field.poses184.pose.position.y,-0.514127157403
+field.poses184.pose.position.z,0.0
+field.poses184.pose.orientation.x,-0.0
+field.poses184.pose.orientation.y,-0.0
+field.poses184.pose.orientation.z,-0.999975959225
+field.poses184.pose.orientation.w,0.00693404445035
+field.poses185.header.seq,0
+field.poses185.header.stamp,1620124120146227360
+field.poses185.header.frame_id,map
+field.poses185.pose.position.x,1.19600975398
+field.poses185.pose.position.y,-0.483087176516
+field.poses185.pose.position.z,0.0
+field.poses185.pose.orientation.x,-0.0
+field.poses185.pose.orientation.y,-0.0
+field.poses185.pose.orientation.z,-0.999994477839
+field.poses185.pose.orientation.w,0.00332329524481
+field.poses186.header.seq,0
+field.poses186.header.stamp,1620124121053966045
+field.poses186.header.frame_id,map
+field.poses186.pose.position.x,0.780430739247
+field.poses186.pose.position.y,-0.455068002466
+field.poses186.pose.position.z,0.0
+field.poses186.pose.orientation.x,-0.0
+field.poses186.pose.orientation.y,-0.0
+field.poses186.pose.orientation.z,-0.999999608693
+field.poses186.pose.orientation.w,0.000884654269285
+field.poses187.header.seq,0
+field.poses187.header.stamp,1620124121961704254
+field.poses187.header.frame_id,map
+field.poses187.pose.position.x,0.253084193232
+field.poses187.pose.position.y,-0.415463538691
+field.poses187.pose.position.z,0.0
+field.poses187.pose.orientation.x,0.0
+field.poses187.pose.orientation.y,0.0
+field.poses187.pose.orientation.z,0.999998635988
+field.poses187.pose.orientation.w,0.00165167230336
+field.poses188.header.seq,0
+field.poses188.header.stamp,1620124122869456768
+field.poses188.header.frame_id,map
+field.poses188.pose.position.x,-0.298769414556
+field.poses188.pose.position.y,-0.37054184078
+field.poses188.pose.position.z,0.0
+field.poses188.pose.orientation.x,0.0
+field.poses188.pose.orientation.y,0.0
+field.poses188.pose.orientation.z,0.999991941437
+field.poses188.pose.orientation.w,0.00401460607964
+field.poses189.header.seq,0
+field.poses189.header.stamp,1620124123777159214
+field.poses189.header.frame_id,map
+field.poses189.pose.position.x,-0.84366431841
+field.poses189.pose.position.y,-0.326152006803
+field.poses189.pose.position.z,0.0
+field.poses189.pose.orientation.x,0.0
+field.poses189.pose.orientation.y,0.0
+field.poses189.pose.orientation.z,0.999984973849
+field.poses189.pose.orientation.w,0.00548197740923
+field.poses190.header.seq,0
+field.poses190.header.stamp,1620124124684946537
+field.poses190.header.frame_id,map
+field.poses190.pose.position.x,-1.37291504648
+field.poses190.pose.position.y,-0.281299347606
+field.poses190.pose.position.z,0.0
+field.poses190.pose.orientation.x,0.0
+field.poses190.pose.orientation.y,0.0
+field.poses190.pose.orientation.z,0.999969312974
+field.poses190.pose.orientation.w,0.00783409918846
+field.poses191.header.seq,0
+field.poses191.header.stamp,1620124125592644691
+field.poses191.header.frame_id,map
+field.poses191.pose.position.x,-1.76719643272
+field.poses191.pose.position.y,-0.24718038824
+field.poses191.pose.position.z,0.0
+field.poses191.pose.orientation.x,0.0
+field.poses191.pose.orientation.y,0.0
+field.poses191.pose.orientation.z,0.999954322211
+field.poses191.pose.orientation.w,0.00955790203185
+field.poses192.header.seq,0
+field.poses192.header.stamp,1620124126500393867
+field.poses192.header.frame_id,map
+field.poses192.pose.position.x,-2.26862646917
+field.poses192.pose.position.y,-0.199767965027
+field.poses192.pose.position.z,0.0
+field.poses192.pose.orientation.x,0.0
+field.poses192.pose.orientation.y,0.0
+field.poses192.pose.orientation.z,0.999920739702
+field.poses192.pose.orientation.w,0.0125902467442
+field.poses193.header.seq,0
+field.poses193.header.stamp,1620124127408162594
+field.poses193.header.frame_id,map
+field.poses193.pose.position.x,-2.75609914606
+field.poses193.pose.position.y,-0.155060216123
+field.poses193.pose.position.z,0.0
+field.poses193.pose.orientation.x,0.0
+field.poses193.pose.orientation.y,0.0
+field.poses193.pose.orientation.z,0.999865233653
+field.poses193.pose.orientation.w,0.0164168977599
+field.poses194.header.seq,0
+field.poses194.header.stamp,1620124128315908432
+field.poses194.header.frame_id,map
+field.poses194.pose.position.x,-3.24502519824
+field.poses194.pose.position.y,-0.101380258698
+field.poses194.pose.position.z,0.0
+field.poses194.pose.orientation.x,0.0
+field.poses194.pose.orientation.y,0.0
+field.poses194.pose.orientation.z,0.999797839211
+field.poses194.pose.orientation.w,0.0201067329085
+field.poses195.header.seq,0
+field.poses195.header.stamp,1620124129223703384
+field.poses195.header.frame_id,map
+field.poses195.pose.position.x,-3.57547447489
+field.poses195.pose.position.y,-0.0632835795103
+field.poses195.pose.position.z,0.0
+field.poses195.pose.orientation.x,0.0
+field.poses195.pose.orientation.y,0.0
+field.poses195.pose.orientation.z,0.999796663249
+field.poses195.pose.orientation.w,0.0201651222893
+field.poses196.header.seq,0
+field.poses196.header.stamp,1620124130131359100
+field.poses196.header.frame_id,map
+field.poses196.pose.position.x,-3.82408817798
+field.poses196.pose.position.y,-0.0353309484709
+field.poses196.pose.position.z,0.0
+field.poses196.pose.orientation.x,0.0
+field.poses196.pose.orientation.y,0.0
+field.poses196.pose.orientation.z,0.999751015452
+field.poses196.pose.orientation.w,0.0223138321068
+field.poses197.header.seq,0
+field.poses197.header.stamp,1620124131039148808
+field.poses197.header.frame_id,map
+field.poses197.pose.position.x,-4.02661505046
+field.poses197.pose.position.y,-0.0173279928437
+field.poses197.pose.position.z,0.0
+field.poses197.pose.orientation.x,0.0
+field.poses197.pose.orientation.y,0.0
+field.poses197.pose.orientation.z,0.997489222222
+field.poses197.pose.orientation.w,0.0708184407553
+field.poses198.header.seq,0
+field.poses198.header.stamp,1620124131947034359
+field.poses198.header.frame_id,map
+field.poses198.pose.position.x,-4.24183208439
+field.poses198.pose.position.y,0.0501901430289
+field.poses198.pose.position.z,0.0
+field.poses198.pose.orientation.x,0.0
+field.poses198.pose.orientation.y,0.0
+field.poses198.pose.orientation.z,0.986336442831
+field.poses198.pose.orientation.w,0.164743502282
+field.poses199.header.seq,0
+field.poses199.header.stamp,1620124132854584217
+field.poses199.header.frame_id,map
+field.poses199.pose.position.x,-4.59286386445
+field.poses199.pose.position.y,0.240017354195
+field.poses199.pose.position.z,0.0
+field.poses199.pose.orientation.x,0.0
+field.poses199.pose.orientation.y,0.0
+field.poses199.pose.orientation.z,0.950872780897
+field.poses199.pose.orientation.w,0.309581902813
+field.poses200.header.seq,0
+field.poses200.header.stamp,1620124133762325048
+field.poses200.header.frame_id,map
+field.poses200.pose.position.x,-4.97996128911
+field.poses200.pose.position.y,0.576440063212
+field.poses200.pose.position.z,0.0
+field.poses200.pose.orientation.x,0.0
+field.poses200.pose.orientation.y,0.0
+field.poses200.pose.orientation.z,0.948247068586
+field.poses200.pose.orientation.w,0.317533457951
+field.poses201.header.seq,0
+field.poses201.header.stamp,1620124134670050144
+field.poses201.header.frame_id,map
+field.poses201.pose.position.x,-5.30492160794
+field.poses201.pose.position.y,0.867657510729
+field.poses201.pose.position.z,0.0
+field.poses201.pose.orientation.x,0.0
+field.poses201.pose.orientation.y,0.0
+field.poses201.pose.orientation.z,0.947235665673
+field.poses201.pose.orientation.w,0.320537975405
+field.poses202.header.seq,0
+field.poses202.header.stamp,1620124135577835798
+field.poses202.header.frame_id,map
+field.poses202.pose.position.x,-5.63842244732
+field.poses202.pose.position.y,1.18357907963
+field.poses202.pose.position.z,0.0
+field.poses202.pose.orientation.x,0.0
+field.poses202.pose.orientation.y,0.0
+field.poses202.pose.orientation.z,0.974472837901
+field.poses202.pose.orientation.w,0.224505430211
+field.poses203.header.seq,0
+field.poses203.header.stamp,1620124136485571861
+field.poses203.header.frame_id,map
+field.poses203.pose.position.x,-5.98437649125
+field.poses203.pose.position.y,1.29781880236
+field.poses203.pose.position.z,0.0
+field.poses203.pose.orientation.x,0.0
+field.poses203.pose.orientation.y,0.0
+field.poses203.pose.orientation.z,0.993956864368
+field.poses203.pose.orientation.w,0.10977136136
+field.poses204.header.seq,0
+field.poses204.header.stamp,1620124137393296719
+field.poses204.header.frame_id,map
+field.poses204.pose.position.x,-6.50531088399
+field.poses204.pose.position.y,1.45461049779
+field.poses204.pose.position.z,0.0
+field.poses204.pose.orientation.x,0.0
+field.poses204.pose.orientation.y,0.0
+field.poses204.pose.orientation.z,0.993819712068
+field.poses204.pose.orientation.w,0.111006215617
+field.poses205.header.seq,0
+field.poses205.header.stamp,1620124138301024437
+field.poses205.header.frame_id,map
+field.poses205.pose.position.x,-6.9914428961
+field.poses205.pose.position.y,1.60316476982
+field.poses205.pose.position.z,0.0
+field.poses205.pose.orientation.x,0.0
+field.poses205.pose.orientation.y,0.0
+field.poses205.pose.orientation.z,0.993504145762
+field.poses205.pose.orientation.w,0.11379592415
+field.poses206.header.seq,0
+field.poses206.header.stamp,1620124139208763838
+field.poses206.header.frame_id,map
+field.poses206.pose.position.x,-7.23721639497
+field.poses206.pose.position.y,1.65344411457
+field.poses206.pose.position.z,0.0
+field.poses206.pose.orientation.x,-0.0
+field.poses206.pose.orientation.y,-0.0
+field.poses206.pose.orientation.z,-0.998742710464
+field.poses206.pose.orientation.w,0.0501298144263
+field.poses207.header.seq,0
+field.poses207.header.stamp,1620124140116533995
+field.poses207.header.frame_id,map
+field.poses207.pose.position.x,-7.46774802341
+field.poses207.pose.position.y,1.65993404286
+field.poses207.pose.position.z,0.0
+field.poses207.pose.orientation.x,-0.0
+field.poses207.pose.orientation.y,-0.0
+field.poses207.pose.orientation.z,-0.997523295254
+field.poses207.pose.orientation.w,0.0703368710296
+field.poses208.header.seq,0
+field.poses208.header.stamp,1620124141024279118
+field.poses208.header.frame_id,map
+field.poses208.pose.position.x,-7.67582695425
+field.poses208.pose.position.y,1.63502993719
+field.poses208.pose.position.z,0.0
+field.poses208.pose.orientation.x,-0.0
+field.poses208.pose.orientation.y,-0.0
+field.poses208.pose.orientation.z,-0.976029516309
+field.poses208.pose.orientation.w,0.217638193555
+field.poses209.header.seq,0
+field.poses209.header.stamp,1620124141932019711
+field.poses209.header.frame_id,map
+field.poses209.pose.position.x,-7.87181348449
+field.poses209.pose.position.y,1.56438626339
+field.poses209.pose.position.z,0.0
+field.poses209.pose.orientation.x,-0.0
+field.poses209.pose.orientation.y,-0.0
+field.poses209.pose.orientation.z,-0.975275494229
+field.poses209.pose.orientation.w,0.220992557243
+field.poses210.header.seq,0
+field.poses210.header.stamp,1620124142839751482
+field.poses210.header.frame_id,map
+field.poses210.pose.position.x,-7.85161288686
+field.poses210.pose.position.y,1.58251385392
+field.poses210.pose.position.z,0.0
+field.poses210.pose.orientation.x,-0.0
+field.poses210.pose.orientation.y,-0.0
+field.poses210.pose.orientation.z,-0.939833446072
+field.poses210.pose.orientation.w,0.34163298091
+field.poses211.header.seq,0
+field.poses211.header.stamp,1620124143747459888
+field.poses211.header.frame_id,map
+field.poses211.pose.position.x,-7.88418512656
+field.poses211.pose.position.y,1.55986870413
+field.poses211.pose.position.z,0.0
+field.poses211.pose.orientation.x,-0.0
+field.poses211.pose.orientation.y,-0.0
+field.poses211.pose.orientation.z,-0.940033816696
+field.poses211.pose.orientation.w,0.341081256401
+field.poses212.header.seq,0
+field.poses212.header.stamp,1620124144655231237
+field.poses212.header.frame_id,map
+field.poses212.pose.position.x,-7.92433381897
+field.poses212.pose.position.y,1.53008045796
+field.poses212.pose.position.z,0.0
+field.poses212.pose.orientation.x,-0.0
+field.poses212.pose.orientation.y,-0.0
+field.poses212.pose.orientation.z,-0.940029111803
+field.poses212.pose.orientation.w,0.341094222999
+field.poses213.header.seq,0
+field.poses213.header.stamp,1620124145562998772
+field.poses213.header.frame_id,map
+field.poses213.pose.position.x,-7.93338088957
+field.poses213.pose.position.y,1.52596366828
+field.poses213.pose.position.z,0.0
+field.poses213.pose.orientation.x,-0.0
+field.poses213.pose.orientation.y,-0.0
+field.poses213.pose.orientation.z,-0.907482195976
+field.poses213.pose.orientation.w,0.420090542606
+field.poses214.header.seq,0
+field.poses214.header.stamp,1620124146470712900
+field.poses214.header.frame_id,map
+field.poses214.pose.position.x,-8.00030481944
+field.poses214.pose.position.y,1.44958182944
+field.poses214.pose.position.z,0.0
+field.poses214.pose.orientation.x,-0.0
+field.poses214.pose.orientation.y,-0.0
+field.poses214.pose.orientation.z,-0.90793905297
+field.poses214.pose.orientation.w,0.419102226302
+field.poses215.header.seq,0
+field.poses215.header.stamp,1620124147378451347
+field.poses215.header.frame_id,map
+field.poses215.pose.position.x,-8.0434137059
+field.poses215.pose.position.y,1.42791121507
+field.poses215.pose.position.z,0.0
+field.poses215.pose.orientation.x,-0.0
+field.poses215.pose.orientation.y,-0.0
+field.poses215.pose.orientation.z,-0.851232477727
+field.poses215.pose.orientation.w,0.524788785002
+field.poses216.header.seq,0
+field.poses216.header.stamp,1620124148286200047
+field.poses216.header.frame_id,map
+field.poses216.pose.position.x,-8.18449551405
+field.poses216.pose.position.y,1.18123790657
+field.poses216.pose.position.z,0.0
+field.poses216.pose.orientation.x,-0.0
+field.poses216.pose.orientation.y,-0.0
+field.poses216.pose.orientation.z,-0.852188312071
+field.poses216.pose.orientation.w,0.523235205973
+field.poses217.header.seq,0
+field.poses217.header.stamp,1620124149193957806
+field.poses217.header.frame_id,map
+field.poses217.pose.position.x,-8.3615452688
+field.poses217.pose.position.y,0.926301065521
+field.poses217.pose.position.z,0.0
+field.poses217.pose.orientation.x,-0.0
+field.poses217.pose.orientation.y,-0.0
+field.poses217.pose.orientation.z,-0.800950034533
+field.poses217.pose.orientation.w,0.598731193593
+field.poses218.header.seq,0
+field.poses218.header.stamp,1620124150101708889
+field.poses218.header.frame_id,map
+field.poses218.pose.position.x,-8.3770230667
+field.poses218.pose.position.y,0.883332542459
+field.poses218.pose.position.z,0.0
+field.poses218.pose.orientation.x,-0.0
+field.poses218.pose.orientation.y,-0.0
+field.poses218.pose.orientation.z,-0.80024557783
+field.poses218.pose.orientation.w,0.599672423215
+field.poses219.header.seq,0
+field.poses219.header.stamp,1620124151009422779
+field.poses219.header.frame_id,map
+field.poses219.pose.position.x,-8.38502701811
+field.poses219.pose.position.y,0.874573166627
+field.poses219.pose.position.z,0.0
+field.poses219.pose.orientation.x,-0.0
+field.poses219.pose.orientation.y,-0.0
+field.poses219.pose.orientation.z,-0.7442314102
+field.poses219.pose.orientation.w,0.667921857759
+field.poses220.header.seq,0
+field.poses220.header.stamp,1620124151917266846
+field.poses220.header.frame_id,map
+field.poses220.pose.position.x,-8.43255707991
+field.poses220.pose.position.y,0.61383479384
+field.poses220.pose.position.z,0.0
+field.poses220.pose.orientation.x,-0.0
+field.poses220.pose.orientation.y,-0.0
+field.poses220.pose.orientation.z,-0.747221415739
+field.poses220.pose.orientation.w,0.664575169458
+field.poses221.header.seq,0
+field.poses221.header.stamp,1620124152824957371
+field.poses221.header.frame_id,map
+field.poses221.pose.position.x,-8.49369013969
+field.poses221.pose.position.y,0.285345385961
+field.poses221.pose.position.z,0.0
+field.poses221.pose.orientation.x,-0.0
+field.poses221.pose.orientation.y,-0.0
+field.poses221.pose.orientation.z,-0.748323985867
+field.poses221.pose.orientation.w,0.663333409513
+field.poses222.header.seq,0
+field.poses222.header.stamp,1620124153732609510
+field.poses222.header.frame_id,map
+field.poses222.pose.position.x,-8.59816898667
+field.poses222.pose.position.y,-0.24294393014
+field.poses222.pose.position.z,0.0
+field.poses222.pose.orientation.x,-0.0
+field.poses222.pose.orientation.y,-0.0
+field.poses222.pose.orientation.z,-0.748588641219
+field.poses222.pose.orientation.w,0.66303472476
+field.poses223.header.seq,0
+field.poses223.header.stamp,1620124154640381336
+field.poses223.header.frame_id,map
+field.poses223.pose.position.x,-8.70770142379
+field.poses223.pose.position.y,-0.783771478723
+field.poses223.pose.position.z,0.0
+field.poses223.pose.orientation.x,-0.0
+field.poses223.pose.orientation.y,-0.0
+field.poses223.pose.orientation.z,-0.750072214791
+field.poses223.pose.orientation.w,0.661355934878
+field.poses224.header.seq,0
+field.poses224.header.stamp,1620124155548098087
+field.poses224.header.frame_id,map
+field.poses224.pose.position.x,-8.79423621716
+field.poses224.pose.position.y,-1.20687813301
+field.poses224.pose.position.z,0.0
+field.poses224.pose.orientation.x,-0.0
+field.poses224.pose.orientation.y,-0.0
+field.poses224.pose.orientation.z,-0.752063187991
+field.poses224.pose.orientation.w,0.65909101137
+field.poses225.header.seq,0
+field.poses225.header.stamp,1620124156455892324
+field.poses225.header.frame_id,map
+field.poses225.pose.position.x,-8.82435488206
+field.poses225.pose.position.y,-1.34318728413
+field.poses225.pose.position.z,0.0
+field.poses225.pose.orientation.x,-0.0
+field.poses225.pose.orientation.y,-0.0
+field.poses225.pose.orientation.z,-0.770568378398
+field.poses225.pose.orientation.w,0.63735733636
+field.poses226.header.seq,0
+field.poses226.header.stamp,1620124157363587379
+field.poses226.header.frame_id,map
+field.poses226.pose.position.x,-8.86679456343
+field.poses226.pose.position.y,-1.49464228628
+field.poses226.pose.position.z,0.0
+field.poses226.pose.orientation.x,-0.0
+field.poses226.pose.orientation.y,-0.0
+field.poses226.pose.orientation.z,-0.77033672794
+field.poses226.pose.orientation.w,0.6376372994
+field.poses227.header.seq,0
+field.poses227.header.stamp,1620124158271394730
+field.poses227.header.frame_id,map
+field.poses227.pose.position.x,-8.93976407624
+field.poses227.pose.position.y,-1.77413713926
+field.poses227.pose.position.z,0.0
+field.poses227.pose.orientation.x,-0.0
+field.poses227.pose.orientation.y,-0.0
+field.poses227.pose.orientation.z,-0.770782035648
+field.poses227.pose.orientation.w,0.637098935427
+field.poses228.header.seq,0
+field.poses228.header.stamp,1620124159179135561
+field.poses228.header.frame_id,map
+field.poses228.pose.position.x,-9.00528320036
+field.poses228.pose.position.y,-2.01764040033
+field.poses228.pose.position.z,0.0
+field.poses228.pose.orientation.x,-0.0
+field.poses228.pose.orientation.y,-0.0
+field.poses228.pose.orientation.z,-0.771941899677
+field.poses228.pose.orientation.w,0.635693089095
+field.poses229.header.seq,0
+field.poses229.header.stamp,1620124160086808920
+field.poses229.header.frame_id,map
+field.poses229.pose.position.x,-9.017703779
+field.poses229.pose.position.y,-2.06788709114
+field.poses229.pose.position.z,0.0
+field.poses229.pose.orientation.x,-0.0
+field.poses229.pose.orientation.y,-0.0
+field.poses229.pose.orientation.z,-0.772121819882
+field.poses229.pose.orientation.w,0.635474543363
+field.poses230.header.seq,0
+field.poses230.header.stamp,1620124160994590759
+field.poses230.header.frame_id,map
+field.poses230.pose.position.x,-9.10509685335
+field.poses230.pose.position.y,-2.39581653152
+field.poses230.pose.position.z,0.0
+field.poses230.pose.orientation.x,-0.0
+field.poses230.pose.orientation.y,-0.0
+field.poses230.pose.orientation.z,-0.769924273234
+field.poses230.pose.orientation.w,0.638135262688
+field.poses231.header.seq,0
+field.poses231.header.stamp,1620124161902317047
+field.poses231.header.frame_id,map
+field.poses231.pose.position.x,-9.13963728182
+field.poses231.pose.position.y,-2.51875562641
+field.poses231.pose.position.z,0.0
+field.poses231.pose.orientation.x,-0.0
+field.poses231.pose.orientation.y,-0.0
+field.poses231.pose.orientation.z,-0.76049052651
+field.poses231.pose.orientation.w,0.649349027172
+field.poses232.header.seq,0
+field.poses232.header.stamp,1620124162810005188
+field.poses232.header.frame_id,map
+field.poses232.pose.position.x,-9.1341985332
+field.poses232.pose.position.y,-2.50966829124
+field.poses232.pose.position.z,0.0
+field.poses232.pose.orientation.x,-0.0
+field.poses232.pose.orientation.y,-0.0
+field.poses232.pose.orientation.z,-0.702432744568
+field.poses232.pose.orientation.w,0.711750124243
+field.poses233.header.seq,0
+field.poses233.header.stamp,1620124163717777014
+field.poses233.header.frame_id,map
+field.poses233.pose.position.x,-9.13448825781
+field.poses233.pose.position.y,-2.51297948981
+field.poses233.pose.position.z,0.0
+field.poses233.pose.orientation.x,-0.0
+field.poses233.pose.orientation.y,-0.0
+field.poses233.pose.orientation.z,-0.704498045526
+field.poses233.pose.orientation.w,0.709705927727
+field.poses234.header.seq,0
+field.poses234.header.stamp,1620124164625510931
+field.poses234.header.frame_id,map
+field.poses234.pose.position.x,-9.15075967005
+field.poses234.pose.position.y,-2.71732804618
+field.poses234.pose.position.z,0.0
+field.poses234.pose.orientation.x,-0.0
+field.poses234.pose.orientation.y,-0.0
+field.poses234.pose.orientation.z,-0.704497453822
+field.poses234.pose.orientation.w,0.709706515088
+field.poses235.header.seq,0
+field.poses235.header.stamp,1620124165533249378
+field.poses235.header.frame_id,map
+field.poses235.pose.position.x,-9.16504721132
+field.poses235.pose.position.y,-2.91976471389
+field.poses235.pose.position.z,0.0
+field.poses235.pose.orientation.x,-0.0
+field.poses235.pose.orientation.y,-0.0
+field.poses235.pose.orientation.z,-0.708418806325
+field.poses235.pose.orientation.w,0.705792317077
+field.poses236.header.seq,0
+field.poses236.header.stamp,1620124166441027641
+field.poses236.header.frame_id,map
+field.poses236.pose.position.x,-9.16244932067
+field.poses236.pose.position.y,-2.93335857401
+field.poses236.pose.position.z,0.0
+field.poses236.pose.orientation.x,-0.0
+field.poses236.pose.orientation.y,-0.0
+field.poses236.pose.orientation.z,-0.713968882312
+field.poses236.pose.orientation.w,0.700177431149
+field.poses237.header.seq,0
+field.poses237.header.stamp,1620124167348739147
+field.poses237.header.frame_id,map
+field.poses237.pose.position.x,-9.18271285157
+field.poses237.pose.position.y,-3.14572635165
+field.poses237.pose.position.z,0.0
+field.poses237.pose.orientation.x,-0.0
+field.poses237.pose.orientation.y,-0.0
+field.poses237.pose.orientation.z,-0.719265917704
+field.poses237.pose.orientation.w,0.694734870026
+field.poses238.header.seq,0
+field.poses238.header.stamp,1620124168256457806
+field.poses238.header.frame_id,map
+field.poses238.pose.position.x,-9.17744981054
+field.poses238.pose.position.y,-3.12979988796
+field.poses238.pose.position.z,0.0
+field.poses238.pose.orientation.x,-0.0
+field.poses238.pose.orientation.y,-0.0
+field.poses238.pose.orientation.z,-0.768961334664
+field.poses238.pose.orientation.w,0.639295288417
+field.poses239.header.seq,0
+field.poses239.header.stamp,1620124169164257526
+field.poses239.header.frame_id,map
+field.poses239.pose.position.x,-9.24300010579
+field.poses239.pose.position.y,-3.37331987689
+field.poses239.pose.position.z,0.0
+field.poses239.pose.orientation.x,-0.0
+field.poses239.pose.orientation.y,-0.0
+field.poses239.pose.orientation.z,-0.76606267306
+field.poses239.pose.orientation.w,0.642765883463
+field.poses240.header.seq,0
+field.poses240.header.stamp,1620124170071989059
+field.poses240.header.frame_id,map
+field.poses240.pose.position.x,-9.3253828459
+field.poses240.pose.position.y,-3.70600384269
+field.poses240.pose.position.z,0.0
+field.poses240.pose.orientation.x,-0.0
+field.poses240.pose.orientation.y,-0.0
+field.poses240.pose.orientation.z,-0.764103748331
+field.poses240.pose.orientation.w,0.645093374471
+field.poses241.header.seq,0
+field.poses241.header.stamp,1620124170979794264
+field.poses241.header.frame_id,map
+field.poses241.pose.position.x,-9.45847319067
+field.poses241.pose.position.y,-4.2352358404
+field.poses241.pose.position.z,0.0
+field.poses241.pose.orientation.x,-0.0
+field.poses241.pose.orientation.y,-0.0
+field.poses241.pose.orientation.z,-0.76521195053
+field.poses241.pose.orientation.w,0.643778432977
+field.poses242.header.seq,0
+field.poses242.header.stamp,1620124171887485981
+field.poses242.header.frame_id,map
+field.poses242.pose.position.x,-9.54564489721
+field.poses242.pose.position.y,-4.59522565704
+field.poses242.pose.position.z,0.0
+field.poses242.pose.orientation.x,-0.0
+field.poses242.pose.orientation.y,-0.0
+field.poses242.pose.orientation.z,-0.741316913884
+field.poses242.pose.orientation.w,0.671155148375
+field.poses243.header.seq,0
+field.poses243.header.stamp,1620124172795163870
+field.poses243.header.frame_id,map
+field.poses243.pose.position.x,-9.5887419644
+field.poses243.pose.position.y,-4.84732065721
+field.poses243.pose.position.z,0.0
+field.poses243.pose.orientation.x,-0.0
+field.poses243.pose.orientation.y,-0.0
+field.poses243.pose.orientation.z,-0.738400805225
+field.poses243.pose.orientation.w,0.674362106618
+field.poses244.header.seq,0
+field.poses244.header.stamp,1620124173702974319
+field.poses244.header.frame_id,map
+field.poses244.pose.position.x,-9.59345482372
+field.poses244.pose.position.y,-4.87803929814
+field.poses244.pose.position.z,0.0
+field.poses244.pose.orientation.x,-0.0
+field.poses244.pose.orientation.y,-0.0
+field.poses244.pose.orientation.z,-0.737920390067
+field.poses244.pose.orientation.w,0.674887766908
+field.poses245.header.seq,0
+field.poses245.header.stamp,1620124174610664606
+field.poses245.header.frame_id,map
+field.poses245.pose.position.x,-9.59360593168
+field.poses245.pose.position.y,-4.88039472692
+field.poses245.pose.position.z,0.0
+field.poses245.pose.orientation.x,-0.0
+field.poses245.pose.orientation.y,-0.0
+field.poses245.pose.orientation.z,-0.737285418752
+field.poses245.pose.orientation.w,0.675581387618
+field.poses246.header.seq,0
+field.poses246.header.stamp,1620124175518447876
+field.poses246.header.frame_id,map
+field.poses246.pose.position.x,-9.60245860583
+field.poses246.pose.position.y,-4.87584499148
+field.poses246.pose.position.z,0.0
+field.poses246.pose.orientation.x,-0.0
+field.poses246.pose.orientation.y,-0.0
+field.poses246.pose.orientation.z,-0.67144385891
+field.poses246.pose.orientation.w,0.741055425952
+field.poses247.header.seq,0
+field.poses247.header.stamp,1620124176426151991
+field.poses247.header.frame_id,map
+field.poses247.pose.position.x,-9.60166744976
+field.poses247.pose.position.y,-4.89202921283
+field.poses247.pose.position.z,0.0
+field.poses247.pose.orientation.x,-0.0
+field.poses247.pose.orientation.y,-0.0
+field.poses247.pose.orientation.z,-0.607913089628
+field.poses247.pose.orientation.w,0.794003573959
+field.poses248.header.seq,0
+field.poses248.header.stamp,1620124177333861828
+field.poses248.header.frame_id,map
+field.poses248.pose.position.x,-9.60078605708
+field.poses248.pose.position.y,-4.89981961426
+field.poses248.pose.position.z,0.0
+field.poses248.pose.orientation.x,-0.0
+field.poses248.pose.orientation.y,-0.0
+field.poses248.pose.orientation.z,-0.60856808619
+field.poses248.pose.orientation.w,0.79350166003
+field.poses249.header.seq,0
+field.poses249.header.stamp,1620124178241649628
+field.poses249.header.frame_id,map
+field.poses249.pose.position.x,-9.59602323134
+field.poses249.pose.position.y,-4.9291379371
+field.poses249.pose.position.z,0.0
+field.poses249.pose.orientation.x,-0.0
+field.poses249.pose.orientation.y,-0.0
+field.poses249.pose.orientation.z,-0.60857128882
+field.poses249.pose.orientation.w,0.793499203795
+field.poses250.header.seq,0
+field.poses250.header.stamp,1620124179149393082
+field.poses250.header.frame_id,map
+field.poses250.pose.position.x,-9.5782229534
+field.poses250.pose.position.y,-5.0308221331
+field.poses250.pose.position.z,0.0
+field.poses250.pose.orientation.x,-0.0
+field.poses250.pose.orientation.y,-0.0
+field.poses250.pose.orientation.z,-0.606507844929
+field.poses250.pose.orientation.w,0.795077501908
+field.poses251.header.seq,0
+field.poses251.header.stamp,1620124180057256937
+field.poses251.header.frame_id,map
+field.poses251.pose.position.x,-9.56189002844
+field.poses251.pose.position.y,-5.14849221385
+field.poses251.pose.position.z,0.0
+field.poses251.pose.orientation.x,-0.0
+field.poses251.pose.orientation.y,-0.0
+field.poses251.pose.orientation.z,-0.511302755472
+field.poses251.pose.orientation.w,0.859400658742
+field.poses252.header.seq,0
+field.poses252.header.stamp,1620124180964828491
+field.poses252.header.frame_id,map
+field.poses252.pose.position.x,-9.56605581795
+field.poses252.pose.position.y,-5.15371818498
+field.poses252.pose.position.z,0.0
+field.poses252.pose.orientation.x,-0.0
+field.poses252.pose.orientation.y,-0.0
+field.poses252.pose.orientation.z,-0.435217368363
+field.poses252.pose.orientation.w,0.900325409103
+field.poses253.header.seq,0
+field.poses253.header.stamp,1620124181872612238
+field.poses253.header.frame_id,map
+field.poses253.pose.position.x,-9.56910334235
+field.poses253.pose.position.y,-5.17232156563
+field.poses253.pose.position.z,0.0
+field.poses253.pose.orientation.x,-0.0
+field.poses253.pose.orientation.y,-0.0
+field.poses253.pose.orientation.z,-0.180388310397
+field.poses253.pose.orientation.w,0.983595474508
+field.poses254.header.seq,0
+field.poses254.header.stamp,1620124182780366421
+field.poses254.header.frame_id,map
+field.poses254.pose.position.x,-9.5692284626
+field.poses254.pose.position.y,-5.18401833582
+field.poses254.pose.position.z,0.0
+field.poses254.pose.orientation.x,0.0
+field.poses254.pose.orientation.y,0.0
+field.poses254.pose.orientation.z,0.0760671043533
+field.poses254.pose.orientation.w,0.997102700646
+field.poses255.header.seq,0
+field.poses255.header.stamp,1620124183688087225
+field.poses255.header.frame_id,map
+field.poses255.pose.position.x,-9.57069605285
+field.poses255.pose.position.y,-5.19505835249
+field.poses255.pose.position.z,0.0
+field.poses255.pose.orientation.x,0.0
+field.poses255.pose.orientation.y,0.0
+field.poses255.pose.orientation.z,0.327133963293
+field.poses255.pose.orientation.w,0.94497797332
+field.poses256.header.seq,0
+field.poses256.header.stamp,1620124184595815182
+field.poses256.header.frame_id,map
+field.poses256.pose.position.x,-9.56927023242
+field.poses256.pose.position.y,-5.1930293859
+field.poses256.pose.position.z,0.0
+field.poses256.pose.orientation.x,0.0
+field.poses256.pose.orientation.y,0.0
+field.poses256.pose.orientation.z,0.553560809804
+field.poses256.pose.orientation.w,0.832808759469
+field.poses257.header.seq,0
+field.poses257.header.stamp,1620124185503597498
+field.poses257.header.frame_id,map
+field.poses257.pose.position.x,-9.57078270146
+field.poses257.pose.position.y,-5.18834206329
+field.poses257.pose.position.z,0.0
+field.poses257.pose.orientation.x,0.0
+field.poses257.pose.orientation.y,0.0
+field.poses257.pose.orientation.z,0.705092553967
+field.poses257.pose.orientation.w,0.709115287059
+field.poses258.header.seq,0
+field.poses258.header.stamp,1620124186411328793
+field.poses258.header.frame_id,map
+field.poses258.pose.position.x,-9.56625297561
+field.poses258.pose.position.y,-5.16197512219
+field.poses258.pose.position.z,0.0
+field.poses258.pose.orientation.x,0.0
+field.poses258.pose.orientation.y,0.0
+field.poses258.pose.orientation.z,0.706188063417
+field.poses258.pose.orientation.w,0.708024306848
+field.poses259.header.seq,0
+field.poses259.header.stamp,1620124187319059849
+field.poses259.header.frame_id,map
+field.poses259.pose.position.x,-9.55892944206
+field.poses259.pose.position.y,-5.0523065988
+field.poses259.pose.position.z,0.0
+field.poses259.pose.orientation.x,0.0
+field.poses259.pose.orientation.y,0.0
+field.poses259.pose.orientation.z,0.707283818616
+field.poses259.pose.orientation.w,0.706929699422
+field.poses260.header.seq,0
+field.poses260.header.stamp,1620124188226755857
+field.poses260.header.frame_id,map
+field.poses260.pose.position.x,-9.53701395144
+field.poses260.pose.position.y,-4.75700565826
+field.poses260.pose.position.z,0.0
+field.poses260.pose.orientation.x,0.0
+field.poses260.pose.orientation.y,0.0
+field.poses260.pose.orientation.z,0.705684047458
+field.poses260.pose.orientation.w,0.708526658047
+field.poses261.header.seq,0
+field.poses261.header.stamp,1620124189134517908
+field.poses261.header.frame_id,map
+field.poses261.pose.position.x,-9.50694303623
+field.poses261.pose.position.y,-4.616011958
+field.poses261.pose.position.z,0.0
+field.poses261.pose.orientation.x,0.0
+field.poses261.pose.orientation.y,0.0
+field.poses261.pose.orientation.z,0.61931578875
+field.poses261.pose.orientation.w,0.785141995951
+field.poses262.header.seq,0
+field.poses262.header.stamp,1620124190042304039
+field.poses262.header.frame_id,map
+field.poses262.pose.position.x,-9.49979050645
+field.poses262.pose.position.y,-4.61919975683
+field.poses262.pose.position.z,0.0
+field.poses262.pose.orientation.x,0.0
+field.poses262.pose.orientation.y,0.0
+field.poses262.pose.orientation.z,0.711537483441
+field.poses262.pose.orientation.w,0.702648140721
+field.poses263.header.seq,0
+field.poses263.header.stamp,1620124190950024605
+field.poses263.header.frame_id,map
+field.poses263.pose.position.x,-9.49282305469
+field.poses263.pose.position.y,-4.50323712494
+field.poses263.pose.position.z,0.0
+field.poses263.pose.orientation.x,0.0
+field.poses263.pose.orientation.y,0.0
+field.poses263.pose.orientation.z,0.711793708784
+field.poses263.pose.orientation.w,0.702388579161
+field.poses264.header.seq,0
+field.poses264.header.stamp,1620124191857735157
+field.poses264.header.frame_id,map
+field.poses264.pose.position.x,-9.47341748139
+field.poses264.pose.position.y,-4.11524720141
+field.poses264.pose.position.z,0.0
+field.poses264.pose.orientation.x,0.0
+field.poses264.pose.orientation.y,0.0
+field.poses264.pose.orientation.z,0.711674373615
+field.poses264.pose.orientation.w,0.702509491708
+field.poses265.header.seq,0
+field.poses265.header.stamp,1620124192765477657
+field.poses265.header.frame_id,map
+field.poses265.pose.position.x,-9.44815100944
+field.poses265.pose.position.y,-3.78369355121
+field.poses265.pose.position.z,0.0
+field.poses265.pose.orientation.x,0.0
+field.poses265.pose.orientation.y,0.0
+field.poses265.pose.orientation.z,0.703055419898
+field.poses265.pose.orientation.w,0.711135062103
+field.poses266.header.seq,0
+field.poses266.header.stamp,1620124193673220634
+field.poses266.header.frame_id,map
+field.poses266.pose.position.x,-9.44919072918
+field.poses266.pose.position.y,-3.72285972468
+field.poses266.pose.position.z,0.0
+field.poses266.pose.orientation.x,0.0
+field.poses266.pose.orientation.y,0.0
+field.poses266.pose.orientation.z,0.670719194113
+field.poses266.pose.orientation.w,0.741711374221
+field.poses267.header.seq,0
+field.poses267.header.stamp,1620124194580964088
+field.poses267.header.frame_id,map
+field.poses267.pose.position.x,-9.4283845707
+field.poses267.pose.position.y,-3.59550236556
+field.poses267.pose.position.z,0.0
+field.poses267.pose.orientation.x,0.0
+field.poses267.pose.orientation.y,0.0
+field.poses267.pose.orientation.z,0.672513677321
+field.poses267.pose.orientation.w,0.740084693677
+field.poses268.header.seq,0
+field.poses268.header.stamp,1620124195488703966
+field.poses268.header.frame_id,map
+field.poses268.pose.position.x,-9.39171847379
+field.poses268.pose.position.y,-3.38003347752
+field.poses268.pose.position.z,0.0
+field.poses268.pose.orientation.x,0.0
+field.poses268.pose.orientation.y,0.0
+field.poses268.pose.orientation.z,0.670588830618
+field.poses268.pose.orientation.w,0.741829239279
+field.poses269.header.seq,0
+field.poses269.header.stamp,1620124196396461248
+field.poses269.header.frame_id,map
+field.poses269.pose.position.x,-9.37690050315
+field.poses269.pose.position.y,-3.29564383364
+field.poses269.pose.position.z,0.0
+field.poses269.pose.orientation.x,0.0
+field.poses269.pose.orientation.y,0.0
+field.poses269.pose.orientation.z,0.670837339424
+field.poses269.pose.orientation.w,0.741604519967
+field.poses270.header.seq,0
+field.poses270.header.stamp,1620124197304347277
+field.poses270.header.frame_id,map
+field.poses270.pose.position.x,-9.30779668897
+field.poses270.pose.position.y,-2.91461857435
+field.poses270.pose.position.z,0.0
+field.poses270.pose.orientation.x,0.0
+field.poses270.pose.orientation.y,0.0
+field.poses270.pose.orientation.z,0.670051926398
+field.poses270.pose.orientation.w,0.742314229912
+field.poses271.header.seq,0
+field.poses271.header.stamp,1620124198211926460
+field.poses271.header.frame_id,map
+field.poses271.pose.position.x,-9.21929342206
+field.poses271.pose.position.y,-2.45014109212
+field.poses271.pose.position.z,0.0
+field.poses271.pose.orientation.x,0.0
+field.poses271.pose.orientation.y,0.0
+field.poses271.pose.orientation.z,0.667321676253
+field.poses271.pose.orientation.w,0.744769615655
+field.poses272.header.seq,0
+field.poses272.header.stamp,1620124199119690418
+field.poses272.header.frame_id,map
+field.poses272.pose.position.x,-9.12955359303
+field.poses272.pose.position.y,-1.96481409085
+field.poses272.pose.position.z,0.0
+field.poses272.pose.orientation.x,0.0
+field.poses272.pose.orientation.y,0.0
+field.poses272.pose.orientation.z,0.664920426534
+field.poses272.pose.orientation.w,0.746914202822
+field.poses273.header.seq,0
+field.poses273.header.stamp,1620124200027458668
+field.poses273.header.frame_id,map
+field.poses273.pose.position.x,-9.06635268358
+field.poses273.pose.position.y,-1.64434011076
+field.poses273.pose.position.z,0.0
+field.poses273.pose.orientation.x,0.0
+field.poses273.pose.orientation.y,0.0
+field.poses273.pose.orientation.z,0.663621402866
+field.poses273.pose.orientation.w,0.74806860224
+field.poses274.header.seq,0
+field.poses274.header.stamp,1620124200935138226
+field.poses274.header.frame_id,map
+field.poses274.pose.position.x,-9.00236106267
+field.poses274.pose.position.y,-1.31842669141
+field.poses274.pose.position.z,0.0
+field.poses274.pose.orientation.x,0.0
+field.poses274.pose.orientation.y,0.0
+field.poses274.pose.orientation.z,0.660940373869
+field.poses274.pose.orientation.w,0.750438419986
+field.poses275.header.seq,0
+field.poses275.header.stamp,1620124201842886448
+field.poses275.header.frame_id,map
+field.poses275.pose.position.x,-8.92739294689
+field.poses275.pose.position.y,-0.969717618971
+field.poses275.pose.position.z,0.0
+field.poses275.pose.orientation.x,0.0
+field.poses275.pose.orientation.y,0.0
+field.poses275.pose.orientation.z,0.66049734118
+field.poses275.pose.orientation.w,0.750828384049
+field.poses276.header.seq,0
+field.poses276.header.stamp,1620124202750695467
+field.poses276.header.frame_id,map
+field.poses276.pose.position.x,-8.83615032025
+field.poses276.pose.position.y,-0.555907330922
+field.poses276.pose.position.z,0.0
+field.poses276.pose.orientation.x,0.0
+field.poses276.pose.orientation.y,0.0
+field.poses276.pose.orientation.z,0.657741412031
+field.poses276.pose.orientation.w,0.753243808405
+field.poses277.header.seq,0
+field.poses277.header.stamp,1620124203658368349
+field.poses277.header.frame_id,map
+field.poses277.pose.position.x,-8.74374388992
+field.poses277.pose.position.y,-0.138044193737
+field.poses277.pose.position.z,0.0
+field.poses277.pose.orientation.x,0.0
+field.poses277.pose.orientation.y,0.0
+field.poses277.pose.orientation.z,0.656584561991
+field.poses277.pose.orientation.w,0.75425241992
+field.poses278.header.seq,0
+field.poses278.header.stamp,1620124204566123962
+field.poses278.header.frame_id,map
+field.poses278.pose.position.x,-8.68560162474
+field.poses278.pose.position.y,0.136663340024
+field.poses278.pose.position.z,0.0
+field.poses278.pose.orientation.x,0.0
+field.poses278.pose.orientation.y,0.0
+field.poses278.pose.orientation.z,0.656673264316
+field.poses278.pose.orientation.w,0.754175194456
+field.poses279.header.seq,0
+field.poses279.header.stamp,1620124205474100113
+field.poses279.header.frame_id,map
+field.poses279.pose.position.x,-8.63992507294
+field.poses279.pose.position.y,0.328138075202
+field.poses279.pose.position.z,0.0
+field.poses279.pose.orientation.x,0.0
+field.poses279.pose.orientation.y,0.0
+field.poses279.pose.orientation.z,0.655292873727
+field.poses279.pose.orientation.w,0.755374906681
+field.poses280.header.seq,0
+field.poses280.header.stamp,1620124206381633759
+field.poses280.header.frame_id,map
+field.poses280.pose.position.x,-8.56674912811
+field.poses280.pose.position.y,0.653269062902
+field.poses280.pose.position.z,0.0
+field.poses280.pose.orientation.x,0.0
+field.poses280.pose.orientation.y,0.0
+field.poses280.pose.orientation.z,0.654363442531
+field.poses280.pose.orientation.w,0.756180193525
+field.poses281.header.seq,0
+field.poses281.header.stamp,1620124207289334297
+field.poses281.header.frame_id,map
+field.poses281.pose.position.x,-8.48688862921
+field.poses281.pose.position.y,1.00488263467
+field.poses281.pose.position.z,0.0
+field.poses281.pose.orientation.x,0.0
+field.poses281.pose.orientation.y,0.0
+field.poses281.pose.orientation.z,0.652237389951
+field.poses281.pose.orientation.w,0.758014767106
+field.poses282.header.seq,0
+field.poses282.header.stamp,1620124208197047710
+field.poses282.header.frame_id,map
+field.poses282.pose.position.x,-8.46467301484
+field.poses282.pose.position.y,1.09670708297
+field.poses282.pose.position.z,0.0
+field.poses282.pose.orientation.x,0.0
+field.poses282.pose.orientation.y,0.0
+field.poses282.pose.orientation.z,0.650920791162
+field.poses282.pose.orientation.w,0.759145653767
+field.poses283.header.seq,0
+field.poses283.header.stamp,1620124209104793072
+field.poses283.header.frame_id,map
+field.poses283.pose.position.x,-8.4200216106
+field.poses283.pose.position.y,1.3079595102
+field.poses283.pose.position.z,0.0
+field.poses283.pose.orientation.x,0.0
+field.poses283.pose.orientation.y,0.0
+field.poses283.pose.orientation.z,0.650603606335
+field.poses283.pose.orientation.w,0.759417505345
+field.poses284.header.seq,0
+field.poses284.header.stamp,1620124210012550831
+field.poses284.header.frame_id,map
+field.poses284.pose.position.x,-8.37134037037
+field.poses284.pose.position.y,1.51730449445
+field.poses284.pose.position.z,0.0
+field.poses284.pose.orientation.x,0.0
+field.poses284.pose.orientation.y,0.0
+field.poses284.pose.orientation.z,0.650300357195
+field.poses284.pose.orientation.w,0.759677198179
+field.poses285.header.seq,0
+field.poses285.header.stamp,1620124210920345783
+field.poses285.header.frame_id,map
+field.poses285.pose.position.x,-8.32864267691
+field.poses285.pose.position.y,1.72071624251
+field.poses285.pose.position.z,0.0
+field.poses285.pose.orientation.x,0.0
+field.poses285.pose.orientation.y,0.0
+field.poses285.pose.orientation.z,0.627535750392
+field.poses285.pose.orientation.w,0.778587748414
+field.poses286.header.seq,0
+field.poses286.header.stamp,1620124211828053236
+field.poses286.header.frame_id,map
+field.poses286.pose.position.x,-8.34762945163
+field.poses286.pose.position.y,1.71080138697
+field.poses286.pose.position.z,0.0
+field.poses286.pose.orientation.x,0.0
+field.poses286.pose.orientation.y,0.0
+field.poses286.pose.orientation.z,0.406986845896
+field.poses286.pose.orientation.w,0.91343401911
+field.poses287.header.seq,0
+field.poses287.header.stamp,1620124212735805988
+field.poses287.header.frame_id,map
+field.poses287.pose.position.x,-8.34373783802
+field.poses287.pose.position.y,1.7136369799
+field.poses287.pose.position.z,0.0
+field.poses287.pose.orientation.x,0.0
+field.poses287.pose.orientation.y,0.0
+field.poses287.pose.orientation.z,0.167868004885
+field.poses287.pose.orientation.w,0.985809481054
+field.poses288.header.seq,0
+field.poses288.header.stamp,1620124213643517733
+field.poses288.header.frame_id,map
+field.poses288.pose.position.x,-8.3233101094
+field.poses288.pose.position.y,1.71633591191
+field.poses288.pose.position.z,0.0
+field.poses288.pose.orientation.x,0.0
+field.poses288.pose.orientation.y,0.0
+field.poses288.pose.orientation.z,0.139497636805
+field.poses288.pose.orientation.w,0.990222403971
+field.poses289.header.seq,0
+field.poses289.header.stamp,1620124214551230431
+field.poses289.header.frame_id,map
+field.poses289.pose.position.x,-8.19035923273
+field.poses289.pose.position.y,1.73811630752
+field.poses289.pose.position.z,0.0
+field.poses289.pose.orientation.x,0.0
+field.poses289.pose.orientation.y,0.0
+field.poses289.pose.orientation.z,0.0524168329251
+field.poses289.pose.orientation.w,0.998625292903
+field.poses290.header.seq,0
+field.poses290.header.stamp,1620124215458999634
+field.poses290.header.frame_id,map
+field.poses290.pose.position.x,-8.06444995763
+field.poses290.pose.position.y,1.74735639966
+field.poses290.pose.position.z,0.0
+field.poses290.pose.orientation.x,0.0
+field.poses290.pose.orientation.y,0.0
+field.poses290.pose.orientation.z,0.0549403448718
+field.poses290.pose.orientation.w,0.998489638657
+field.poses291.header.seq,0
+field.poses291.header.stamp,1620124216366729736
+field.poses291.header.frame_id,map
+field.poses291.pose.position.x,-8.0296948067
+field.poses291.pose.position.y,1.75043773602
+field.poses291.pose.position.z,0.0
+field.poses291.pose.orientation.x,0.0
+field.poses291.pose.orientation.y,0.0
+field.poses291.pose.orientation.z,0.0541108485268
+field.poses291.pose.orientation.w,0.998534934828
+field.poses292.header.seq,0
+field.poses292.header.stamp,1620124217274540424
+field.poses292.header.frame_id,map
+field.poses292.pose.position.x,-7.71524132648
+field.poses292.pose.position.y,1.7561245502
+field.poses292.pose.position.z,0.0
+field.poses292.pose.orientation.x,0.0
+field.poses292.pose.orientation.y,0.0
+field.poses292.pose.orientation.z,0.0518269051682
+field.poses292.pose.orientation.w,0.998656082894
+field.poses293.header.seq,0
+field.poses293.header.stamp,1620124218182207108
+field.poses293.header.frame_id,map
+field.poses293.pose.position.x,-7.24044375854
+field.poses293.pose.position.y,1.77264612332
+field.poses293.pose.position.z,0.0
+field.poses293.pose.orientation.x,-0.0
+field.poses293.pose.orientation.y,-0.0
+field.poses293.pose.orientation.z,-0.00609420686317
+field.poses293.pose.orientation.w,0.999981430149
+field.poses294.header.seq,0
+field.poses294.header.stamp,1620124219089977264
+field.poses294.header.frame_id,map
+field.poses294.pose.position.x,-6.8732883254
+field.poses294.pose.position.y,1.73217163865
+field.poses294.pose.position.z,0.0
+field.poses294.pose.orientation.x,-0.0
+field.poses294.pose.orientation.y,-0.0
+field.poses294.pose.orientation.z,-0.0150406829666
+field.poses294.pose.orientation.w,0.99988688253
+field.poses295.header.seq,0
+field.poses295.header.stamp,1620124219997722626
+field.poses295.header.frame_id,map
+field.poses295.pose.position.x,-6.54134778564
+field.poses295.pose.position.y,1.69223173442
+field.poses295.pose.position.z,0.0
+field.poses295.pose.orientation.x,-0.0
+field.poses295.pose.orientation.y,-0.0
+field.poses295.pose.orientation.z,-0.0248913347694
+field.poses295.pose.orientation.w,0.999690162727
+field.poses296.header.seq,0
+field.poses296.header.stamp,1620124220905470371
+field.poses296.header.frame_id,map
+field.poses296.pose.position.x,-6.46238477214
+field.poses296.pose.position.y,1.68448616741
+field.poses296.pose.position.z,0.0
+field.poses296.pose.orientation.x,-0.0
+field.poses296.pose.orientation.y,-0.0
+field.poses296.pose.orientation.z,-0.0306535685679
+field.poses296.pose.orientation.w,0.999530068949
+field.poses297.header.seq,0
+field.poses297.header.stamp,1620124221813205957
+field.poses297.header.frame_id,map
+field.poses297.pose.position.x,-6.12185495431
+field.poses297.pose.position.y,1.63549101322
+field.poses297.pose.position.z,0.0
+field.poses297.pose.orientation.x,-0.0
+field.poses297.pose.orientation.y,-0.0
+field.poses297.pose.orientation.z,-0.0308993566464
+field.poses297.pose.orientation.w,0.999522500877
+field.poses298.header.seq,0
+field.poses298.header.stamp,1620124222720928669
+field.poses298.header.frame_id,map
+field.poses298.pose.position.x,-5.59119451092
+field.poses298.pose.position.y,1.56269017314
+field.poses298.pose.position.z,0.0
+field.poses298.pose.orientation.x,-0.0
+field.poses298.pose.orientation.y,-0.0
+field.poses298.pose.orientation.z,-0.0362959539329
+field.poses298.pose.orientation.w,0.999341084779
+field.poses299.header.seq,0
+field.poses299.header.stamp,1620124223628678322
+field.poses299.header.frame_id,map
+field.poses299.pose.position.x,-5.07446160486
+field.poses299.pose.position.y,1.48217148027
+field.poses299.pose.position.z,0.0
+field.poses299.pose.orientation.x,-0.0
+field.poses299.pose.orientation.y,-0.0
+field.poses299.pose.orientation.z,-0.039723998363
+field.poses299.pose.orientation.w,0.999210690472
+field.poses300.header.seq,0
+field.poses300.header.stamp,1620124224536426306
+field.poses300.header.frame_id,map
+field.poses300.pose.position.x,-4.65627089256
+field.poses300.pose.position.y,1.42123727252
+field.poses300.pose.position.z,0.0
+field.poses300.pose.orientation.x,-0.0
+field.poses300.pose.orientation.y,-0.0
+field.poses300.pose.orientation.z,-0.0203183566194
+field.poses300.pose.orientation.w,0.999793560884
+field.poses301.header.seq,0
+field.poses301.header.stamp,1620124225444150686
+field.poses301.header.frame_id,map
+field.poses301.pose.position.x,-4.46390850748
+field.poses301.pose.position.y,1.41803768315
+field.poses301.pose.position.z,0.0
+field.poses301.pose.orientation.x,0.0
+field.poses301.pose.orientation.y,0.0
+field.poses301.pose.orientation.z,0.206551812533
+field.poses301.pose.orientation.w,0.978435664078
+field.poses302.header.seq,0
+field.poses302.header.stamp,1620124226352057934
+field.poses302.header.frame_id,map
+field.poses302.pose.position.x,-4.45831379217
+field.poses302.pose.position.y,1.40109916432
+field.poses302.pose.position.z,0.0
+field.poses302.pose.orientation.x,0.0
+field.poses302.pose.orientation.y,0.0
+field.poses302.pose.orientation.z,0.441625538784
+field.poses302.pose.orientation.w,0.897199466949
+field.poses303.header.seq,0
+field.poses303.header.stamp,1620124227259616852
+field.poses303.header.frame_id,map
+field.poses303.pose.position.x,-4.45124565067
+field.poses303.pose.position.y,1.38864923459
+field.poses303.pose.position.z,0.0
+field.poses303.pose.orientation.x,0.0
+field.poses303.pose.orientation.y,0.0
+field.poses303.pose.orientation.z,0.58545390978
+field.poses303.pose.orientation.w,0.810705692297
+field.poses304.header.seq,0
+field.poses304.header.stamp,1620124228167400122
+field.poses304.header.frame_id,map
+field.poses304.pose.position.x,-4.35245426106
+field.poses304.pose.position.y,1.62265059284
+field.poses304.pose.position.z,0.0
+field.poses304.pose.orientation.x,0.0
+field.poses304.pose.orientation.y,0.0
+field.poses304.pose.orientation.z,0.586196704168
+field.poses304.pose.orientation.w,0.81016876268
+field.poses305.header.seq,0
+field.poses305.header.stamp,1620124229075144053
+field.poses305.header.frame_id,map
+field.poses305.pose.position.x,-4.16442796709
+field.poses305.pose.position.y,2.08480687549
+field.poses305.pose.position.z,0.0
+field.poses305.pose.orientation.x,0.0
+field.poses305.pose.orientation.y,0.0
+field.poses305.pose.orientation.z,0.586621331619
+field.poses305.pose.orientation.w,0.809861354362
+field.poses306.header.seq,0
+field.poses306.header.stamp,1620124229982887506
+field.poses306.header.frame_id,map
+field.poses306.pose.position.x,-3.96563777073
+field.poses306.pose.position.y,2.55607073127
+field.poses306.pose.position.z,0.0
+field.poses306.pose.orientation.x,0.0
+field.poses306.pose.orientation.y,0.0
+field.poses306.pose.orientation.z,0.583963099268
+field.poses306.pose.orientation.w,0.811780203438
+field.poses307.header.seq,0
+field.poses307.header.stamp,1620124230890588760
+field.poses307.header.frame_id,map
+field.poses307.pose.position.x,-3.83091413559
+field.poses307.pose.position.y,2.86815150683
+field.poses307.pose.position.z,0.0
+field.poses307.pose.orientation.x,0.0
+field.poses307.pose.orientation.y,0.0
+field.poses307.pose.orientation.z,0.458309851891
+field.poses307.pose.orientation.w,0.888792484025
+field.poses308.header.seq,0
+field.poses308.header.stamp,1620124231798347473
+field.poses308.header.frame_id,map
+field.poses308.pose.position.x,-3.77612672694
+field.poses308.pose.position.y,2.93442673426
+field.poses308.pose.position.z,0.0
+field.poses308.pose.orientation.x,0.0
+field.poses308.pose.orientation.y,0.0
+field.poses308.pose.orientation.z,0.228450529342
+field.poses308.pose.orientation.w,0.97355552263
+field.poses309.header.seq,0
+field.poses309.header.stamp,1620124232706069946
+field.poses309.header.frame_id,map
+field.poses309.pose.position.x,-3.69278738167
+field.poses309.pose.position.y,2.94702265612
+field.poses309.pose.position.z,0.0
+field.poses309.pose.orientation.x,0.0
+field.poses309.pose.orientation.y,0.0
+field.poses309.pose.orientation.z,0.166332613238
+field.poses309.pose.orientation.w,0.986069704318
+field.poses310.header.seq,0
+field.poses310.header.stamp,1620124233613802433
+field.poses310.header.frame_id,map
+field.poses310.pose.position.x,-3.52113521335
+field.poses310.pose.position.y,2.98985668889
+field.poses310.pose.position.z,0.0
+field.poses310.pose.orientation.x,0.0
+field.poses310.pose.orientation.y,0.0
+field.poses310.pose.orientation.z,0.0636361263002
+field.poses310.pose.orientation.w,0.99797316769
+field.poses311.header.seq,0
+field.poses311.header.stamp,1620124234521599770
+field.poses311.header.frame_id,map
+field.poses311.pose.position.x,-3.20270145915
+field.poses311.pose.position.y,3.01064773571
+field.poses311.pose.position.z,0.0
+field.poses311.pose.orientation.x,0.0
+field.poses311.pose.orientation.y,0.0
+field.poses311.pose.orientation.z,0.0174256036884
+field.poses311.pose.orientation.w,0.999848162641
+field.poses312.header.seq,0
+field.poses312.header.stamp,1620124235429269314
+field.poses312.header.frame_id,map
+field.poses312.pose.position.x,-2.9094557194
+field.poses312.pose.position.y,2.96770267683
+field.poses312.pose.position.z,0.0
+field.poses312.pose.orientation.x,-0.0
+field.poses312.pose.orientation.y,-0.0
+field.poses312.pose.orientation.z,-0.0485225349209
+field.poses312.pose.orientation.w,0.998822088064
+field.poses313.header.seq,0
+field.poses313.header.stamp,1620124236337062836
+field.poses313.header.frame_id,map
+field.poses313.pose.position.x,-2.71384225611
+field.poses313.pose.position.y,2.93771362734
+field.poses313.pose.position.z,0.0
+field.poses313.pose.orientation.x,-0.0
+field.poses313.pose.orientation.y,-0.0
+field.poses313.pose.orientation.z,-0.0506598133482
+field.poses313.pose.orientation.w,0.998715967286
+field.poses314.header.seq,0
+field.poses314.header.stamp,1620124237244791508
+field.poses314.header.frame_id,map
+field.poses314.pose.position.x,-2.70790476118
+field.poses314.pose.position.y,2.93561149834
+field.poses314.pose.position.z,0.0
+field.poses314.pose.orientation.x,-0.0
+field.poses314.pose.orientation.y,-0.0
+field.poses314.pose.orientation.z,-0.0499816733185
+field.poses314.pose.orientation.w,0.998750135085
+field.poses315.header.seq,0
+field.poses315.header.stamp,1620124238152526379
+field.poses315.header.frame_id,map
+field.poses315.pose.position.x,-2.67005159641
+field.poses315.pose.position.y,2.93062091241
+field.poses315.pose.position.z,0.0
+field.poses315.pose.orientation.x,-0.0
+field.poses315.pose.orientation.y,-0.0
+field.poses315.pose.orientation.z,-0.0502683923076
+field.poses315.pose.orientation.w,0.998735745197
+field.poses316.header.seq,0
+field.poses316.header.stamp,1620124239060256481
+field.poses316.header.frame_id,map
+field.poses316.pose.position.x,-2.67082367776
+field.poses316.pose.position.y,2.92996911545
+field.poses316.pose.position.z,0.0
+field.poses316.pose.orientation.x,-0.0
+field.poses316.pose.orientation.y,-0.0
+field.poses316.pose.orientation.z,-0.0499039733337
+field.poses316.pose.orientation.w,0.99875402049
+field.poses317.header.seq,0
+field.poses317.header.stamp,1620124239968002796
+field.poses317.header.frame_id,map
+field.poses317.pose.position.x,-2.56982147008
+field.poses317.pose.position.y,2.92610766651
+field.poses317.pose.position.z,0.0
+field.poses317.pose.orientation.x,0.0
+field.poses317.pose.orientation.y,0.0
+field.poses317.pose.orientation.z,0.0878328783402
+field.poses317.pose.orientation.w,0.996135224496
+field.poses318.header.seq,0
+field.poses318.header.stamp,1620124240875746489
+field.poses318.header.frame_id,map
+field.poses318.pose.position.x,-2.27982399479
+field.poses318.pose.position.y,2.9552138389
+field.poses318.pose.position.z,0.0
+field.poses318.pose.orientation.x,0.0
+field.poses318.pose.orientation.y,0.0
+field.poses318.pose.orientation.z,0.0924781878421
+field.poses318.pose.orientation.w,0.995714710534
+field.poses319.header.seq,0
+field.poses319.header.stamp,1620124241783469200
+field.poses319.header.frame_id,map
+field.poses319.pose.position.x,-1.94976850718
+field.poses319.pose.position.y,2.9907977006
+field.poses319.pose.position.z,0.0
+field.poses319.pose.orientation.x,0.0
+field.poses319.pose.orientation.y,0.0
+field.poses319.pose.orientation.z,0.094909338966
+field.poses319.pose.orientation.w,0.99548592023
+field.poses320.header.seq,0
+field.poses320.header.stamp,1620124242691191912
+field.poses320.header.frame_id,map
+field.poses320.pose.position.x,-1.63394296151
+field.poses320.pose.position.y,3.0196039193
+field.poses320.pose.position.z,0.0
+field.poses320.pose.orientation.x,-0.0
+field.poses320.pose.orientation.y,-0.0
+field.poses320.pose.orientation.z,-0.00884500195485
+field.poses320.pose.orientation.w,0.999960882205
+field.poses321.header.seq,0
+field.poses321.header.stamp,1620124243598936796
+field.poses321.header.frame_id,map
+field.poses321.pose.position.x,-1.56777912919
+field.poses321.pose.position.y,3.01519760344
+field.poses321.pose.position.z,0.0
+field.poses321.pose.orientation.x,-0.0
+field.poses321.pose.orientation.y,-0.0
+field.poses321.pose.orientation.z,-0.0734715289041
+field.poses321.pose.orientation.w,0.997297314967
+field.poses322.header.seq,0
+field.poses322.header.stamp,1620124244506706238
+field.poses322.header.frame_id,map
+field.poses322.pose.position.x,-1.39703048468
+field.poses322.pose.position.y,2.97924107441
+field.poses322.pose.position.z,0.0
+field.poses322.pose.orientation.x,-0.0
+field.poses322.pose.orientation.y,-0.0
+field.poses322.pose.orientation.z,-0.0745095189158
+field.poses322.pose.orientation.w,0.997220302436
+field.poses323.header.seq,0
+field.poses323.header.stamp,1620124245414486885
+field.poses323.header.frame_id,map
+field.poses323.pose.position.x,-1.32655052949
+field.poses323.pose.position.y,2.96298256676
+field.poses323.pose.position.z,0.0
+field.poses323.pose.orientation.x,-0.0
+field.poses323.pose.orientation.y,-0.0
+field.poses323.pose.orientation.z,-0.0748740728424
+field.poses323.pose.orientation.w,0.997192996975
+field.poses324.header.seq,0
+field.poses324.header.stamp,1620124246322170734
+field.poses324.header.frame_id,map
+field.poses324.pose.position.x,-1.33133635174
+field.poses324.pose.position.y,2.96435058058
+field.poses324.pose.position.z,0.0
+field.poses324.pose.orientation.x,-0.0
+field.poses324.pose.orientation.y,-0.0
+field.poses324.pose.orientation.z,-0.0736066056742
+field.poses324.pose.orientation.w,0.997287354578
+field.poses325.header.seq,0
+field.poses325.header.stamp,1620124247229997158
+field.poses325.header.frame_id,map
+field.poses325.pose.position.x,-1.33202395738
+field.poses325.pose.position.y,2.96138980618
+field.poses325.pose.position.z,0.0
+field.poses325.pose.orientation.x,0.0
+field.poses325.pose.orientation.y,0.0
+field.poses325.pose.orientation.z,0.0156458106083
+field.poses325.pose.orientation.w,0.999877596814
+field.poses326.header.seq,0
+field.poses326.header.stamp,1620124248137671709
+field.poses326.header.frame_id,map
+field.poses326.pose.position.x,-1.33183389697
+field.poses326.pose.position.y,2.96358339186
+field.poses326.pose.position.z,0.0
+field.poses326.pose.orientation.x,0.0
+field.poses326.pose.orientation.y,0.0
+field.poses326.pose.orientation.z,0.0140145761667
+field.poses326.pose.orientation.w,0.999901791005
+field.poses327.header.seq,0
+field.poses327.header.stamp,1620124249045395136
+field.poses327.header.frame_id,map
+field.poses327.pose.position.x,-1.33957532965
+field.poses327.pose.position.y,2.96644071122
+field.poses327.pose.position.z,0.0
+field.poses327.pose.orientation.x,-0.0
+field.poses327.pose.orientation.y,-0.0
+field.poses327.pose.orientation.z,-0.121145430969
+field.poses327.pose.orientation.w,0.992634768964
+field.poses328.header.seq,0
+field.poses328.header.stamp,1620124249953152657
+field.poses328.header.frame_id,map
+field.poses328.pose.position.x,-1.1750192896
+field.poses328.pose.position.y,2.91051578386
+field.poses328.pose.position.z,0.0
+field.poses328.pose.orientation.x,-0.0
+field.poses328.pose.orientation.y,-0.0
+field.poses328.pose.orientation.z,-0.0991711962461
+field.poses328.pose.orientation.w,0.995070386372
+field.poses329.header.seq,0
+field.poses329.header.stamp,1620124250860897541
+field.poses329.header.frame_id,map
+field.poses329.pose.position.x,-0.986716941194
+field.poses329.pose.position.y,2.85976454146
+field.poses329.pose.position.z,0.0
+field.poses329.pose.orientation.x,-0.0
+field.poses329.pose.orientation.y,-0.0
+field.poses329.pose.orientation.z,-0.0518440766378
+field.poses329.pose.orientation.w,0.998655191604
+field.poses330.header.seq,0
+field.poses330.header.stamp,1620124251768663883
+field.poses330.header.frame_id,map
+field.poses330.pose.position.x,-1.00841138331
+field.poses330.pose.position.y,2.86445421324
+field.poses330.pose.position.z,0.0
+field.poses330.pose.orientation.x,-0.0
+field.poses330.pose.orientation.y,-0.0
+field.poses330.pose.orientation.z,-0.0516489529898
+field.poses330.pose.orientation.w,0.998665302118
+field.poses331.header.seq,0
+field.poses331.header.stamp,1620124252676342249
+field.poses331.header.frame_id,map
+field.poses331.pose.position.x,-1.00853921961
+field.poses331.pose.position.y,2.86426849727
+field.poses331.pose.position.z,0.0
+field.poses331.pose.orientation.x,-0.0
+field.poses331.pose.orientation.y,-0.0
+field.poses331.pose.orientation.z,-0.0520209770149
+field.poses331.pose.orientation.w,0.998645992307
+field.poses332.header.seq,0
+field.poses332.header.stamp,1620124253584119558
+field.poses332.header.frame_id,map
+field.poses332.pose.position.x,-1.07862339413
+field.poses332.pose.position.y,2.87684997285
+field.poses332.pose.position.z,0.0
+field.poses332.pose.orientation.x,-0.0
+field.poses332.pose.orientation.y,-0.0
+field.poses332.pose.orientation.z,-0.0508653542227
+field.poses332.pose.orientation.w,0.998705520031
+field.poses333.header.seq,0
+field.poses333.header.stamp,1620124254491851330
+field.poses333.header.frame_id,map
+field.poses333.pose.position.x,-1.21253522279
+field.poses333.pose.position.y,2.90025286191
+field.poses333.pose.position.z,0.0
+field.poses333.pose.orientation.x,-0.0
+field.poses333.pose.orientation.y,-0.0
+field.poses333.pose.orientation.z,-0.0492016864222
+field.poses333.pose.orientation.w,0.998788863601
+field.poses334.header.seq,0
+field.poses334.header.stamp,1620124255399585247
+field.poses334.header.frame_id,map
+field.poses334.pose.position.x,-1.20840192844
+field.poses334.pose.position.y,2.89885011975
+field.poses334.pose.position.z,0.0
+field.poses334.pose.orientation.x,-0.0
+field.poses334.pose.orientation.y,-0.0
+field.poses334.pose.orientation.z,-0.0493705061741
+field.poses334.pose.orientation.w,0.99878053301
+field.poses335.header.seq,0
+field.poses335.header.stamp,1620124256307434559
+field.poses335.header.frame_id,map
+field.poses335.pose.position.x,-1.20929459962
+field.poses335.pose.position.y,2.89978740993
+field.poses335.pose.position.z,0.0
+field.poses335.pose.orientation.x,-0.0
+field.poses335.pose.orientation.y,-0.0
+field.poses335.pose.orientation.z,-0.049485110913
+field.poses335.pose.orientation.w,0.998774861417
+field.poses336.header.seq,0
+field.poses336.header.stamp,1620124257215135098
+field.poses336.header.frame_id,map
+field.poses336.pose.position.x,-1.20727280446
+field.poses336.pose.position.y,2.89902224788
+field.poses336.pose.position.z,0.0
+field.poses336.pose.orientation.x,-0.0
+field.poses336.pose.orientation.y,-0.0
+field.poses336.pose.orientation.z,-0.0512779204408
+field.poses336.pose.orientation.w,0.998684422065
+field.poses337.header.seq,0
+field.poses337.header.stamp,1620124258122801304
+field.poses337.header.frame_id,map
+field.poses337.pose.position.x,-1.19698453991
+field.poses337.pose.position.y,2.90756419666
+field.poses337.pose.position.z,0.0
+field.poses337.pose.orientation.x,-0.0
+field.poses337.pose.orientation.y,-0.0
+field.poses337.pose.orientation.z,-0.143583669497
+field.poses337.pose.orientation.w,0.989638181283
+field.poses338.header.seq,0
+field.poses338.header.stamp,1620124259030650616
+field.poses338.header.frame_id,map
+field.poses338.pose.position.x,-1.15116651887
+field.poses338.pose.position.y,2.87906855197
+field.poses338.pose.position.z,0.0
+field.poses338.pose.orientation.x,-0.0
+field.poses338.pose.orientation.y,-0.0
+field.poses338.pose.orientation.z,-0.164312779634
+field.poses338.pose.orientation.w,0.986408287906
+field.poses339.header.seq,0
+field.poses339.header.stamp,1620124259938307285
+field.poses339.header.frame_id,map
+field.poses339.pose.position.x,-0.822388492512
+field.poses339.pose.position.y,2.73861530191
+field.poses339.pose.position.z,0.0
+field.poses339.pose.orientation.x,-0.0
+field.poses339.pose.orientation.y,-0.0
+field.poses339.pose.orientation.z,-0.166558419454
+field.poses339.pose.orientation.w,0.98603158819
+field.poses340.header.seq,0
+field.poses340.header.stamp,1620124260846014977
+field.poses340.header.frame_id,map
+field.poses340.pose.position.x,-0.657228453191
+field.poses340.pose.position.y,2.66501132807
+field.poses340.pose.position.z,0.0
+field.poses340.pose.orientation.x,-0.0
+field.poses340.pose.orientation.y,-0.0
+field.poses340.pose.orientation.z,-0.168138163095
+field.poses340.pose.orientation.w,0.985763439224
+field.poses341.header.seq,0
+field.poses341.header.stamp,1620124261753756285
+field.poses341.header.frame_id,map
+field.poses341.pose.position.x,-0.629279138345
+field.poses341.pose.position.y,2.65360133598
+field.poses341.pose.position.z,0.0
+field.poses341.pose.orientation.x,-0.0
+field.poses341.pose.orientation.y,-0.0
+field.poses341.pose.orientation.z,-0.168338799714
+field.poses341.pose.orientation.w,0.985729196337
+field.poses342.header.seq,0
+field.poses342.header.stamp,1620124262661561966
+field.poses342.header.frame_id,map
+field.poses342.pose.position.x,-0.517145562073
+field.poses342.pose.position.y,2.60452674222
+field.poses342.pose.position.z,0.0
+field.poses342.pose.orientation.x,-0.0
+field.poses342.pose.orientation.y,-0.0
+field.poses342.pose.orientation.z,-0.167851847552
+field.poses342.pose.orientation.w,0.98581223226
+field.poses343.header.seq,0
+field.poses343.header.stamp,1620124263569249392
+field.poses343.header.frame_id,map
+field.poses343.pose.position.x,-0.513220523198
+field.poses343.pose.position.y,2.60568568057
+field.poses343.pose.position.z,0.0
+field.poses343.pose.orientation.x,-0.0
+field.poses343.pose.orientation.y,-0.0
+field.poses343.pose.orientation.z,-0.0626350150589
+field.poses343.pose.orientation.w,0.998036499778
+field.poses344.header.seq,0
+field.poses344.header.stamp,1620124264476976395
+field.poses344.header.frame_id,map
+field.poses344.pose.position.x,-0.292425593093
+field.poses344.pose.position.y,2.56134619122
+field.poses344.pose.position.z,0.0
+field.poses344.pose.orientation.x,-0.0
+field.poses344.pose.orientation.y,-0.0
+field.poses344.pose.orientation.z,-0.0626815673304
+field.poses344.pose.orientation.w,0.998033577149
+field.poses345.header.seq,0
+field.poses345.header.stamp,1620124265384737492
+field.poses345.header.frame_id,map
+field.poses345.pose.position.x,-0.165881043648
+field.poses345.pose.position.y,2.53751889571
+field.poses345.pose.position.z,0.0
+field.poses345.pose.orientation.x,0.0
+field.poses345.pose.orientation.y,0.0
+field.poses345.pose.orientation.z,0.0218329118543
+field.poses345.pose.orientation.w,0.999761633571
+field.poses346.header.seq,0
+field.poses346.header.stamp,1620124266292482615
+field.poses346.header.frame_id,map
+field.poses346.pose.position.x,-0.179654226307
+field.poses346.pose.position.y,2.53853378393
+field.poses346.pose.position.z,0.0
+field.poses346.pose.orientation.x,0.0
+field.poses346.pose.orientation.y,0.0
+field.poses346.pose.orientation.z,0.0200038355741
+field.poses346.pose.orientation.w,0.999799903262
+field.poses347.header.seq,0
+field.poses347.header.stamp,1620124267200218678
+field.poses347.header.frame_id,map
+field.poses347.pose.position.x,0.00614828013634
+field.poses347.pose.position.y,2.53312538362
+field.poses347.pose.position.z,0.0
+field.poses347.pose.orientation.x,0.0
+field.poses347.pose.orientation.y,0.0
+field.poses347.pose.orientation.z,0.0181135720768
+field.poses347.pose.orientation.w,0.999835935795
+field.poses348.header.seq,0
+field.poses348.header.stamp,1620124268108000994
+field.poses348.header.frame_id,map
+field.poses348.pose.position.x,0.469648686517
+field.poses348.pose.position.y,2.51329588886
+field.poses348.pose.position.z,0.0
+field.poses348.pose.orientation.x,0.0
+field.poses348.pose.orientation.y,0.0
+field.poses348.pose.orientation.z,0.0161356395935
+field.poses348.pose.orientation.w,0.999869812093
+field.poses349.header.seq,0
+field.poses349.header.stamp,1620124269015670538
+field.poses349.header.frame_id,map
+field.poses349.pose.position.x,0.82786578475
+field.poses349.pose.position.y,2.49570233516
+field.poses349.pose.position.z,0.0
+field.poses349.pose.orientation.x,0.0
+field.poses349.pose.orientation.y,0.0
+field.poses349.pose.orientation.z,0.0142878460276
+field.poses349.pose.orientation.w,0.999897923518
+field.poses350.header.seq,0
+field.poses350.header.stamp,1620124269923410892
+field.poses350.header.frame_id,map
+field.poses350.pose.position.x,0.894482546197
+field.poses350.pose.position.y,2.49287297123
+field.poses350.pose.position.z,0.0
+field.poses350.pose.orientation.x,0.0
+field.poses350.pose.orientation.y,0.0
+field.poses350.pose.orientation.z,0.0148526893726
+field.poses350.pose.orientation.w,0.999889692725
+field.poses351.header.seq,0
+field.poses351.header.stamp,1620124270831157684
+field.poses351.header.frame_id,map
+field.poses351.pose.position.x,0.89049014185
+field.poses351.pose.position.y,2.49486786107
+field.poses351.pose.position.z,0.0
+field.poses351.pose.orientation.x,0.0
+field.poses351.pose.orientation.y,0.0
+field.poses351.pose.orientation.z,0.0149283431541
+field.poses351.pose.orientation.w,0.999888566077
+field.poses352.header.seq,0
+field.poses352.header.stamp,1620124271738944769
+field.poses352.header.frame_id,map
+field.poses352.pose.position.x,0.97787317222
+field.poses352.pose.position.y,2.49308975223
+field.poses352.pose.position.z,0.0
+field.poses352.pose.orientation.x,0.0
+field.poses352.pose.orientation.y,0.0
+field.poses352.pose.orientation.z,0.0154497454786
+field.poses352.pose.orientation.w,0.99988064556
+field.poses353.header.seq,0
+field.poses353.header.stamp,1620124272646656990
+field.poses353.header.frame_id,map
+field.poses353.pose.position.x,1.1114148916
+field.poses353.pose.position.y,2.48635401868
+field.poses353.pose.position.z,0.0
+field.poses353.pose.orientation.x,0.0
+field.poses353.pose.orientation.y,0.0
+field.poses353.pose.orientation.z,0.0152884040362
+field.poses353.pose.orientation.w,0.999883125521
+field.poses354.header.seq,0
+field.poses354.header.stamp,1620124273554393768
+field.poses354.header.frame_id,map
+field.poses354.pose.position.x,1.13321896311
+field.poses354.pose.position.y,2.4786945772
+field.poses354.pose.position.z,0.0
+field.poses354.pose.orientation.x,-0.0
+field.poses354.pose.orientation.y,-0.0
+field.poses354.pose.orientation.z,-0.0119640533354
+field.poses354.pose.orientation.w,0.999928428153
+field.poses355.header.seq,0
+field.poses355.header.stamp,1620124274462137222
+field.poses355.header.frame_id,map
+field.poses355.pose.position.x,1.17440020314
+field.poses355.pose.position.y,2.47517865103
+field.poses355.pose.position.z,0.0
+field.poses355.pose.orientation.x,-0.0
+field.poses355.pose.orientation.y,-0.0
+field.poses355.pose.orientation.z,-0.11643737717
+field.poses355.pose.orientation.w,0.993198035237
+field.poses356.header.seq,0
+field.poses356.header.stamp,1620124275369873047
+field.poses356.header.frame_id,map
+field.poses356.pose.position.x,1.41428823786
+field.poses356.pose.position.y,2.39567951299
+field.poses356.pose.position.z,0.0
+field.poses356.pose.orientation.x,-0.0
+field.poses356.pose.orientation.y,-0.0
+field.poses356.pose.orientation.z,-0.141833000518
+field.poses356.pose.orientation.w,0.989890599998
+field.poses357.header.seq,0
+field.poses357.header.stamp,1620124276277604103
+field.poses357.header.frame_id,map
+field.poses357.pose.position.x,1.66931973839
+field.poses357.pose.position.y,2.29090613438
+field.poses357.pose.position.z,0.0
+field.poses357.pose.orientation.x,-0.0
+field.poses357.pose.orientation.y,-0.0
+field.poses357.pose.orientation.z,-0.168751128782
+field.poses357.pose.orientation.w,0.985658691706
+field.poses358.header.seq,0
+field.poses358.header.stamp,1620124277185385227
+field.poses358.header.frame_id,map
+field.poses358.pose.position.x,1.75915923378
+field.poses358.pose.position.y,2.24282833706
+field.poses358.pose.position.z,0.0
+field.poses358.pose.orientation.x,-0.0
+field.poses358.pose.orientation.y,-0.0
+field.poses358.pose.orientation.z,-0.172878046169
+field.poses358.pose.orientation.w,0.984943237528
+field.poses359.header.seq,0
+field.poses359.header.stamp,1620124278093078136
+field.poses359.header.frame_id,map
+field.poses359.pose.position.x,1.7502965511
+field.poses359.pose.position.y,2.25001013286
+field.poses359.pose.position.z,0.0
+field.poses359.pose.orientation.x,-0.0
+field.poses359.pose.orientation.y,-0.0
+field.poses359.pose.orientation.z,-0.172159566453
+field.poses359.pose.orientation.w,0.985069075587
+field.poses360.header.seq,0
+field.poses360.header.stamp,1620124279000846386
+field.poses360.header.frame_id,map
+field.poses360.pose.position.x,1.75011518196
+field.poses360.pose.position.y,2.24883612176
+field.poses360.pose.position.z,0.0
+field.poses360.pose.orientation.x,-0.0
+field.poses360.pose.orientation.y,-0.0
+field.poses360.pose.orientation.z,-0.172497585097
+field.poses360.pose.orientation.w,0.985009940628
+field.poses361.header.seq,0
+field.poses361.header.stamp,1620124279908581257
+field.poses361.header.frame_id,map
+field.poses361.pose.position.x,1.748576573
+field.poses361.pose.position.y,2.24963823102
+field.poses361.pose.position.z,0.0
+field.poses361.pose.orientation.x,-0.0
+field.poses361.pose.orientation.y,-0.0
+field.poses361.pose.orientation.z,-0.17224288803
+field.poses361.pose.orientation.w,0.985054509925
+field.poses362.header.seq,0
+field.poses362.header.stamp,1620124280816343307
+field.poses362.header.frame_id,map
+field.poses362.pose.position.x,1.74777776476
+field.poses362.pose.position.y,2.24870690931
+field.poses362.pose.position.z,0.0
+field.poses362.pose.orientation.x,-0.0
+field.poses362.pose.orientation.y,-0.0
+field.poses362.pose.orientation.z,-0.172537208439
+field.poses362.pose.orientation.w,0.98500300086
+field.poses363.header.seq,0
+field.poses363.header.stamp,1620124281724128008
+field.poses363.header.frame_id,map
+field.poses363.pose.position.x,1.74861919136
+field.poses363.pose.position.y,2.24716964805
+field.poses363.pose.position.z,0.0
+field.poses363.pose.orientation.x,-0.0
+field.poses363.pose.orientation.y,-0.0
+field.poses363.pose.orientation.z,-0.172801387628
+field.poses363.pose.orientation.w,0.984956689623
+field.poses364.header.seq,0
+field.poses364.header.stamp,1620124282631841183
+field.poses364.header.frame_id,map
+field.poses364.pose.position.x,1.74917130477
+field.poses364.pose.position.y,2.24458563304
+field.poses364.pose.position.z,0.0
+field.poses364.pose.orientation.x,-0.0
+field.poses364.pose.orientation.y,-0.0
+field.poses364.pose.orientation.z,-0.173075159387
+field.poses364.pose.orientation.w,0.984908619722
+field.poses365.header.seq,0
+field.poses365.header.stamp,1620124283539535046
+field.poses365.header.frame_id,map
+field.poses365.pose.position.x,1.74862008355
+field.poses365.pose.position.y,2.2463579626
+field.poses365.pose.position.z,0.0
+field.poses365.pose.orientation.x,-0.0
+field.poses365.pose.orientation.y,-0.0
+field.poses365.pose.orientation.z,-0.172236237678
+field.poses365.pose.orientation.w,0.985055672757
+field.poses366.header.seq,0
+field.poses366.header.stamp,1620124284447381020
+field.poses366.header.frame_id,map
+field.poses366.pose.position.x,1.74872026453
+field.poses366.pose.position.y,2.24794559656
+field.poses366.pose.position.z,0.0
+field.poses366.pose.orientation.x,-0.0
+field.poses366.pose.orientation.y,-0.0
+field.poses366.pose.orientation.z,-0.172220179682
+field.poses366.pose.orientation.w,0.98505848035
+field.poses367.header.seq,0
+field.poses367.header.stamp,1620124285355020523
+field.poses367.header.frame_id,map
+field.poses367.pose.position.x,1.74780724038
+field.poses367.pose.position.y,2.24644538698
+field.poses367.pose.position.z,0.0
+field.poses367.pose.orientation.x,-0.0
+field.poses367.pose.orientation.y,-0.0
+field.poses367.pose.orientation.z,-0.172878849061
+field.poses367.pose.orientation.w,0.984943096604
+field.poses368.header.seq,0
+field.poses368.header.stamp,1620124286262799501
+field.poses368.header.frame_id,map
+field.poses368.pose.position.x,1.74884851926
+field.poses368.pose.position.y,2.24743760742
+field.poses368.pose.position.z,0.0
+field.poses368.pose.orientation.x,-0.0
+field.poses368.pose.orientation.y,-0.0
+field.poses368.pose.orientation.z,-0.172041321529
+field.poses368.pose.orientation.w,0.985089733825
+field.poses369.header.seq,0
+field.poses369.header.stamp,1620124287170485973
+field.poses369.header.frame_id,map
+field.poses369.pose.position.x,1.76192564393
+field.poses369.pose.position.y,2.24123140799
+field.poses369.pose.position.z,0.0
+field.poses369.pose.orientation.x,-0.0
+field.poses369.pose.orientation.y,-0.0
+field.poses369.pose.orientation.z,-0.174162963709
+field.poses369.pose.orientation.w,0.984716843601
+field.poses370.header.seq,0
+field.poses370.header.stamp,1620124288078258991
+field.poses370.header.frame_id,map
+field.poses370.pose.position.x,1.76933199088
+field.poses370.pose.position.y,2.23905272712
+field.poses370.pose.position.z,0.0
+field.poses370.pose.orientation.x,-0.0
+field.poses370.pose.orientation.y,-0.0
+field.poses370.pose.orientation.z,-0.247344500101
+field.poses370.pose.orientation.w,0.968927602182
+field.poses371.header.seq,0
+field.poses371.header.stamp,1620124288985976219
+field.poses371.header.frame_id,map
+field.poses371.pose.position.x,1.81782935879
+field.poses371.pose.position.y,2.20887717576
+field.poses371.pose.position.z,0.0
+field.poses371.pose.orientation.x,-0.0
+field.poses371.pose.orientation.y,-0.0
+field.poses371.pose.orientation.z,-0.247843826991
+field.poses371.pose.orientation.w,0.96879999867
+field.poses372.header.seq,0
+field.poses372.header.stamp,1620124289893786192
+field.poses372.header.frame_id,map
+field.poses372.pose.position.x,1.80888484228
+field.poses372.pose.position.y,2.21761345568
+field.poses372.pose.position.z,0.0
+field.poses372.pose.orientation.x,-0.0
+field.poses372.pose.orientation.y,-0.0
+field.poses372.pose.orientation.z,-0.391121151222
+field.poses372.pose.orientation.w,0.920339201092
+field.poses373.header.seq,0
+field.poses373.header.stamp,1620124290801541328
+field.poses373.header.frame_id,map
+field.poses373.pose.position.x,1.87978970805
+field.poses373.pose.position.y,2.12646731585
+field.poses373.pose.position.z,0.0
+field.poses373.pose.orientation.x,-0.0
+field.poses373.pose.orientation.y,-0.0
+field.poses373.pose.orientation.z,-0.394896677926
+field.poses373.pose.orientation.w,0.918725537777
+field.poses374.header.seq,0
+field.poses374.header.stamp,1620124291709244728
+field.poses374.header.frame_id,map
+field.poses374.pose.position.x,1.89334172948
+field.poses374.pose.position.y,2.12399005037
+field.poses374.pose.position.z,0.0
+field.poses374.pose.orientation.x,-0.0
+field.poses374.pose.orientation.y,-0.0
+field.poses374.pose.orientation.z,-0.527426455789
+field.poses374.pose.orientation.w,0.849600690756
+field.poses375.header.seq,0
+field.poses375.header.stamp,1620124292616998672
+field.poses375.header.frame_id,map
+field.poses375.pose.position.x,1.95000237771
+field.poses375.pose.position.y,1.98940556244
+field.poses375.pose.position.z,0.0
+field.poses375.pose.orientation.x,-0.0
+field.poses375.pose.orientation.y,-0.0
+field.poses375.pose.orientation.z,-0.530266163158
+field.poses375.pose.orientation.w,0.847831230971
+field.poses376.header.seq,0
+field.poses376.header.stamp,1620124293524698496
+field.poses376.header.frame_id,map
+field.poses376.pose.position.x,1.93959580104
+field.poses376.pose.position.y,2.02124689815
+field.poses376.pose.position.z,0.0
+field.poses376.pose.orientation.x,-0.0
+field.poses376.pose.orientation.y,-0.0
+field.poses376.pose.orientation.z,-0.638057789245
+field.poses376.pose.orientation.w,0.769988478865
+field.poses377.header.seq,0
+field.poses377.header.stamp,1620124294432411194
+field.poses377.header.frame_id,map
+field.poses377.pose.position.x,1.95651393368
+field.poses377.pose.position.y,1.83891401193
+field.poses377.pose.position.z,0.0
+field.poses377.pose.orientation.x,-0.0
+field.poses377.pose.orientation.y,-0.0
+field.poses377.pose.orientation.z,-0.640187963356
+field.poses377.pose.orientation.w,0.76821830984
+field.poses378.header.seq,0
+field.poses378.header.stamp,1620124295340163708
+field.poses378.header.frame_id,map
+field.poses378.pose.position.x,1.95825620459
+field.poses378.pose.position.y,1.85902415682
+field.poses378.pose.position.z,0.0
+field.poses378.pose.orientation.x,-0.0
+field.poses378.pose.orientation.y,-0.0
+field.poses378.pose.orientation.z,-0.712873809141
+field.poses378.pose.orientation.w,0.701292330088
+field.poses379.header.seq,0
+field.poses379.header.stamp,1620124296247896910
+field.poses379.header.frame_id,map
+field.poses379.pose.position.x,1.93258734393
+field.poses379.pose.position.y,1.60725316716
+field.poses379.pose.position.z,0.0
+field.poses379.pose.orientation.x,-0.0
+field.poses379.pose.orientation.y,-0.0
+field.poses379.pose.orientation.z,-0.713053249344
+field.poses379.pose.orientation.w,0.701109879834
+field.poses380.header.seq,0
+field.poses380.header.stamp,1620124297155681610
+field.poses380.header.frame_id,map
+field.poses380.pose.position.x,1.88171480876
+field.poses380.pose.position.y,1.1040627446
+field.poses380.pose.position.z,0.0
+field.poses380.pose.orientation.x,-0.0
+field.poses380.pose.orientation.y,-0.0
+field.poses380.pose.orientation.z,-0.715459961674
+field.poses380.pose.orientation.w,0.698653736297
+field.poses381.header.seq,0
+field.poses381.header.stamp,1620124298063419342
+field.poses381.header.frame_id,map
+field.poses381.pose.position.x,1.84122150069
+field.poses381.pose.position.y,0.732308125555
+field.poses381.pose.position.z,0.0
+field.poses381.pose.orientation.x,-0.0
+field.poses381.pose.orientation.y,-0.0
+field.poses381.pose.orientation.z,-0.717673950505
+field.poses381.pose.orientation.w,0.696379279392
+field.poses382.header.seq,0
+field.poses382.header.stamp,1620124298971135139
+field.poses382.header.frame_id,map
+field.poses382.pose.position.x,1.82033146043
+field.poses382.pose.position.y,0.541784317264
+field.poses382.pose.position.z,0.0
+field.poses382.pose.orientation.x,-0.0
+field.poses382.pose.orientation.y,-0.0
+field.poses382.pose.orientation.z,-0.717799286865
+field.poses382.pose.orientation.w,0.696250087092
+field.poses383.header.seq,0
+field.poses383.header.stamp,1620124299878913879
+field.poses383.header.frame_id,map
+field.poses383.pose.position.x,1.79599618892
+field.poses383.pose.position.y,0.289582412366
+field.poses383.pose.position.z,0.0
+field.poses383.pose.orientation.x,-0.0
+field.poses383.pose.orientation.y,-0.0
+field.poses383.pose.orientation.z,-0.718868545337
+field.poses383.pose.orientation.w,0.695146038272
+field.poses384.header.seq,0
+field.poses384.header.stamp,1620124300786616325
+field.poses384.header.frame_id,map
+field.poses384.pose.position.x,1.7954929735
+field.poses384.pose.position.y,0.258041492868
+field.poses384.pose.position.z,0.0
+field.poses384.pose.orientation.x,-0.0
+field.poses384.pose.orientation.y,-0.0
+field.poses384.pose.orientation.z,-0.719280084872
+field.poses384.pose.orientation.w,0.694720202316
+field.poses385.header.seq,0
+field.poses385.header.stamp,1620124301694420338
+field.poses385.header.frame_id,map
+field.poses385.pose.position.x,1.78101127603
+field.poses385.pose.position.y,0.140805752067
+field.poses385.pose.position.z,0.0
+field.poses385.pose.orientation.x,-0.0
+field.poses385.pose.orientation.y,-0.0
+field.poses385.pose.orientation.z,-0.719309337524
+field.poses385.pose.orientation.w,0.694689914243
+field.poses386.header.seq,0
+field.poses386.header.stamp,1620124302602074623
+field.poses386.header.frame_id,map
+field.poses386.pose.position.x,1.76081295005
+field.poses386.pose.position.y,-0.0784621508863
+field.poses386.pose.position.z,0.0
+field.poses386.pose.orientation.x,-0.0
+field.poses386.pose.orientation.y,-0.0
+field.poses386.pose.orientation.z,-0.721143761714
+field.poses386.pose.orientation.w,0.692785446542
+field.poses387.header.seq,0
+field.poses387.header.stamp,1620124303509896278
+field.poses387.header.frame_id,map
+field.poses387.pose.position.x,1.73253271817
+field.poses387.pose.position.y,-0.35094411337
+field.poses387.pose.position.z,0.0
+field.poses387.pose.orientation.x,-0.0
+field.poses387.pose.orientation.y,-0.0
+field.poses387.pose.orientation.z,-0.723136532021
+field.poses387.pose.orientation.w,0.690705115122
+field.poses388.header.seq,0
+field.poses388.header.stamp,1620124304417556524
+field.poses388.header.frame_id,map
+field.poses388.pose.position.x,1.7064028966
+field.poses388.pose.position.y,-0.547604300851
+field.poses388.pose.position.z,0.0
+field.poses388.pose.orientation.x,-0.0
+field.poses388.pose.orientation.y,-0.0
+field.poses388.pose.orientation.z,-0.723356329842
+field.poses388.pose.orientation.w,0.690474923569
+field.poses389.header.seq,0
+field.poses389.header.stamp,1620124305325347662
+field.poses389.header.frame_id,map
+field.poses389.pose.position.x,1.7001501262
+field.poses389.pose.position.y,-0.595472303584
+field.poses389.pose.position.z,0.0
+field.poses389.pose.orientation.x,-0.0
+field.poses389.pose.orientation.y,-0.0
+field.poses389.pose.orientation.z,-0.723399284213
+field.poses389.pose.orientation.w,0.690429920846
+field.poses390.header.seq,0
+field.poses390.header.stamp,1620124306233057022
+field.poses390.header.frame_id,map
+field.poses390.pose.position.x,1.7000574547
+field.poses390.pose.position.y,-0.596381543432
+field.poses390.pose.position.z,0.0
+field.poses390.pose.orientation.x,-0.0
+field.poses390.pose.orientation.y,-0.0
+field.poses390.pose.orientation.z,-0.723655876969
+field.poses390.pose.orientation.w,0.690160975228
+field.poses391.header.seq,0
+field.poses391.header.stamp,1620124307140789986
+field.poses391.header.frame_id,map
+field.poses391.pose.position.x,1.70114401512
+field.poses391.pose.position.y,-0.595568334327
+field.poses391.pose.position.z,0.0
+field.poses391.pose.orientation.x,-0.0
+field.poses391.pose.orientation.y,-0.0
+field.poses391.pose.orientation.z,-0.723729398025
+field.poses391.pose.orientation.w,0.690083877825
+field.poses392.header.seq,0
+field.poses392.header.stamp,1620124308048562527
+field.poses392.header.frame_id,map
+field.poses392.pose.position.x,1.67839239136
+field.poses392.pose.position.y,-0.793440500264
+field.poses392.pose.position.z,0.0
+field.poses392.pose.orientation.x,-0.0
+field.poses392.pose.orientation.y,-0.0
+field.poses392.pose.orientation.z,-0.724839308258
+field.poses392.pose.orientation.w,0.688917975672
+field.poses393.header.seq,0
+field.poses393.header.stamp,1620124308956299543
+field.poses393.header.frame_id,map
+field.poses393.pose.position.x,1.67015546858
+field.poses393.pose.position.y,-0.867973741322
+field.poses393.pose.position.z,0.0
+field.poses393.pose.orientation.x,-0.0
+field.poses393.pose.orientation.y,-0.0
+field.poses393.pose.orientation.z,-0.755617289208
+field.poses393.pose.orientation.w,0.655013367994
+field.poses394.header.seq,0
+field.poses394.header.stamp,1620124309864018917
+field.poses394.header.frame_id,map
+field.poses394.pose.position.x,1.63331170607
+field.poses394.pose.position.y,-1.03861512119
+field.poses394.pose.position.z,0.0
+field.poses394.pose.orientation.x,-0.0
+field.poses394.pose.orientation.y,-0.0
+field.poses394.pose.orientation.z,-0.755571063873
+field.poses394.pose.orientation.w,0.655066689305
+field.poses395.header.seq,0
+field.poses395.header.stamp,1620124310771829367
+field.poses395.header.frame_id,map
+field.poses395.pose.position.x,1.57736463753
+field.poses395.pose.position.y,-1.25565966932
+field.poses395.pose.position.z,0.0
+field.poses395.pose.orientation.x,-0.0
+field.poses395.pose.orientation.y,-0.0
+field.poses395.pose.orientation.z,-0.812093740151
+field.poses395.pose.orientation.w,0.583526997839
+field.poses396.header.seq,0
+field.poses396.header.stamp,1620124311679502249
+field.poses396.header.frame_id,map
+field.poses396.pose.position.x,1.47985534103
+field.poses396.pose.position.y,-1.4864685906
+field.poses396.pose.position.z,0.0
+field.poses396.pose.orientation.x,-0.0
+field.poses396.pose.orientation.y,-0.0
+field.poses396.pose.orientation.z,-0.813728293767
+field.poses396.pose.orientation.w,0.581245442066
+field.poses397.header.seq,0
+field.poses397.header.stamp,1620124312587296009
+field.poses397.header.frame_id,map
+field.poses397.pose.position.x,1.29726636877
+field.poses397.pose.position.y,-1.90464821832
+field.poses397.pose.position.z,0.0
+field.poses397.pose.orientation.x,-0.0
+field.poses397.pose.orientation.y,-0.0
+field.poses397.pose.orientation.z,-0.814846330745
+field.poses397.pose.orientation.w,0.579677028415
+field.poses398.header.seq,0
+field.poses398.header.stamp,1620124313494963169
+field.poses398.header.frame_id,map
+field.poses398.pose.position.x,1.10827116177
+field.poses398.pose.position.y,-2.36042033874
+field.poses398.pose.position.z,0.0
+field.poses398.pose.orientation.x,-0.0
+field.poses398.pose.orientation.y,-0.0
+field.poses398.pose.orientation.z,-0.825502678267
+field.poses398.pose.orientation.w,0.56439820001
+field.poses399.header.seq,0
+field.poses399.header.stamp,1620124314402741671
+field.poses399.header.frame_id,map
+field.poses399.pose.position.x,0.941710269399
+field.poses399.pose.position.y,-2.58742738629
+field.poses399.pose.position.z,0.0
+field.poses399.pose.orientation.x,-0.0
+field.poses399.pose.orientation.y,-0.0
+field.poses399.pose.orientation.z,-0.926165369448
+field.poses399.pose.orientation.w,0.377117632093
+field.poses400.header.seq,0
+field.poses400.header.stamp,1620124315310482502
+field.poses400.header.frame_id,map
+field.poses400.pose.position.x,0.701597973172
+field.poses400.pose.position.y,-2.75593165887
+field.poses400.pose.position.z,0.0
+field.poses400.pose.orientation.x,-0.0
+field.poses400.pose.orientation.y,-0.0
+field.poses400.pose.orientation.z,-0.986424210214
+field.poses400.pose.orientation.w,0.164217165678
+field.poses401.header.seq,0
+field.poses401.header.stamp,1620124316218215466
+field.poses401.header.frame_id,map
+field.poses401.pose.position.x,0.495986132253
+field.poses401.pose.position.y,-2.80700594932
+field.poses401.pose.position.z,0.0
+field.poses401.pose.orientation.x,0.0
+field.poses401.pose.orientation.y,0.0
+field.poses401.pose.orientation.z,0.995794539265
+field.poses401.pose.orientation.w,0.0916146034709
+field.poses402.header.seq,0
+field.poses402.header.stamp,1620124317125945091
+field.poses402.header.frame_id,map
+field.poses402.pose.position.x,0.461253233717
+field.poses402.pose.position.y,-2.79613793024
+field.poses402.pose.position.z,0.0
+field.poses402.pose.orientation.x,0.0
+field.poses402.pose.orientation.y,0.0
+field.poses402.pose.orientation.z,0.994601784165
+field.poses402.pose.orientation.w,0.103765557556
diff --git a/bag/analysys/interparc.m b/bag/analysys/interparc.m
new file mode 100644
index 0000000000000000000000000000000000000000..fae3678734c305bd89783e07b2ea17b015b29cf4
--- /dev/null
+++ b/bag/analysys/interparc.m
@@ -0,0 +1,574 @@
+function [pt,dudt,fofthandle] = interparc(t,px,py,varargin)
+% interparc: interpolate points along a curve in 2 or more dimensions
+% usage: pt = interparc(t,px,py)    % a 2-d curve
+% usage: pt = interparc(t,px,py,pz) % a 3-d curve
+% usage: pt = interparc(t,px,py,pz,pw,...) % a 4-d or higher dimensional curve
+% usage: pt = interparc(t,px,py,method) % a 2-d curve, method is specified
+% usage: [pt,dudt,fofthandle] = interparc(t,px,py,...) % also returns derivatives, and a function handle
+%
+% Interpolates new points at any fractional point along
+% the curve defined by a list of points in 2 or more
+% dimensions. The curve may be defined by any sequence
+% of non-replicated points.
+%
+% arguments: (input)
+%  t   - vector of numbers, 0 <= t <= 1, that define
+%        the fractional distance along the curve to
+%        interpolate the curve at. t = 0 will generate
+%        the very first point in the point list, and
+%        t = 1 yields the last point in that list.
+%        Similarly, t = 0.5 will yield the mid-point
+%        on the curve in terms of arc length as the
+%        curve is interpolated by a parametric spline.
+%
+%        If t is a scalar integer, at least 2, then
+%        it specifies the number of equally spaced
+%        points in arclength to be generated along
+%        the curve.
+%
+%  px, py, pz, ... - vectors of length n, defining
+%        points along the curve. n must be at least 2.
+%        Exact Replicate points should not be present
+%        in the curve, although there is no constraint
+%        that the curve has replicate independent
+%        variables.
+%
+%  method - (OPTIONAL) string flag - denotes the method
+%        used to compute the points along the curve.
+%
+%        method may be any of 'linear', 'spline', or 'pchip',
+%        or any simple contraction thereof, such as 'lin',
+%        'sp', or even 'p'.
+%        
+%        method == 'linear' --> Uses a linear chordal
+%               approximation to interpolate the curve.
+%               This method is the most efficient.
+%
+%        method == 'pchip' --> Uses a parametric pchip
+%               approximation for the interpolation
+%               in arc length.
+%
+%        method == 'spline' --> Uses a parametric spline
+%               approximation for the interpolation in
+%               arc length. Generally for a smooth curve,
+%               this method may be most accurate.
+%
+%        method = 'csape' --> if available, this tool will
+%               allow a periodic spline fit for closed curves.
+%               ONLY use this method if your points should
+%               represent a closed curve.
+%               
+%               If the last point is NOT the same as the
+%               first point on the curve, then the curve
+%               will be forced to be periodic by this option.
+%               That is, the first point will be replicated
+%               onto the end.
+%
+%               If csape is not present in your matlab release,
+%               then an error will result.
+%
+%        DEFAULT: 'spline'
+%
+%
+% arguments: (output)
+%  pt - Interpolated points at the specified fractional
+%        distance (in arc length) along the curve.
+%
+%  dudt - when a second return argument is required,
+%       interparc will return the parametric derivatives
+%       (dx/dt, dy/dt, dz/dt, ...) as an array.
+%
+%  fofthandle - a function handle, taking numbers in the interval [0,1]
+%       and evaluating the function at those points.
+%
+%       Extrapolation will not be permitted by this call.
+%       Any values of t that lie outside of the interval [0,1]
+%       will be clipped to the endpoints of the curve.
+%
+% Example:
+% % Interpolate a set of unequally spaced points around
+% % the perimeter of a unit circle, generating equally
+% % spaced points around the perimeter.
+% theta = sort(rand(15,1))*2*pi;
+% theta(end+1) = theta(1);
+% px = cos(theta);
+% py = sin(theta);
+%
+% % interpolate using parametric splines
+% pt = interparc(100,px,py,'spline');
+%
+% % Plot the result
+% plot(px,py,'r*',pt(:,1),pt(:,2),'b-o')
+% axis([-1.1 1.1 -1.1 1.1])
+% axis equal
+% grid on
+% xlabel X
+% ylabel Y
+% title 'Points in blue are uniform in arclength around the circle'
+%
+%
+% Example:
+% % For the previous set of points, generate exactly 6
+% % points around the parametric splines, verifying
+% % the uniformity of the arc length interpolant.
+% pt = interparc(6,px,py,'spline');
+%
+% % Convert back to polar form. See that the radius
+% % is indeed 1, quite accurately.
+% [TH,R] = cart2pol(pt(:,1),pt(:,2))
+% % TH =
+% %       0.86005
+% %        2.1141
+% %       -2.9117
+% %        -1.654
+% %      -0.39649
+% %       0.86005
+% % R =
+% %             1
+% %        0.9997
+% %        0.9998
+% %       0.99999
+% %        1.0001
+% %             1
+%
+% % Unwrap the polar angles, and difference them.
+% diff(unwrap(TH))
+% % ans =
+% %        1.2541
+% %        1.2573
+% %        1.2577
+% %        1.2575
+% %        1.2565
+%
+% % Six points around the circle should be separated by
+% % 2*pi/5 radians, if they were perfectly uniform. The
+% % slight differences are due to the imperfect accuracy
+% % of the parametric splines.
+% 2*pi/5
+% % ans =
+% %        1.2566
+%
+%
+% See also: arclength, spline, pchip, interp1
+%
+% Author: John D'Errico
+% e-mail: woodchips@rochester.rr.com
+% Release: 1.0
+% Release date: 3/15/2010
+
+% unpack the arguments and check for errors
+if nargin < 3
+  error('ARCLENGTH:insufficientarguments', ...
+    'at least t, px, and py must be supplied')
+end
+
+t = t(:);
+if (numel(t) == 1) && (t > 1) && (rem(t,1) == 0)
+  % t specifies the number of points to be generated
+  % equally spaced in arclength
+  t = linspace(0,1,t)';
+elseif any(t < 0) || any(t > 1)
+  error('ARCLENGTH:impropert', ...
+    'All elements of t must be 0 <= t <= 1')
+end
+
+% how many points will be interpolated?
+nt = numel(t);
+
+% the number of points on the curve itself
+px = px(:);
+py = py(:);
+n = numel(px);
+
+% are px and py both vectors of the same length?
+if ~isvector(px) || ~isvector(py) || (length(py) ~= n)
+  error('ARCLENGTH:improperpxorpy', ...
+    'px and py must be vectors of the same length')
+elseif n < 2
+  error('ARCLENGTH:improperpxorpy', ...
+    'px and py must be vectors of length at least 2')
+end
+
+% compose px and py into a single array. this way,
+% if more dimensions are provided, the extension
+% is trivial.
+pxy = [px,py];
+ndim = 2;
+
+% the default method is 'linear'
+method = 'spline';
+
+% are there any other arguments?
+if nargin > 3
+  % there are. check the last argument. Is it a string?
+  if ischar(varargin{end})
+    method = varargin{end};
+    varargin(end) = [];
+    
+    % method may be any of {'linear', 'pchip', 'spline', 'csape'.}
+    % any any simple contraction thereof.
+    valid = {'linear', 'pchip', 'spline', 'csape'};
+    [method,errstr] = validstring(method,valid);
+    if ~isempty(errstr)
+      error('INTERPARC:incorrectmethod',errstr)
+    end
+  end
+  
+  % anything that remains in varargin must add
+  % an additional dimension on the curve/polygon
+  for i = 1:numel(varargin)
+    pz = varargin{i};
+    pz = pz(:);
+    if numel(pz) ~= n
+      error('ARCLENGTH:improperpxorpy', ...
+        'pz must be of the same size as px and py')
+    end
+    pxy = [pxy,pz]; %#ok
+  end
+  
+  % the final number of dimensions provided
+  ndim = size(pxy,2);
+end
+
+% if csape, then make sure the first point is replicated at the end.
+% also test to see if csape is available
+if method(1) == 'c'
+  if exist('csape','file') == 0
+    error('CSAPE was requested, but you lack the necessary toolbox.')
+  end
+  
+  p1 = pxy(1,:);
+  pend = pxy(end,:);
+  
+  % get a tolerance on whether the first point is replicated.
+  if norm(p1 - pend) > 10*eps(norm(max(abs(pxy),[],1)))
+    % the two end points were not identical, so wrap the curve
+    pxy(end+1,:) = p1;
+    nt = nt + 1;
+  end
+end
+
+% preallocate the result, pt
+pt = NaN(nt,ndim);
+
+% Compute the chordal (linear) arclength
+% of each segment. This will be needed for
+% any of the methods.
+chordlen = sqrt(sum(diff(pxy,[],1).^2,2));
+
+% Normalize the arclengths to a unit total
+chordlen = chordlen/sum(chordlen);
+
+% cumulative arclength
+cumarc = [0;cumsum(chordlen)];
+
+% The linear interpolant is trivial. do it as a special case
+if method(1) == 'l'
+  % The linear method.
+  
+  % which interval did each point fall in, in
+  % terms of t?
+  [junk,tbins] = histc(t,cumarc); %#ok
+  
+  % catch any problems at the ends
+  tbins((tbins <= 0) | (t <= 0)) = 1;
+  tbins((tbins >= n) | (t >= 1)) = n - 1;
+  
+  % interpolate
+  s = (t - cumarc(tbins))./chordlen(tbins);
+  % be nice, and allow the code to work on older releases
+  % that don't have bsxfun
+  pt = pxy(tbins,:) + (pxy(tbins+1,:) - pxy(tbins,:)).*repmat(s,1,ndim);
+  
+  % do we need to compute derivatives here?
+  if nargout > 1
+    dudt = (pxy(tbins+1,:) - pxy(tbins,:))./repmat(chordlen(tbins),1,ndim);
+  end
+  
+  % do we need to create the spline as a piecewise linear function?
+  if nargout > 2
+    spl = cell(1,ndim);
+    for i = 1:ndim
+      coefs = [diff(pxy(:,i))./diff(cumarc),pxy(1:(end-1),i)];
+      spl{i} = mkpp(cumarc.',coefs);
+    end
+    
+    %create a function handle for evaluation, passing in the splines
+    fofthandle = @(t) foft(t,spl);
+  end
+  
+  % we are done at this point
+  return
+end
+
+% If we drop down to here, we have either a spline
+% or csape or pchip interpolant to work with.
+
+% compute parametric splines
+spl = cell(1,ndim);
+spld = spl;
+diffarray = [3 0 0;0 2 0;0 0 1;0 0 0];
+for i = 1:ndim
+  switch method
+    case 'pchip'
+      spl{i} = pchip(cumarc,pxy(:,i));
+    case 'spline'
+      spl{i} = spline(cumarc,pxy(:,i));
+      nc = numel(spl{i}.coefs);
+      if nc < 4
+        % just pretend it has cubic segments
+        spl{i}.coefs = [zeros(1,4-nc),spl{i}.coefs];
+        spl{i}.order = 4;
+      end
+    case 'csape'
+      % csape was specified, so the curve is presumed closed,
+      % therefore periodic
+      spl{i} = csape(cumarc,pxy(:,i),'periodic');
+      nc = numel(spl{i}.coefs);
+      if nc < 4
+        % just pretend it has cubic segments
+        spl{i}.coefs = [zeros(1,4-nc),spl{i}.coefs];
+        spl{i}.order = 4;
+      end
+  end
+  
+  % and now differentiate them
+  xp = spl{i};
+  xp.coefs = xp.coefs*diffarray;
+  xp.order = 3;
+  spld{i} = xp;
+end
+
+% catch the case where there were exactly three points
+% in the curve, and spline was used to generate the
+% interpolant. In this case, spline creates a curve with
+% only one piece, not two.
+if (numel(cumarc) == 3) && (method(1) == 's')
+  cumarc = spl{1}.breaks;
+  n = numel(cumarc);
+  chordlen = sum(chordlen);
+end
+
+% Generate the total arclength along the curve
+% by integrating each segment and summing the
+% results. The integration scheme does its job
+% using an ode solver.
+
+% polyarray here contains the derivative polynomials
+% for each spline in a given segment
+polyarray = zeros(ndim,3);
+seglen = zeros(n-1,1);
+
+% options for ode45
+opts = odeset('reltol',1.e-9);
+for i = 1:spl{1}.pieces
+  % extract polynomials for the derivatives
+  for j = 1:ndim
+    polyarray(j,:) = spld{j}.coefs(i,:);
+  end
+  
+  % integrate the arclength for the i'th segment
+  % using ode45 for the integral. I could have
+  % done this part with quad too, but then it
+  % would not have been perfectly (numerically)
+  % consistent with the next operation in this tool.
+  [tout,yout] = ode45(@(t,y) segkernel(t,y),[0,chordlen(i)],0,opts); %#ok
+  seglen(i) = yout(end);
+end
+
+% and normalize the segments to have unit total length
+totalsplinelength = sum(seglen);
+cumseglen = [0;cumsum(seglen)];
+
+% which interval did each point fall into, in
+% terms of t, but relative to the cumulative
+% arc lengths along the parametric spline?
+[junk,tbins] = histc(t*totalsplinelength,cumseglen); %#ok
+
+% catch any problems at the ends
+tbins((tbins <= 0) | (t <= 0)) = 1;
+tbins((tbins >= n) | (t >= 1)) = n - 1;
+
+% Do the fractional integration within each segment
+% for the interpolated points. t is the parameter
+% used to define the splines. It is defined in terms
+% of a linear chordal arclength. This works nicely when
+% a linear piecewise interpolant was used. However,
+% what is asked for is an arclength interpolation
+% in terms of arclength of the spline itself. Call s
+% the arclength traveled along the spline.
+s = totalsplinelength*t;
+
+% the ode45 options will now include an events property
+% so we can catch zero crossings.
+opts = odeset('reltol',1.e-9,'events',@ode_events);
+
+ti = t;
+for i = 1:nt
+  % si is the piece of arc length that we will look
+  % for in this spline segment.
+  si = s(i) - cumseglen(tbins(i));
+  
+  % extract polynomials for the derivatives
+  % in the interval the point lies in
+  for j = 1:ndim
+    polyarray(j,:) = spld{j}.coefs(tbins(i),:);
+  end
+  
+  % we need to integrate in t, until the integral
+  % crosses the specified value of si. Because we
+  % have defined totalsplinelength, the lengths will
+  % be normalized at this point to a unit length.
+  %
+  % Start the ode solver at -si, so we will just
+  % look for an event where y crosses zero.
+  [tout,yout,te,ye] = ode45(@(t,y) segkernel(t,y),[0,chordlen(tbins(i))],-si,opts); %#ok
+  
+  % we only need that point where a zero crossing occurred
+  % if no crossing was found, then we can look at each end.
+  if ~isempty(te)
+    ti(i) = te(1) + cumarc(tbins(i));
+  else
+    % a crossing must have happened at the very
+    % beginning or the end, and the ode solver
+    % missed it, not trapping that event.
+    if abs(yout(1)) < abs(yout(end))
+      % the event must have been at the start.
+      ti(i) = tout(1) + cumarc(tbins(i));
+    else
+      % the event must have been at the end.
+      ti(i) = tout(end) + cumarc(tbins(i));
+    end
+  end
+end
+
+% Interpolate the parametric splines at ti to get
+% our interpolated value.
+for L = 1:ndim
+  pt(:,L) = ppval(spl{L},ti);
+end
+
+% do we need to compute first derivatives here at each point?
+if nargout > 1
+  dudt = zeros(nt,ndim);
+  for L = 1:ndim
+    dudt(:,L) = ppval(spld{L},ti);
+  end
+end
+
+% create a function handle for evaluation, passing in the splines
+if nargout > 2
+  fofthandle = @(t) foft(t,spl);
+end
+
+% ===============================================
+%  nested function for the integration kernel
+% ===============================================
+  function val = segkernel(t,y) %#ok
+    % sqrt((dx/dt)^2 + (dy/dt)^2 + ...)
+    val = zeros(size(t));
+    for k = 1:ndim
+      val = val + polyval(polyarray(k,:),t).^2;
+    end
+    val = sqrt(val);
+    
+  end % function segkernel
+
+% ===============================================
+%  nested function for ode45 integration events
+% ===============================================
+  function [value,isterminal,direction] = ode_events(t,y) %#ok
+    % ode event trap, looking for zero crossings of y.
+    value = y;
+    isterminal = ones(size(y));
+    direction = ones(size(y));
+  end % function ode_events
+
+end % mainline - interparc
+
+
+% ===============================================
+%       end mainline - interparc
+% ===============================================
+%       begin subfunctions
+% ===============================================
+
+% ===============================================
+%  subfunction for evaluation at any point externally
+% ===============================================
+function f_t = foft(t,spl)
+% tool allowing the user to evaluate the interpolant at any given point for any values t in [0,1]
+pdim = numel(spl);
+f_t = zeros(numel(t),pdim);
+
+% convert t to a column vector, clipping it to [0,1] as we do.
+t = max(0,min(1,t(:)));
+
+% just loop over the splines in the cell array of splines
+for i = 1:pdim
+  f_t(:,i) = ppval(spl{i},t);
+end
+end % function foft
+
+
+function [str,errorclass] = validstring(arg,valid)
+% validstring: compares a string against a set of valid options
+% usage: [str,errorclass] = validstring(arg,valid)
+%
+% If a direct hit, or any unambiguous shortening is found, that
+% string is returned. Capitalization is ignored.
+%
+% arguments: (input)
+%  arg - character string, to be tested against a list
+%        of valid choices. Capitalization is ignored.
+%
+%  valid - cellstring array of alternative choices
+%
+% Arguments: (output)
+%  str - string - resulting choice resolved from the
+%        list of valid arguments. If no unambiguous
+%        choice can be resolved, then str will be empty.
+%
+%  errorclass - string - A string argument that explains
+%        the error. It will be one of the following
+%        possibilities:
+%
+%        ''  --> No error. An unambiguous match for arg
+%                was found among the choices.
+%
+%        'No match found' --> No match was found among 
+%                the choices provided in valid.
+%
+%        'Ambiguous argument' --> At least two ambiguous
+%                matches were found among those provided
+%                in valid.
+%        
+%
+% Example:
+%  valid = {'off' 'on' 'The sky is falling'}
+%  
+%
+% See also: parse_pv_pairs, strmatch, strcmpi
+%
+% Author: John D'Errico
+% e-mail: woodchips@rochester.rr.com
+% Release: 1.0
+% Release date: 3/25/2010
+
+ind = find(strncmpi(lower(arg),valid,numel(arg)));
+if isempty(ind)
+  % No hit found
+  errorclass = 'No match found';
+  str = '';
+elseif (length(ind) > 1)
+  % Ambiguous arg, hitting more than one of the valid options
+  errorclass = 'Ambiguous argument';
+  str = '';
+  return
+else
+  errorclass = '';
+  str = valid{ind};
+end
+
+end % function validstring
+
diff --git a/bag/analysys/matchaxes.asv b/bag/analysys/matchaxes.asv
new file mode 100644
index 0000000000000000000000000000000000000000..96b92d33c23f0b03f3b90423df6fde34b8a453d7
--- /dev/null
+++ b/bag/analysys/matchaxes.asv
@@ -0,0 +1,24 @@
+function matchaxes(GT, TS, t0, t1)
+    [GTpos TSpos] = synchronize(GT.pos, TS.pos, 'Intersection');
+    [GTang TSang] = synchronize(GT.ang, TS.ang, 'Union');
+    GT = tscollection({GTpos GTang});
+    TS = tscollection({TSpos TSang});
+    Gpos = getsampleusingtime(GT, GT.Time(t0), GT.Time(t1)).pos.Data;
+    Tpos = getsampleusingtime(TS, GT.Time(t0), GT.Time(t1)).pos.Data;
+    Tt = getsampleusingtime(TS, GT.Time(t0), GT.Time(t1)).Time;
+    Gt = getsampleusingtime(GT, GT.Time(t0), GT.Time(t1)).Time;
+    Grot = getsampleusingtime(GT, GT.Time(t0), GT.Time(t1)).ang.Data;
+    Trot = getsampleusingtime(TS, GT.Time(t0), GT.Time(t1)).ang.Data;
+
+    rotangles = Grot(1,:)-Trot(1,:)
+    rotmatrix = eul2rotm(rotangles)
+    Tpos_at_origin = (Tpos - Tpos(1,:));
+    Tpos_rotated_at_origin = Tpos_at_origin*rotmatrix;
+    Tpos_at_Gpos_origin = Tpos_rotated_at_origin + Gpos(1,:);
+
+    figure
+    plot(Gt, Gpos)
+    hold on
+    plot(Tt, Tpos_at_Gpos_origin)
+
+end
\ No newline at end of file
diff --git a/bag/analysys/matchaxes.m b/bag/analysys/matchaxes.m
new file mode 100644
index 0000000000000000000000000000000000000000..98fccce70bd74f3023d9139d8bb66027b3e30cc1
--- /dev/null
+++ b/bag/analysys/matchaxes.m
@@ -0,0 +1,22 @@
+function [Tpos_at_Gpos_origin, Gdata] = matchaxes(GT, TS, t0, t1)
+    Gpos = getsampleusingtime(GT, GT.Time(t0), GT.Time(t1)).pos;
+    Tpos = getsampleusingtime(TS, GT.Time(t0), GT.Time(t1)).pos;
+    [Gpos, Tpos] = synchronize(Gpos, Tpos, 'Union', 'KeepOriginalTimes',true);
+
+    Grot = getsampleusingtime(GT, GT.Time(t0), GT.Time(t1)).ang;
+    Trot = getsampleusingtime(TS, GT.Time(t0), GT.Time(t1)).ang;
+    [Grot, Trot] = synchronize(Grot, Trot, 'Union', 'KeepOriginalTimes',true');
+
+    Tt = Tpos.Time;
+    Gt = Gpos.Time;
+
+
+    rotangles = Grot.Data(1,:)-Trot.Data(1,:);
+    rotmatrix = eul2rotm(rotangles);
+    Tpos_at_origin = (Tpos.Data - Tpos.Data(1,:));
+    Tpos_rotated_at_origin = Tpos_at_origin*rotmatrix;
+
+    Tpos_at_Gpos_origin = Tpos_rotated_at_origin + Gpos.Data(1,:);
+    Gdata = Gpos.Data;
+
+end
\ No newline at end of file
diff --git a/bag/analysys/ploterrs.m b/bag/analysys/ploterrs.m
new file mode 100644
index 0000000000000000000000000000000000000000..ae6d9945f1ee83802ac22de8d1aafd6668b053fb
--- /dev/null
+++ b/bag/analysys/ploterrs.m
@@ -0,0 +1,26 @@
+function ploterrs(ts0, ts)
+    edist = ts.pos - ts0.pos;
+    eang = ts.ang - ts0.ang;
+    edist.name='Distance error';
+    eang.name='Angular error';
+    edist.DataInfo.Units='meters';
+    eang.DataInfo.Units='radians';
+    edist.TimeInfo.Units='seconds';
+    edist.TimeInfo.Format='SS';
+    eang.TimeInfo.Units='seconds';
+    eang.TimeInfo.Format='SS';
+    
+    %Plot norm of position
+    figure
+    plot(edist.Time, vecnorm([edist.Data(:,1)'; edist.Data(:,2)'; edist.Data(:,3)']))
+    title(edist.name)
+    xlabel(edist.TimeInfo.Units)
+    ylabel(edist.DataInfo.Units)
+    
+    %Plot error of angle
+    figure
+    plot(eang.Time, abs(eang.Data))
+    title(eang.name)
+    xlabel(eang.TimeInfo.Units)
+    ylabel(eang.DataInfo.Units)
+end
\ No newline at end of file
diff --git a/bag/generate_trajectory_csv.bash b/bag/generate_trajectory_csv.bash
index b1b55b3e4626b06ff6239018804182ae14ebac13..165722833ba27721f2c105638e4c62705c166ee1 100644
--- a/bag/generate_trajectory_csv.bash
+++ b/bag/generate_trajectory_csv.bash
@@ -13,8 +13,8 @@ fi
 #   Starting with E ==> experiment, we extract the poses
 for yamlfile in $(find ../yaml/trajectory_analysys -maxdepth 1 -type f -printf "%f\n")
 do
-  rm recordings/trajectory_recording$yamlname.bag
   yamlname=${yamlfile%.*}
+  rm recordings/trajectory_recording$yamlname.bag
   roslaunch wolf_demo_imu2d imu2d_analysys.launch bag:=$BAG\_filtered_notf test:=$yamlfile speed:=1 suffix:=$yamlname rviz:=false
   if [[ ${yamlname:0:1} == 'G' ]]
   then
@@ -25,12 +25,15 @@ do
     rm CSV/$yamlname.csv
     rostopic echo -b recordings/trajectory_recording$yamlname\_tmp.bag /wolf_ros_node/trajectory -p > CSV/$yamlname.csv
     rm recordings/trajectory_recording$yamlname\_tmp.bag
+
+    rm CSV/transp/$yamlname\_transp.csv
+    python3 transpose_csv.py CSV/$yamlname.csv CSV/transp/$yamlname\_transp.csv
+
   elif [[ ${yamlname:0:1} == 'E' ]]
   then
     rm CSV/$yamlname.csv
     rostopic echo -b recordings/trajectory_recording$yamlname.bag /wolf_ros_node/pose_pose_with_cov -p > CSV/$yamlname.csv
+    cp CSV/$yamlname.csv CSV/transp/$yamlname\_transp.csv
   fi
-  rm CSV/transp/$yamlname\_transp.csv
-  python3 transpose_csv.py CSV/$yamlname.csv CSV/transp/$yamlname\_transp.csv
   
 done
diff --git a/bag/transpose_csv.py b/bag/transpose_csv.py
index 75296bd35fed68785e46deef9391c9b8cb24a4e3..f897827d9dbc2f8bf0cd14062d266feeb504b183 100644
--- a/bag/transpose_csv.py
+++ b/bag/transpose_csv.py
@@ -1,7 +1,7 @@
 import pandas as pd
 import sys
 def transpose(in_bag, out_bag):
-    pd.read_csv(in_bag, header=None).T.to_csv(out_bag, header=False, index=False)
+    pd.read_csv(in_bag, header=None, dtype='unicode').T.to_csv(out_bag, header=False, index=False)
 
 if __name__ == '__main__':
     in_bag = sys.argv[1]
diff --git a/yaml/trajectory_analysys/E-1_0.yaml b/yaml/trajectory_analysys/E-1_0.yaml
index 09e4919e917e54b561663cf47e72fffab8049b9e..2dd84dbc83fd7085cac6267b3cf6cb542b8aba9c 100644
--- a/yaml/trajectory_analysys/E-1_0.yaml
+++ b/yaml/trajectory_analysys/E-1_0.yaml
@@ -1,7 +1,7 @@
 config:
   debug:
     profiling: true
-    profiling_file: "~/wolf_demo_profiling_imu2d_test5.txt"
+    profiling_file: "~/profiling/wolf_demo_profiling_E-1_0.txt"
     print_problem: false
     print_period: 2
     print_depth: 4
@@ -137,7 +137,7 @@ config:
       type: "PublisherPose"
       topic: "pose"
       extrinsics: false
-      period: 0.005
+      period: 0.01
       frame_id: "map"
     -
       package: "wolf_ros_laser"
diff --git a/yaml/trajectory_analysys/G-1_0.yaml b/yaml/trajectory_analysys/G-1_0.yaml
index 7c0cf8ef3dc705d1f3804fa1f28594b07c94c9b3..ffc545a501eefe8ff7eba9acacd28911062b3803 100644
--- a/yaml/trajectory_analysys/G-1_0.yaml
+++ b/yaml/trajectory_analysys/G-1_0.yaml
@@ -1,7 +1,7 @@
 config:
   debug:
     profiling: true
-    profiling_file: "~/wolf_demo_profiling_imu2d_test0.txt"
+    profiling_file: "~/profiling/wolf_demo_profiling_G-1_0.txt"
     print_problem: false
     print_period: 2
     print_depth: 4
diff --git a/yaml/trajectory_analysys/hold/E-0_1.yaml b/yaml/trajectory_analysys/hold/E-0_1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fb7d5a1982e4b18ba6730d4709f7ede35de8735c
--- /dev/null
+++ b/yaml/trajectory_analysys/hold/E-0_1.yaml
@@ -0,0 +1,157 @@
+config:
+  debug:
+    profiling: true
+    profiling_file: "~/profiling/wolf_demo_profiling_E-0_1.txt"
+    print_problem: false
+    print_period: 2
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: true
+  problem:
+    tree_manager:
+      type: "none"
+    frame_structure: "POV"
+    dimension: 2
+    prior:
+      mode: "fix"
+      $state:
+        P: [0,0]
+        O: [0]
+        V: [0,0]
+      time_tolerance: 0.1
+    node_rate: 100
+  map:
+    type: "MapBase"
+    plugin: "core"
+      
+  solver:
+    follow: "parameters/solver.yaml"
+
+    
+  sensors:
+    -
+      type: "SensorLaser2d"
+      name: "scanner_front_left"
+      plugin: "laser"
+      follow: "parameters/test_laser_params.yaml"
+    -
+      type: "SensorImu2d"
+      name: "bno"
+      plugin: "imu"
+      follow: "parameters/test_imu_params_bno.yaml" 
+    -
+      type: "SensorImu2d"
+      name: "microstrain"
+      plugin: "imu"
+      follow: "parameters/test_imu_params_microstrain.yaml" 
+
+  processors:
+    -
+      type: "ProcessorOdomIcp"
+      name: "processorodomicp"
+      sensor_name: "scanner_front_left"
+      plugin: "laser"
+      keyframe_vote:
+        voting_active: true
+        min_features_for_keyframe: 10
+        min_dist: 999
+        min_angle: 999
+        min_time: 0.1
+        min_error: 999
+        max_points: 0
+      follow: "parameters/test_laser_processor.yaml"
+        #-
+        #  type: "ProcessorLoopClosureIcp"
+        #  name: "processorloopclosureicp"
+        #  sensor_name: "scanner_front_left"
+        #  plugin: "laser"
+        #  time_tolerance: 0.1
+        #  apply_loss_function: true
+        #  keyframe_vote:
+        #    voting_active: false
+        #  recent_frames_ignored: 10
+        #  frames_ignored_after_loop: 0
+        #  max_error_threshold: 0.02
+        #  min_points_percent: 40
+        #  max_loops: 1
+        #  max_candidates: 5
+        #  max_attempts: 5
+        #  candidate_generation: "random" # 'random' or 'tree'
+        #  icp:
+        #    follow: "parameters/csm.yaml"
+    -
+      type: "ProcessorImu2d"
+      name: "processorimu2dbno"
+      sensor_name: "bno"
+      plugin: "imu"
+      follow: "parameters/test_imu_processor_bno.yaml"
+    -
+      type: "ProcessorImu2d"
+      name: "processorimu2dmicro"
+      sensor_name: "microstrain"
+      plugin: "imu"
+      follow: "parameters/test_imu_processor_microstrain.yaml"
+      
+  ROS subscriber:
+    -
+      package: "wolf_ros_laser"
+      type: "SubscriberLaser2d"
+      topic: "/ana/sensors/scan"
+      sensor_name: "scanner_front_left"
+      load_params_from_msg: true
+    #-
+    #  package: "wolf_ros_imu"
+    #  type: "SubscriberImuEnableable"
+    #  topic: "/ana/sensors/bno055_imu/imumal"
+    #  sensor_name: "bno"
+    #  follow: "parameters/test_imu_subscriber_bno.yaml"
+    -
+      package: "wolf_ros_imu"
+      type: "SubscriberImuEnableable"
+      topic: "/ana/imu/data"
+      sensor_name: "microstrain"
+      follow: "parameters/test_imu_subscriber_microstrain.yaml"
+
+  ROS publisher:
+    -
+      package: "wolf_ros_node"
+      type: "PublisherTf"
+      topic: " "
+      period: 0.1
+      follow: "parameters/test_publisher_ros_node.yaml"
+    -
+      package: "wolf_ros_node"
+      type: "PublisherGraph"
+      topic: "graph"
+      period: 1
+      viz_overlapped_factors: true
+    -
+      package: "wolf_ros_node"
+      type: "PublisherTrajectory"
+      topic: "trajectory"
+      period: 1
+      frame_id: "map"
+    -
+      package: "wolf_ros_node"
+      type: "PublisherPose"
+      topic: "pose"
+      extrinsics: false
+      period: 0.005
+      frame_id: "map"
+    -
+      package: "wolf_ros_laser"
+      type: "PublisherLaserMap"
+      topic: "map"
+      period: 1
+      map_frame_id: "map"
+      update_dist_th: 0.05
+      update_angle_th: 0.05
+      max_n_cells: 1000000
+      grid_size: 0.1
+      p_free: 0.3
+      p_obst: 0.8
+      p_free_th: 0.2
+      p_obst_th: 0.9
+      discard_max_range: true
+
diff --git a/yaml/trajectory_analysys/hold/G-0_1.yaml b/yaml/trajectory_analysys/hold/G-0_1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0d39fd8b6d55974ffafac2663dd7ca98e53ee797
--- /dev/null
+++ b/yaml/trajectory_analysys/hold/G-0_1.yaml
@@ -0,0 +1,115 @@
+config:
+  debug:
+    profiling: true
+    profiling_file: "~/profiling/wolf_demo_profiling_G-0_1.txt"
+    print_problem: false
+    print_period: 2
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: true
+  problem:
+    tree_manager:
+      type: "none"
+    frame_structure: "POV"
+    dimension: 2
+    prior:
+      mode: "fix"
+      $state:
+        P: [0,0]
+        O: [0]
+        V: [0,0]
+      time_tolerance: 0.1
+    node_rate: 100
+  map:
+    type: "MapBase"
+    plugin: "core"
+      
+  solver:
+    follow: "parameters/solver.yaml"
+
+  sensors:
+    -
+      type: "SensorLaser2d"
+      name: "scanner_front_left"
+      plugin: "laser"
+      follow: "parameters/test_laser_params.yaml"
+
+  processors:
+    -
+      type: "ProcessorOdomIcp"
+      name: "processorodomicp"
+      sensor_name: "scanner_front_left"
+      plugin: "laser"
+      keyframe_vote:
+        voting_active: true
+        min_features_for_keyframe: 10
+        min_dist: 999
+        min_angle: 999
+        min_time: 0.1
+        min_error: 999
+        max_points: 0
+      follow: "parameters/test_laser_processor.yaml"
+        #-
+        #  type: "ProcessorLoopClosureIcp"
+        #  name: "processorloopclosureicp"
+        #  sensor_name: "scanner_front_left"
+        #  plugin: "laser"
+        #  time_tolerance: 0.1
+        #  apply_loss_function: true
+        #  keyframe_vote:
+        #    voting_active: false
+        #  recent_frames_ignored: 3
+        #  frames_ignored_after_loop: 0
+        #  max_error_threshold: 0.02
+        #  min_points_percent: 40
+        #  max_loops: 3
+        #  max_candidates: 5
+        #  max_attempts: 15
+        #  candidate_generation: "random" # 'random' or 'tree'
+        #  icp:
+        #    follow: "parameters/csm.yaml"
+
+      
+  ROS subscriber:
+    -
+      package: "wolf_ros_laser"
+      type: "SubscriberLaser2d"
+      topic: "/ana/sensors/scan"
+      sensor_name: "scanner_front_left"
+      load_params_from_msg: true
+
+  ROS publisher:
+    -
+      package: "wolf_ros_node"
+      type: "PublisherTf"
+      topic: " "
+      period: 0.1
+      follow: "parameters/test_publisher_ros_node.yaml"
+    -
+      package: "wolf_ros_node"
+      type: "PublisherGraph"
+      topic: "graph"
+      period: 1
+      viz_overlapped_factors: true
+    -
+      package: "wolf_ros_node"
+      type: "PublisherTrajectory"
+      topic: "trajectory"
+      period: 1
+      frame_id: "map"
+    -
+      package: "wolf_ros_laser"
+      type: "PublisherLaserMap"
+      topic: "map"
+      period: 1
+      map_frame_id: "map"
+      update_dist_th: 0.05
+      update_angle_th: 0.05
+      max_n_cells: 1000000
+      grid_size: 0.1
+      p_free: 0.3
+      p_obst: 0.8
+      p_free_th: 0.2
+      p_obst_th: 0.9
+      discard_max_range: true