only covers the test call, not fixture setup/teardown, so the
+ # cumulative-time cursor drifts a second or two per test against the
+ # log file's wall-clock timestamps. Without padding, very-short tests
+ # (~0.5s failures from BT-load errors) miss their own error line.
+ pad_before = 2.0
+ pad_after = 5.0
+ t_start = (suite_unix + cumulative_time) if suite_unix else None
+ t_end = (suite_unix + cumulative_time + time_s) if suite_unix else None
+ # Skipped tests don't actually consume sim time, so don't advance the
+ # cumulative cursor for them.
+ if status != "skipped":
+ cumulative_time += time_s
+
+ # The first non-skipped test absorbs any pre-suite log entries
+ # (e.g., a backend node crashing during launch.bringup before the
+ # suite timestamp was emitted). Without this, boot-failure stack
+ # traces in launch.log fall outside every test's window and get
+ # rendered as "No ROS log lines in this test's time window."
+ extend_back_to: float | None = None
+ if (
+ t_start is not None
+ and status != "skipped"
+ and not first_non_skipped_seen
+ and ros_starts
+ and ros_starts[0] < t_start
+ ):
+ extend_back_to = ros_starts[0]
+ if status != "skipped":
+ first_non_skipped_seen = True
+
+ if t_start is not None and ros_lines:
+ # extend_back_to is a widen-only override: take whichever is earlier
+ # so the first-test window never gets narrower than any other test's.
+ window_start = t_start - pad_before
+ if extend_back_to is not None:
+ window_start = min(window_start, extend_back_to)
+ log_slice = slice_log(
+ ros_lines, ros_starts, window_start, t_end + pad_after
+ )
+ else:
+ log_slice = []
+
+ warn_n = sum(1 for _, lvl, _, _ in log_slice if lvl == "WARN")
+ err_n = sum(1 for _, lvl, _, _ in log_slice if lvl in ("ERROR", "FATAL"))
+
+ groups[parent].append(
+ {
+ "status": status,
+ "fname": fname,
+ "full": full,
+ "objective_name": extract_objective_name(full),
+ "time": time_s,
+ "t_start": t_start,
+ "t_end": t_end,
+ "log_slice": log_slice,
+ "warn_n": warn_n,
+ "err_n": err_n,
+ }
+ )
+
+ status_rank = {"failed": 0, "error": 1, "passed": 2, "skipped": 3}
+ for tests in groups.values():
+ tests.sort(key=lambda r: (status_rank[r["status"]], -r["time"], r["fname"]))
+
+ def group_key(item):
+ parent, tests = item
+ fails = sum(1 for t in tests if t["status"] in ("failed", "error"))
+ return (-fails, parent)
+
+ sorted_groups = sorted(groups.items(), key=group_key)
+ total = sum(counts.values())
+
+ executed_times = [
+ t["time"]
+ for tests in groups.values()
+ for t in tests
+ if t["status"] != "skipped"
+ ]
+ avg_exec_time = (
+ (sum(executed_times) / len(executed_times)) if executed_times else 0.0
+ )
+
+ def status_badge(s: str) -> str:
+ symbols = {"passed": "✓", "failed": "✕", "error": "!", "skipped": "−"}
+ return f'{symbols[s]} {s} '
+
+ def render_log_slice(log_slice: list[tuple[float, str, str, str]]) -> str:
+ if not log_slice:
+ return 'No ROS log lines in this test\'s time window.
'
+ # Fold every duplicate (level, node, msg) in the slice down to one
+ # entry, anchored at the first occurrence's timestamp, with a count
+ # badge for repeats. Strict-consecutive collapsing misses cases where
+ # a retry loop's messages interleave with other nodes' output — group
+ # collapsing handles those.
+ seen: dict[tuple[str, str, str], list] = {}
+ ordered_keys: list[tuple[str, str, str]] = []
+ for ts, lvl, node, msg in log_slice:
+ key = (lvl, node, msg)
+ if key in seen:
+ seen[key][1] += 1
+ else:
+ seen[key] = [ts, 1]
+ ordered_keys.append(key)
+ collapsed: list[tuple[float, str, str, str, int]] = [
+ (seen[k][0], k[0], k[1], k[2], seen[k][1]) for k in ordered_keys
+ ]
+
+ rows: list[str] = []
+ anchor = collapsed[0][0]
+ for ts, lvl, node, msg, count in collapsed:
+ rel = ts - anchor
+ level_class = (
+ lvl.lower()
+ if lvl in ("ERROR", "FATAL", "WARN", "INFO", "DEBUG")
+ else "info"
+ )
+ count_badge = (
+ f' ×{count} ' if count > 1 else ""
+ )
+ rows.append(
+ f''
+ f'+{rel:6.2f}s '
+ f'{lvl} '
+ f'{html.escape(node)} '
+ f'{html.escape(msg)}{count_badge} '
+ f"
"
+ )
+ return f'{"".join(rows)}
'
+
+ section_parts: list[str] = []
+ test_idx = 0
+ for parent, tests in sorted_groups:
+ g_fails = sum(1 for t in tests if t["status"] in ("failed", "error"))
+ g_passes = sum(1 for t in tests if t["status"] == "passed")
+ g_skips = sum(1 for t in tests if t["status"] == "skipped")
+ chips: list[str] = []
+ if g_fails:
+ chips.append(f'{g_fails} fail ')
+ if g_passes:
+ chips.append(f'{g_passes} pass ')
+ if g_skips:
+ chips.append(f'{g_skips} skip ')
+
+ rows_html: list[str] = []
+ for r in tests:
+ has_logs = bool(r["log_slice"])
+ details_html = (
+ f''
+ f'{render_log_slice(r["log_slice"])} '
+ )
+ click = (
+ f"onclick=\"document.getElementById('d{test_idx}').hidden = "
+ f"!document.getElementById('d{test_idx}').hidden\""
+ )
+ cursor = 'style="cursor: pointer"'
+
+ # Replace the pytest-fail message with a log summary.
+ if has_logs:
+ pieces: list[str] = []
+ if r["err_n"]:
+ pieces.append(
+ f'{r["err_n"]} error{"s" if r["err_n"] != 1 else ""} '
+ )
+ if r["warn_n"]:
+ pieces.append(
+ f'{r["warn_n"]} warning{"s" if r["warn_n"] != 1 else ""} '
+ )
+ info_n = sum(1 for _, lvl, _, _ in r["log_slice"] if lvl == "INFO")
+ if info_n:
+ pieces.append(f'{info_n} info ')
+ msg_cell = " · ".join(pieces)
+ elif r["status"] == "skipped":
+ msg_cell = 'skipped '
+ else:
+ msg_cell = 'no logs '
+
+ obj_cell = (
+ f'{html.escape(r["objective_name"])} '
+ if r["objective_name"]
+ else '— '
+ )
+ search_field = html.escape(
+ (r["objective_name"] or "") + " " + r["fname"]
+ ).lower()
+ rows_html.append(
+ f''
+ f'{status_badge(r["status"])} '
+ f"{obj_cell}"
+ f'{html.escape(r["fname"])} '
+ f'{r["time"]:.1f}s '
+ f'{msg_cell} '
+ f" {details_html}"
+ )
+ test_idx += 1
+
+ header_class = (
+ "group-failed"
+ if g_fails
+ else ("group-skipped" if g_skips and not g_passes else "group-passed")
+ )
+ section_parts.append(
+ f'"
+ )
+
+ pass_rate_denom = counts["passed"] + counts["failed"] + counts["error"]
+ pass_rate = (counts["passed"] / pass_rate_denom * 100) if pass_rate_denom else 0
+
+ # Default to the "Failed" filter when failures exist (post-mortem is the
+ # primary use case for this report). When every test passed, "Failed"
+ # would render an empty list, so default to "All" instead.
+ has_failures = counts["failed"] + counts["error"] > 0
+ default_filter = "failed" if has_failures else "all"
+ all_active = "" if has_failures else " active"
+ failed_active = " active" if has_failures else ""
+
+ # HTML/CSS/JS lives in render_report.html.tmpl so it can be edited
+ # (and linted) independently of the Python that orchestrates it. Pre-flatten
+ # every expression the template needs into a single named local — str.format
+ # only accepts plain names + format specs in its placeholders, not the
+ # arbitrary expressions an f-string allows.
+ template_path = Path(__file__).with_name("render_report.html.tmpl")
+ html_out = template_path.read_text(encoding="utf-8").format(
+ total=total,
+ duration_str=format_duration(total_time),
+ timestamp_str=html.escape(format_timestamp(timestamp)),
+ hostname_esc=html.escape(hostname),
+ log_line_count=len(ros_lines),
+ passed=counts["passed"],
+ failed_total=counts["failed"] + counts["error"],
+ skipped=counts["skipped"],
+ avg_exec_time=avg_exec_time,
+ pass_rate=pass_rate,
+ all_active=all_active,
+ failed_active=failed_active,
+ default_filter=default_filter,
+ sections_html="".join(section_parts),
+ )
+ out_path.write_text(html_out, encoding="utf-8")
+ print(f"Wrote {out_path} ({len(html_out):,} bytes)")
+
+
+if __name__ == "__main__":
+ main()
diff --git a/.github/workflows/backport.yaml b/.github/workflows/backport.yaml
new file mode 100644
index 000000000..4cd715410
--- /dev/null
+++ b/.github/workflows/backport.yaml
@@ -0,0 +1,207 @@
+name: Backport merged pull request
+
+on:
+ pull_request_target:
+ types: [closed]
+ issue_comment:
+ types: [created]
+
+# All operations in this workflow — including `actions/checkout` — flow
+# through a GitHub App installation token (see the `app-token` step), so
+# the default `GITHUB_TOKEN` only needs the minimum scope to satisfy the
+# Actions runner.
+permissions:
+ contents: read
+
+concurrency:
+ group: backport-${{ github.event.pull_request.number || github.event.issue.number }}
+ cancel-in-progress: false
+
+jobs:
+ backport:
+ name: Backport pull request
+ runs-on: ubuntu-latest
+
+ # Run on merged PRs that carry a backport label (default `label_pattern` is `^backport ([^ ]+)$`),
+ # or on `/backport ` comments posted on a merged pull request.
+ # The trailing space in `/backport ` avoids matching `/backporting`, `/backport-status`, etc.
+ if: >
+ (
+ github.event_name == 'pull_request_target' &&
+ github.event.pull_request.merged &&
+ contains(toJSON(github.event.pull_request.labels.*.name), '"backport ')
+ ) || (
+ github.event_name == 'issue_comment' &&
+ github.event.issue.pull_request &&
+ github.event.issue.pull_request.merged_at != null &&
+ startsWith(github.event.comment.body, '/backport ')
+ )
+
+ steps:
+ # The default `GITHUB_TOKEN` cannot push to `.github/workflows/` — the
+ # Actions App has no `workflows` write capability and the `permissions:`
+ # schema has no key to grant it. A GitHub App installation token does
+ # carry that capability, scoped to the App's installation and short-lived
+ # (~1 hour), so it replaces the previously-used PAT (`PRO_ACTION_USER`).
+ #
+ # Mint the App token before `actions/checkout` and pass it as the
+ # checkout token. Otherwise `actions/checkout` persists the workflow's
+ # read-only `GITHUB_TOKEN` in `http..extraheader` (in a temp config
+ # included at local scope). That header — which git sends on every
+ # subsequent push — overrides the App-token credentials that
+ # `korthout/backport-action` injects into its push URL, and GitHub
+ # honors the read-only extraheader and returns 403
+ # ("Write access to repository not granted").
+ - name: Generate Token for backport
+ id: app-token
+ uses: actions/create-github-app-token@bcd2ba49218906704ab6c1aa796996da409d3eb1 # v3.2.0
+ with:
+ client-id: ${{ secrets.BACKPORT_APP_CLIENT_ID }}
+ private-key: ${{ secrets.BACKPORT_APP_PRIVATE_KEY }}
+
+ - name: Checkout
+ uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7.0.0
+ with:
+ token: ${{ steps.app-token.outputs.token }}
+
+ # On the `/backport ` comment path the action has no label to read,
+ # so parse the target branch out of the first line of the comment and feed
+ # it to the action via `target_branches`. Skipped for the label-triggered
+ # `pull_request_target` path, where the action's default `label_pattern`
+ # extracts the branch from the `backport ` label name.
+ - name: Parse target branch from /backport comment
+ id: parse-comment
+ if: github.event_name == 'issue_comment'
+ uses: actions/github-script@3a2844b7e9c422d3c10d287c895573f7108da1b3 # v9.0.0
+ with:
+ script: |
+ // Take only the first token after `/backport ` so trailing text in the
+ // same comment (e.g. an explanation) doesn't get fed in as part of the
+ // branch name.
+ const match = context.payload.comment.body.match(/^\/backport\s+(\S+)/);
+ if (!match) {
+ core.setFailed('Expected `/backport ` but found no target branch in the comment.');
+ return;
+ }
+ const branch = match[1];
+ core.info(`Parsed target branch from comment: ${branch}`);
+ core.setOutput('branch', branch);
+
+ # The backport action only exposes the source PR's FULL body via its
+ # `${pull_description}` placeholder — there's no built-in way to copy just
+ # one section. Extract the `Release notes` section here so the action can
+ # append it to the generated backport PR description below (see the
+ # `pull_description` input). The section is everything from its header up
+ # to (but not including) the next same-or-higher markdown header or the
+ # next thematic break (`---`) — exactly where the PR template ends it,
+ # with the `---` separator before `## Claude agent checks`. The parser is
+ # fenced-code-block aware (a `## ...` or `---` inside a ``` fence is not a
+ # real header/break), strips the template's HTML-comment placeholder so an
+ # unfilled section yields nothing, and emits an empty string when the
+ # source PR has no Release notes content.
+ #
+ # The source PR body is attacker-controllable, so it is read as DATA via
+ # the `context.payload` object — never interpolated into this script with
+ # `${{ }}` — which is the documented-safe pattern for `pull_request_target`.
+ - name: Extract Release notes section from source PR
+ id: release-notes
+ if: github.event_name == 'pull_request_target' || github.event_name == 'issue_comment'
+ uses: actions/github-script@3a2844b7e9c422d3c10d287c895573f7108da1b3 # v9.0.0
+ with:
+ script: |
+ // On the comment path the PR body lives on `issue.body` (a PR is an
+ // issue); on the merge path it's on `pull_request.body`. The
+ // job-level `if:` guarantees one of these two events.
+ const body = (context.eventName === 'issue_comment'
+ ? context.payload.issue?.body
+ : context.payload.pull_request?.body) || '';
+
+ const lines = body.split(/\r?\n/);
+ // Allow up to 3 leading spaces (CommonMark) on headers / breaks.
+ const headerRe = /^ {0,3}(#{1,6})\s+(.*?)\s*$/;
+ const breakRe = /^ {0,3}(?:-{3,}|\*{3,}|_{3,})\s*$/;
+ const fenceRe = /^\s*(?:```+|~~~+)/;
+
+ // 1. Locate the "Release notes" header, skipping fenced code blocks
+ // (a `## Release notes` quoted inside a ``` fence is not real).
+ // `.replace(/\s+#+\s*$/, '')` strips ATX closing hashes so
+ // `## Release notes ##` still matches.
+ let start = -1;
+ let level = 0;
+ let inFence = false;
+ for (let i = 0; i < lines.length; i++) {
+ if (fenceRe.test(lines[i])) { inFence = !inFence; continue; }
+ if (inFence) continue;
+ const m = lines[i].match(headerRe);
+ if (m && m[2].replace(/\s+#+\s*$/, '').trim().toLowerCase() === 'release notes') {
+ start = i;
+ level = m[1].length;
+ break;
+ }
+ }
+
+ if (start === -1) {
+ core.info('No "Release notes" section found in the source PR description.');
+ core.setOutput('section', '');
+ return;
+ }
+
+ // 2. Collect the section body — fence-aware so a `---` or header
+ // inside a code block doesn't terminate it early.
+ const collected = [];
+ inFence = false;
+ for (let i = start + 1; i < lines.length; i++) {
+ if (fenceRe.test(lines[i])) { inFence = !inFence; collected.push(lines[i]); continue; }
+ if (!inFence) {
+ const m = lines[i].match(headerRe);
+ if (m && m[1].length <= level) break; // next same/higher-level header
+ if (breakRe.test(lines[i])) break; // thematic break (template separator)
+ }
+ collected.push(lines[i]);
+ }
+
+ // 3. Strip the template's HTML-comment placeholder; an unfilled
+ // section is comment-only, so treat that as "no release notes".
+ const cleaned = collected.join('\n').replace(//g, '');
+ if (cleaned.trim() === '') {
+ core.info('Release notes section is empty (unfilled template). Emitting nothing.');
+ core.setOutput('section', '');
+ return;
+ }
+
+ // 4. Rebuild: header + tidied body (drop leading/trailing blank
+ // runs, collapse 3+ newlines to a single blank line).
+ let section = lines[start] + '\n\n'
+ + cleaned.replace(/^\n+/, '').replace(/\s+$/, '').replace(/\n{3,}/g, '\n\n');
+
+ // 5. Neutralize GitHub issue-closure keywords (close/fix/resolve +
+ // #N | GH-N | owner/repo#N) by backtick-quoting the keyword, so
+ // merging the backport doesn't replay a `Closes #N` smuggled in
+ // from the source PR's notes and close an unrelated issue.
+ section = section.replace(
+ /\b(close[sd]?|fix(?:e[sd])?|resolve[sd]?)(\s*:?\s+)((?:[\w.-]+\/[\w.-]+)?#\d+|GH-\d+)/gi,
+ (m, kw, sep, ref) => '`' + kw + '`' + sep + ref);
+
+ core.setOutput('section', section);
+
+ - name: Create backport pull requests
+ uses: korthout/backport-action@2e830a1d0b8269505846ddd407a70876913ad1f8 # v4.6.0
+ with:
+ github_token: ${{ steps.app-token.outputs.token }}
+ target_branches: ${{ steps.parse-comment.outputs.branch }}
+ add_author_as_assignee: true
+ add_labels: backport
+ auto_merge_enabled: true
+ copy_all_reviewers: true
+ experimental: '{"conflict_resolution": "draft_commit_conflicts"}'
+ # The first two lines are the action's default body (matched to
+ # v4.5.2, pinned by the SHA above); the trailing expression appends
+ # the source PR's Release notes section, or nothing when absent.
+ # `${pull_number}` / `${target_branch}` are the action's own template
+ # placeholders, substituted per-target PR; `${{ ... }}` is a GitHub
+ # Actions expression resolved before the action runs.
+ pull_description: |-
+ # Description
+ Backport of #${pull_number} to `${target_branch}`.
+
+ ${{ steps.release-notes.outputs.section }}
diff --git a/.github/workflows/batch-merge-release-branch.yaml b/.github/workflows/batch-merge-release-branch.yaml
new file mode 100644
index 000000000..28dca56d7
--- /dev/null
+++ b/.github/workflows/batch-merge-release-branch.yaml
@@ -0,0 +1,49 @@
+name: Batch Merge Release Branch
+
+on:
+ workflow_dispatch:
+
+ schedule:
+ - cron: '0 5 * * 1-5' # Run before every weekday at 05:00 UTC
+
+permissions:
+ contents: write
+ pull-requests: write
+
+jobs:
+ batch-merge-release-branch:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v7.0.0
+ with:
+ ref: main
+ fetch-depth: 0
+ lfs: false
+
+ - name: Get current release branch
+ id: get_current_release_branch
+ uses: PickNikRobotics/moveit_pro_ci/.github/actions/find_release_branch@a0e3b30c9aa8f8f82f95c91e5a34989d01caa046 # v0.9.0
+
+ - name: Merge release branch into main
+ id: merge
+ env:
+ RELEASE_BRANCH: ${{ steps.get_current_release_branch.outputs.branch }}
+ GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+ run: |
+ git config --global user.email "actions@github.com"
+ git config --global user.name "GitHub Actions"
+ RAND_SUFFIX=$RANDOM
+ git checkout -b merge-$RELEASE_BRANCH-main-$RAND_SUFFIX
+ git fetch origin $RELEASE_BRANCH
+ if git merge origin/$RELEASE_BRANCH --no-edit; then
+ echo "# Merge succeeded without conflicts" >> $GITHUB_STEP_SUMMARY
+ PR_BODY="Ready for merge!"
+ else
+ echo "# Merge failed with conflicts" >> $GITHUB_STEP_SUMMARY
+ git add -A
+ git commit -m "Merge $RELEASE_BRANCH into main (with conflicts)"
+ PR_BODY="⚠️Merge failed with conflicts! Please pull this branch and manually resolve the conflict by resetting this branch and re-merging."
+ fi
+ git push origin merge-$RELEASE_BRANCH-main-$RAND_SUFFIX
+ gh pr create --title "Merge ${{ steps.get_current_release_branch.outputs.branch }} into main" --body "$PR_BODY" --base main --head merge-$RELEASE_BRANCH-main-$RAND_SUFFIX --draft --reviewer infrastructure-devs
diff --git a/.github/workflows/bump_version.yaml b/.github/workflows/bump_version.yaml
new file mode 100644
index 000000000..f3882e6ff
--- /dev/null
+++ b/.github/workflows/bump_version.yaml
@@ -0,0 +1,81 @@
+name: Bump version
+
+on:
+ workflow_call:
+ inputs:
+ current_version:
+ description: 'Current version for the bump'
+ required: true
+ type: string
+ new_version:
+ description: 'New version for the bump'
+ required: true
+ type: string
+ base_branch:
+ description: 'Branch to check out and PR against. Defaults to the caller workflow''s ref.'
+ required: false
+ type: string
+ default: ''
+
+ workflow_dispatch:
+ inputs:
+ current_version:
+ description: 'Current version for the bump'
+ required: true
+ type: string
+ new_version:
+ description: 'New version for the bump'
+ required: true
+ type: string
+ base_branch:
+ description: 'Branch to check out and PR against. Defaults to the caller workflow''s ref.'
+ required: false
+ type: string
+ default: ''
+
+env:
+ CURRENT_VERSION: ${{ inputs.current_version }}
+ NEW_VERSION: ${{ inputs.new_version }}
+ BASE_BRANCH: ${{ inputs.base_branch || github.ref_name }}
+
+permissions:
+ contents: write
+
+jobs:
+ bump_version:
+ runs-on: ubuntu-latest
+
+ permissions:
+ contents: write
+ pull-requests: write
+
+ steps:
+ - name: Input Check
+ run: |
+ echo "# Inputs received " >> $GITHUB_STEP_SUMMARY
+ echo "Input versions: $CURRENT_VERSION && $NEW_VERSION" >> $GITHUB_STEP_SUMMARY
+ echo "Base branch: $BASE_BRANCH" >> $GITHUB_STEP_SUMMARY
+
+ - name: Checkout code
+ uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7.0.0
+ with:
+ ref: ${{ env.BASE_BRANCH }}
+
+ - name: Bump version
+ run: |
+ # Source-tree version strings, excluding vendored external_dependencies.
+ mapfile -t SRC_FILES < <(grep -r "$CURRENT_VERSION" --include=package.xml --include=setup.py --include=package.json ./src/ -l | grep -v '^./src/external_dependencies/' || true)
+ for f in "${SRC_FILES[@]}"; do
+ sed -i "s|$CURRENT_VERSION|$NEW_VERSION|g" "$f"
+ done
+
+ - name: Create Pull Request
+ uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1 # v8.1.1
+ with:
+ title: "Bump version to ${{ inputs.new_version }}"
+ body: |
+ Prep for ${{ inputs.new_version }} release from ${{ inputs.current_version }}.
+ commit-message: "Bump version to ${{ inputs.new_version }}"
+ branch: ${{ inputs.current_version }}-to-${{ inputs.new_version }}
+ base: ${{ env.BASE_BRANCH }}
+ draft: always-true
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 69ccf1f55..ec263585c 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -9,22 +9,872 @@ on:
description: 'The tag of the image to use for the container'
required: false
default: ''
- # Run every 6 hours Mon-Fri
+ repository_dispatch:
+ # Fired by the paired moveit_pro repo when a PR there finishes its image
+ # push. The payload carries `image_ref` (full GHCR reference with `{0}`
+ # placeholder for ros_distro), `image_tag`, `base_branch`, `moveit_pro_sha`,
+ # and `moveit_pro_pr` so this workflow can run the integration suite
+ # against the just-built image and post a commit status back to that PR.
+ types: [moveit_pro_pr]
+ # Run lab_sim/hangar_sim every 6 hours Mon-Fri, and the remaining example
+ # sims once a week (Sunday 06:00 UTC). The weekly cron is deliberately off
+ # the 6-hour Mon-Fri grid so the two never collide on the same minute; the
+ # `integration-test-weekly` job below keys on this exact string.
schedule:
- cron: "0 */6 * * 1-5"
+ - cron: "0 6 * * 0"
+
+concurrency:
+ # Dispatch-triggered runs from different moveit_pro PRs all share the same
+ # `github.ref` (this repo's default branch), so a plain ref-keyed group
+ # would let one dispatch cancel another and lose its status post-back.
+ # Include the dispatch payload's `moveit_pro_sha` / `moveit_pro_pr` (and
+ # for non-dispatch events, the PR head SHA) so each PR gets its own slot.
+ group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.event.client_payload.moveit_pro_sha || github.event.client_payload.moveit_pro_pr || github.event.pull_request.head.sha || github.ref }}
+ cancel-in-progress: true
jobs:
- integration-test-in-studio-container:
- uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@virtual-buffer
+ # Compute the inputs we forward to the reusable integration workflow and to
+ # the rollup status post-back. The logic differs by trigger:
+ # - `pull_request`: image_tag = PR base ref; checkout uses the PR head
+ # by default (no explicit `git_ref`). If the PR body contains a
+ # `needs: moveit_pro/#N` token, also fetch that moveit_pro PR's head
+ # SHA so we can pull its private GHCR image as `image_ref` and post
+ # the rollup status back to the moveit_pro PR.
+ # - `repository_dispatch`: every value comes from the payload, including
+ # `git_ref` (the version-paired example_ws branch to check out) since
+ # the dispatch event itself has no PR context.
+ # - everything else (push, schedule, workflow_dispatch): image_tag = the
+ # triggering ref's branch name.
+ resolve:
+ name: Resolve dispatch context
+ runs-on: ubuntu-22.04
+ outputs:
+ image_ref: ${{ steps.resolve.outputs.image_ref }}
+ image_tag: ${{ steps.resolve.outputs.image_tag }}
+ git_ref: ${{ steps.resolve.outputs.git_ref }}
+ moveit_pro_sha: ${{ steps.resolve.outputs.moveit_pro_sha }}
+ moveit_pro_pr_number: ${{ steps.resolve.outputs.moveit_pro_pr_number }}
+ steps:
+ - name: Detect `needs:` token in PR body
+ id: detect_needs
+ if: github.event_name == 'pull_request'
+ env:
+ PR_BODY: ${{ github.event.pull_request.body }}
+ run: |
+ set -e
+ matched="$(printf '%s' "$PR_BODY" | grep -oiE 'needs:[[:space:]]*moveit_pro/#[0-9]+' || true)"
+ if [ -n "$matched" ]; then
+ pr_num="$(printf '%s' "$matched" | grep -oE '[0-9]+' | head -1)"
+ echo "moveit_pro_pr=$pr_num" >> "$GITHUB_OUTPUT"
+ echo "Detected paired moveit_pro PR: #$pr_num"
+ else
+ echo "No paired moveit_pro PR in body."
+ fi
+
+ - name: Generate cross-repo App token
+ id: app-token
+ if: steps.detect_needs.outputs.moveit_pro_pr != '' || github.event_name == 'repository_dispatch'
+ uses: actions/create-github-app-token@bcd2ba49218906704ab6c1aa796996da409d3eb1 # v3.2.0
+ with:
+ client-id: ${{ secrets.SISTER_REPOS_APP_CLIENT_ID }}
+ private-key: ${{ secrets.SISTER_REPOS_APP_PRIVATE_KEY }}
+ owner: ${{ github.repository_owner }}
+ repositories: |
+ moveit_pro_example_ws
+ moveit_pro
+
+ - name: Resolve inputs
+ id: resolve
+ uses: actions/github-script@3a2844b7e9c422d3c10d287c895573f7108da1b3 # v9.0.0
+ env:
+ MOVEIT_PRO_PR_FROM_BODY: ${{ steps.detect_needs.outputs.moveit_pro_pr }}
+ DOCKERHUB_USERNAME: ${{ vars.DOCKERHUB_USERNAME }}
+ with:
+ # Falls back to the default GITHUB_TOKEN when the App token wasn't
+ # minted (no paired PR, not a dispatch). The default is sufficient
+ # for everything else this step does.
+ github-token: ${{ steps.app-token.outputs.token || github.token }}
+ script: |
+ const event = context.eventName;
+ // Docker Hub org that hosts the moveit-studio customer image.
+ // moveit_pro publishes under vars.DOCKERHUB_USERNAME (picknikciuser),
+ // which is the same default the reusable workflow falls back to; that
+ // var is not defined in this repo, so default to the known owner.
+ const dockerhubUsername = process.env.DOCKERHUB_USERNAME || 'picknikciuser';
+ let image_ref = '';
+ let image_tag = '';
+ // Per-distro CUDA image-suffix MAP (a JSON object keyed by ros_distro).
+ // The integration-test job appends the entry for its matrix
+ // `ros_distro` to `image_ref`. This is baked in HERE because
+ // moveit_pro_ci v0.9.0 pulls `image_ref` verbatim and no longer
+ // appends any suffix itself (the `gpu_image_suffix` input was removed
+ // in v0.9.0 / PR #37) — so the suffix must live in `image_ref`.
+ //
+ // example_ws runs integration jazzy-only (humble is disabled), so the
+ // map carries only `jazzy`. The default must track what moveit_pro
+ // actually publishes for jazzy: since the CUDA 13.2 migration
+ // (#19583 fanout), jazzy images carry -cuda13.2-cudnn9 ONLY — the
+ // old -cuda12.6 jazzy variant is no longer built, so a stale default
+ // 404s every `needs:` pull. moveit_pro owns the distro<->CUDA
+ // coupling (its build-matrix exclusion anchors) and is the single
+ // source of truth: on a repository_dispatch its payload overrides
+ // this value. To re-enable humble: add a `humble` entry here AND to
+ // integration-test's `ros_distro` matrix.
+ let gpu_image_suffixes = { jazzy: '-cuda13.2-cudnn9' };
+ // The single ros_distro example_ws runs integration on — must match
+ // the `integration-test` matrix / `ros_distros` input below. The
+ // suffix is selected for THIS distro. If humble is ever re-enabled,
+ // one `image_ref` template can no longer carry two different
+ // suffixes across the matrix — switch to per-distro `uses:` calls.
+ const ACTIVE_DISTRO = 'jazzy';
+ // Suffix to bake into image_ref. moveit_pro_ci v0.9.0 (PR #37) pulls
+ // image_ref VERBATIM and no longer appends a suffix, so the CUDA
+ // variant must live in image_ref itself.
+ let gpu_image_suffix = gpu_image_suffixes[ACTIVE_DISTRO];
+ // When true, image_ref already carries its suffix (legacy moveit_pro
+ // that bakes it in and sends no suffix field) → do NOT append again.
+ let image_ref_has_suffix = false;
+ let git_ref = '';
+ let moveit_pro_sha = '';
+ let moveit_pro_pr_number = '';
+
+ // Mirror moveit_pro's setup_docker_cache "Compute image tag" step
+ // exactly (`echo $TAG | tr '/' '_'`): only the slash is rewritten,
+ // to an underscore. A broader sanitize (e.g. slash -> dash) produces
+ // a tag that does not match the published image and 404s the pull.
+ const sanitizeBranch = (s) => s.replace(/\//g, '_');
+
+ if (event === 'repository_dispatch') {
+ const p = context.payload.client_payload || {};
+ image_ref = p.image_ref || '';
+ image_tag = p.image_tag || p.base_branch || 'main';
+ // moveit_pro owns the distro<->CUDA suffix coupling (its build
+ // matrix exclusion anchors) and is the single source of truth.
+ // Two payload shapes are accepted:
+ // - NEW moveit_pro: a suffix-free image_ref plus an explicit
+ // suffix — `gpu_image_suffixes` (per-distro JSON object,
+ // preferred) or `gpu_image_suffix` (single string, back-compat).
+ // We bake the active distro's suffix into image_ref ourselves.
+ // - LEGACY moveit_pro: NO suffix field, suffix already baked into
+ // image_ref. Use image_ref verbatim (do not double-append).
+ if (p.gpu_image_suffixes && p.gpu_image_suffixes[ACTIVE_DISTRO] != null) {
+ gpu_image_suffix = p.gpu_image_suffixes[ACTIVE_DISTRO];
+ } else if (p.gpu_image_suffix != null) {
+ gpu_image_suffix = p.gpu_image_suffix;
+ } else {
+ image_ref_has_suffix = true;
+ }
+ git_ref = p.base_branch || '';
+ moveit_pro_sha = p.moveit_pro_sha || '';
+ moveit_pro_pr_number = String(p.moveit_pro_pr || '');
+ } else if (event === 'pull_request') {
+ image_tag = context.payload.pull_request.base.ref;
+ const needsPr = process.env.MOVEIT_PRO_PR_FROM_BODY;
+ if (needsPr) {
+ const { data: pr } = await github.rest.pulls.get({
+ owner: 'PickNikRobotics',
+ repo: 'moveit_pro',
+ pull_number: parseInt(needsPr, 10),
+ });
+ moveit_pro_sha = pr.head.sha;
+ moveit_pro_pr_number = needsPr;
+ // Pull the paired moveit_pro PR's customer image from Docker Hub
+ // — that is where moveit_pro publishes it (the GHCR moveit-studio
+ // retag is gone). Suffix-free per-arch template (`…-{0}-amd64`);
+ // the active distro's suffix is baked on below.
+ image_ref = `${dockerhubUsername}/moveit-studio:${sanitizeBranch(pr.head.ref)}-{0}-amd64`;
+ }
+ } else {
+ // push, schedule, workflow_dispatch. A `workflow_dispatch` input
+ // (`image_tag`, declared at the top of this file) lets an
+ // operator pin the image manually; honor it before falling back
+ // to the triggering branch name.
+ const dispatchTag = (context.payload.inputs && context.payload.inputs.image_tag) || '';
+ image_tag = dispatchTag || (context.ref || 'refs/heads/main').replace(/^refs\/heads\//, '');
+ }
+
+ // moveit_pro_ci v0.9.0 appends NOTHING, so build a complete,
+ // suffix-bearing image_ref for every GPU path. The fallback below
+ // always uses the per-arch shape — --amd64 —
+ // matching the picknik-16-amd64-gpu runner below.
+ //
+ // moveit_pro no longer publishes arch-less aliases for the lines
+ // this branch targets. `main` froze its arch-less aliases on
+ // 2026-06-03 (main-jazzy-cuda12.6-cudnn9 is stuck at that date on
+ // Docker Hub). The v9.4 line publishes per-arch tags ONLY for the
+ // cuda13.2 jazzy build (internal_binaries pushes
+ // v9.4-jazzy-amd64-cuda13.2-cudnn9 straight to Docker Hub; the
+ // arch-less v9.4-jazzy-cuda13.2-cudnn9 alias is never created —
+ // verified absent on Docker Hub). A push to this branch resolves
+ // image_tag=v9.4, so the old `image_tag === 'main'` gate left the
+ // -amd64 off and the pull 404'd. Always append -amd64 here.
+ //
+ // repository_dispatch is excluded: its payload always carries
+ // image_ref, so it never reaches this fallback.
+ if (image_ref === '') {
+ const archSegment = event !== 'repository_dispatch' ? '-amd64' : '';
+ image_ref = `${dockerhubUsername}/moveit-studio:${image_tag}-{0}${archSegment}`;
+ }
+ if (!image_ref_has_suffix) {
+ image_ref = `${image_ref}${gpu_image_suffix}`;
+ }
+
+ core.info(`event=${event}`);
+ core.info(`image_ref=${image_ref}`);
+ core.info(`image_tag=${image_tag}`);
+ core.info(`gpu_image_suffix(baked)=${image_ref_has_suffix ? '(already in image_ref)' : gpu_image_suffix}`);
+ core.info(`git_ref=${git_ref}`);
+ core.info(`moveit_pro_sha=${moveit_pro_sha}`);
+ core.info(`moveit_pro_pr_number=${moveit_pro_pr_number}`);
+
+ core.setOutput('image_ref', image_ref);
+ core.setOutput('image_tag', image_tag);
+ core.setOutput('git_ref', git_ref);
+ core.setOutput('moveit_pro_sha', moveit_pro_sha);
+ core.setOutput('moveit_pro_pr_number', moveit_pro_pr_number);
+
+ integration-test:
+ needs: resolve
+ # Runs on every trigger EXCEPT the Sunday weekly cron, which is reserved for
+ # integration-test-weekly (the remaining sims). Without this guard, adding
+ # the second `schedule` cron above would fan this lab_sim/hangar_sim job out
+ # an extra time every Sunday — wasted GPU-runner slots with no PR to gate.
+ if: ${{ github.event_name != 'schedule' || github.event.schedule != '0 6 * * 0' }}
+ strategy:
+ fail-fast: false
+ matrix:
+ # Stream 2 expands this list one PR at a time as each sim gains a
+ # pytest entry.
+ config_package: [lab_sim, hangar_sim]
+ permissions:
+ # contents: read for checkout; id-token: write so the reusable workflow
+ # can assume the LFS S3 cache IAM role via OIDC (moveit_pro_ci v0.5.x).
+ contents: read
+ id-token: write
+ uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@a0e3b30c9aa8f8f82f95c91e5a34989d01caa046 # v0.9.0
+ with:
+ image_tag: ${{ needs.resolve.outputs.image_tag }}
+ image_ref: ${{ needs.resolve.outputs.image_ref }}
+ git_ref: ${{ needs.resolve.outputs.git_ref }}
+ config_package: ${{ matrix.config_package }}
+ # Jazzy-only: humble integration tests are turned off to cut CI cost.
+ # Drives the reusable workflow's ros_distro matrix (default both distros).
+ ros_distros: '["jazzy"]'
+ colcon_test_args: "--executor sequential"
+ # GPU runner + enable_gpu are required so MuJoCo's EGL offscreen
+ # rendering can attach to a real GPU instead of falling back to slow
+ # software rasterization on the CPU-only picknik-16-amd64 runner — the
+ # integration test exercises camera-bearing scenes (apriltag, perception).
+ # enable_gpu also adds `--gpus all`. As of moveit_pro_ci v0.9.0 it no
+ # longer appends a CUDA suffix to the image tag (the gpu_image_suffix
+ # input was removed in PR #37); the `resolve` job bakes the per-distro
+ # CUDA suffix into `image_ref` itself, so the image pulled here is exactly
+ # `needs.resolve.outputs.image_ref` formatted with the matrix ros_distro.
+ # A pull failure here points at a missing CUDA image, not EGL.
+ runner: "picknik-16-amd64-gpu"
+ enable_gpu: true
+ use_ccache: true
+ # Fetch Git LFS through the in-region S3 cache instead of a direct pull.
+ # Empty for fork PRs (which get no OIDC token / secrets) so they fall back
+ # to a normal direct LFS pull instead of failing the cache preflight.
+ lfs_cache_s3_bucket: ${{ (github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name == github.repository) && 'picknik-arc-ci-ccache-682033501538' || '' }}
+ lfs_cache_aws_region: us-east-1
+ secrets:
+ moveit_license_key: ${{ secrets.STUDIO_CI_LICENSE_KEY }}
+ lfs_cache_role_arn: ${{ secrets.LFS_CACHE_ROLE_ARN }}
+
+ # Weekly-only integration suite for the remaining example sims. These run far
+ # longer in aggregate than lab_sim/hangar_sim and have no per-PR signal value,
+ # so they are kept off pull_request / push / the 6-hourly cron entirely:
+ # this job fires ONLY on the Sunday weekly cron above and on manual
+ # workflow_dispatch. It is intentionally NOT in `build-status`'s needs list,
+ # so it can never gate a PR. `integration-test` (lab_sim/hangar_sim) remains
+ # the per-PR gate.
+ integration-test-weekly:
+ needs: resolve
+ if: >-
+ github.event_name == 'workflow_dispatch' ||
+ (github.event_name == 'schedule' && github.event.schedule == '0 6 * * 0')
+ strategy:
+ fail-fast: false
+ matrix:
+ config_package: [april_tag_sim, dual_arm_sim, factory_sim, grinding_sim, kitchen_sim]
+ permissions:
+ # contents: read for checkout; id-token: write so the reusable workflow
+ # can assume the LFS S3 cache IAM role via OIDC (matches integration-test).
+ contents: read
+ id-token: write
+ uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@a0e3b30c9aa8f8f82f95c91e5a34989d01caa046 # v0.9.0
with:
- image_tag: ${{ github.event.inputs.image_tag || null }}
+ image_tag: ${{ needs.resolve.outputs.image_tag }}
+ image_ref: ${{ needs.resolve.outputs.image_ref }}
+ git_ref: ${{ needs.resolve.outputs.git_ref }}
+ config_package: ${{ matrix.config_package }}
+ # Jazzy-only, matching integration-test.
+ ros_distros: '["jazzy"]'
colcon_test_args: "--executor sequential"
- secrets: inherit
+ # GPU runner + enable_gpu for MuJoCo EGL offscreen rendering (camera /
+ # perception scenes), same rationale as integration-test above.
+ runner: "picknik-16-amd64-gpu"
+ enable_gpu: true
+ use_ccache: true
+ # workflow_dispatch from a fork is not a thing (dispatch is repo-scoped),
+ # and the weekly cron always runs on the base repo, so the S3 LFS cache
+ # role is always available here — no fork fallback needed.
+ lfs_cache_s3_bucket: 'picknik-arc-ci-ccache-682033501538'
+ lfs_cache_aws_region: us-east-1
+ secrets:
+ moveit_license_key: ${{ secrets.STUDIO_CI_LICENSE_KEY }}
+ lfs_cache_role_arn: ${{ secrets.LFS_CACHE_ROLE_ARN }}
+
+ # File (or update) a GitHub issue when the weekly sim suite fails. Runs only
+ # when integration-test-weekly actually ran and reported failure — `result`
+ # is 'skipped' on every PR/push/6-hourly run, so this stays dormant outside
+ # the weekly schedule and manual dispatch. Dedupes by title search rather
+ # than a dedicated label (the repo reserves label creation for humans): an
+ # existing open issue gets a fresh comment instead of a duplicate issue.
+ weekly-failure-issue:
+ needs: integration-test-weekly
+ if: always() && needs.integration-test-weekly.result == 'failure'
+ runs-on: ubuntu-22.04
+ steps:
+ # Mint a cross-repo App token so the issue is filed against moveit_pro
+ # (where these objectives and the shared test fixture live), not against
+ # example_ws. Mirrors the integration-status job's token setup. The
+ # workflow's default GITHUB_TOKEN cannot write issues to another repo.
+ - name: Generate cross-repo App token
+ id: app-token
+ uses: actions/create-github-app-token@bcd2ba49218906704ab6c1aa796996da409d3eb1 # v3.2.0
+ with:
+ client-id: ${{ secrets.SISTER_REPOS_APP_CLIENT_ID }}
+ private-key: ${{ secrets.SISTER_REPOS_APP_PRIVATE_KEY }}
+ owner: ${{ github.repository_owner }}
+ repositories: |
+ moveit_pro_example_ws
+ moveit_pro
+ - name: Open or update failure issue
+ uses: actions/github-script@3a2844b7e9c422d3c10d287c895573f7108da1b3 # v9.0.0
+ with:
+ github-token: ${{ steps.app-token.outputs.token }}
+ script: |
+ // File the issue on moveit_pro, not this repo (example_ws).
+ const issueOwner = 'PickNikRobotics';
+ const issueRepo = 'moveit_pro';
+ const title = 'Weekly example_ws sim integration tests are failing';
+ // runUrl points at the example_ws run (this workflow) where the
+ // failing logs and the HTML report live.
+ const runUrl = `${context.serverUrl}/${context.repo.owner}/${context.repo.repo}/actions/runs/${context.runId}`;
+ const when = new Date().toISOString();
+ const configs = 'april_tag_sim, dual_arm_sim, factory_sim, grinding_sim, kitchen_sim';
+ const body = [
+ `The weekly objective integration suite reported a failure on ${when}.`,
+ '',
+ `One or more of the following config packages failed: ${configs}.`,
+ 'The matrix result is aggregated, so open the run to see which leg(s) failed:',
+ '',
+ `- [Workflow run](${runUrl})`,
+ '',
+ 'If a newly-added or renamed objective is the cause, update the ' +
+ '`skip_objectives` / `cancel_objectives` sets (or add an end-state spec) ' +
+ 'in that config\'s `test/objectives_integration_test.py`.',
+ ].join('\n');
+ // Dedupe by exact open-issue title rather than creating a new issue
+ // each failing week. search.issuesAndPullRequests title-matches are
+ // fuzzy, so confirm an exact title match before reusing. The search
+ // is best-effort: on a transient API error, fall back to creating an
+ // issue (a possible duplicate is preferable to a silently dropped
+ // failure notification).
+ let existing;
+ try {
+ const found = await github.rest.search.issuesAndPullRequests({
+ q: `repo:${issueOwner}/${issueRepo} is:issue is:open in:title "${title}"`,
+ });
+ existing = found.data.items.find((i) => i.title === title);
+ } catch (e) {
+ core.warning(`Issue dedupe search failed (${e.message}); creating a new issue.`);
+ existing = undefined;
+ }
+ if (existing) {
+ await github.rest.issues.createComment({
+ owner: issueOwner,
+ repo: issueRepo,
+ issue_number: existing.number,
+ body,
+ });
+ core.info(`Commented on existing ${issueOwner}/${issueRepo} issue #${existing.number}.`);
+ } else {
+ // `type` is the native org-level issue Type (moveit_pro triages
+ // failures by Type); `labels` marks the issue as originating from
+ // example_ws so it can be filtered in moveit_pro's shared tracker.
+ // Both are applied best-effort: if the create rejects them (e.g.
+ // the "Bug" type is renamed), retry with just title/body so the
+ // failure notification still lands rather than throwing and being
+ // silently dropped — same fail-open intent as the search above.
+ let created;
+ try {
+ created = await github.rest.issues.create({
+ owner: issueOwner,
+ repo: issueRepo,
+ title,
+ body,
+ type: 'Bug',
+ labels: ['example_ws'],
+ });
+ } catch (e) {
+ // Only retry on a 422 (the type/labels were rejected). Any other
+ // error — including a lost response after the issue was already
+ // created remotely — must rethrow, or the retry would file a
+ // duplicate issue.
+ if (e?.status !== 422) {
+ throw e;
+ }
+ core.warning(
+ `Create with type/labels rejected (${e.message}); retrying without them.`
+ );
+ created = await github.rest.issues.create({
+ owner: issueOwner,
+ repo: issueRepo,
+ title,
+ body,
+ });
+ }
+ core.info(`Opened ${issueOwner}/${issueRepo} issue #${created.data.number}.`);
+ }
+
+ # Single byte-identical commit-status context (`example_ws / integration`)
+ # is posted from here only. Per the design doc: the matrix jobs must NOT
+ # post their own statuses, or branch protection / dedup semantics break.
+ #
+ # Skip on fork PRs: a fork's GITHUB_TOKEN cannot mint the cross-repo App
+ # token (secrets are not exposed to fork-triggered runs), so this job would
+ # hard-fail on every external-contributor PR and — because `build-status`
+ # requires this to be `success` or `skipped` — block their merge. Skipping
+ # is the correct outcome: fork PRs cannot post statuses cross-repo anyway,
+ # and `build-status`'s skipped-tolerant check resolves cleanly.
+ integration-status:
+ name: Post integration status
+ needs: [resolve, integration-test]
+ if: ${{ always() && (github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name == github.repository) }}
+ runs-on: ubuntu-22.04
+ steps:
+ - name: Generate cross-repo App token
+ id: app-token
+ uses: actions/create-github-app-token@bcd2ba49218906704ab6c1aa796996da409d3eb1 # v3.2.0
+ with:
+ client-id: ${{ secrets.SISTER_REPOS_APP_CLIENT_ID }}
+ private-key: ${{ secrets.SISTER_REPOS_APP_PRIVATE_KEY }}
+ owner: ${{ github.repository_owner }}
+ repositories: |
+ moveit_pro_example_ws
+ moveit_pro
+
+ - name: Post commit status
+ uses: actions/github-script@3a2844b7e9c422d3c10d287c895573f7108da1b3 # v9.0.0
+ env:
+ INTEGRATION_RESULT: ${{ needs.integration-test.result }}
+ MOVEIT_PRO_SHA: ${{ needs.resolve.outputs.moveit_pro_sha }}
+ EVENT_NAME: ${{ github.event_name }}
+ with:
+ github-token: ${{ steps.app-token.outputs.token }}
+ script: |
+ const result = process.env.INTEGRATION_RESULT;
+ // Map GitHub Actions job result → Commit Status API state.
+ // success/failure are obvious; cancelled / skipped map to error
+ // so reviewers see something other than a stale "pending".
+ const state = result === 'success' ? 'success'
+ : (result === 'cancelled' || result === 'skipped') ? 'error'
+ : 'failure';
+ const description = ({
+ success: 'Integration tests passed',
+ failure: 'Integration tests failed',
+ cancelled: 'Integration tests cancelled',
+ skipped: 'Integration tests skipped',
+ })[result] || `Integration tests result: ${result}`;
+ // Byte-identical across every post: GitHub deduplicates commit
+ // statuses by `(sha, context)`, so the dispatch-only run that
+ // fired against `:main` can be overwritten by the paired run.
+ // Drift here would break that dedup and leave stale checks.
+ const contextString = 'example_ws / integration';
+ const target_url = `${context.serverUrl}/${context.repo.owner}/${context.repo.repo}/actions/runs/${context.runId}`;
+
+ const targets = [];
+ // example_ws PR head SHA (when triggered by pull_request).
+ if (process.env.EVENT_NAME === 'pull_request') {
+ targets.push({
+ owner: 'PickNikRobotics',
+ repo: 'moveit_pro_example_ws',
+ sha: context.payload.pull_request.head.sha,
+ label: 'example_ws PR',
+ });
+ }
+ // moveit_pro PR commit SHA (either resolved via `needs:` token in
+ // an example_ws PR body, or carried by a `repository_dispatch`
+ // payload from moveit_pro CI).
+ const moveitProSha = process.env.MOVEIT_PRO_SHA;
+ if (moveitProSha) {
+ targets.push({
+ owner: 'PickNikRobotics',
+ repo: 'moveit_pro',
+ sha: moveitProSha,
+ label: 'moveit_pro PR',
+ });
+ }
+
+ if (targets.length === 0) {
+ core.info('No commit-status targets resolved (likely a push / schedule run). Nothing to post.');
+ return;
+ }
+
+ for (const t of targets) {
+ core.info(`Posting state=${state} to ${t.label} (${t.owner}/${t.repo}@${t.sha}).`);
+ await github.rest.repos.createCommitStatus({
+ owner: t.owner,
+ repo: t.repo,
+ sha: t.sha,
+ state,
+ context: contextString,
+ description,
+ target_url,
+ });
+ }
+
+ # Turn the test-results artifact into a single-file HTML report (status,
+ # timings, per-test ROS log slice with colors). Matrix on ros_distro because
+ # the upstream workflow uploads one artifact per distro. Runs whether the
+ # integration test passed, failed, or timed out -- the report is most useful
+ # for failure post-mortem.
+ render-report:
+ needs: integration-test
+ # Run on success and failure, not on cancelled or skipped — `!= cancelled`
+ # alone would also fire on skipped, where no artifact was uploaded.
+ if: always() && (needs.integration-test.result == 'success' || needs.integration-test.result == 'failure')
+ runs-on: ubuntu-22.04
+ # Least privilege: this job only downloads/uploads artifacts and never
+ # writes to the repo, so it has no need for the default read-write token.
+ permissions:
+ contents: read
+ strategy:
+ fail-fast: false
+ matrix:
+ # Keep in sync with `integration-test.matrix.config_package` above and
+ # the `ros_distros` input passed to the reusable workflow. Stream 2
+ # expands `config_package` per sim; this matrix expands alongside.
+ # publish-and-comment below aggregates every config_package x ros_distro
+ # produced here.
+ config_package: [lab_sim, hangar_sim]
+ # Jazzy-only: humble integration tests are turned off (see the
+ # `ros_distros` input on `integration-test`).
+ ros_distro: [jazzy]
+ steps:
+ - uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7.0.0
+ # The artifact name comes from workspace_integration_test.yaml:
+ # `test-results--`. continue-on-error so an
+ # early integration-test crash (no artifact uploaded) still lets
+ # render-report exit cleanly via the [-z XUNIT] guard below instead of
+ # hard-failing the matrix job.
+ - uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c # v8.0.1
+ continue-on-error: true
+ with:
+ name: test-results-${{ matrix.config_package }}-${{ matrix.ros_distro }}
+ path: artifacts/
+ - name: Render HTML report
+ id: render
+ run: |
+ set -euo pipefail
+ # Pick the integration test xunit specifically. The artifact contains
+ # ~40 xunit files (lint_cmake / copyright / xmllint / etc., each with
+ # a single trivial testcase); `find ... | head -1` was grabbing one
+ # of those alphabetically and producing an empty-looking report.
+ XUNIT=""
+ if [ -d artifacts ]; then
+ XUNIT=$(find artifacts -name 'objectives_integration_test.xunit.xml' 2>/dev/null | head -1 || true)
+ fi
+ if [ -z "${XUNIT}" ]; then
+ echo "No objectives_integration_test.xunit.xml found in artifact; nothing to render."
+ echo "rendered=false" >> "$GITHUB_OUTPUT"
+ exit 0
+ fi
+ echo "Rendering ${XUNIT}"
+ python3 .github/scripts/render_report.py "${XUNIT}" report.html
+ # Summary stats so publish-and-comment can pick the per-distro icon
+ # and decide whether to post a comment at all.
+ XUNIT="${XUNIT}" python3 - <<'PY'
+ import json, os, xml.etree.ElementTree as ET
+ try:
+ root = ET.parse(os.environ['XUNIT']).getroot()
+ suites = root.findall('testsuite') if root.tag == 'testsuites' else [root]
+ totals = {'tests': 0, 'failures': 0, 'errors': 0, 'skipped': 0}
+ for s in suites:
+ for k in totals:
+ totals[k] += int(s.attrib.get(k, '0') or '0')
+ # Clamp to 0 — xunit attrs from third-party runners occasionally
+ # report skipped > tests or similar inconsistencies, which would
+ # otherwise produce a negative "passed" count in the comment.
+ totals['passed'] = max(0, totals['tests'] - totals['failures'] - totals['errors'] - totals['skipped'])
+ totals['status'] = 'failed' if (totals['failures'] + totals['errors']) > 0 else 'passed'
+ except (ET.ParseError, OSError, ValueError) as e:
+ # report.html already rendered, so surface the parse failure via
+ # status=unknown rather than letting the step fail (and letting
+ # downstream treat the distro as wholly missing).
+ totals = {'status': 'unknown', 'error': str(e)}
+ with open('status.json', 'w') as f:
+ json.dump(totals, f)
+ print(totals)
+ PY
+ echo "rendered=true" >> "$GITHUB_OUTPUT"
+ - uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # v7.0.1
+ if: steps.render.outputs.rendered == 'true'
+ with:
+ name: integration-test-report-${{ matrix.config_package }}-${{ matrix.ros_distro }}
+ path: |
+ report.html
+ status.json
+ retention-days: 15
+
+ # Publish per-distro reports to GitHub Pages under pr-/run-//
+ # and post a fresh PR comment per run (not sticky) with direct URLs to the HTML
+ # pages. Single job (not matrixed) so the two distro artifacts are deployed
+ # together — avoids gh-pages push races between parallel matrix jobs.
+ publish-and-comment:
+ needs: render-report
+ # Skip on fork PRs: a fork's GITHUB_TOKEN is read-only regardless of the
+ # permissions: block below, so the gh-pages push and PR comment would both
+ # hard-fail and leave a spurious red X on every external-contributor PR.
+ if: github.event_name == 'pull_request' && github.event.pull_request.head.repo.full_name == github.repository && always() && (needs.render-report.result == 'success' || needs.render-report.result == 'failure')
+ runs-on: ubuntu-22.04
+ # Serialize gh-pages writes per PR so this job doesn't race with the
+ # cleanup-pr-reports workflow on `pull_request: closed`. cancel-in-progress
+ # stays false — we don't want a mid-flight publish silently killed by an
+ # untimely close event.
+ concurrency:
+ group: gh-pages-pr-${{ github.event.pull_request.number }}
+ cancel-in-progress: false
+ permissions:
+ pull-requests: write
+ # contents:write is required by peaceiris/actions-gh-pages below to push
+ # to the gh-pages branch. GitHub's permission model can't scope write
+ # access to a single branch, so the broader grant is unavoidable here.
+ contents: write
+ steps:
+ # Explicit per-(config_package, ros_distro) downloads into named paths
+ # rather than `pattern:`. actions/download-artifact@v8 with pattern +
+ # single match extracts files directly to `path:` instead of
+ # `path://`, breaking the
+ # `reports/integration-test-report--/` layout the layout
+ # step expects. Explicit downloads sidestep that ambiguity entirely.
+ # continue-on-error so a missing artifact (a config/distro's render
+ # emitted rendered=false) doesn't fail the job — the layout step's Python
+ # flags that pair as status=missing for the comment.
+ #
+ # Keep these in sync with the integration-test / render-report matrices
+ # and the `ros_distros` input (jazzy-only). One step per artifact.
+ - uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c # v8.0.1
+ continue-on-error: true
+ with:
+ name: integration-test-report-lab_sim-jazzy
+ path: reports/integration-test-report-lab_sim-jazzy/
+ - uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c # v8.0.1
+ continue-on-error: true
+ with:
+ name: integration-test-report-hangar_sim-jazzy
+ path: reports/integration-test-report-hangar_sim-jazzy/
+ - name: Lay out per-config-and-distro reports
+ id: layout
+ run: |
+ set -euo pipefail
+ PR_NUM="${{ github.event.number }}"
+ RUN_ID="${{ github.run_id }}"
+ BASE="pr-${PR_NUM}/run-${RUN_ID}"
+ mkdir -p "publish/${BASE}"
+ # .nojekyll prevents Pages from running Jekyll, which would 404 on
+ # paths containing underscores (e.g. ros2_kortex).
+ touch publish/.nojekyll
+ # nullglob keeps the loop a no-op when zero artifacts were downloaded
+ # (e.g. render-report skipped entirely), instead of running once with
+ # the literal pattern and silently failing the -f check.
+ shopt -s nullglob
+ AVAILABLE=()
+ # Artifact dirs are reports/integration-test-report--/.
+ # config_package names use underscores and distro names do not, so the
+ # distro is the final '-' segment and the config is everything before.
+ for d in reports/integration-test-report-*/; do
+ key="${d#reports/integration-test-report-}"
+ key="${key%/}" # e.g. lab_sim-jazzy
+ config="${key%-*}" # lab_sim
+ distro="${key##*-}" # jazzy
+ if [ -f "${d}report.html" ]; then
+ mkdir -p "publish/${BASE}/${config}/${distro}"
+ cp "${d}report.html" "publish/${BASE}/${config}/${distro}/report.html"
+ AVAILABLE+=("${config}/${distro}")
+ fi
+ done
+ # Build a per-(config, distro) status map for the comment step, nested
+ # as {config: {distro: status}}. Pairs that were expected but produced
+ # no status.json (e.g. the studio container crashed before the test
+ # ran) get status=missing so the comment can still surface them with ❌.
+ STATUS_MAP=$(python3 - <<'PY'
+ import json, pathlib
+ # Keep in sync with the integration-test / render-report matrices and
+ # the `ros_distros` input (jazzy-only). (config_package, ros_distro)
+ # pairs expected to produce a report; pairs with no artifact at all
+ # (container crash before xunit upload) are flagged status=missing so
+ # the comment surfaces them with ❌ instead of silently omitting them.
+ expected = [
+ ('lab_sim', 'jazzy'),
+ ('hangar_sim', 'jazzy'),
+ ]
+ out = {}
+ for config, distro in expected:
+ p = pathlib.Path(
+ f'reports/integration-test-report-{config}-{distro}/status.json'
+ )
+ entry = json.loads(p.read_text()) if p.exists() else {'status': 'missing'}
+ out.setdefault(config, {})[distro] = entry
+ print(json.dumps(out))
+ PY
+ )
+ echo "Status map: ${STATUS_MAP}"
+ echo "base=${BASE}" >> "$GITHUB_OUTPUT"
+ echo "available=${AVAILABLE[*]}" >> "$GITHUB_OUTPUT"
+ {
+ echo "status_map<> "$GITHUB_OUTPUT"
+ if [ ${#AVAILABLE[@]} -eq 0 ]; then
+ echo "any=false" >> "$GITHUB_OUTPUT"
+ else
+ echo "any=true" >> "$GITHUB_OUTPUT"
+ fi
+ - name: Deploy to GitHub Pages
+ if: steps.layout.outputs.any == 'true'
+ uses: peaceiris/actions-gh-pages@84c30a85c19949d7eee79c4ff27748b70285e453 # v4.1.0
+ with:
+ github_token: ${{ secrets.GITHUB_TOKEN }}
+ publish_branch: gh-pages
+ publish_dir: ./publish
+ # keep_files=true so each run only adds its own pr-/run-/
+ # subtree instead of wiping prior reports. A cleanup workflow can
+ # prune pr-/ on PR close if the branch ever gets too big.
+ keep_files: true
+ - name: Post PR comment
+ # Always post a per-run comment — it is the canonical status record for
+ # the run, including all-green runs and the all-missing case (every
+ # config/distro crashed before uploading an artifact): the status map
+ # still carries those pairs as ❌ missing, which is exactly when a
+ # reviewer most needs to see something. Not gated on `any` so the
+ # all-missing case is not silently dropped (Deploy to Pages above stays
+ # gated — there is nothing to publish then). Comments are createComment
+ # (not sticky), so each run posts its own line and the most recent
+ # comment reflects the current HEAD instead of leaving a stale
+ # failure-from-a-prior-run as the last word in the PR timeline.
+ #
+ # always() + base-is-set so the comment posts independent of the Deploy
+ # step's outcome (run it even if Pages deploy failed) while still
+ # skipping the case where the layout step itself errored before
+ # producing a status map.
+ if: always() && steps.layout.outputs.base != ''
+ uses: actions/github-script@d746ffe35508b1917358783b479e04febd2b8f71 # v9.0.0
+ env:
+ BASE: ${{ steps.layout.outputs.base }}
+ STATUS_MAP: ${{ steps.layout.outputs.status_map }}
+ with:
+ script: |
+ const base = process.env.BASE;
+ const statusMap = JSON.parse(process.env.STATUS_MAP);
+ const owner = context.repo.owner;
+ const repo = context.repo.repo;
+ const runUrl = `https://github.com/${owner}/${repo}/actions/runs/${context.runId}`;
+ const pagesUrl = (config, distro) =>
+ `https://${owner.toLowerCase()}.github.io/${repo.toLowerCase()}/${base}/${config}/${distro}/report.html`;
+ // statusMap is nested {config: {distro: status}}. Render one
+ // section per config_package, with an indented line per distro.
+ const distroLine = (config, distro, s) => {
+ if (s.status === 'missing') {
+ return ` - ❌ **${distro}**: no report produced — see [run logs](${runUrl})`;
+ }
+ if (s.status === 'unknown') {
+ return ` - ⚠️ **${distro}**: report parse failed — see [run logs](${runUrl})`;
+ }
+ const icon = s.status === 'passed' ? '✅' : '❌';
+ const failed = (s.failures || 0) + (s.errors || 0);
+ const counts = failed > 0
+ ? `${failed} failed, ${s.passed} passed`
+ : `${s.passed} passed`;
+ return ` - ${icon} **${distro}**: view HTML report — ${counts}`;
+ };
+ const sections = Object.entries(statusMap).map(([config, distros]) => {
+ const lines = Object.entries(distros).map(([distro, s]) => distroLine(config, distro, s));
+ return [`- **${config}**`, ...lines].join('\n');
+ });
+ const body = [
+ '### / from the gh-pages branch when a PR closes (merged or
+# abandoned). Bounds gh-pages growth to roughly (open PRs × runs per PR)
+# instead of accumulating every report ever produced.
+#
+# Fork PRs never reach gh-pages in the first place (their token is read-only
+# and the publish-and-comment job's push fails), so this workflow is a no-op
+# for them — the cleanup step exits early when pr-/ is absent.
+
+name: Cleanup gh-pages reports on PR close
+
+on:
+ pull_request:
+ types: [closed]
+
+jobs:
+ cleanup-reports:
+ runs-on: ubuntu-22.04
+ # Match the publish-and-comment concurrency group in ci.yaml so an
+ # in-flight publish completes before cleanup runs (or vice versa). This
+ # avoids cleanup deleting pr-/ while publish is in the middle of
+ # writing a new run-/ subtree, which would result in a fast-forward
+ # failure or a partially-restored directory.
+ concurrency:
+ group: gh-pages-pr-${{ github.event.pull_request.number }}
+ cancel-in-progress: false
+ permissions:
+ # contents:write is required to push the removal commit to gh-pages.
+ # Same broad-scope caveat as the publish-and-comment job in ci.yaml:
+ # GitHub's permission model can't scope write access to a single branch.
+ contents: write
+ steps:
+ - name: Check out gh-pages
+ # gh-pages may not exist yet on a brand-new repo where no successful
+ # report deploy has happened. continue-on-error keeps the workflow
+ # from showing a red X on every early-PR close before the first deploy.
+ continue-on-error: true
+ uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7.0.0
+ with:
+ ref: gh-pages
+ fetch-depth: 1
+ - name: Remove pr-/ subtree
+ env:
+ PR_NUM: ${{ github.event.number }}
+ run: |
+ set -euo pipefail
+ if [ ! -d "pr-${PR_NUM}" ]; then
+ echo "No pr-${PR_NUM}/ directory in gh-pages; nothing to clean up."
+ exit 0
+ fi
+ git config user.email "41898282+github-actions[bot]@users.noreply.github.com"
+ git config user.name "github-actions[bot]"
+ git rm -rf "pr-${PR_NUM}"
+ git commit -m "chore(ci): remove gh-pages reports for closed PR #${PR_NUM}"
+ # gh-pages also receives publish pushes from other PRs' ci.yaml runs,
+ # whose concurrency group differs from this one — so a bare push can
+ # lose the fast-forward and hard-fail. Retry, rebasing the removal
+ # commit onto the latest remote tip each time (disjoint paths, so a
+ # conflict is not expected).
+ for attempt in 1 2 3 4 5; do
+ if git push origin gh-pages; then
+ echo "Pushed gh-pages cleanup (attempt ${attempt})."
+ exit 0
+ fi
+ echo "Push rejected (attempt ${attempt}); rebasing onto latest gh-pages and retrying."
+ git pull --rebase origin gh-pages
+ done
+ echo "Failed to push gh-pages cleanup after 5 attempts." >&2
+ exit 1
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
index 8107c1735..71e69c1f3 100644
--- a/.github/workflows/format.yaml
+++ b/.github/workflows/format.yaml
@@ -12,6 +12,6 @@ jobs:
name: pre-commit
runs-on: ubuntu-22.04
steps:
- - uses: actions/checkout@v3
- - uses: actions/setup-python@v3
- - uses: pre-commit/action@v3.0.0
+ - uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7.0.0
+ - uses: actions/setup-python@ece7cb06caefa5fff74198d8649806c4678c61a1 # v6.3.0
+ - uses: pre-commit/action@2c7b3805fd2a0fd8c1884dcaebf91fc102a13ecd # v3.0.1
diff --git a/.github/workflows/warn-empty-ws-overlap.yaml b/.github/workflows/warn-empty-ws-overlap.yaml
new file mode 100644
index 000000000..1c96579c1
--- /dev/null
+++ b/.github/workflows/warn-empty-ws-overlap.yaml
@@ -0,0 +1,72 @@
+name: Warn on moveit_pro_empty_ws overlap
+
+on:
+ pull_request:
+ types: [opened, synchronize, reopened]
+
+permissions:
+ contents: read
+ pull-requests: write
+
+jobs:
+ overlap:
+ name: Check overlap with moveit_pro_empty_ws
+ runs-on: ubuntu-22.04
+ steps:
+ - uses: actions/github-script@3a2844b7e9c422d3c10d287c895573f7108da1b3 # v9.0.0
+ with:
+ script: |
+ const upstream = { owner: 'PickNikRobotics', repo: 'moveit_pro_empty_ws', ref: 'main' };
+ const marker = '';
+
+ const changed = await github.paginate(
+ github.rest.pulls.listFiles,
+ { owner: context.repo.owner, repo: context.repo.repo, pull_number: context.issue.number, per_page: 100 },
+ (res) => res.data.filter((f) => f.status !== 'removed').map((f) => f.filename),
+ );
+
+ const branch = await github.rest.repos.getBranch({ owner: upstream.owner, repo: upstream.repo, branch: upstream.ref });
+ const tree = await github.rest.git.getTree({
+ owner: upstream.owner,
+ repo: upstream.repo,
+ tree_sha: branch.data.commit.commit.tree.sha,
+ recursive: 'true',
+ });
+ if (tree.data.truncated) {
+ core.warning(`Tree for ${upstream.owner}/${upstream.repo}@${upstream.ref} was truncated; overlap result may be incomplete.`);
+ }
+ const upstreamPaths = new Set(tree.data.tree.filter((e) => e.type === 'blob').map((e) => e.path));
+ const overlap = changed.filter((p) => upstreamPaths.has(p)).sort();
+
+ const existing = await github.paginate(github.rest.issues.listComments, {
+ owner: context.repo.owner, repo: context.repo.repo, issue_number: context.issue.number, per_page: 100,
+ });
+ const prior = existing.find((c) => c.body && c.body.includes(marker));
+
+ if (overlap.length === 0) {
+ if (prior) {
+ await github.rest.issues.deleteComment({ owner: context.repo.owner, repo: context.repo.repo, comment_id: prior.id });
+ }
+ core.info('No overlap with moveit_pro_empty_ws.');
+ return;
+ }
+
+ const body = [
+ marker,
+ `⚠️ This PR modifies ${overlap.length} file(s) that also exist in [\`${upstream.owner}/${upstream.repo}\`](https://github.com/${upstream.owner}/${upstream.repo}/tree/${upstream.ref}).`,
+ '',
+ 'Consider whether the change should land upstream in `moveit_pro_empty_ws` first so downstream forks pick it up on the next sync.',
+ '',
+ 'Overlapping files ',
+ '',
+ ...overlap.map((p) => `- \`${p}\``),
+ '',
+ '` section's `qpos` attribute must have exactly the number of values matching the model's total degrees of freedom. A mismatch causes `ros2_control_node` to crash with:
+
+```
+Error: keyframe 0: invalid qpos size, expected length
+```
+
+Each joint type contributes to qpos:
+- **freejoint**: 7 values (x, y, z, qw, qx, qy, qz)
+- **hinge/slide**: 1 value each
+- **ball**: 4 values (quaternion)
+
+After adding or removing bodies with joints, **remove the keyframe** and let MuJoCo use body `pos=` attributes for initial positions.
+
+### Velocity actuators: `armature/kv` time-constant must stay below the timestep
+
+A `` actuator on a joint with `armature="..."` behaves like a first-order servo with time-constant `τ = armature / kv`. If `τ` is larger than the scene `timestep`, the servo cannot inject enough velocity correction per step to overcome external load, and the joint effectively **stops responding to commands** — it stays pinned near zero even at full command. The per-step velocity correction scales as `kv · timestep / armature`, so halving the timestep halves the authority.
+
+This bit `hangar_sim`'s mecanum base: the wheels had `armature="1.0"`, `kv="50"` → `τ = 0.02 s`. It worked only because the timestep was `0.025 s` (above τ). Standardizing the timestep to `0.003 s` dropped it well below τ, the wheel servos lost authority, the wheels pinned at ~0 rad/s, and the base would not drive (the whole-body `ExecuteTrajectory` then hung forever waiting for the base to reach goal). Fix was `kv: 50 → 500` (τ → 0.002 s, below the new timestep), verified in standalone MuJoCo to be stable across `timestep` 0.025→0.002. Lowering `armature` instead also raises authority but went unstable at small timesteps — prefer raising `kv`. (hangar's scene ultimately runs `timestep="0.008"`, coarser than the 0.003 s the other configs use: at 0.003 the CI runner overran ~47% of sim steps and starved controller mode-switching. `kv=500` keeps the wheels valid there too — τ=0.002 s < 0.008 s.)
+
+The two coupled numbers live in different files: the actuator `kv` is in the `` blocks of `hangar_sim/description/ur5e_ridgeback.xml` (~line 1709), and the joint `armature` is in the per-wheel includes (`hangar_sim/description/{front,rear}_{left,right}_wheel_link.xml`, the wheel ``).
+
+Rule of thumb when changing a sim `timestep`: for every velocity actuator, check `armature/kv < timestep`. The symptom of violation is a joint that ignores commands (pinned), not one that oscillates.
+
+### MuJoCo documentation
+
+Refer to [docs.picknik.ai](https://docs.picknik.ai) for MuJoCo configuration guides:
+
+- [Physics Simulator Setup](https://docs.picknik.ai/how_to/configuration_tutorials/migrate_to_mujoco_config/) — creating scene.xml from URDF, camera/sensor setup, mesh conversion, MuJoCo Interactive Viewer
+- [config.yaml Reference](https://docs.picknik.ai/how_to/configuration_tutorials/config_yaml_reference/) — `hardware` section for `picknik_mujoco_ros/MujocoSystem` plugin configuration
+- [Simulator Keyframes Setup](https://docs.picknik.ai/how_to/configuration_tutorials/create_robot_sim_config/configure_keyframes/) — defining keyframes in scene.xml, `ResetMujocoKeyframe` Behavior
+- [Optimize Model Meshes](https://docs.picknik.ai/how_to/configuration_tutorials/optimizing_robot_model_meshes/) — MuJoCo enforces 1-200,000 faces per STL
+- [Simulation Troubleshooting](https://docs.picknik.ai/troubleshooting/Simulation%20Troubleshooting/) — physics parameters, grip stability, mass/inertia errors, rendering issues
+
+## Objective XML Files
+
+### MetadataFields required for CI
+
+Every objective XML file must include a `MetadataFields` block inside the `TreeNodesModel` section. The `validate_objectives` CI check will fail without it.
+
+```xml
+
+
+
+
+
+
+```
+
+- `runnable` — set to `"true"` for top-level objectives the user can run, `"false"` for subtrees only called by other objectives
+- `subcategory` — groups the objective in the UI (e.g., `"AprilTag"`, `"Grasping"`, `"MuJoCo Simulation"`)
diff --git a/Dockerfile b/Dockerfile
index 5355ec61a..54f5f7519 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -6,7 +6,7 @@
#
# Specify the MoveIt Pro release to build on top of.
-ARG MOVEIT_PRO_BASE_IMAGE=picknikciuser/moveit-studio:${MOVEIT_DOCKER_TAG:-main}-${MOVEIT_ROS_DISTRO:-humble}
+ARG MOVEIT_PRO_BASE_IMAGE=picknikciuser/moveit-studio:${MOVEIT_DOCKER_TAG:-main}-${MOVEIT_ROS_DISTRO:-jazzy}
ARG USERNAME=moveit-pro-user
ARG USER_UID=1000
ARG USER_GID=1000
@@ -23,6 +23,10 @@ ARG USERNAME
ARG USER_UID
ARG USER_GID
+# Ubuntu 24.04 images include user `ubuntu` with UID/GID 1000.
+# Remove it before creating the workspace user with the host UID/GID.
+RUN if id -u ubuntu > /dev/null 2>&1; then userdel -r ubuntu; fi
+
# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
ARG USER_WS=/home/${USERNAME}/user_ws
ENV USER_WS=${USER_WS}
diff --git a/README.md b/README.md
index bfa767723..35054b120 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,50 @@
-# MoveIt Pro Workspace
+# MoveIt Pro Example Workspace
-This is a minimal user workspace that can be used to build customized MoveIt Pro workspaces.
+This workspace contains reference materials for using MoveIt Pro, including example robot configurations, simulated environments, and reusable behaviors.
-You may fork this repository and add the MoveIt Pro configurations and ROS 2 packages of your choosing to the `src` folder.
+## Cloning
-For more information, refer to the [MoveIt Pro Documentation](https://docs.picknik.ai/).
+This repository uses git submodules. Clone with:
+```bash
+git clone --recurse-submodules
+```
+
+If you already cloned without submodules, initialize them with:
+```bash
+git submodule update --recursive --init
+```
+
+Several submodules (notably `picknik_accessories`) use git LFS. Install [git-lfs](https://git-lfs.com/) first (e.g., `sudo apt install git-lfs && git lfs install`); without it the commands below fail with `git: 'lfs' is not a git command`. After updating submodules, pull LFS objects:
+```bash
+git submodule foreach --recursive git lfs pull
+```
+
+## Robot Configs
+
+- `april_tag_sim`
+- `dual_arm_sim`
+- `factory_sim`
+- `grinding_sim`
+- `hangar_sim`
+- `kitchen_sim`
+- `lab_sim`
+- `lunar_sim`
+- `phoebe_sim`
+- `moveit_pro_franka_configs/franka_base_config`
+- `moveit_pro_kinova_configs/kinova_gen3_base_config`
+- `moveit_pro_kinova_configs/kinova_gen3_site_config`
+- `moveit_pro_kinova_configs/kinova_sim`
+- `moveit_pro_kinova_configs/space_satellite_sim`
+- `moveit_pro_kinova_configs/space_satellite_sim_camera_cal`
+- `moveit_pro_ur_configs/mock_sim`
+- `moveit_pro_ur_configs/multi_arm_sim`
+- `moveit_pro_ur_configs/picknik_ur_base_config`
+- `moveit_pro_ur_configs/picknik_ur_site_config`
+
+## Updating Submodules
+
+To pull the latest commits for all submodules:
+```bash
+git submodule update --remote --recursive
+git submodule foreach --recursive git lfs pull
+```
diff --git a/colcon-defaults.yaml b/colcon-defaults.yaml
index 9aedbf87e..3196407a8 100644
--- a/colcon-defaults.yaml
+++ b/colcon-defaults.yaml
@@ -2,6 +2,12 @@
build:
# Enable this for bidirectional syncing from the UI
symlink-install: true
+ allow-overriding:
+ - ewellix_description
+ - franka_description
+ - kortex_description
+ - robotiq_description
+ - ur_description
mixin:
# Enable ccache support
- ccache
diff --git a/scripts/check_mujoco_viewer.sh b/scripts/check_mujoco_viewer.sh
new file mode 100755
index 000000000..8308ba4a0
--- /dev/null
+++ b/scripts/check_mujoco_viewer.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+# Ensures mujoco_viewer is not set to true in any config file.
+# The MuJoCo viewer should always be disabled in committed config files.
+
+errors=0
+
+while IFS= read -r -d '' file; do
+ if grep -qE 'mujoco_viewer:\s*(")?true(")?$' "$file"; then
+ line=$(grep -nE 'mujoco_viewer:\s*(")?true(")?$' "$file")
+ echo "ERROR: mujoco_viewer must be false: ${file}: ${line}"
+ errors=$((errors + 1))
+ fi
+done < <(find src -name 'config.yaml' -print0)
+
+if [ "$errors" -gt 0 ]; then
+ echo ""
+ echo "Found $errors config(s) with mujoco_viewer set to true."
+ echo "The MuJoCo viewer should always be disabled in committed config files."
+ exit 1
+fi
diff --git a/scripts/check_objective_favorites.sh b/scripts/check_objective_favorites.sh
new file mode 100755
index 000000000..93f6bc6f3
--- /dev/null
+++ b/scripts/check_objective_favorites.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+# Validates Objective favorite metadata:
+# 1. Non-runnable Objectives must not be favorited
+# 2. Each config package can have at most MAX_FAVORITES favorited Objectives
+
+MAX_FAVORITES=8
+errors=0
+
+# Check no non-runnable Objectives are favorited
+while IFS= read -r -d '' file; do
+ if grep -q 'runnable="false"' "$file" && grep -q '_favorite="true"' "$file"; then
+ echo "ERROR: Non-runnable Objective must not be favorited: ${file}"
+ errors=$((errors + 1))
+ fi
+done < <(find src -name '*.xml' -path '*/objectives/*' -print0)
+
+if [ "$errors" -gt 0 ]; then
+ echo ""
+ echo "Found $errors Objective(s) that are both non-runnable and favorited."
+ echo "Objectives with must have _favorite=\"false\"."
+fi
+
+# Check favorite count does not exceed MAX_FAVORITES per config package
+for pkg_dir in src/*/objectives/; do
+ pkg_name=$(echo "$pkg_dir" | cut -d'/' -f2)
+ count=$(grep -rl '_favorite="true"' --include='*.xml' "$pkg_dir" 2>/dev/null | wc -l | tr -d ' ')
+ if [ "$count" -gt "$MAX_FAVORITES" ]; then
+ echo "ERROR: ${pkg_name} has ${count} favorited Objectives (max ${MAX_FAVORITES})."
+ echo "If everything is favorited, nothing is favorited."
+ grep -rl '_favorite="true"' --include='*.xml' "$pkg_dir"
+ errors=$((errors + 1))
+ fi
+done
+
+if [ "$errors" -gt 0 ]; then
+ exit 1
+fi
diff --git a/src/april_tag_sim/CMakeLists.txt b/src/april_tag_sim/CMakeLists.txt
new file mode 100644
index 000000000..99570fe04
--- /dev/null
+++ b/src/april_tag_sim/CMakeLists.txt
@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 3.22)
+project(april_tag_sim)
+
+find_package(ament_cmake REQUIRED)
+find_package(picknik_accessories REQUIRED)
+
+
+# Install all XML files in directory
+set(PICKNIK_ACCESSORIES_SHARE_DIR
+"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/"
+)
+# Destination directory
+set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/")
+
+install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}"
+ DESTINATION "${DEST_DIR}"
+ FILES_MATCHING PATTERN "*")
+
+install(
+ DIRECTORY
+ config
+ description
+ launch
+ objectives
+ waypoints
+ DESTINATION
+ share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ ament_lint_auto_find_test_dependencies()
+ # Redirect ROS node logs into the test_results tree so the test-results CI
+ # artifact ships them back too. The default ~/.ros/log/ lives on the doomed
+ # container filesystem and never gets uploaded, making post-mortem of
+ # objective failures impossible.
+ ament_add_pytest_test(
+ objectives_integration_test test/objectives_integration_test.py
+ TIMEOUT 600
+ ENV MOVEIT_CONFIG_PACKAGE=april_tag_sim
+ MOVEIT_HOST_USER_WORKSPACE=${CMAKE_SOURCE_DIR}
+ ROS_LOG_DIR=${CMAKE_CURRENT_BINARY_DIR}/test_results/${PROJECT_NAME}/ros_logs)
+endif()
+
+ament_package()
diff --git a/src/april_tag_sim/CONTRIBUTING.md b/src/april_tag_sim/CONTRIBUTING.md
new file mode 100644
index 000000000..be449dc44
--- /dev/null
+++ b/src/april_tag_sim/CONTRIBUTING.md
@@ -0,0 +1,7 @@
+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).
+
+# Contributing to this Repository
+
+Thanks for getting involved! If you want to add to this repository, please reach out to support@picknik.ai.
diff --git a/src/april_tag_sim/LICENSE b/src/april_tag_sim/LICENSE
new file mode 100644
index 000000000..574ef0790
--- /dev/null
+++ b/src/april_tag_sim/LICENSE
@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ * Neither the name of the copyright holder nor the names of its
+ contributors may be used to endorse or promote products derived from
+ this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/src/april_tag_sim/MOVEIT_PRO_IGNORE b/src/april_tag_sim/MOVEIT_PRO_IGNORE
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/april_tag_sim/README.md b/src/april_tag_sim/README.md
new file mode 100644
index 000000000..12e4c39f0
--- /dev/null
+++ b/src/april_tag_sim/README.md
@@ -0,0 +1,5 @@
+# april_tag_sim
+
+A MoveIt Pro simulation for benchmarking AprilTag detection.
+
+For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)
diff --git a/src/april_tag_sim/config/config.yaml b/src/april_tag_sim/config/config.yaml
new file mode 100644
index 000000000..5c5a27623
--- /dev/null
+++ b/src/april_tag_sim/config/config.yaml
@@ -0,0 +1,36 @@
+#
+# This contains information for a unique instance of a robot.
+#
+
+# Name of the package to specialize
+based_on_package: "lab_sim"
+hardware:
+ # Parameters used to configure the robot description through XACRO.
+ # A URDF and SRDF are both required.
+ # [Required]
+ robot_description:
+ urdf:
+ package: "lab_sim"
+ path: "description/picknik_ur.xacro"
+ srdf:
+ package: "lab_sim"
+ path: "config/moveit/picknik_ur.srdf"
+ urdf_params:
+ - mujoco_model_package: "april_tag_sim"
+# Configuration for loading behaviors and objectives.
+# [Required]
+objectives:
+ # Specify source folder for objectives
+ # [Required]
+ objective_library_paths:
+ mujoco_objectives:
+ package_name: "moveit_pro_objectives"
+ relative_path: "objectives/mujoco"
+ sim_objectives:
+ package_name: "april_tag_sim"
+ relative_path: "objectives"
+ # Specify the location of the saved waypoints file.
+ # [Required]
+ waypoints_file:
+ package_name: "april_tag_sim"
+ relative_path: "waypoints/ur_waypoints.yaml"
diff --git a/src/april_tag_sim/description/LICENSE b/src/april_tag_sim/description/LICENSE
new file mode 100644
index 000000000..f24e07cb6
--- /dev/null
+++ b/src/april_tag_sim/description/LICENSE
@@ -0,0 +1,26 @@
+Copyright 2018 ROS Industrial Consortium
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+may be used to endorse or promote products derived from this software without
+specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/src/april_tag_sim/description/scene.xml b/src/april_tag_sim/description/scene.xml
new file mode 100644
index 000000000..fe5449511
--- /dev/null
+++ b/src/april_tag_sim/description/scene.xml
@@ -0,0 +1,176 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/april_tag_sim/launch/agent_bridge.launch.xml b/src/april_tag_sim/launch/agent_bridge.launch.xml
new file mode 100644
index 000000000..b2aa75434
--- /dev/null
+++ b/src/april_tag_sim/launch/agent_bridge.launch.xml
@@ -0,0 +1,6 @@
+
+
+
diff --git a/src/april_tag_sim/objectives/0degree_runs/.gitkeep b/src/april_tag_sim/objectives/0degree_runs/.gitkeep
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/april_tag_sim/objectives/45degree_runs/.gitkeep b/src/april_tag_sim/objectives/45degree_runs/.gitkeep
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/april_tag_sim/objectives/apriltag_pick_object.xml b/src/april_tag_sim/objectives/apriltag_pick_object.xml
new file mode 100644
index 000000000..b3eb0556f
--- /dev/null
+++ b/src/april_tag_sim/objectives/apriltag_pick_object.xml
@@ -0,0 +1,89 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/april_tag_sim/objectives/close_gripper.xml b/src/april_tag_sim/objectives/close_gripper.xml
new file mode 100644
index 000000000..afb243195
--- /dev/null
+++ b/src/april_tag_sim/objectives/close_gripper.xml
@@ -0,0 +1,27 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/april_tag_sim/objectives/collect_angled_apriltag_detection_data.xml b/src/april_tag_sim/objectives/collect_angled_apriltag_detection_data.xml
new file mode 100644
index 000000000..233127c0a
--- /dev/null
+++ b/src/april_tag_sim/objectives/collect_angled_apriltag_detection_data.xml
@@ -0,0 +1,72 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/april_tag_sim/objectives/collect_apriltag_detection_data.xml b/src/april_tag_sim/objectives/collect_apriltag_detection_data.xml
new file mode 100644
index 000000000..c8d6b6d9f
--- /dev/null
+++ b/src/april_tag_sim/objectives/collect_apriltag_detection_data.xml
@@ -0,0 +1,25 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/april_tag_sim/objectives/collect_parallel_apriltag_detection_data.xml b/src/april_tag_sim/objectives/collect_parallel_apriltag_detection_data.xml
new file mode 100644
index 000000000..e9ab7d325
--- /dev/null
+++ b/src/april_tag_sim/objectives/collect_parallel_apriltag_detection_data.xml
@@ -0,0 +1,72 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/april_tag_sim/objectives/get_april_tag_pose_from_image.xml b/src/april_tag_sim/objectives/get_april_tag_pose_from_image.xml
new file mode 100644
index 000000000..74c5508f1
--- /dev/null
+++ b/src/april_tag_sim/objectives/get_april_tag_pose_from_image.xml
@@ -0,0 +1,47 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/april_tag_sim/objectives/move_to_and_detect_tag_-45.xml b/src/april_tag_sim/objectives/move_to_and_detect_tag_-45.xml
new file mode 100644
index 000000000..5dea1cbfa
--- /dev/null
+++ b/src/april_tag_sim/objectives/move_to_and_detect_tag_-45.xml
@@ -0,0 +1,123 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/april_tag_sim/objectives/move_to_and_detect_tag_0.xml b/src/april_tag_sim/objectives/move_to_and_detect_tag_0.xml
new file mode 100644
index 000000000..1268f0799
--- /dev/null
+++ b/src/april_tag_sim/objectives/move_to_and_detect_tag_0.xml
@@ -0,0 +1,123 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/april_tag_sim/objectives/move_to_and_detect_tag_45.xml b/src/april_tag_sim/objectives/move_to_and_detect_tag_45.xml
new file mode 100644
index 000000000..ea70ffff0
--- /dev/null
+++ b/src/april_tag_sim/objectives/move_to_and_detect_tag_45.xml
@@ -0,0 +1,123 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/april_tag_sim/objectives/open_gripper.xml b/src/april_tag_sim/objectives/open_gripper.xml
new file mode 100644
index 000000000..14921bf6d
--- /dev/null
+++ b/src/april_tag_sim/objectives/open_gripper.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/april_tag_sim/package.xml b/src/april_tag_sim/package.xml
new file mode 100644
index 000000000..9f31b53e3
--- /dev/null
+++ b/src/april_tag_sim/package.xml
@@ -0,0 +1,45 @@
+
+
+ april_tag_sim
+ 9.5.0
+
+
+ MuJoCo simulation configuration package for Picknik's UR robot on a linear
+ rail
+
+
+ MoveIt Pro Maintainer
+
+ BSD-3-Clause
+
+ ament_cmake
+
+ admittance_controller
+ lab_sim
+ moveit_ros_perception
+ moveit_studio_agent
+ moveit_pro_behavior
+ picknik_accessories
+ picknik_mujoco_ros
+ picknik_ur_base_config
+ realsense2_camera
+ realsense2_description
+ robotiq_controllers
+ robotiq_description
+ ur_description
+ velocity_force_controller
+
+ ament_clang_format
+ ament_clang_tidy
+ ament_cmake_copyright
+ ament_cmake_lint_cmake
+ ament_cmake_pytest
+ ament_flake8
+ ament_lint_auto
+ picknik_ament_copyright
+ rclpy
+
+
+ ament_cmake
+
+
diff --git a/src/april_tag_sim/scripts/analyze_pose_detection.py b/src/april_tag_sim/scripts/analyze_pose_detection.py
new file mode 100644
index 000000000..ad167f068
--- /dev/null
+++ b/src/april_tag_sim/scripts/analyze_pose_detection.py
@@ -0,0 +1,197 @@
+#!/usr/bin/env python3
+
+# Copyright 2025 PickNik Inc.
+# All rights reserved.
+#
+# Unauthorized copying of this code base via any medium is strictly prohibited.
+# Proprietary and confidential.
+
+import matplotlib.pyplot as plt
+import numpy as np
+import pandas as pd
+from pathlib import Path
+from scipy.spatial.transform import Rotation as R
+import yaml
+
+
+DIR_0DEG = "../objectives/0degree_runs"
+DIR_45DEG = "../objectives/45degree_runs"
+NUM_TAGS = 6
+
+
+def load_yaml_file(file_path):
+ with open(file_path, "r") as f:
+ return yaml.safe_load(f)
+
+
+def save_yaml_file(data, file_path):
+ with open(file_path, "w") as f:
+ yaml.dump(data, f, default_flow_style=False)
+
+
+def extract_yaml_data(tag_dfs, base_path, num_runs):
+ base_path = Path(base_path)
+
+ for tag_num in range(1, NUM_TAGS + 1):
+ tag_file = base_path / f"tag{tag_num}.yaml"
+ runs_yaml = load_yaml_file(tag_file)
+ for run_num in runs_yaml.keys():
+ pose_yaml = runs_yaml[run_num]
+ position = pose_yaml["pose"]["position"]
+ orientation = pose_yaml["pose"]["orientation"]
+
+ # Extract position and orientation
+ tag_dfs[tag_num].loc[run_num] = {
+ "x": position["x"],
+ "y": position["y"],
+ "z": position["z"],
+ "qw": orientation["w"],
+ "qx": orientation["x"],
+ "qy": orientation["y"],
+ "qz": orientation["z"],
+ }
+
+
+def get_deviations(row):
+ pos_mag = np.linalg.norm([row["x"], row["y"], row["z"]])
+ r = R.from_quat([row["qx"], row["qy"], row["qz"], row["qw"]])
+ rot_mag = r.magnitude()
+ rot_mag_deg = np.degrees(rot_mag)
+ rot_vec = r.as_rotvec()
+ return {
+ "x": row["x"],
+ "y": row["y"],
+ "z": row["z"],
+ "pos_mag": pos_mag,
+ "rx": rot_vec[0],
+ "ry": rot_vec[1],
+ "rz": rot_vec[2],
+ "rot_mag": rot_mag_deg,
+ }
+
+
+def create_dfs(num_runs):
+ tag_dfs = {
+ tag_num: pd.DataFrame(
+ columns=["x", "y", "z", "qx", "qy", "qz", "qw"],
+ index=range(1, num_runs + 1),
+ )
+ for tag_num in range(1, NUM_TAGS + 1)
+ }
+ deviation_dfs = {
+ tag_num: pd.DataFrame(
+ columns=["x", "y", "z", "pos_mag", "rx", "ry", "rz", "rot_mag"],
+ index=range(1, num_runs + 1),
+ )
+ for tag_num in range(1, NUM_TAGS + 1)
+ }
+ mean_df = pd.DataFrame(
+ columns=["x", "y", "z", "pos_mag", "rx", "ry", "rz", "rot_mag"],
+ index=range(1, NUM_TAGS + 1),
+ )
+ stdev_df = pd.DataFrame(
+ columns=["x", "y", "z", "pos_mag", "rx", "ry", "rz", "rot_mag"],
+ index=range(1, NUM_TAGS + 1),
+ )
+ return tag_dfs, deviation_dfs, mean_df, stdev_df
+
+
+def fill_deviations_dfs(deviation_dfs, tag_dfs):
+ for tag_num in range(1, NUM_TAGS + 1):
+ results = tag_dfs[tag_num].apply(lambda row: get_deviations(row), axis=1)
+ for idx, res in results.items():
+ deviation_dfs[tag_num].loc[idx] = res
+
+
+def fill_summary_dfs(mean_df, stdev_df, deviation_dfs):
+ for tag_num in range(1, NUM_TAGS + 1):
+ mean_df.loc[tag_num] = deviation_dfs[tag_num].mean()
+ stdev_df.loc[tag_num] = deviation_dfs[tag_num].std()
+
+
+def create_plot(y1, err1, y2, err2, ylabel, title):
+ plt.figure(figsize=(10, 6))
+ segments = [0, 1, 2, 3, 4, 5]
+ plt.errorbar(
+ segments,
+ y1,
+ yerr=err1,
+ fmt="o",
+ capsize=5,
+ elinewidth=2,
+ markerfacecolor="black",
+ label="Parallel (0°) detections",
+ )
+ plt.errorbar(
+ segments,
+ y2,
+ yerr=err2,
+ fmt="o",
+ capsize=5,
+ elinewidth=2,
+ markerfacecolor="black",
+ label="Angled (45°) detections",
+ )
+
+ # X-axis
+ tag_sizes = [0.48, 0.32, 0.24, 0.16, 0.12, 0.08]
+ plt.xticks(segments, [f"Tag {i+1}, size: {tag_sizes[i]}" for i in segments])
+
+ plt.ylabel(ylabel)
+ plt.title(title)
+ plt.grid(True)
+ plt.legend()
+ plt.tight_layout()
+
+
+if __name__ == "__main__":
+ sample_yaml = load_yaml_file(DIR_0DEG + "/tag1.yaml")
+ num_runs = len(sample_yaml)
+
+ tag_dfs_0deg, deviation_dfs_0deg, mean_df_0deg, stdev_df_0deg = create_dfs(num_runs)
+ tag_dfs_45deg, deviation_dfs_45deg, mean_df_45deg, stdev_df_45deg = create_dfs(
+ num_runs
+ )
+
+ # Extract data from YAML files into the tag DataFrames.
+ extract_yaml_data(tag_dfs_0deg, DIR_0DEG, num_runs)
+ extract_yaml_data(tag_dfs_45deg, DIR_45DEG, num_runs)
+
+ # Fill deviations DataFrame.
+ fill_deviations_dfs(deviation_dfs_0deg, tag_dfs_0deg)
+ fill_deviations_dfs(deviation_dfs_45deg, tag_dfs_45deg)
+
+ # Fill summary (avg & stdev) DataFrames.
+ fill_summary_dfs(mean_df_0deg, stdev_df_0deg, deviation_dfs_0deg)
+ fill_summary_dfs(mean_df_45deg, stdev_df_45deg, deviation_dfs_45deg)
+
+ # Positional deviation plot
+ pos_mag_means_0deg = mean_df_0deg["pos_mag"].values
+ pos_mag_stdevs_0deg = stdev_df_0deg["pos_mag"].values
+ pos_mag_means_45deg = mean_df_45deg["pos_mag"].values
+ pos_mag_stdevs_45deg = stdev_df_45deg["pos_mag"].values
+ create_plot(
+ pos_mag_means_0deg,
+ pos_mag_stdevs_0deg,
+ pos_mag_means_45deg,
+ pos_mag_stdevs_45deg,
+ "AprilTag Position Deviation (m)",
+ f"AprilTag Position Deviation by Tag (n={num_runs})",
+ )
+
+ # Rotational deviation plot
+ # y-values: mean rot_mag for each segment
+ rot_mag_means_0deg = mean_df_0deg["rot_mag"].values
+ rot_mag_stdevs_0deg = stdev_df_0deg["rot_mag"].values
+ rot_mag_means_45deg = mean_df_45deg["rot_mag"].values
+ rot_mag_stdevs_45deg = stdev_df_45deg["rot_mag"].values
+ create_plot(
+ rot_mag_means_0deg,
+ rot_mag_stdevs_0deg,
+ rot_mag_means_45deg,
+ rot_mag_stdevs_45deg,
+ "AprilTag Orientation Deviation (°)",
+ f"AprilTag Orientation Deviation by Tag (n={num_runs})",
+ )
+
+ plt.show()
diff --git a/src/april_tag_sim/scripts/requirements.txt b/src/april_tag_sim/scripts/requirements.txt
new file mode 100644
index 000000000..aafa0cbb9
--- /dev/null
+++ b/src/april_tag_sim/scripts/requirements.txt
@@ -0,0 +1,4 @@
+scipy
+pandas
+matplotlib
+pyyaml
diff --git a/src/april_tag_sim/test/objectives_integration_test.py b/src/april_tag_sim/test/objectives_integration_test.py
new file mode 100644
index 000000000..19e594d6a
--- /dev/null
+++ b/src/april_tag_sim/test/objectives_integration_test.py
@@ -0,0 +1,87 @@
+# Copyright 2026 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+#
+# * Neither the name of the PickNik Inc. nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""Integration tests for the april_tag_sim objective library."""
+
+import pytest
+
+from moveit_pro_test_utils.objective_test_fixture import (
+ ExecuteObjectiveResource,
+ MUJOCO_RESET_HOOK,
+ SIM_RESETTER,
+ execute_objective_resource as execute_objective_resource,
+ get_objective_pytest_params,
+ reset_simulation_before_test as reset_simulation_before_test,
+ run_objective,
+)
+
+# april_tag_sim is a MuJoCo-backed sim: reset the keyframe between tests with
+# the default reset hook (no controller cycling needed here — that variant is
+# specific to lab_sim's interrupted-motion flake).
+SIM_RESETTER.register("april_tag_sim", MUJOCO_RESET_HOOK)
+
+# Looping objectives to cancel partway through rather than run to completion.
+cancel_objectives: set[str] = set()
+
+# Objectives to skip entirely. These need a camera operator, a clicked point,
+# or an AprilTag-detection-driven grasp that the headless CI backend cannot
+# satisfy. SUCCESS-or-skip keeps the suite deterministic; expand this set from
+# the first weekly CI run rather than guessing more aggressively up front.
+skip_objectives: set[str] = {
+ "Collect AprilTag Detection Data", # Data-collection loop driven by a camera feed.
+ "Collect Angled AprilTag Detection Data", # Data-collection loop driven by a camera feed.
+ "Collect Parallel AprilTag Detection Data", # Data-collection loop driven by a camera feed.
+ "Pick April Tag Labeled Object", # Requires AprilTag detection + a live grasp.
+ # Core-library objectives aggregated into every config; both need a
+ # primary UI and cannot run in headless CI.
+ "Teleoperate", # DoTeleoperateAction rejects the goal with no UI subscribed.
+ "Marker Visualization Example", # GetTextFromUser server unavailable headless.
+}
+
+
+@pytest.mark.parametrize(
+ "objective_id, should_cancel",
+ get_objective_pytest_params("april_tag_sim", cancel_objectives, skip_objectives),
+)
+def test_all_objectives(
+ objective_id: str,
+ should_cancel: bool,
+ execute_objective_resource: ExecuteObjectiveResource,
+) -> None:
+ """Run (or cancel) each april_tag_sim objective and assert it completes without error."""
+ try:
+ run_objective(objective_id, should_cancel, execute_objective_resource)
+ except AssertionError as e:
+ mode = "cancel" if should_cancel else "execute"
+ pytest.fail(f"Objective '{objective_id}' failed to {mode}: {e}")
+ except Exception as e:
+ mode = "cancel" if should_cancel else "execute"
+ pytest.fail(
+ f"Objective '{objective_id}' hit an unexpected error during {mode}: "
+ f"{type(e).__name__}: {e}"
+ )
diff --git a/src/april_tag_sim/waypoints/ur_waypoints.yaml b/src/april_tag_sim/waypoints/ur_waypoints.yaml
new file mode 100644
index 000000000..3dd470918
--- /dev/null
+++ b/src/april_tag_sim/waypoints/ur_waypoints.yaml
@@ -0,0 +1,430 @@
+- description: ''
+ favorite: false
+ joint_group_names:
+ - gripper
+ - linear_actuator
+ - manipulator
+ joint_state:
+ effort: []
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ name:
+ - robotiq_85_left_knuckle_joint
+ - linear_rail_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
+ position:
+ - 0.01688327588273299
+ - -7.398158482916995e-11
+ - -3.8075799469380365e-09
+ - -1.8849146307875049
+ - 1.1008590123422952
+ - -1.256467912694488
+ - -1.5707500007156492
+ - 2.510085262493143e-12
+ velocity: []
+ multi_dof_joint_state:
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ joint_names: []
+ transforms: []
+ twist: []
+ wrench: []
+ name: Home
+- description: ''
+ favorite: false
+ joint_group_names:
+ - gripper
+ - linear_actuator
+ - manipulator
+ joint_state:
+ effort: []
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ name:
+ - robotiq_85_left_knuckle_joint
+ - linear_rail_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
+ position:
+ - 0.003289905825896901
+ - -1.2085967565116629
+ - -0.38053130439833605
+ - 0.06646891177887178
+ - 0.6704411533015396
+ - -2.2598174786501377
+ - -1.5491163084575408
+ - -0.37975580107980283
+ velocity: []
+ multi_dof_joint_state:
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ joint_names: []
+ transforms: []
+ twist: []
+ wrench: []
+ name: Look at Tag 1
+- description: ''
+ favorite: false
+ joint_group_names:
+ - gripper
+ - linear_actuator
+ - manipulator
+ joint_state:
+ effort: []
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ name:
+ - robotiq_85_left_knuckle_joint
+ - linear_rail_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
+ position:
+ - 0.003289895001232932
+ - -0.584237138085879
+ - -0.22445303770229816
+ - -0.03740938238661679
+ - 0.8442556071089173
+ - -2.327480342361729
+ - -1.5419380273363887
+ - -0.22379315558677204
+ velocity: []
+ multi_dof_joint_state:
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ joint_names: []
+ transforms: []
+ twist: []
+ wrench: []
+ name: Look at Tag 2
+- description: ''
+ favorite: false
+ joint_group_names:
+ - gripper
+ - linear_actuator
+ - manipulator
+ joint_state:
+ effort: []
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ name:
+ - robotiq_85_left_knuckle_joint
+ - linear_rail_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
+ position:
+ - 0.003289878545032619
+ - -0.013331825276253031
+ - -0.007738854023507954
+ - -0.07155091132172103
+ - 0.8464016738230742
+ - -2.2935454146048495
+ - -1.5311630331449393
+ - -0.00721935810195775
+ velocity: []
+ multi_dof_joint_state:
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ joint_names: []
+ transforms: []
+ twist: []
+ wrench: []
+ name: Look at Tag 3
+- description: ''
+ favorite: false
+ joint_group_names:
+ - gripper
+ - linear_actuator
+ - manipulator
+ joint_state:
+ effort: []
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ name:
+ - robotiq_85_left_knuckle_joint
+ - linear_rail_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
+ position:
+ - 0.003289868143547263
+ - 0.5983636189339089
+ - 0.13555159878309758
+ - -0.05766674362562976
+ - 0.7293397422861606
+ - -2.1900791668360156
+ - -1.5241317280474103
+ - 0.13603181574026543
+ velocity: []
+ multi_dof_joint_state:
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ joint_names: []
+ transforms: []
+ twist: []
+ wrench: []
+ name: Look at Tag 4
+- description: ''
+ favorite: false
+ joint_group_names:
+ - gripper
+ - linear_actuator
+ - manipulator
+ joint_state:
+ effort: []
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ name:
+ - robotiq_85_left_knuckle_joint
+ - linear_rail_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
+ position:
+ - 0.0032898512121919484
+ - 1.3252080263883375
+ - 0.2232575515459395
+ - -0.03160676238665353
+ - 0.5925165639376702
+ - -2.0736004948166467
+ - -1.5197166259507557
+ - 0.22373111913195776
+ velocity: []
+ multi_dof_joint_state:
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ joint_names: []
+ transforms: []
+ twist: []
+ wrench: []
+ name: Look at Tag 6
+- description: Move out of view of scene camera
+ favorite: false
+ joint_group_names:
+ - gripper
+ - linear_actuator
+ - manipulator
+ joint_state:
+ effort: []
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ name:
+ - robotiq_85_left_knuckle_joint
+ - linear_rail_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
+ position:
+ - 0.00780498767879874
+ - -1.7207208458780023
+ - -2.9355287074907658e-05
+ - -1.8849275826089145
+ - 1.102019084998803
+ - -1.2563366868253756
+ - -1.5707679924921147
+ - 1.5931846964135707e-07
+ velocity: []
+ multi_dof_joint_state:
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ joint_names: []
+ transforms: []
+ twist: []
+ wrench: []
+ name: Park Far Right
+- description: ''
+ favorite: false
+ joint_group_names:
+ - gripper
+ - linear_actuator
+ - manipulator
+ joint_state:
+ effort: []
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ name:
+ - robotiq_85_left_knuckle_joint
+ - linear_rail_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
+ position:
+ - 0.039808309949994805
+ - -0.5839327290315586
+ - -0.2687381616263423
+ - -1.4142103820838365
+ - 1.1521752505644343
+ - -1.3067562163163808
+ - -1.5708040696131618
+ - -0.2687661213277525
+ velocity: []
+ multi_dof_joint_state:
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ joint_names: []
+ transforms: []
+ twist: []
+ wrench: []
+ name: Workspace Right
+- description: ''
+ favorite: false
+ joint_group_names:
+ - gripper
+ - linear_actuator
+ - manipulator
+ joint_state:
+ effort: []
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ name:
+ - robotiq_85_left_knuckle_joint
+ - linear_rail_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
+ position:
+ - 0.36093425387337075
+ - 0.3468469487674742
+ - -0.08122232656648681
+ - -1.1118986430431266
+ - 0.7735698103006698
+ - -1.2414135949062157
+ - 3.14
+ - -0.0803135811027271
+ velocity: []
+ multi_dof_joint_state:
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ joint_names: []
+ transforms: []
+ twist: []
+ wrench: []
+ name: Wrist 2 Max
+- description: ''
+ favorite: false
+ joint_group_names:
+ - gripper
+ - linear_actuator
+ - manipulator
+ joint_state:
+ effort: []
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ name:
+ - robotiq_85_left_knuckle_joint
+ - linear_rail_joint
+ - shoulder_pan_joint
+ - shoulder_lift_joint
+ - elbow_joint
+ - wrist_1_joint
+ - wrist_2_joint
+ - wrist_3_joint
+ position:
+ - 0.36093425387337075
+ - 0.3468469487674742
+ - -0.08122232656648681
+ - -1.1118986430431266
+ - 0.7735698103006698
+ - -1.2414135949062157
+ - -3.14
+ - -0.0803135811027271
+ velocity: []
+ multi_dof_joint_state:
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ joint_names: []
+ transforms: []
+ twist: []
+ wrench: []
+ name: Wrist 2 Min
diff --git a/src/behavior_hub_catalog/CMakeLists.txt b/src/behavior_hub_catalog/CMakeLists.txt
new file mode 100644
index 000000000..e695ccaa2
--- /dev/null
+++ b/src/behavior_hub_catalog/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.22)
+project(behavior_hub_catalog)
+
+find_package(ament_cmake REQUIRED)
+
+# Config-only package: it inherits everything else from lab_sim via
+# `based_on_package`, so only the config directory is installed.
+install(
+ DIRECTORY
+ config
+ DESTINATION
+ share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/src/behavior_hub_catalog/MOVEIT_PRO_IGNORE b/src/behavior_hub_catalog/MOVEIT_PRO_IGNORE
new file mode 100644
index 000000000..178405956
--- /dev/null
+++ b/src/behavior_hub_catalog/MOVEIT_PRO_IGNORE
@@ -0,0 +1,3 @@
+# Presence of this file hides the package from the MoveIt Pro robot/config picker.
+# This config is generation-only (Behaviors Hub data dump); it still builds and can
+# be launched explicitly via MOVEIT_CONFIG_PACKAGE=behavior_hub_catalog.
diff --git a/src/behavior_hub_catalog/config/config.yaml b/src/behavior_hub_catalog/config/config.yaml
new file mode 100644
index 000000000..47a30034d
--- /dev/null
+++ b/src/behavior_hub_catalog/config/config.yaml
@@ -0,0 +1,19 @@
+#
+# Behavior Hub catalog config.
+#
+# Used only to generate the data behind the picknik.ai Behaviors Hub — it is not a
+# robot a user would run. It inherits lab_sim and adds NavBehaviorsLoader so the
+# `/behaviors/data` dump includes Nav behaviors (e.g. `ComputePathToPoseAction`),
+# which lab_sim's loader set omits (see picknik.ai#3086).
+#
+# The backend unions `behavior_loader_plugins` across the whole `based_on_package`
+# chain (moveit_studio_utils_py system_config.get_behavior_loader_plugins), so this
+# config only needs to ADD the missing loader — lab_sim's loaders, objectives, robot,
+# and everything else are inherited automatically and stay in sync with no edits here.
+#
+based_on_package: "lab_sim"
+objectives:
+ behavior_loader_plugins:
+ # Adds the Navigation behaviors on top of lab_sim's set (unioned by the backend).
+ nav:
+ - "moveit_pro::behaviors::NavBehaviorsLoader"
diff --git a/src/behavior_hub_catalog/package.xml b/src/behavior_hub_catalog/package.xml
new file mode 100644
index 000000000..5cfcc5c0e
--- /dev/null
+++ b/src/behavior_hub_catalog/package.xml
@@ -0,0 +1,26 @@
+
+
+ behavior_hub_catalog
+ 9.5.0
+
+
+ Behavior Hub catalog configuration. Inherits lab_sim and adds the Navigation
+ behavior loader so the picknik.ai Behaviors Hub data export includes Nav
+ behaviors. Generation-only; not intended as a runnable robot config.
+
+
+ MoveIt Pro Maintainer
+ Proprietary
+
+ ament_cmake
+
+ lab_sim
+ moveit_studio_agent
+ moveit_pro_behavior
+
+ ament_lint_auto
+
+
+ ament_cmake
+
+
diff --git a/src/dual_arm_sim/.gitattributes b/src/dual_arm_sim/.gitattributes
new file mode 100644
index 000000000..7db549b5c
--- /dev/null
+++ b/src/dual_arm_sim/.gitattributes
@@ -0,0 +1 @@
+*.{png,jpg,jpeg,obj,dae,stl,OBJ,DAE,STL} filter=lfs diff=lfs merge=lfs -text
diff --git a/src/dual_arm_sim/CMakeLists.txt b/src/dual_arm_sim/CMakeLists.txt
new file mode 100644
index 000000000..2bb89b1fc
--- /dev/null
+++ b/src/dual_arm_sim/CMakeLists.txt
@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.22)
+project(dual_arm_sim)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+ DIRECTORY
+ config
+ description
+ launch
+ objectives
+ waypoints
+ DESTINATION
+ share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ ament_lint_auto_find_test_dependencies()
+ # Redirect ROS node logs into the test_results tree so the test-results CI
+ # artifact ships them back too. The default ~/.ros/log/ lives on the doomed
+ # container filesystem and never gets uploaded, making post-mortem of
+ # objective failures impossible.
+ ament_add_pytest_test(
+ objectives_integration_test test/objectives_integration_test.py
+ TIMEOUT 600
+ ENV MOVEIT_CONFIG_PACKAGE=dual_arm_sim
+ MOVEIT_HOST_USER_WORKSPACE=${CMAKE_SOURCE_DIR}
+ ROS_LOG_DIR=${CMAKE_CURRENT_BINARY_DIR}/test_results/${PROJECT_NAME}/ros_logs)
+endif()
+
+ament_package()
diff --git a/src/dual_arm_sim/README.md b/src/dual_arm_sim/README.md
new file mode 100644
index 000000000..b1aab742d
--- /dev/null
+++ b/src/dual_arm_sim/README.md
@@ -0,0 +1,4 @@
+# dual_arm_sim
+
+A MoveIt Pro base configuration for the Franka arm.
+For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/).
diff --git a/src/dual_arm_sim/config/config.yaml b/src/dual_arm_sim/config/config.yaml
new file mode 100644
index 000000000..a82b43341
--- /dev/null
+++ b/src/dual_arm_sim/config/config.yaml
@@ -0,0 +1,150 @@
+###############################################################
+#
+# This configures the robot to work with MoveIt Pro
+#
+###############################################################
+
+# Baseline hardware configuration parameters for MoveIt Pro.
+# [Required]
+hardware:
+ # Set simulated to false if you are using this as a configuration for real hardware.
+ # This allows users to switch between mock and real hardware using the same configuration.
+ # [Required]
+ simulated: True
+
+ # If the MoveIt Pro Agent should launch the ros2 controller node.
+ # [Optional, default=True]
+ launch_control_node: True
+
+ # If the MoveIt Pro Agent should launch the robot state publisher.
+ # This should be false if you are launching the robot state publisher as part of drivers.
+ # [Optional, default=True]
+ launch_robot_state_publisher: True
+
+ robot_description:
+ urdf:
+ package: "dual_arm_sim"
+ path: "description/franka.urdf.xacro"
+ srdf:
+ package: "dual_arm_sim"
+ path: "config/moveit/franka.srdf"
+ # Specify any additional parameters required for the URDF.
+ # Many of these are specific to the UR descriptions packages, and can be customized as needed.
+ # [Optional]
+ urdf_params:
+ - mujoco_keyframe: "default"
+ - mujoco_model: "description/mujoco/scene.xml"
+ - mujoco_viewer: false
+ simulated_hardware_launch_file:
+ package: "moveit_studio_agent"
+ path: "launch/blank.launch.py"
+
+# Configuration files for MoveIt.
+# For more information, refer to https://moveit.picknik.ai/main/doc/how_to_guides/moveit_configuration/moveit_configuration_tutorial.html
+# [Required]
+moveit_params:
+ # Used by the Waypoint Manager to save joint states from this joint group.
+ joint_group_name: "manipulator"
+
+ kinematics:
+ package: "dual_arm_sim"
+ path: "config/moveit/pose_ik_distance.yaml"
+ sensors_3d:
+ package: "dual_arm_sim"
+ path: "config/moveit/sensors_3d.yaml"
+ joint_limits:
+ package: "dual_arm_sim"
+ path: "config/moveit/joint_limits.yaml"
+ pose_jog:
+ package: "dual_arm_sim"
+ path: "config/moveit/pose_jog.yaml"
+ joint_jog:
+ package: "dual_arm_sim"
+ path: "config/moveit/joint_jog.yaml"
+
+ publish:
+ planning_scene: True
+ geometry_updates: True
+ state_updates: True
+ transforms_updates: True
+
+ trajectory_execution:
+ manage_controllers: True
+ allowed_execution_duration_scaling: 2.0
+ allowed_goal_duration_margin: 5.0
+ allowed_start_tolerance: 0.01
+
+# Configuration for loading behaviors and objectives.
+# [Required]
+objectives:
+ # List of plugins for loading custom behaviors.
+ # [Required]
+ behavior_loader_plugins:
+ # This plugin will load the core MoveIt Pro Behaviors.
+ # Add additional plugin loaders as needed.
+ core:
+ - "moveit_pro::behaviors::CoreBehaviorsLoader"
+ - "moveit_pro::behaviors::MTCCoreBehaviorsLoader"
+ - "moveit_pro::behaviors::VisionBehaviorsLoader"
+ - "moveit_pro::behaviors::ConverterBehaviorsLoader"
+ - "moveit_pro::behaviors::MujocoBehaviorsLoader"
+ # Specify source folder for objectives
+ # [Required]
+ objective_library_paths:
+ core_objectives:
+ package_name: "moveit_pro_objectives"
+ relative_path: "objectives/core"
+ motion_objectives:
+ package_name: "moveit_pro_objectives"
+ relative_path: "objectives/motion"
+ perception_objectives:
+ package_name: "moveit_pro_objectives"
+ relative_path: "objectives/perception"
+ visualization_objectives:
+ package_name: "moveit_pro_objectives"
+ relative_path: "objectives/visualization"
+ mujoco_objectives:
+ package_name: "moveit_pro_objectives"
+ relative_path: "objectives/mujoco"
+ custom_objectives:
+ package_name: "dual_arm_sim"
+ relative_path: "objectives"
+ # Specify the location of the saved waypoints file.
+ # [Required]
+ waypoints_file:
+ package_name: "dual_arm_sim"
+ relative_path: "waypoints/waypoints.yaml"
+# Configuration for launching ros2_control processes.
+# [Required, if using ros2_control]
+ros2_control:
+ config:
+ package: "dual_arm_sim"
+ path: "config/control/franka_ros2_control.yaml"
+ # MoveIt Pro will load and activate these controllers at start up to ensure they are available.
+ # If not specified, it is up to the user to ensure the appropriate controllers are active and available
+ # for running the application.
+ # [Optional, default=[]]
+ controllers_active_at_startup:
+ - "left_gripper_controller"
+ - "right_gripper_controller"
+ - "joint_state_broadcaster"
+ - "joint_trajectory_admittance_controller"
+ # Load but do not start these controllers so they can be activated later if needed.
+ # [Optional, default=[]]
+ controllers_inactive_at_startup:
+ #- "joint_trajectory_admittance_controller"
+ - "left_velocity_force_controller"
+ - "right_velocity_force_controller"
+ - "left_joint_velocity_controller"
+ - "right_joint_velocity_controller"
+ - "left_joint_trajectory_controller"
+ - "right_joint_trajectory_controller"
+ - "joint_trajectory_controller"
+ - "left_joint_trajectory_admittance_controller"
+ - "right_joint_trajectory_admittance_controller"
+ # Any controllers here will not be spawned by MoveIt Pro.
+ # [Optional, default=[]]
+ controllers_not_managed: []
+ # Optionally configure remapping rules to let multiple controllers receive commands on the same topic.
+ # [Optional, default=[]]
+ controller_shared_topics: []
diff --git a/src/dual_arm_sim/config/control/franka_ros2_control.yaml b/src/dual_arm_sim/config/control/franka_ros2_control.yaml
new file mode 100644
index 000000000..567641adb
--- /dev/null
+++ b/src/dual_arm_sim/config/control/franka_ros2_control.yaml
@@ -0,0 +1,305 @@
+controller_manager:
+ ros__parameters:
+ update_rate: 1000 # Hz
+ overruns:
+ print_warnings: false # Suppress overrun WARN logs in non-realtime sim; gates the WARN log only; overrun handling itself is unchanged.
+ joint_state_broadcaster:
+ type: joint_state_broadcaster/JointStateBroadcaster
+ joint_trajectory_controller:
+ type: joint_trajectory_controller/JointTrajectoryController
+ joint_trajectory_admittance_controller:
+ type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController
+ left_joint_trajectory_admittance_controller:
+ type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController
+ right_joint_trajectory_admittance_controller:
+ type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController
+ left_velocity_force_controller:
+ type: velocity_force_controller/VelocityForceController
+ right_velocity_force_controller:
+ type: velocity_force_controller/VelocityForceController
+ left_joint_velocity_controller:
+ type: joint_velocity_controller/JointVelocityController
+ right_joint_velocity_controller:
+ type: joint_velocity_controller/JointVelocityController
+ left_gripper_controller:
+ type: position_controllers/GripperActionController
+ right_gripper_controller:
+ type: position_controllers/GripperActionController
+
+joint_trajectory_controller:
+ ros__parameters:
+ command_interfaces:
+ - position
+ state_interfaces:
+ - position
+ - velocity
+ allow_partial_joints_goal: true
+ joints:
+ - left_fr3_joint1
+ - left_fr3_joint2
+ - left_fr3_joint3
+ - left_fr3_joint4
+ - left_fr3_joint5
+ - left_fr3_joint6
+ - left_fr3_joint7
+ - right_fr3_joint1
+ - right_fr3_joint2
+ - right_fr3_joint3
+ - right_fr3_joint4
+ - right_fr3_joint5
+ - right_fr3_joint6
+ - right_fr3_joint7
+ gains:
+ left_fr3_joint1: { p: 600., d: 30., i: 0., i_clamp: 1. }
+ left_fr3_joint2: { p: 600., d: 30., i: 0., i_clamp: 1. }
+ left_fr3_joint3: { p: 600., d: 30., i: 0., i_clamp: 1. }
+ left_fr3_joint4: { p: 600., d: 30., i: 0., i_clamp: 1. }
+ left_fr3_joint5: { p: 250., d: 10., i: 0., i_clamp: 1. }
+ left_fr3_joint6: { p: 150., d: 10., i: 0., i_clamp: 1. }
+ left_fr3_joint7: { p: 50., d: 5., i: 0., i_clamp: 1. }
+ right_fr3_joint1: { p: 600., d: 30., i: 0., i_clamp: 1. }
+ right_fr3_joint2: { p: 600., d: 30., i: 0., i_clamp: 1. }
+ right_fr3_joint3: { p: 600., d: 30., i: 0., i_clamp: 1. }
+ right_fr3_joint4: { p: 600., d: 30., i: 0., i_clamp: 1. }
+ right_fr3_joint5: { p: 250., d: 10., i: 0., i_clamp: 1. }
+ right_fr3_joint6: { p: 150., d: 10., i: 0., i_clamp: 1. }
+ right_fr3_joint7: { p: 50., d: 5., i: 0., i_clamp: 1. }
+
+joint_trajectory_admittance_controller:
+ ros__parameters:
+ planning_group_name: manipulator
+ # Specifies the frame/link name of the end-effector frame. Must exist in the robot description.
+ ee_frame: right_grasp_link
+ sensor_frame: right_fr3_link8
+ # Joint accelerations to use for immediate stops (e.g. when cancelling a running trajectory).
+ stop_accelerations: [30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0]
+ # Default maximum joint-space deviation accepted along the trajectory, if not specified in the goal message.
+ default_path_tolerance: 0.5
+
+left_gripper_controller:
+ ros__parameters:
+ default: true
+ joint: left_fr3_finger_joint1
+ allow_stalling: true
+ stall_timeout: 0.1
+ goal_tolerance: 0.005
+
+right_gripper_controller:
+ ros__parameters:
+ default: true
+ joint: right_fr3_finger_joint1
+ allow_stalling: true
+ stall_timeout: 0.1
+ goal_tolerance: 0.005
+
+left_joint_trajectory_admittance_controller:
+ ros__parameters:
+ planning_group_name: left_manipulator
+ # Specifies the frame/link name of the end-effector frame. Must exist in the robot description.
+ ee_frame: left_grasp_link
+ sensor_frame: left_fr3_link8
+ # Joint accelerations to use for immediate stops (e.g. when cancelling a running trajectory).
+ stop_accelerations: [30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0]
+ # Default maximum joint-space deviation accepted along the trajectory, if not specified in the goal message.
+ default_path_tolerance: 0.5
+
+right_joint_trajectory_admittance_controller:
+ ros__parameters:
+ planning_group_name: right_manipulator
+ # Specifies the frame/link name of the end-effector frame. Must exist in the robot description.
+ ee_frame: right_grasp_link
+ sensor_frame: right_fr3_link8
+ # Joint accelerations to use for immediate stops (e.g. when cancelling a running trajectory).
+ stop_accelerations: [30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0]
+ # Default maximum joint-space deviation accepted along the trajectory, if not specified in the goal message.
+ default_path_tolerance: 0.5
+
+left_velocity_force_controller:
+ ros__parameters:
+ planning_group_name: left_manipulator
+ # The tip link of the kinematic chain, i.e. the frame that will be controlled.
+ ee_frame: left_grasp_link
+ # The frame where the force / torque sensor reading is given.
+ # (Needs to exist in the kinematic chain).
+ sensor_frame: left_fr3_link8
+ # The force/torque ros2_control hardware interface name. If empty, the controller will run without admittance.
+ # ft_sensor_name: tcp_fts_sensor
+ # An optional deadband to apply to the force/torque signal. Set to 0.0 to disable.
+ ft_force_deadband: 2.0
+ ft_torque_deadband: 1.0
+ # Maximum joint-space velocities.
+ max_joint_velocity:
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ # Maximum joint-space accelerations.
+ max_joint_acceleration:
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ # Maximum Cartesian-space velocities.
+ max_cartesian_velocity:
+ - 0.25
+ - 0.25
+ - 0.25
+ - 1.0
+ - 1.0
+ - 1.0
+ # Maximum Cartesian-space accelerations.
+ max_cartesian_acceleration:
+ - 2.0
+ - 2.0
+ - 2.0
+ - 4.0
+ - 4.0
+ - 4.0
+ # Additional optional parameters for reference (set to defaults):
+ # Cutoff frequency ratio for the FTS filter. Valid values range from 0 to 1, where 1 is the sampling frequency.
+ ft_cutoff_frequency_ratio: 1.0
+ # Rate in Hz at which the controller will publish the state.
+ state_publish_rate: 10
+ # Damping coefficient for the Jacobian damped least-squares inverse.
+ jacobian_damping: 0.002
+ # Timeout in seconds after which the controller will stop motion if no new commands are received.
+ command_timeout: 0.2
+ # Padding (in radians) to add to joint position limits as a safety margin.
+ joint_limit_position_tolerance: 0.02
+ # Joints that the controller will command. If not specified, if takes the same value as `joints`.
+ # This can be useful to implement layered control, where some joints may be controlled by a different controller
+ # downstream.
+ # command_joints: []
+ # The type of command interface to use. Supported values are "position" and "velocity".
+ command_interfaces: ["position"]
+
+right_velocity_force_controller:
+ ros__parameters:
+ planning_group_name: right_manipulator
+ # The tip link of the kinematic chain, i.e. the frame that will be controlled.
+ ee_frame: right_grasp_link
+ # The frame where the force / torque sensor reading is given.
+ # (Needs to exist in the kinematic chain).
+ sensor_frame: right_fr3_link8
+ # The force/torque ros2_control hardware interface name. If empty, the controller will run without admittance.
+ # ft_sensor_name: tcp_fts_sensor
+ # An optional deadband to apply to the force/torque signal. Set to 0.0 to disable.
+ ft_force_deadband: 2.0
+ ft_torque_deadband: 1.0
+ # Maximum joint-space velocities.
+ max_joint_velocity:
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ # Maximum joint-space accelerations.
+ max_joint_acceleration:
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ # Maximum Cartesian-space velocities.
+ max_cartesian_velocity:
+ - 0.25
+ - 0.25
+ - 0.25
+ - 1.0
+ - 1.0
+ - 1.0
+ # Maximum Cartesian-space accelerations.
+ max_cartesian_acceleration:
+ - 2.0
+ - 2.0
+ - 2.0
+ - 4.0
+ - 4.0
+ - 4.0
+ # Additional optional parameters for reference (set to defaults):
+ # Cutoff frequency ratio for the FTS filter. Valid values range from 0 to 1, where 1 is the sampling frequency.
+ ft_cutoff_frequency_ratio: 1.0
+ # Rate in Hz at which the controller will publish the state.
+ state_publish_rate: 10
+ # Damping coefficient for the Jacobian damped least-squares inverse.
+ jacobian_damping: 0.002
+ # Timeout in seconds after which the controller will stop motion if no new commands are received.
+ command_timeout: 0.2
+ # Padding (in radians) to add to joint position limits as a safety margin.
+ joint_limit_position_tolerance: 0.02
+ # Joints that the controller will command. If not specified, if takes the same value as `joints`.
+ # This can be useful to implement layered control, where some joints may be controlled by a different controller
+ # downstream.
+ # command_joints: []
+ # The type of command interface to use. Supported values are "position" and "velocity".
+ command_interfaces: ["position"]
+
+left_joint_velocity_controller:
+ ros__parameters:
+ # Joint group to control.
+ planning_group_name: left_manipulator
+ # Maximum joint-space velocities.
+ max_joint_velocity:
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ # Maximum joint-space accelerations.
+ max_joint_acceleration:
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ command_interfaces: ["position"]
+ # Padding (in radians) to add to joint position limits as a safety margin.
+ joint_limit_position_tolerance: 0.02
+ # Timeout in seconds after which the controller will stop motion if no new commands are received.
+ command_timeout: 0.2
+ # Rate in Hz at which the controller will publish the state.
+ state_publish_rate: 20
+
+right_joint_velocity_controller:
+ ros__parameters:
+ # Joint group to control.
+ planning_group_name: right_manipulator
+ # Maximum joint-space velocities.
+ max_joint_velocity:
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ - 1.0
+ # Maximum joint-space accelerations.
+ max_joint_acceleration:
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ - 2.0
+ command_interfaces: ["position"]
+ # Padding (in radians) to add to joint position limits as a safety margin.
+ joint_limit_position_tolerance: 0.02
+ # Timeout in seconds after which the controller will stop motion if no new commands are received.
+ command_timeout: 0.2
+ # Rate in Hz at which the controller will publish the state.
+ state_publish_rate: 20
diff --git a/src/dual_arm_sim/config/moveit/franka.srdf b/src/dual_arm_sim/config/moveit/franka.srdf
new file mode 100644
index 000000000..7bdade7e5
--- /dev/null
+++ b/src/dual_arm_sim/config/moveit/franka.srdf
@@ -0,0 +1,140 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/config/moveit/joint_jog.yaml b/src/dual_arm_sim/config/moveit/joint_jog.yaml
new file mode 100644
index 000000000..7f65b3c14
--- /dev/null
+++ b/src/dual_arm_sim/config/moveit/joint_jog.yaml
@@ -0,0 +1,4 @@
+# Planning groups to use in JointJog, and their corresponding JVC controllers.
+# The number of elements in `planning_groups` and `controllers` must match.
+planning_groups: ['left_manipulator', 'right_manipulator']
+controllers: ['left_joint_velocity_controller', 'right_joint_velocity_controller']
diff --git a/src/dual_arm_sim/config/moveit/joint_limits.yaml b/src/dual_arm_sim/config/moveit/joint_limits.yaml
new file mode 100644
index 000000000..3b045b508
--- /dev/null
+++ b/src/dual_arm_sim/config/moveit/joint_limits.yaml
@@ -0,0 +1,146 @@
+joint_limits:
+ # Left arm joints
+ left_fr3_joint1:
+ has_position_limits: true
+ min_position: -2.7437
+ max_position: 2.7437
+ has_velocity_limits: true
+ max_velocity: 2.62
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ left_fr3_joint2:
+ has_position_limits: true
+ min_position: -1.7837
+ max_position: 1.7837
+ has_velocity_limits: true
+ max_velocity: 2.62
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ left_fr3_joint3:
+ has_position_limits: true
+ min_position: -2.9007
+ max_position: 2.9007
+ has_velocity_limits: true
+ max_velocity: 2.62
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ left_fr3_joint4:
+ has_position_limits: true
+ min_position: -3.0421
+ max_position: -0.1518
+ has_velocity_limits: true
+ max_velocity: 2.62
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ left_fr3_joint5:
+ has_position_limits: true
+ min_position: -2.8065
+ max_position: 2.8065
+ has_velocity_limits: true
+ max_velocity: 5.26
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ left_fr3_joint6:
+ has_position_limits: true
+ min_position: 0.5445
+ max_position: 4.5169
+ has_velocity_limits: true
+ max_velocity: 4.18
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ left_fr3_joint7:
+ has_position_limits: true
+ min_position: -3.0159
+ max_position: 3.0159
+ has_velocity_limits: true
+ max_velocity: 5.26
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ left_fr3_hand_joint:
+ has_position_limits: true
+ min_position: 0.0
+ max_position: 0.04
+ has_velocity_limits: true
+ max_velocity: 0.2
+ has_acceleration_limits: true
+ max_acceleration: 1.0
+
+ # Right arm joints
+ right_fr3_joint1:
+ has_position_limits: true
+ min_position: -2.7437
+ max_position: 2.7437
+ has_velocity_limits: true
+ max_velocity: 2.62
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ right_fr3_joint2:
+ has_position_limits: true
+ min_position: -1.7837
+ max_position: 1.7837
+ has_velocity_limits: true
+ max_velocity: 2.62
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ right_fr3_joint3:
+ has_position_limits: true
+ min_position: -2.9007
+ max_position: 2.9007
+ has_velocity_limits: true
+ max_velocity: 2.62
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ right_fr3_joint4:
+ has_position_limits: true
+ min_position: -3.0421
+ max_position: -0.1518
+ has_velocity_limits: true
+ max_velocity: 2.62
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ right_fr3_joint5:
+ has_position_limits: true
+ min_position: -2.8065
+ max_position: 2.8065
+ has_velocity_limits: true
+ max_velocity: 5.26
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ right_fr3_joint6:
+ has_position_limits: true
+ min_position: 0.5445
+ max_position: 4.5169
+ has_velocity_limits: true
+ max_velocity: 4.18
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ right_fr3_joint7:
+ has_position_limits: true
+ min_position: -3.0159
+ max_position: 3.0159
+ has_velocity_limits: true
+ max_velocity: 5.26
+ has_acceleration_limits: true
+ max_acceleration: 10.0
+
+ right_fr3_hand_joint:
+ has_position_limits: true
+ min_position: 0.0
+ max_position: 0.04
+ has_velocity_limits: true
+ max_velocity: 0.2
+ has_acceleration_limits: true
+ max_acceleration: 1.0
diff --git a/src/dual_arm_sim/config/moveit/pose_ik_distance.yaml b/src/dual_arm_sim/config/moveit/pose_ik_distance.yaml
new file mode 100644
index 000000000..b26894acf
--- /dev/null
+++ b/src/dual_arm_sim/config/moveit/pose_ik_distance.yaml
@@ -0,0 +1,11 @@
+left_manipulator:
+ kinematics_solver: pose_ik_plugin/PoseIKPlugin
+ target_tolerance: 0.001
+ solve_mode: "optimize_distance"
+ optimization_timeout: 0.005
+
+right_manipulator:
+ kinematics_solver: pose_ik_plugin/PoseIKPlugin
+ target_tolerance: 0.001
+ solve_mode: "optimize_distance"
+ optimization_timeout: 0.005
diff --git a/src/dual_arm_sim/config/moveit/pose_ik_speed.yaml b/src/dual_arm_sim/config/moveit/pose_ik_speed.yaml
new file mode 100644
index 000000000..3dd5c3fed
--- /dev/null
+++ b/src/dual_arm_sim/config/moveit/pose_ik_speed.yaml
@@ -0,0 +1,9 @@
+left_manipulator:
+ kinematics_solver: pose_ik_plugin/PoseIKPlugin
+ target_tolerance: 0.001
+ solve_mode: "first_found"
+
+right_manipulator:
+ kinematics_solver: pose_ik_plugin/PoseIKPlugin
+ target_tolerance: 0.001
+ solve_mode: "first_found"
diff --git a/src/dual_arm_sim/config/moveit/pose_jog.yaml b/src/dual_arm_sim/config/moveit/pose_jog.yaml
new file mode 100644
index 000000000..e798ac850
--- /dev/null
+++ b/src/dual_arm_sim/config/moveit/pose_jog.yaml
@@ -0,0 +1,4 @@
+# Planning groups to use in PoseJog, and their corresponding VFC controllers.
+# The number of elements in `planning_groups` and `controllers` must match.
+planning_groups: ['left_manipulator', 'right_manipulator']
+controllers: ['left_velocity_force_controller', 'right_velocity_force_controller']
diff --git a/src/dual_arm_sim/config/moveit/sensors_3d.yaml b/src/dual_arm_sim/config/moveit/sensors_3d.yaml
new file mode 100644
index 000000000..d3c5ed819
--- /dev/null
+++ b/src/dual_arm_sim/config/moveit/sensors_3d.yaml
@@ -0,0 +1,25 @@
+sensors:
+ - scene_scan_camera
+scene_scan_camera:
+ # The name of the Octomap updater plugin that we are using.
+ sensor_plugin: "moveit_studio_plugins/PointCloudServiceOctomapUpdater"
+ # Specifies the topic to listen on for a point cloud.
+ # Set to an empty topic to disable.
+ point_cloud_service_name: "/point_cloud_service"
+ # Points further than this will not be used (in meters).
+ max_range: 1.5
+ # Choose one of every 'point_subsample' points (select all if set to 1).
+ point_subsample: 1
+ # Should always be >= 1.0. Scale up collision shapes in the scene before excluding them from the octomap.
+ padding_scale: 1.0
+ # Absolute padding around scaled collision shapes when excluding them from the octomap (in meters).
+ padding_offset: 0.01
+ # The octomap representation will be updated at rate less than or equal to this value.
+ max_update_rate: 0.1
+
+# Specifies the resolution at which the octomap is maintained (in meters).
+octomap_resolution: 0.01
+# Specifies the coordinate frame in which the Octomap representation will be stored.
+# Note! When an OccupancyMonitor instance is initialized by the PlanningSceneMonitor,
+# this frame parameter will not be used. Instead, the frame defaults to the planning frame.
+octomap_frame: "world"
diff --git a/src/dual_arm_sim/description/franka.urdf.xacro b/src/dual_arm_sim/description/franka.urdf.xacro
new file mode 100644
index 000000000..c81ff87b3
--- /dev/null
+++ b/src/dual_arm_sim/description/franka.urdf.xacro
@@ -0,0 +1,281 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ picknik_mujoco_ros/MujocoSystem
+
+
+
diff --git a/src/dual_arm_sim/description/mujoco/LICENSE b/src/dual_arm_sim/description/mujoco/LICENSE
new file mode 100644
index 000000000..2b315a13a
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/LICENSE
@@ -0,0 +1,237 @@
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+ 1. Definitions.
+
+ "License" shall mean the terms and conditions for use, reproduction,
+ and distribution as defined by Sections 1 through 9 of this document.
+
+ "Licensor" shall mean the copyright owner or entity authorized by
+ the copyright owner that is granting the License.
+
+ "Legal Entity" shall mean the union of the acting entity and all
+ other entities that control, are controlled by, or are under common
+ control with that entity. For the purposes of this definition,
+ "control" means (i) the power, direct or indirect, to cause the
+ direction or management of such entity, whether by contract or
+ otherwise, or (ii) ownership of fifty percent (50%) or more of the
+ outstanding shares, or (iii) beneficial ownership of such entity.
+
+ "You" (or "Your") shall mean an individual or Legal Entity
+ exercising permissions granted by this License.
+
+ "Source" form shall mean the preferred form for making modifications,
+ including but not limited to software source code, documentation
+ source, and configuration files.
+
+ "Object" form shall mean any form resulting from mechanical
+ transformation or translation of a Source form, including but
+ not limited to compiled object code, generated documentation,
+ and conversions to other media types.
+
+ "Work" shall mean the work of authorship, whether in Source or
+ Object form, made available under the License, as indicated by a
+ copyright notice that is included in or attached to the work
+ (an example is provided in the Appendix below).
+
+ "Derivative Works" shall mean any work, whether in Source or Object
+ form, that is based on (or derived from) the Work and for which the
+ editorial revisions, annotations, elaborations, or other modifications
+ represent, as a whole, an original work of authorship. For the purposes
+ of this License, Derivative Works shall not include works that remain
+ separable from, or merely link (or bind by name) to the interfaces of,
+ the Work and Derivative Works thereof.
+
+ "Contribution" shall mean any work of authorship, including
+ the original version of the Work and any modifications or additions
+ to that Work or Derivative Works thereof, that is intentionally
+ submitted to Licensor for inclusion in the Work by the copyright owner
+ or by an individual or Legal Entity authorized to submit on behalf of
+ the copyright owner. For the purposes of this definition, "submitted"
+ means any form of electronic, verbal, or written communication sent
+ to the Licensor or its representatives, including but not limited to
+ communication on electronic mailing lists, source code control systems,
+ and issue tracking systems that are managed by, or on behalf of, the
+ Licensor for the purpose of discussing and improving the Work, but
+ excluding communication that is conspicuously marked or otherwise
+ designated in writing by the copyright owner as "Not a Contribution."
+
+ "Contributor" shall mean Licensor and any individual or Legal Entity
+ on behalf of whom a Contribution has been received by Licensor and
+ subsequently incorporated within the Work.
+
+ 2. Grant of Copyright License. Subject to the terms and conditions of
+ this License, each Contributor hereby grants to You a perpetual,
+ worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+ copyright license to reproduce, prepare Derivative Works of,
+ publicly display, publicly perform, sublicense, and distribute the
+ Work and such Derivative Works in Source or Object form.
+
+ 3. Grant of Patent License. Subject to the terms and conditions of
+ this License, each Contributor hereby grants to You a perpetual,
+ worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+ (except as stated in this section) patent license to make, have made,
+ use, offer to sell, sell, import, and otherwise transfer the Work,
+ where such license applies only to those patent claims licensable
+ by such Contributor that are necessarily infringed by their
+ Contribution(s) alone or by combination of their Contribution(s)
+ with the Work to which such Contribution(s) was submitted. If You
+ institute patent litigation against any entity (including a
+ cross-claim or counterclaim in a lawsuit) alleging that the Work
+ or a Contribution incorporated within the Work constitutes direct
+ or contributory patent infringement, then any patent licenses
+ granted to You under this License for that Work shall terminate
+ as of the date such litigation is filed.
+
+ 4. Redistribution. You may reproduce and distribute copies of the
+ Work or Derivative Works thereof in any medium, with or without
+ modifications, and in Source or Object form, provided that You
+ meet the following conditions:
+
+ (a) You must give any other recipients of the Work or
+ Derivative Works a copy of this License; and
+
+ (b) You must cause any modified files to carry prominent notices
+ stating that You changed the files; and
+
+ (c) You must retain, in the Source form of any Derivative Works
+ that You distribute, all copyright, patent, trademark, and
+ attribution notices from the Source form of the Work,
+ excluding those notices that do not pertain to any part of
+ the Derivative Works; and
+
+ (d) If the Work includes a "NOTICE" text file as part of its
+ distribution, then any Derivative Works that You distribute must
+ include a readable copy of the attribution notices contained
+ within such NOTICE file, excluding those notices that do not
+ pertain to any part of the Derivative Works, in at least one
+ of the following places: within a NOTICE text file distributed
+ as part of the Derivative Works; within the Source form or
+ documentation, if provided along with the Derivative Works; or,
+ within a display generated by the Derivative Works, if and
+ wherever such third-party notices normally appear. The contents
+ of the NOTICE file are for informational purposes only and
+ do not modify the License. You may add Your own attribution
+ notices within Derivative Works that You distribute, alongside
+ or as an addendum to the NOTICE text from the Work, provided
+ that such additional attribution notices cannot be construed
+ as modifying the License.
+
+ You may add Your own copyright statement to Your modifications and
+ may provide additional or different license terms and conditions
+ for use, reproduction, or distribution of Your modifications, or
+ for any such Derivative Works as a whole, provided Your use,
+ reproduction, and distribution of the Work otherwise complies with
+ the conditions stated in this License.
+
+ 5. Submission of Contributions. Unless You explicitly state otherwise,
+ any Contribution intentionally submitted for inclusion in the Work
+ by You to the Licensor shall be under the terms and conditions of
+ this License, without any additional terms or conditions.
+ Notwithstanding the above, nothing herein shall supersede or modify
+ the terms of any separate license agreement you may have executed
+ with Licensor regarding such Contributions.
+
+ 6. Trademarks. This License does not grant permission to use the trade
+ names, trademarks, service marks, or product names of the Licensor,
+ except as required for reasonable and customary use in describing the
+ origin of the Work and reproducing the content of the NOTICE file.
+
+ 7. Disclaimer of Warranty. Unless required by applicable law or
+ agreed to in writing, Licensor provides the Work (and each
+ Contributor provides its Contributions) on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+ implied, including, without limitation, any warranties or conditions
+ of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+ PARTICULAR PURPOSE. You are solely responsible for determining the
+ appropriateness of using or redistributing the Work and assume any
+ risks associated with Your exercise of permissions under this License.
+
+ 8. Limitation of Liability. In no event and under no legal theory,
+ whether in tort (including negligence), contract, or otherwise,
+ unless required by applicable law (such as deliberate and grossly
+ negligent acts) or agreed to in writing, shall any Contributor be
+ liable to You for damages, including any direct, indirect, special,
+ incidental, or consequential damages of any character arising as a
+ result of this License or out of the use or inability to use the
+ Work (including but not limited to damages for loss of goodwill,
+ work stoppage, computer failure or malfunction, or any and all
+ other commercial damages or losses), even if such Contributor
+ has been advised of the possibility of such damages.
+
+ 9. Accepting Warranty or Additional Liability. While redistributing
+ the Work or Derivative Works thereof, You may choose to offer,
+ and charge a fee for, acceptance of support, warranty, indemnity,
+ or other liability obligations and/or rights consistent with this
+ License. However, in accepting such obligations, You may act only
+ on Your own behalf and on Your sole responsibility, not on behalf
+ of any other Contributor, and only if You agree to indemnify,
+ defend, and hold each Contributor harmless for any liability
+ incurred by, or claims asserted against, such Contributor by reason
+ of your accepting any such warranty or additional liability.
+
+ END OF TERMS AND CONDITIONS
+
+ APPENDIX: How to apply the Apache License to your work.
+
+ To apply the Apache License to your work, attach the following
+ boilerplate notice, with the fields enclosed by brackets "[]"
+ replaced with your own identifying information. (Don't include
+ the brackets!) The text should be enclosed in the appropriate
+ comment syntax for the file format. We also recommend that a
+ file or class name and description of purpose be included on the
+ same "printed page" as the copyright notice for easier
+ identification within third-party archives.
+
+ Copyright [yyyy] [name of copyright owner]
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+
+
+----------------------------
+
+
+
+ Software License Agreement (BSD License)
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+ copyright notice, this list of conditions and the following
+ disclaimer in the documentation and/or other materials provided
+ with the distribution.
+ * Neither the name of Willow Garage, Inc. nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
diff --git a/src/dual_arm_sim/description/mujoco/assets/finger_0.obj b/src/dual_arm_sim/description/mujoco/assets/finger_0.obj
new file mode 100644
index 000000000..585e0eb20
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/finger_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:215098c0fcdf7192f6c503a37cf49e3efecf8a9e1320f02b17c5584d89cc5b2c
+size 87872
diff --git a/src/dual_arm_sim/description/mujoco/assets/finger_1.obj b/src/dual_arm_sim/description/mujoco/assets/finger_1.obj
new file mode 100644
index 000000000..34e3f8863
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/finger_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf239e9aca26bba09dbbf1c544c47d87cfc9a2f0637c8bb786af750b6d4eca44
+size 64651
diff --git a/src/dual_arm_sim/description/mujoco/assets/fr3_duo_cover.obj b/src/dual_arm_sim/description/mujoco/assets/fr3_duo_cover.obj
new file mode 100644
index 000000000..9584a5c73
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/fr3_duo_cover.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:114eb1391eddddf087c28a5f70f0afad2d59c8a9157c58b58ea6d58ea671218e
+size 2185740
diff --git a/src/dual_arm_sim/description/mujoco/assets/fr3_duo_mount.obj b/src/dual_arm_sim/description/mujoco/assets/fr3_duo_mount.obj
new file mode 100644
index 000000000..9f8a8281c
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/fr3_duo_mount.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d044cf283bf2208a6e397acb9a7767b221e9bb6dcec6501fb8dc2da009508ff
+size 14719204
diff --git a/src/dual_arm_sim/description/mujoco/assets/hand.stl b/src/dual_arm_sim/description/mujoco/assets/hand.stl
new file mode 100644
index 000000000..bb315217a
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/hand.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94493e94f30fe940f2c8ca2f155c3bbe67bbff406d3edf5e261670d2f0f6e2ed
+size 10084
diff --git a/src/dual_arm_sim/description/mujoco/assets/hand_0.obj b/src/dual_arm_sim/description/mujoco/assets/hand_0.obj
new file mode 100644
index 000000000..c8474bd6a
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/hand_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b94aab901086f85df04c019b30f43bf9aa23a7ad0443ec80a8c14662a41cabd2
+size 9091
diff --git a/src/dual_arm_sim/description/mujoco/assets/hand_1.obj b/src/dual_arm_sim/description/mujoco/assets/hand_1.obj
new file mode 100644
index 000000000..8305b956d
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/hand_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd76f7494bb314406a1819c46eb826ee254894f87235714f604a470653d9badb
+size 121863
diff --git a/src/dual_arm_sim/description/mujoco/assets/hand_2.obj b/src/dual_arm_sim/description/mujoco/assets/hand_2.obj
new file mode 100644
index 000000000..7c403f78a
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/hand_2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0f44a71712afa5b98eb20355eff17763d3e2e19f459b2bef19abed3727e64b3
+size 596001
diff --git a/src/dual_arm_sim/description/mujoco/assets/hand_3.obj b/src/dual_arm_sim/description/mujoco/assets/hand_3.obj
new file mode 100644
index 000000000..e27970bb3
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/hand_3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a431a06d99e88a1b322b3122a01424ee7704daeaad0bc343b90b9604f014ad0c
+size 902145
diff --git a/src/dual_arm_sim/description/mujoco/assets/hand_4.obj b/src/dual_arm_sim/description/mujoco/assets/hand_4.obj
new file mode 100644
index 000000000..3fccc5b22
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/hand_4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21f96ef6a8de082e41b1ea9834f1043de359e5d60305541bcb63539581f53bff
+size 151988
diff --git a/src/dual_arm_sim/description/mujoco/assets/link0.obj b/src/dual_arm_sim/description/mujoco/assets/link0.obj
new file mode 100644
index 000000000..d86378f92
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e30a69784e5fd7bb6e879769b31b9c47fb701cf2342843aec03485601613748f
+size 6654212
diff --git a/src/dual_arm_sim/description/mujoco/assets/link0.stl b/src/dual_arm_sim/description/mujoco/assets/link0.stl
new file mode 100644
index 000000000..bbe58384f
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfc6d94330de8ddb005b311bfdba9f3b8e1aa7c256b71592ee7ff32cb9a9a5aa
+size 10084
diff --git a/src/dual_arm_sim/description/mujoco/assets/link0_0.obj b/src/dual_arm_sim/description/mujoco/assets/link0_0.obj
new file mode 100644
index 000000000..efa292977
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link0_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c830c25874a8a5736580cfce6f247fd145782d0b050fa424b00dd8194d8b2872
+size 1444419
diff --git a/src/dual_arm_sim/description/mujoco/assets/link0_1.obj b/src/dual_arm_sim/description/mujoco/assets/link0_1.obj
new file mode 100644
index 000000000..f17e0f789
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link0_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12f0affb9b540574f28ddf579413455a4728a093498457c9408539c31e2efcb8
+size 134554
diff --git a/src/dual_arm_sim/description/mujoco/assets/link0_2.obj b/src/dual_arm_sim/description/mujoco/assets/link0_2.obj
new file mode 100644
index 000000000..a23b3d6d8
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link0_2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19a4d2fd6fef4fa09e109349bdaa315a00a00b17c814392902665bd92217f94c
+size 949120
diff --git a/src/dual_arm_sim/description/mujoco/assets/link0_3.obj b/src/dual_arm_sim/description/mujoco/assets/link0_3.obj
new file mode 100644
index 000000000..441a0855a
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link0_3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed22c0de7adbc10618321715e047d1d9a36acca3260bc9497acd3ebda998e4e0
+size 2281227
diff --git a/src/dual_arm_sim/description/mujoco/assets/link0_4.obj b/src/dual_arm_sim/description/mujoco/assets/link0_4.obj
new file mode 100644
index 000000000..f620e39ac
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link0_4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc99c6e6b4752daa010ec2ac4ab38457eca0a1b75fcb4a60139b8200e186454d
+size 291361
diff --git a/src/dual_arm_sim/description/mujoco/assets/link0_5.obj b/src/dual_arm_sim/description/mujoco/assets/link0_5.obj
new file mode 100644
index 000000000..7ba866f6e
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link0_5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbccb46d8a3bfd602cd110a0bf69036e42661ec89c0074f18dc10dbdd2c0325e
+size 2729951
diff --git a/src/dual_arm_sim/description/mujoco/assets/link0_6.obj b/src/dual_arm_sim/description/mujoco/assets/link0_6.obj
new file mode 100644
index 000000000..93be3b41c
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link0_6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9205596427463353249ab5acc7c7b4f5eb8be358527cd9e229b656b16f5bd1fe
+size 1448529
diff --git a/src/dual_arm_sim/description/mujoco/assets/link1.obj b/src/dual_arm_sim/description/mujoco/assets/link1.obj
new file mode 100644
index 000000000..61fce628b
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9e73987b774f3fb76ec640c2f6e172b128736363792f1697a13d7795f745663
+size 862466
diff --git a/src/dual_arm_sim/description/mujoco/assets/link1.stl b/src/dual_arm_sim/description/mujoco/assets/link1.stl
new file mode 100644
index 000000000..b7e855112
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link1.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e41a39a94108fcf56aacff603fc91ec80541f4c1af17b51a0de5617f5566e6d2
+size 15084
diff --git a/src/dual_arm_sim/description/mujoco/assets/link2.obj b/src/dual_arm_sim/description/mujoco/assets/link2.obj
new file mode 100644
index 000000000..ce5a50c6e
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1818f1eed57552d006a3e9353a670a39c271ac67833274efcee2403db7e4fa92
+size 853861
diff --git a/src/dual_arm_sim/description/mujoco/assets/link2.stl b/src/dual_arm_sim/description/mujoco/assets/link2.stl
new file mode 100644
index 000000000..6ba548f41
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link2.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:370f7605a0fae3529db169ded50f52f171024aa792d4d773bc84197301f6a039
+size 15084
diff --git a/src/dual_arm_sim/description/mujoco/assets/link3.obj b/src/dual_arm_sim/description/mujoco/assets/link3.obj
new file mode 100644
index 000000000..3afb1d75b
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20a2e2adfdeaf9ff775f0fba0ceadbbc7cc7ead2695759157e5f1ef1d1793e57
+size 2386762
diff --git a/src/dual_arm_sim/description/mujoco/assets/link3.stl b/src/dual_arm_sim/description/mujoco/assets/link3.stl
new file mode 100644
index 000000000..7115ba0e9
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link3.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a8d638b9349c6c0eefc4e888636ac4838c4b27170f18a51699321118af709c1
+size 15084
diff --git a/src/dual_arm_sim/description/mujoco/assets/link3_0.obj b/src/dual_arm_sim/description/mujoco/assets/link3_0.obj
new file mode 100644
index 000000000..153815eea
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link3_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d15c6360be859d55ed1e0d5b08317c4c26d5b3a2a4743c04faf4cc07080f5c9a
+size 954393
diff --git a/src/dual_arm_sim/description/mujoco/assets/link3_1.obj b/src/dual_arm_sim/description/mujoco/assets/link3_1.obj
new file mode 100644
index 000000000..8b2d827cc
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link3_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89c2c02bdb1c5175d42c5181b4dcc0bb282fab1c5a0c2f99183c156ad45c2f6d
+size 2148256
diff --git a/src/dual_arm_sim/description/mujoco/assets/link4.obj b/src/dual_arm_sim/description/mujoco/assets/link4.obj
new file mode 100644
index 000000000..b849831fd
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee1c2138efa48c4a4a355714138360bca4a447e1b41e04ed027979990c806ef1
+size 2384680
diff --git a/src/dual_arm_sim/description/mujoco/assets/link4.stl b/src/dual_arm_sim/description/mujoco/assets/link4.stl
new file mode 100644
index 000000000..88c6db70b
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link4.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0180ebb5772ec9840cb049750cffb29a9ddc90311752a16ea34757782ef9e48d
+size 15084
diff --git a/src/dual_arm_sim/description/mujoco/assets/link4_0.obj b/src/dual_arm_sim/description/mujoco/assets/link4_0.obj
new file mode 100644
index 000000000..990027054
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link4_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8da93d2b65258890be3dfaa39f3cef5acd3d85e7e4e515eb6eb7e1284c3af795
+size 957444
diff --git a/src/dual_arm_sim/description/mujoco/assets/link4_1.obj b/src/dual_arm_sim/description/mujoco/assets/link4_1.obj
new file mode 100644
index 000000000..602a38d53
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link4_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0428a185f74edb3a23c81d71adc9269c8b63f73805f9d210960a5d425fee060d
+size 2145586
diff --git a/src/dual_arm_sim/description/mujoco/assets/link5.obj b/src/dual_arm_sim/description/mujoco/assets/link5.obj
new file mode 100644
index 000000000..e55758aee
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb2d78050b1adf67d437762a0dcdf2e4a18b619069a0cdaefc0c44444451ba29
+size 3144250
diff --git a/src/dual_arm_sim/description/mujoco/assets/link5.stl b/src/dual_arm_sim/description/mujoco/assets/link5.stl
new file mode 100644
index 000000000..5eaf5c8ec
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link5.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd17e688c7870e722283525879643d53a74c0024d328b0e14b034b54c8b6c31a
+size 15084
diff --git a/src/dual_arm_sim/description/mujoco/assets/link5_0.obj b/src/dual_arm_sim/description/mujoco/assets/link5_0.obj
new file mode 100644
index 000000000..b8621b250
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link5_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc32346b6558d8a1c42594b6988d4f6f68ece2e0a769c28b0242d5b398e1f86
+size 1235806
diff --git a/src/dual_arm_sim/description/mujoco/assets/link5_1.obj b/src/dual_arm_sim/description/mujoco/assets/link5_1.obj
new file mode 100644
index 000000000..8a9e21750
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link5_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ef3af3be96ebb7c3f78cf3cedbdfb36b375db8dc32068c5dca613d9086e5e5
+size 186395
diff --git a/src/dual_arm_sim/description/mujoco/assets/link5_2.obj b/src/dual_arm_sim/description/mujoco/assets/link5_2.obj
new file mode 100644
index 000000000..079595cf0
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link5_2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a897831482eed642e5d441d1a1abf0ede89d37672f8168ce2cd40d620e25daca
+size 2847962
diff --git a/src/dual_arm_sim/description/mujoco/assets/link6.obj b/src/dual_arm_sim/description/mujoco/assets/link6.obj
new file mode 100644
index 000000000..2238b9229
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93743fd1dad97da9ec56f3ef2c08b7930f54402951f9eba3fdbc9018d85d314b
+size 5034722
diff --git a/src/dual_arm_sim/description/mujoco/assets/link6.stl b/src/dual_arm_sim/description/mujoco/assets/link6.stl
new file mode 100644
index 000000000..828ad3bd3
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link6.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20b768e99a0e0440b5754dcca108016434e57937cc356acd9c352ccd3cb27f77
+size 10084
diff --git a/src/dual_arm_sim/description/mujoco/assets/link6_0.obj b/src/dual_arm_sim/description/mujoco/assets/link6_0.obj
new file mode 100644
index 000000000..622ea6b9d
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link6_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2a77f8890b3c24de62c6f23c2c63e59cb95b0e3986741d00ac12ec733156635
+size 544
diff --git a/src/dual_arm_sim/description/mujoco/assets/link6_1.obj b/src/dual_arm_sim/description/mujoco/assets/link6_1.obj
new file mode 100644
index 000000000..2f11bce38
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link6_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4165ccedf27ec576c8fe3ec86702a43cbdacfb2a25328f6762721a92d22ca8fc
+size 15225
diff --git a/src/dual_arm_sim/description/mujoco/assets/link6_2.obj b/src/dual_arm_sim/description/mujoco/assets/link6_2.obj
new file mode 100644
index 000000000..98806459a
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link6_2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1111395c7a1c4a1c803e35969fb4cdd5a183a21292a0da5f0519f6d684083445
+size 2447199
diff --git a/src/dual_arm_sim/description/mujoco/assets/link6_3.obj b/src/dual_arm_sim/description/mujoco/assets/link6_3.obj
new file mode 100644
index 000000000..b2b60933d
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link6_3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86fc49381273ccc0079b1f7ce5a77ce363e85ef4df5ebcf2b07c1ae6173043e6
+size 23993
diff --git a/src/dual_arm_sim/description/mujoco/assets/link6_4.obj b/src/dual_arm_sim/description/mujoco/assets/link6_4.obj
new file mode 100644
index 000000000..05cd726f9
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link6_4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed3f2d2a05b7d7704f4d04f38b99ce59792a8ef79e2f989567a0319a9f029599
+size 1378
diff --git a/src/dual_arm_sim/description/mujoco/assets/link6_5.obj b/src/dual_arm_sim/description/mujoco/assets/link6_5.obj
new file mode 100644
index 000000000..dd55235b0
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link6_5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:435abeff7bded0c6e9af1e3f98857413fd3964a65c138efc9d99703d9dfffbbb
+size 345691
diff --git a/src/dual_arm_sim/description/mujoco/assets/link6_6.obj b/src/dual_arm_sim/description/mujoco/assets/link6_6.obj
new file mode 100644
index 000000000..d041339e6
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link6_6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b76323550be892e32482f5dee5ca0631b080cf6543404495961834de19f89e71
+size 3762367
diff --git a/src/dual_arm_sim/description/mujoco/assets/link6_7.obj b/src/dual_arm_sim/description/mujoco/assets/link6_7.obj
new file mode 100644
index 000000000..f7fa2512a
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link6_7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5189566a36197a91792e8704f9dd0097e63a1141c5aca72427fb977d4389c72a
+size 13910
diff --git a/src/dual_arm_sim/description/mujoco/assets/link7.obj b/src/dual_arm_sim/description/mujoco/assets/link7.obj
new file mode 100644
index 000000000..432fa9bf4
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a6304915e21db77a78e22b30c97ce923ee7cdd1ddb6e30cfb6d048b4c03293e
+size 4059462
diff --git a/src/dual_arm_sim/description/mujoco/assets/link7.stl b/src/dual_arm_sim/description/mujoco/assets/link7.stl
new file mode 100644
index 000000000..2047756ec
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link7.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92ac6afcf7574c034d3170d8a68e95ac9048ab9d0dd5bbd8311b86e551b9ab1c
+size 10084
diff --git a/src/dual_arm_sim/description/mujoco/assets/link7_0.obj b/src/dual_arm_sim/description/mujoco/assets/link7_0.obj
new file mode 100644
index 000000000..40bed332d
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link7_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc0953056e78a063c0de7c81f7ba320b74f7957ee5e7da0786e678be64769ab2
+size 887197
diff --git a/src/dual_arm_sim/description/mujoco/assets/link7_1.obj b/src/dual_arm_sim/description/mujoco/assets/link7_1.obj
new file mode 100644
index 000000000..71c01255d
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link7_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bab975d59b724a0fac020d80c4483b77d29b9217485f0aae0b866a1b70b56fad
+size 933413
diff --git a/src/dual_arm_sim/description/mujoco/assets/link7_2.obj b/src/dual_arm_sim/description/mujoco/assets/link7_2.obj
new file mode 100644
index 000000000..7c0ff0df5
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link7_2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f7b27bab891757731d78c0b717a1da3fc48cebb6db5d3cd37994d768ce9b509
+size 2409912
diff --git a/src/dual_arm_sim/description/mujoco/assets/link7_3.obj b/src/dual_arm_sim/description/mujoco/assets/link7_3.obj
new file mode 100644
index 000000000..53fdfaf5c
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/assets/link7_3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ccfdcf6043602577da37969244a660ebd72bc4bd172b7fbeb542809b62dccff
+size 1310980
diff --git a/src/dual_arm_sim/description/mujoco/franka3.xml b/src/dual_arm_sim/description/mujoco/franka3.xml
new file mode 100644
index 000000000..5d32de87c
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/franka3.xml
@@ -0,0 +1,914 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/description/mujoco/scene.xml b/src/dual_arm_sim/description/mujoco/scene.xml
new file mode 100644
index 000000000..666dab1df
--- /dev/null
+++ b/src/dual_arm_sim/description/mujoco/scene.xml
@@ -0,0 +1,206 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/launch/agent_bridge.launch.xml b/src/dual_arm_sim/launch/agent_bridge.launch.xml
new file mode 100644
index 000000000..b2aa75434
--- /dev/null
+++ b/src/dual_arm_sim/launch/agent_bridge.launch.xml
@@ -0,0 +1,6 @@
+
+
+
diff --git a/src/dual_arm_sim/objectives/close_gripper.xml b/src/dual_arm_sim/objectives/close_gripper.xml
new file mode 100644
index 000000000..5740aa213
--- /dev/null
+++ b/src/dual_arm_sim/objectives/close_gripper.xml
@@ -0,0 +1,26 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/close_left_gripper.xml b/src/dual_arm_sim/objectives/close_left_gripper.xml
new file mode 100644
index 000000000..cbb9a12cd
--- /dev/null
+++ b/src/dual_arm_sim/objectives/close_left_gripper.xml
@@ -0,0 +1,26 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/close_right_gripper.xml b/src/dual_arm_sim/objectives/close_right_gripper.xml
new file mode 100644
index 000000000..a84cf62c4
--- /dev/null
+++ b/src/dual_arm_sim/objectives/close_right_gripper.xml
@@ -0,0 +1,26 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/create_point_cloud_vector_from_masks.xml b/src/dual_arm_sim/objectives/create_point_cloud_vector_from_masks.xml
new file mode 100644
index 000000000..58bfb5c5e
--- /dev/null
+++ b/src/dual_arm_sim/objectives/create_point_cloud_vector_from_masks.xml
@@ -0,0 +1,50 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/draw.xml b/src/dual_arm_sim/objectives/draw.xml
new file mode 100644
index 000000000..ce324972a
--- /dev/null
+++ b/src/dual_arm_sim/objectives/draw.xml
@@ -0,0 +1,79 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/draw_and_wipe.xml b/src/dual_arm_sim/objectives/draw_and_wipe.xml
new file mode 100644
index 000000000..cacf5dedc
--- /dev/null
+++ b/src/dual_arm_sim/objectives/draw_and_wipe.xml
@@ -0,0 +1,47 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/find_green_block.xml b/src/dual_arm_sim/objectives/find_green_block.xml
new file mode 100644
index 000000000..699e340a5
--- /dev/null
+++ b/src/dual_arm_sim/objectives/find_green_block.xml
@@ -0,0 +1,23 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/find_red_block.xml b/src/dual_arm_sim/objectives/find_red_block.xml
new file mode 100644
index 000000000..6e77dce29
--- /dev/null
+++ b/src/dual_arm_sim/objectives/find_red_block.xml
@@ -0,0 +1,23 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/find_with_prompt.xml b/src/dual_arm_sim/objectives/find_with_prompt.xml
new file mode 100644
index 000000000..92f58ebf4
--- /dev/null
+++ b/src/dual_arm_sim/objectives/find_with_prompt.xml
@@ -0,0 +1,51 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/franka.yaml b/src/dual_arm_sim/objectives/franka.yaml
new file mode 100644
index 000000000..5e95062bf
--- /dev/null
+++ b/src/dual_arm_sim/objectives/franka.yaml
@@ -0,0 +1,45293 @@
+
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.015268731
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.015268731
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09549390315789474
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09549390315789474
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09549390315789474
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09417363031578949
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09417363031578949
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09417363031578949
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09285335747368421
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09285335747368421
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09285335747368421
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09153308463157896
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09153308463157896
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09153308463157896
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0902128117894737
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0902128117894737
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0902128117894737
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08889253894736843
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08889253894736843
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08889253894736843
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08757226610526317
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08757226610526317
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08757226610526317
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0862519932631579
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0862519932631579
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0862519932631579
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08493172042105265
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08493172042105265
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08493172042105265
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08361144757894738
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08361144757894738
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08361144757894738
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08229117473684211
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08229117473684211
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08229117473684211
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08097090189473685
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08097090189473685
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08097090189473685
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0796506290526316
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0796506290526316
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0796506290526316
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07833035621052634
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07833035621052634
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07833035621052634
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07701008336842106
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07701008336842106
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07701008336842106
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07568981052631579
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07568981052631579
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07568981052631579
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.075073881
+ y: 0.014234319473684223
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.075073881
+ y: 0.014234319473684223
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.075073881
+ y: 0.014234319473684223
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.075073881
+ y: 0.01291404663157896
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.075073881
+ y: 0.01291404663157896
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.075073881
+ y: 0.01291404663157896
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.075073881
+ y: 0.011593773789473698
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.075073881
+ y: 0.011593773789473698
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.075073881
+ y: 0.011593773789473698
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.075073881
+ y: 0.010273500947368433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.075073881
+ y: 0.010273500947368433
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.075073881
+ y: 0.010273500947368433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07530042309473683
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07530042309473683
+ y: 0.0091797702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07530042309473683
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07662069593684209
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07662069593684209
+ y: 0.0091797702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07662069593684209
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07794096877894735
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07794096877894735
+ y: 0.0091797702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07794096877894735
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07926124162105262
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07926124162105262
+ y: 0.0091797702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07926124162105262
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0805815144631579
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0805815144631579
+ y: 0.0091797702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0805815144631579
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08190178730526314
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08190178730526314
+ y: 0.0091797702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08190178730526314
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08322206014736841
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08322206014736841
+ y: 0.0091797702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08322206014736841
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08454233298947367
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08454233298947367
+ y: 0.0091797702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08454233298947367
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08586260583157894
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08586260583157894
+ y: 0.0091797702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08586260583157894
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0871828786736842
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0871828786736842
+ y: 0.0091797702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0871828786736842
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08850315151578945
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08850315151578945
+ y: 0.0091797702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08850315151578945
+ y: 0.0091797702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: 0.008114683842105274
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: 0.008114683842105274
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: 0.008114683842105274
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: 0.0067944110000000115
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: 0.0067944110000000115
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: 0.0067944110000000115
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: 0.00547413815789475
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: 0.00547413815789475
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: 0.00547413815789475
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: 0.004153865315789488
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: 0.004153865315789488
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: 0.004153865315789488
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08789902936315791
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08789902936315791
+ y: 0.0033628329
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08789902936315791
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08657875652105264
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08657875652105264
+ y: 0.0033628329
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08657875652105264
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08525848367894738
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08525848367894738
+ y: 0.0033628329
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08525848367894738
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08393821083684212
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08393821083684212
+ y: 0.0033628329
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08393821083684212
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08261793799473685
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08261793799473685
+ y: 0.0033628329
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08261793799473685
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08129766515263159
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08129766515263159
+ y: 0.0033628329
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08129766515263159
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07997739231052632
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07997739231052632
+ y: 0.0033628329
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07997739231052632
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07865711946842106
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07865711946842106
+ y: 0.0033628329
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07865711946842106
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0773368466263158
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0773368466263158
+ y: 0.0033628329
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0773368466263158
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07601657378421053
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07601657378421053
+ y: 0.0033628329
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07601657378421053
+ y: 0.0033628329
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07588992500000001
+ y: 0.0021692088421052694
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07588992500000001
+ y: 0.0021692088421052694
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07588992500000001
+ y: 0.0021692088421052694
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07588992500000001
+ y: 0.0008489360000000073
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07588992500000001
+ y: 0.0008489360000000073
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07588992500000001
+ y: 0.0008489360000000073
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07588992500000001
+ y: -0.00047133684210525574
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07588992500000001
+ y: -0.00047133684210525574
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07588992500000001
+ y: -0.00047133684210525574
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07588992500000001
+ y: -0.0017916096842105179
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07588992500000001
+ y: -0.0017916096842105179
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07588992500000001
+ y: -0.0017916096842105179
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07627568882631579
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07627568882631579
+ y: -0.0027261187
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07627568882631579
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07759596166842106
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07759596166842106
+ y: -0.0027261187
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07759596166842106
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0789162345105263
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0789162345105263
+ y: -0.0027261187
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0789162345105263
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08023650735263158
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08023650735263158
+ y: -0.0027261187
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08023650735263158
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08155678019473683
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08155678019473683
+ y: -0.0027261187
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08155678019473683
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0828770530368421
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0828770530368421
+ y: -0.0027261187
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0828770530368421
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08419732587894736
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08419732587894736
+ y: -0.0027261187
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08419732587894736
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08551759872105262
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08551759872105262
+ y: -0.0027261187
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08551759872105262
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08683787156315789
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08683787156315789
+ y: -0.0027261187
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08683787156315789
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08815814440526316
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08815814440526316
+ y: -0.0027261187
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08815814440526316
+ y: -0.0027261187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.003776266157894744
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.003776266157894744
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.003776266157894744
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.0050965390000000076
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.0050965390000000076
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.0050965390000000076
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.00641681184210527
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.00641681184210527
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.00641681184210527
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.007737084684210533
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.007737084684210533
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.007737084684210533
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.009057357526315797
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.009057357526315797
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.009057357526315797
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.01037763036842106
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.01037763036842106
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.01037763036842106
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.011697903210526325
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.011697903210526325
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.011697903210526325
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.013018176052631586
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.013018176052631586
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.013018176052631586
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.01433844889473685
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.01433844889473685
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.01433844889473685
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.015658721736842112
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.015658721736842112
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08875833799999999
+ y: -0.015658721736842112
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08976616357894737
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08976616357894737
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08976616357894737
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09108643642105264
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09108643642105264
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09108643642105264
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0924067092631579
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0924067092631579
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0924067092631579
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09372698210526316
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09372698210526316
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09372698210526316
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09504725494736843
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09504725494736843
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09504725494736843
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09636752778947369
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09636752778947369
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09636752778947369
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.014767476157894732
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.014767476157894732
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.014767476157894732
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.013447203315789469
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.013447203315789469
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.013447203315789469
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.012126930473684206
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.012126930473684206
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.012126930473684206
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.010806657631578943
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.010806657631578943
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.010806657631578943
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.009486384789473683
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.009486384789473683
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.009486384789473683
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.00816611194736842
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.00816611194736842
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.00816611194736842
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.006845839105263156
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.006845839105263156
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.006845839105263156
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.005525566263157895
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.005525566263157895
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.005525566263157895
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.004205293421052632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.004205293421052632
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.004205293421052632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.002885020578947369
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.002885020578947369
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.002885020578947369
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.001564747736842108
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.001564747736842108
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09681417599999999
+ y: -0.001564747736842108
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: -0.00024447489473684137
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: -0.00024447489473684137
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: -0.00024447489473684137
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.0010757979473684182
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.0010757979473684182
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.0010757979473684182
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.0023960707894736793
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.0023960707894736793
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.0023960707894736793
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.003716343631578944
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.003716343631578944
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.003716343631578944
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.005036616473684205
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.005036616473684205
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.005036616473684205
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.00635688931578947
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.00635688931578947
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.00635688931578947
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.0076771621578947315
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.0076771621578947315
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.0076771621578947315
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.008997434999999996
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.008997434999999996
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.008997434999999996
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.010317707842105258
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.010317707842105258
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.010317707842105258
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.011637980684210519
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.011637980684210519
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.011637980684210519
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.012958253526315784
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.012958253526315784
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.012958253526315784
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.014278526368421045
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.014278526368421045
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.014278526368421045
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.015268730999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.015268730999999999
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.096814176
+ y: 0.015268730999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.0041489685
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.0041489685
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.0041489685
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.0041489685
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.0041489685
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.0041489685
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.005172715798593732
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.005172715798593732
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.005172715798593732
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.006196463097187465
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.006196463097187465
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.006196463097187465
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.007220210395781199
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.007220210395781199
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.007220210395781199
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.00824395769437493
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.00824395769437493
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.00824395769437493
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.009267704992968664
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.009267704992968664
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.009267704992968664
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.010291452291562397
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.010291452291562397
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.010291452291562397
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.01131519959015613
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.01131519959015613
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.01131519959015613
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.012338946888749864
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.012338946888749864
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.012338946888749864
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.013362694187343597
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.013362694187343597
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.013362694187343597
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.01438644148593733
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.01438644148593733
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.01438644148593733
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.015410188784531062
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.015410188784531062
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.015410188784531062
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06063058628218728
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06063058628218728
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06063058628218728
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06165433358078101
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06165433358078101
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06165433358078101
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06267808087937475
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06267808087937475
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06267808087937475
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06370182817796848
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06370182817796848
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06370182817796848
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06472557547656221
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06472557547656221
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06472557547656221
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06574932277515595
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06574932277515595
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06574932277515595
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06677307007374968
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06677307007374968
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06677307007374968
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.015033004428594097
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.015033004428594097
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.015033004428594097
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.014009257130000364
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.014009257130000364
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.014009257130000364
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.012985509831406632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.012985509831406632
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.012985509831406632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.011961762532812899
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.011961762532812899
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.011961762532812899
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.010938015234219165
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.010938015234219165
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.010938015234219165
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.009914267935625432
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.009914267935625432
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.009914267935625432
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0088905206370317
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0088905206370317
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0088905206370317
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.007866773338437966
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.007866773338437966
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.007866773338437966
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.006843026039844235
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.006843026039844235
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.006843026039844235
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.005819278741250502
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.005819278741250502
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.005819278741250502
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0047955314426567685
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0047955314426567685
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0047955314426567685
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0037717841440630356
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0037717841440630356
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0037717841440630356
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0027480368454693023
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0027480368454693023
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0027480368454693023
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0017242895468755695
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0017242895468755695
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0017242895468755695
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0007005422482818382
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0007005422482818382
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: -0.0007005422482818382
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.00032320505031189486
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.00032320505031189486
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.00032320505031189486
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.0013469523489056314
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.0013469523489056314
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.0013469523489056314
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.002370699647499361
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.002370699647499361
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.002370699647499361
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.003394446946093094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.003394446946093094
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.003394446946093094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.004418194244686827
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.004418194244686827
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.004418194244686827
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.00544194154328056
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.00544194154328056
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.00544194154328056
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.006465688841874293
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.006465688841874293
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.006465688841874293
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.0074894361404680265
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.0074894361404680265
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.0074894361404680265
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.00851318343906176
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.00851318343906176
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.00851318343906176
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.009536930737655493
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.009536930737655493
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.009536930737655493
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.010560678036249221
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.010560678036249221
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.010560678036249221
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.011584425334842958
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.011584425334842958
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.011584425334842958
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.012608172633436691
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.012608172633436691
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.012608172633436691
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.013631919932030424
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.013631919932030424
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.013631919932030424
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.014655667230624154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.014655667230624154
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06754115100000001
+ y: 0.014655667230624154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06644796927171961
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06644796927171961
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06644796927171961
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06542422197312589
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06542422197312589
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06542422197312589
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06440047467453217
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06440047467453217
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06440047467453217
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06337672737593843
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06337672737593843
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06337672737593843
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06235298007734469
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06235298007734469
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06235298007734469
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06132923277875096
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06132923277875096
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06132923277875096
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060305485480157225
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060305485480157225
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060305485480157225
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059281738181563494
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059281738181563494
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059281738181563494
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.058257990882969755
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.058257990882969755
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.058257990882969755
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.057234243584376024
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.057234243584376024
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.057234243584376024
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0562104962857823
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0562104962857823
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0562104962857823
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05517099156440286
+ y: 0.015268670339745199
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05517099156440286
+ y: 0.015268670339745199
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05517099156440286
+ y: 0.015268670339745199
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05387166343942738
+ y: 0.015241742948013715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05387166343942738
+ y: 0.015241742948013715
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05387166343942738
+ y: 0.015241742948013715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05265050408170042
+ y: 0.015165836145602206
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05265050408170042
+ y: 0.015165836145602206
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05265050408170042
+ y: 0.015165836145602206
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051507513591484755
+ y: 0.015040949994210835
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051507513591484755
+ y: 0.015040949994210835
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051507513591484755
+ y: 0.015040949994210835
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.050442692069043116
+ y: 0.01486708455553975
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.050442692069043116
+ y: 0.01486708455553975
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.050442692069043116
+ y: 0.01486708455553975
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04945603961463827
+ y: 0.014644239891289114
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04945603961463827
+ y: 0.014644239891289114
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04945603961463827
+ y: 0.014644239891289114
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.048262099510116015
+ y: 0.01427092387247342
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.048262099510116015
+ y: 0.01427092387247342
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.048262099510116015
+ y: 0.01427092387247342
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.047207127053563905
+ y: 0.013810533930791014
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.047207127053563905
+ y: 0.013810533930791014
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.047207127053563905
+ y: 0.013810533930791014
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04629112248264181
+ y: 0.013263070212494116
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04629112248264181
+ y: 0.013263070212494116
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04629112248264181
+ y: 0.013263070212494116
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045334340492929275
+ y: 0.01245853481885689
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045334340492929275
+ y: 0.01245853481885689
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045334340492929275
+ y: 0.01245853481885689
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04454587174609095
+ y: 0.011475596070256649
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04454587174609095
+ y: 0.011475596070256649
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04454587174609095
+ y: 0.011475596070256649
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04395107047735368
+ y: 0.010331267963189162
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04395107047735368
+ y: 0.010331267963189162
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04395107047735368
+ y: 0.010331267963189162
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04363206398562946
+ y: 0.00936710997675105
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04363206398562946
+ y: 0.00936710997675105
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04363206398562946
+ y: 0.00936710997675105
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04342199574050512
+ y: 0.008312170247667786
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04342199574050512
+ y: 0.008312170247667786
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04342199574050512
+ y: 0.008312170247667786
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04332086586633838
+ y: 0.007166448678007684
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04332086586633838
+ y: 0.007166448678007684
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04332086586633838
+ y: 0.007166448678007684
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04332857200520654
+ y: 0.0059896572480057884
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04332857200520654
+ y: 0.0059896572480057884
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04332857200520654
+ y: 0.0059896572480057884
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043444647171227965
+ y: 0.004900817210889464
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043444647171227965
+ y: 0.004900817210889464
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043444647171227965
+ y: 0.004900817210889464
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04366903403795877
+ y: 0.0038917072304572066
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04366903403795877
+ y: 0.0038917072304572066
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04366903403795877
+ y: 0.0038917072304572066
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04413670174809647
+ y: 0.0026702517750314724
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04413670174809647
+ y: 0.0026702517750314724
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04413670174809647
+ y: 0.0026702517750314724
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044796924440972136
+ y: 0.0015905386086738904
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044796924440972136
+ y: 0.0015905386086738904
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044796924440972136
+ y: 0.0015905386086738904
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04563076215059216
+ y: 0.0006579954929212429
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04563076215059216
+ y: 0.0006579954929212429
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04563076215059216
+ y: 0.0006579954929212429
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.046655115685836974
+ y: -0.0001434118460700322
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.046655115685836974
+ y: -0.0001434118460700322
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.046655115685836974
+ y: -0.0001434118460700322
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04754873795393239
+ y: -0.0006586053602335658
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04754873795393239
+ y: -0.0006586053602335658
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04754873795393239
+ y: -0.0006586053602335658
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04854980900326534
+ y: -0.0011002032034799058
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04854980900326534
+ y: -0.0011002032034799058
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04854980900326534
+ y: -0.0011002032034799058
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04780372730430121
+ y: -0.0019536126261448707
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04780372730430121
+ y: -0.0019536126261448707
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04780372730430121
+ y: -0.0019536126261448707
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04695878704922063
+ y: -0.0025351474951948957
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04695878704922063
+ y: -0.0025351474951948957
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04695878704922063
+ y: -0.0025351474951948957
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04622630609467589
+ y: -0.0032251490143339547
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04622630609467589
+ y: -0.0032251490143339547
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04622630609467589
+ y: -0.0032251490143339547
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04547994533080371
+ y: -0.004120444133869913
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04547994533080371
+ y: -0.004120444133869913
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04547994533080371
+ y: -0.004120444133869913
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044730251875802825
+ y: -0.00523573020452592
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044730251875802825
+ y: -0.00523573020452592
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044730251875802825
+ y: -0.00523573020452592
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04416579527394249
+ y: -0.006216563802963494
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04416579527394249
+ y: -0.006216563802963494
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04416579527394249
+ y: -0.006216563802963494
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043621458818456325
+ y: -0.0072757339166412425
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043621458818456325
+ y: -0.0072757339166412425
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043621458818456325
+ y: -0.0072757339166412425
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043168830254618276
+ y: -0.008193985469635238
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043168830254618276
+ y: -0.008193985469635238
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043168830254618276
+ y: -0.008193985469635238
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.042716201690780234
+ y: -0.009112237022629218
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.042716201690780234
+ y: -0.009112237022629218
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.042716201690780234
+ y: -0.009112237022629218
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.042263573126942185
+ y: -0.010030488575623199
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.042263573126942185
+ y: -0.010030488575623199
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.042263573126942185
+ y: -0.010030488575623199
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04181094456310413
+ y: -0.010948740128617195
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04181094456310413
+ y: -0.010948740128617195
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04181094456310413
+ y: -0.010948740128617195
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041358315999266086
+ y: -0.01186699168161119
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041358315999266086
+ y: -0.01186699168161119
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041358315999266086
+ y: -0.01186699168161119
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04090568743542804
+ y: -0.012785243234605172
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04090568743542804
+ y: -0.012785243234605172
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04090568743542804
+ y: -0.012785243234605172
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04045305887158999
+ y: -0.013703494787599151
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04045305887158999
+ y: -0.013703494787599151
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04045305887158999
+ y: -0.013703494787599151
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04000043030775194
+ y: -0.014621746340593149
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04000043030775194
+ y: -0.014621746340593149
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04000043030775194
+ y: -0.014621746340593149
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03954780174391389
+ y: -0.015539997893587142
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03954780174391389
+ y: -0.015539997893587142
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03954780174391389
+ y: -0.015539997893587142
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04056080516426525
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04056080516426525
+ y: -0.015971169000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04056080516426525
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041584552462859
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041584552462859
+ y: -0.015971169000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041584552462859
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04260829976145272
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04260829976145272
+ y: -0.015971169000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04260829976145272
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04363204706004645
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04363204706004645
+ y: -0.015971169000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04363204706004645
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044655794358640186
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044655794358640186
+ y: -0.015971169000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044655794358640186
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045679541657233924
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045679541657233924
+ y: -0.015971169000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045679541657233924
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.046703288955827656
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.046703288955827656
+ y: -0.015971169000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.046703288955827656
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04772703625442138
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04772703625442138
+ y: -0.015971169000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04772703625442138
+ y: -0.015971169000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.048432950808901316
+ y: -0.014913728955984976
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.048432950808901316
+ y: -0.014913728955984976
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.048432950808901316
+ y: -0.014913728955984976
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04888383515221631
+ y: -0.013994619691353512
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04888383515221631
+ y: -0.013994619691353512
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04888383515221631
+ y: -0.013994619691353512
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.049334719495531296
+ y: -0.013075510426722049
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.049334719495531296
+ y: -0.013075510426722049
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.049334719495531296
+ y: -0.013075510426722049
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04978560383884629
+ y: -0.012156401162090599
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04978560383884629
+ y: -0.012156401162090599
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04978560383884629
+ y: -0.012156401162090599
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05023648818216127
+ y: -0.011237291897459147
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05023648818216127
+ y: -0.011237291897459147
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05023648818216127
+ y: -0.011237291897459147
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.050687372525476254
+ y: -0.010318182632827683
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.050687372525476254
+ y: -0.010318182632827683
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.050687372525476254
+ y: -0.010318182632827683
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051138256868791254
+ y: -0.009399073368196217
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051138256868791254
+ y: -0.009399073368196217
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051138256868791254
+ y: -0.009399073368196217
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05158914121210623
+ y: -0.00847996410356477
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05158914121210623
+ y: -0.00847996410356477
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05158914121210623
+ y: -0.00847996410356477
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05213832051456613
+ y: -0.007412314692758137
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05213832051456613
+ y: -0.007412314692758137
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05213832051456613
+ y: -0.007412314692758137
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.052733410578978256
+ y: -0.00644786203945991
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.052733410578978256
+ y: -0.00644786203945991
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.052733410578978256
+ y: -0.00644786203945991
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.053535372027232776
+ y: -0.0054640786351552876
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.053535372027232776
+ y: -0.0054640786351552876
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.053535372027232776
+ y: -0.0054640786351552876
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05441556184899358
+ y: -0.004780054155004883
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05441556184899358
+ y: -0.004780054155004883
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05441556184899358
+ y: -0.004780054155004883
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05561098672940152
+ y: -0.0043189770896590995
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05561098672940152
+ y: -0.0043189770896590995
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05561098672940152
+ y: -0.0043189770896590995
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05668514779219599
+ y: -0.004164782583817728
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05668514779219599
+ y: -0.004164782583817728
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05668514779219599
+ y: -0.004164782583817728
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05777907550234374
+ y: -0.0041489685000000035
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05777907550234374
+ y: -0.0041489685000000035
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05777907550234374
+ y: -0.0041489685000000035
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05880282280093747
+ y: -0.004148968500000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05880282280093747
+ y: -0.004148968500000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05880282280093747
+ y: -0.004148968500000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.0041489685
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.0041489685
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: -0.0041489685
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.056095593
+ y: 0.0014168829999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.056095593
+ y: 0.0014168829999999999
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.056095593
+ y: 0.0014168829999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.056095593
+ y: 0.0014168829999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.056095593
+ y: 0.0014168829999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.056095593
+ y: 0.0014168829999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05509241607333519
+ y: 0.0014587162725399824
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05509241607333519
+ y: 0.0014587162725399824
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05509241607333519
+ y: 0.0014587162725399824
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05407223988736314
+ y: 0.0016160231801294097
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05407223988736314
+ y: 0.0016160231801294097
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05407223988736314
+ y: 0.0016160231801294097
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05311776432829648
+ y: 0.0019427374578937066
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05311776432829648
+ y: 0.0019427374578937066
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05311776432829648
+ y: 0.0019427374578937066
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05230112409088019
+ y: 0.0025212164704349668
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05230112409088019
+ y: 0.0025212164704349668
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05230112409088019
+ y: 0.0025212164704349668
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05173146666067606
+ y: 0.0033823961575102928
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05173146666067606
+ y: 0.0033823961575102928
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05173146666067606
+ y: 0.0033823961575102928
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051448843167630466
+ y: 0.004372116338200385
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051448843167630466
+ y: 0.004372116338200385
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051448843167630466
+ y: 0.004372116338200385
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051366923954053276
+ y: 0.005395900758900919
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051366923954053276
+ y: 0.005395900758900919
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051366923954053276
+ y: 0.005395900758900919
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05143449627664632
+ y: 0.006436390396521863
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05143449627664632
+ y: 0.006436390396521863
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05143449627664632
+ y: 0.006436390396521863
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051704593146625455
+ y: 0.0074416266641769094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051704593146625455
+ y: 0.0074416266641769094
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051704593146625455
+ y: 0.0074416266641769094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05226549524892974
+ y: 0.008314451451006871
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05226549524892974
+ y: 0.008314451451006871
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05226549524892974
+ y: 0.008314451451006871
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05313221411511439
+ y: 0.008923498430214075
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05313221411511439
+ y: 0.008923498430214075
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05313221411511439
+ y: 0.008923498430214075
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05409308740023469
+ y: 0.009240837207410826
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05409308740023469
+ y: 0.009240837207410826
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05409308740023469
+ y: 0.009240837207410826
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05511962549184514
+ y: 0.009392293111559915
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05511962549184514
+ y: 0.009392293111559915
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05511962549184514
+ y: 0.009392293111559915
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05612049888572287
+ y: 0.0094308651
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05612049888572287
+ y: 0.0094308651
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05612049888572287
+ y: 0.0094308651
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.057144060524336134
+ y: 0.0094308651
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.057144060524336134
+ y: 0.0094308651
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.057144060524336134
+ y: 0.0094308651
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0581676221629494
+ y: 0.0094308651
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0581676221629494
+ y: 0.0094308651
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0581676221629494
+ y: 0.0094308651
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05919118380156267
+ y: 0.0094308651
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05919118380156267
+ y: 0.0094308651
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05919118380156267
+ y: 0.0094308651
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.008408994477363135
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.008408994477363135
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.008408994477363135
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.007385432838749864
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.007385432838749864
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.007385432838749864
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.006361871200136602
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.006361871200136602
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.006361871200136602
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.005338309561523332
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.005338309561523332
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.005338309561523332
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.0043147479229100685
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.0043147479229100685
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.0043147479229100685
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.0032911862842967985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.0032911862842967985
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.0032911862842967985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.0022676246456835346
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.0022676246456835346
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.059485321
+ y: 0.0022676246456835346
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0589469432789941
+ y: 0.0014168829999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0589469432789941
+ y: 0.0014168829999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0589469432789941
+ y: 0.0014168829999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.057923381640380835
+ y: 0.0014168829999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.057923381640380835
+ y: 0.0014168829999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.057923381640380835
+ y: 0.0014168829999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05689982000176757
+ y: 0.0014168829999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05689982000176757
+ y: 0.0014168829999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05689982000176757
+ y: 0.0014168829999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.056095593
+ y: 0.0014168829999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.056095593
+ y: 0.0014168829999999999
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.056095593
+ y: 0.0014168829999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015586248
+ y: -0.010279769999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015586248
+ y: -0.010279769999999999
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015586248
+ y: -0.010279769999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015586248
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015586248
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015586248
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01675992405500158
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01675992405500158
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01675992405500158
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01793360011000316
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01793360011000316
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01793360011000316
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019107276165004742
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019107276165004742
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019107276165004742
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02028095222000632
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02028095222000632
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02028095222000632
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0214546282750079
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0214546282750079
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0214546282750079
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022628304330009476
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022628304330009476
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022628304330009476
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023801980385011058
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023801980385011058
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023801980385011058
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02497565644001264
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02497565644001264
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02497565644001264
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02614933249501422
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02614933249501422
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02614933249501422
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0273230085500158
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0273230085500158
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0273230085500158
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028286192071663337
+ y: -0.010576249578427618
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028286192071663337
+ y: -0.010576249578427618
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028286192071663337
+ y: -0.010576249578427618
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028673191280252332
+ y: -0.011684287075372357
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028673191280252332
+ y: -0.011684287075372357
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028673191280252332
+ y: -0.011684287075372357
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02906019048884133
+ y: -0.012792324572317094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02906019048884133
+ y: -0.012792324572317094
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02906019048884133
+ y: -0.012792324572317094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029447189697430334
+ y: -0.013900362069261832
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029447189697430334
+ y: -0.013900362069261832
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029447189697430334
+ y: -0.013900362069261832
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029834188906019334
+ y: -0.01500839956620657
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029834188906019334
+ y: -0.01500839956620657
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029834188906019334
+ y: -0.01500839956620657
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03032432453564051
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03032432453564051
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03032432453564051
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03149800059064209
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03149800059064209
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03149800059064209
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032671676645643674
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032671676645643674
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032671676645643674
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03384535270064525
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03384535270064525
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03384535270064525
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03501902875564683
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03501902875564683
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03501902875564683
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03619270481064841
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03619270481064841
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03619270481064841
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03736638086564999
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03736638086564999
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03736638086564999
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03796985109018991
+ y: -0.01516586972138513
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03796985109018991
+ y: -0.01516586972138513
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03796985109018991
+ y: -0.01516586972138513
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03756219260935731
+ y: -0.014065265321480547
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03756219260935731
+ y: -0.014065265321480547
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03756219260935731
+ y: -0.014065265321480547
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03715453412852471
+ y: -0.012964660921575962
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03715453412852471
+ y: -0.012964660921575962
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03715453412852471
+ y: -0.012964660921575962
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036746875647692114
+ y: -0.01186405652167138
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036746875647692114
+ y: -0.01186405652167138
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036746875647692114
+ y: -0.01186405652167138
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03633921716685951
+ y: -0.010763452121766796
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03633921716685951
+ y: -0.010763452121766796
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03633921716685951
+ y: -0.010763452121766796
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03593155868602691
+ y: -0.009662847721862213
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03593155868602691
+ y: -0.009662847721862213
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03593155868602691
+ y: -0.009662847721862213
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03552390020519432
+ y: -0.008562243321957628
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03552390020519432
+ y: -0.008562243321957628
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03552390020519432
+ y: -0.008562243321957628
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.035116241724361716
+ y: -0.007461638922053045
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.035116241724361716
+ y: -0.007461638922053045
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.035116241724361716
+ y: -0.007461638922053045
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.034708583243529115
+ y: -0.006361034522148461
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.034708583243529115
+ y: -0.006361034522148461
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.034708583243529115
+ y: -0.006361034522148461
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.034300924762696514
+ y: -0.0052604301222438764
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.034300924762696514
+ y: -0.0052604301222438764
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.034300924762696514
+ y: -0.0052604301222438764
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03389326628186392
+ y: -0.004159825722339294
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03389326628186392
+ y: -0.004159825722339294
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03389326628186392
+ y: -0.004159825722339294
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03348560780103132
+ y: -0.003059221322434709
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03348560780103132
+ y: -0.003059221322434709
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03348560780103132
+ y: -0.003059221322434709
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03307794932019871
+ y: -0.0019586169225301246
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03307794932019871
+ y: -0.0019586169225301246
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03307794932019871
+ y: -0.0019586169225301246
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032670290839366116
+ y: -0.0008580125226255415
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032670290839366116
+ y: -0.0008580125226255415
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032670290839366116
+ y: -0.0008580125226255415
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032262632358533515
+ y: 0.0002425918772790432
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032262632358533515
+ y: 0.0002425918772790432
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032262632358533515
+ y: 0.0002425918772790432
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.031854973877700914
+ y: 0.0013431962771836262
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.031854973877700914
+ y: 0.0013431962771836262
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.031854973877700914
+ y: 0.0013431962771836262
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03144731539686832
+ y: 0.002443800677088209
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03144731539686832
+ y: 0.002443800677088209
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03144731539686832
+ y: 0.002443800677088209
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03103965691603572
+ y: 0.003544405076992792
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03103965691603572
+ y: 0.003544405076992792
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03103965691603572
+ y: 0.003544405076992792
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030631998435203117
+ y: 0.004645009476897375
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030631998435203117
+ y: 0.004645009476897375
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030631998435203117
+ y: 0.004645009476897375
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03022433995437052
+ y: 0.005745613876801962
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03022433995437052
+ y: 0.005745613876801962
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03022433995437052
+ y: 0.005745613876801962
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02981668147353792
+ y: 0.006846218276706544
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02981668147353792
+ y: 0.006846218276706544
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02981668147353792
+ y: 0.006846218276706544
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029409022992705317
+ y: 0.007946822676611127
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029409022992705317
+ y: 0.007946822676611127
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029409022992705317
+ y: 0.007946822676611127
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02900136451187272
+ y: 0.009047427076515714
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02900136451187272
+ y: 0.009047427076515714
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02900136451187272
+ y: 0.009047427076515714
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028593706031040122
+ y: 0.010148031476420297
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028593706031040122
+ y: 0.010148031476420297
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028593706031040122
+ y: 0.010148031476420297
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02818604755020752
+ y: 0.011248635876324879
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02818604755020752
+ y: 0.011248635876324879
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02818604755020752
+ y: 0.011248635876324879
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02777838906937492
+ y: 0.012349240276229462
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02777838906937492
+ y: 0.012349240276229462
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02777838906937492
+ y: 0.012349240276229462
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.027370730588542322
+ y: 0.013449844676134045
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.027370730588542322
+ y: 0.013449844676134045
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.027370730588542322
+ y: 0.013449844676134045
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02696307210770972
+ y: 0.014550449076038629
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02696307210770972
+ y: 0.014550449076038629
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02696307210770972
+ y: 0.014550449076038629
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02599589924262149
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02599589924262149
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02599589924262149
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02482222318761991
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02482222318761991
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02482222318761991
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023648547132618325
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023648547132618325
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023648547132618325
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022474871077616747
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022474871077616747
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022474871077616747
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02130119502261517
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02130119502261517
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02130119502261517
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020127518967613587
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020127518967613587
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020127518967613587
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018953842912612005
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018953842912612005
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018953842912612005
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017780166857610424
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017780166857610424
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017780166857610424
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016821970697282026
+ y: 0.014537551472901476
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016821970697282026
+ y: 0.014537551472901476
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016821970697282026
+ y: 0.014537551472901476
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016414312235037695
+ y: 0.01343694706611189
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016414312235037695
+ y: 0.01343694706611189
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016414312235037695
+ y: 0.01343694706611189
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01600665377279336
+ y: 0.012336342659322302
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01600665377279336
+ y: 0.012336342659322302
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01600665377279336
+ y: 0.012336342659322302
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015598995310549025
+ y: 0.011235738252532716
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015598995310549025
+ y: 0.011235738252532716
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015598995310549025
+ y: 0.011235738252532716
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01519133684830469
+ y: 0.010135133845743131
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01519133684830469
+ y: 0.010135133845743131
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01519133684830469
+ y: 0.010135133845743131
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014783678386060357
+ y: 0.009034529438953545
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014783678386060357
+ y: 0.009034529438953545
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014783678386060357
+ y: 0.009034529438953545
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014376019923816022
+ y: 0.007933925032163959
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014376019923816022
+ y: 0.007933925032163959
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014376019923816022
+ y: 0.007933925032163959
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01396836146157169
+ y: 0.006833320625374372
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01396836146157169
+ y: 0.006833320625374372
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01396836146157169
+ y: 0.006833320625374372
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013560702999327354
+ y: 0.005732716218584786
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013560702999327354
+ y: 0.005732716218584786
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013560702999327354
+ y: 0.005732716218584786
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01315304453708302
+ y: 0.0046321118117952
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01315304453708302
+ y: 0.0046321118117952
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01315304453708302
+ y: 0.0046321118117952
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012745386074838685
+ y: 0.0035315074050056143
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012745386074838685
+ y: 0.0035315074050056143
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012745386074838685
+ y: 0.0035315074050056143
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012337727612594352
+ y: 0.0024309029982160285
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012337727612594352
+ y: 0.0024309029982160285
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012337727612594352
+ y: 0.0024309029982160285
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011930069150350019
+ y: 0.001330298591426443
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011930069150350019
+ y: 0.001330298591426443
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011930069150350019
+ y: 0.001330298591426443
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011522410688105684
+ y: 0.0002296941846368572
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011522410688105684
+ y: 0.0002296941846368572
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011522410688105684
+ y: 0.0002296941846368572
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011114752225861349
+ y: -0.0008709102221527303
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011114752225861349
+ y: -0.0008709102221527303
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011114752225861349
+ y: -0.0008709102221527303
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.010707093763617014
+ y: -0.001971514628942316
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.010707093763617014
+ y: -0.001971514628942316
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.010707093763617014
+ y: -0.001971514628942316
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.010299435301372681
+ y: -0.0030721190357319017
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.010299435301372681
+ y: -0.0030721190357319017
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.010299435301372681
+ y: -0.0030721190357319017
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009891776839128346
+ y: -0.004172723442521488
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009891776839128346
+ y: -0.004172723442521488
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009891776839128346
+ y: -0.004172723442521488
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009484118376884013
+ y: -0.005273327849311073
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009484118376884013
+ y: -0.005273327849311073
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009484118376884013
+ y: -0.005273327849311073
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009076459914639678
+ y: -0.006373932256100659
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009076459914639678
+ y: -0.006373932256100659
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009076459914639678
+ y: -0.006373932256100659
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008668801452395345
+ y: -0.007474536662890245
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008668801452395345
+ y: -0.007474536662890245
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008668801452395345
+ y: -0.007474536662890245
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00826114299015101
+ y: -0.008575141069679831
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00826114299015101
+ y: -0.008575141069679831
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00826114299015101
+ y: -0.008575141069679831
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007853484527906676
+ y: -0.009675745476469415
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007853484527906676
+ y: -0.009675745476469415
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007853484527906676
+ y: -0.009675745476469415
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007445826065662342
+ y: -0.010776349883259002
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007445826065662342
+ y: -0.010776349883259002
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007445826065662342
+ y: -0.010776349883259002
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007038167603418007
+ y: -0.011876954290048588
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007038167603418007
+ y: -0.011876954290048588
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007038167603418007
+ y: -0.011876954290048588
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006630509141173672
+ y: -0.012977558696838178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006630509141173672
+ y: -0.012977558696838178
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006630509141173672
+ y: -0.012977558696838178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006222850678929339
+ y: -0.014078163103627759
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006222850678929339
+ y: -0.014078163103627759
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006222850678929339
+ y: -0.014078163103627759
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0058151922166850036
+ y: -0.015178767510417348
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0058151922166850036
+ y: -0.015178767510417348
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0058151922166850036
+ y: -0.015178767510417348
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0064371938425189295
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0064371938425189295
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0064371938425189295
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007610869897520509
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007610869897520509
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007610869897520509
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00878454595252209
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00878454595252209
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00878454595252209
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00995822200752367
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00995822200752367
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00995822200752367
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011131898062525248
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011131898062525248
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011131898062525248
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012305574117526828
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012305574117526828
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012305574117526828
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01347925017252841
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01347925017252841
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01347925017252841
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01395696280279248
+ y: -0.014994301062714929
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01395696280279248
+ y: -0.014994301062714929
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01395696280279248
+ y: -0.014994301062714929
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014340324025664838
+ y: -0.013884999636193766
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014340324025664838
+ y: -0.013884999636193766
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014340324025664838
+ y: -0.013884999636193766
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014723685248537196
+ y: -0.012775698209672606
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014723685248537196
+ y: -0.012775698209672606
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014723685248537196
+ y: -0.012775698209672606
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015107046471409554
+ y: -0.011666396783151445
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015107046471409554
+ y: -0.011666396783151445
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015107046471409554
+ y: -0.011666396783151445
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015490407694281911
+ y: -0.010557095356630285
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015490407694281911
+ y: -0.010557095356630285
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015490407694281911
+ y: -0.010557095356630285
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015586248
+ y: -0.010279769999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015586248
+ y: -0.010279769999999999
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015586248
+ y: -0.010279769999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026173915000000002
+ y: -0.0044837611
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026173915000000002
+ y: -0.0044837611
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026173915000000002
+ y: -0.0044837611
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026173915000000002
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026173915000000002
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026173915000000002
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025125856461077165
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025125856461077165
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025125856461077165
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02407779792215433
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02407779792215433
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02407779792215433
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023029739383231496
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023029739383231496
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023029739383231496
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021981680844308658
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021981680844308658
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021981680844308658
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020933622305385823
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020933622305385823
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020933622305385823
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019885563766462985
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019885563766462985
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019885563766462985
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018837505227540147
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018837505227540147
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018837505227540147
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01778944668861731
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01778944668861731
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01778944668861731
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017956695883944468
+ y: -0.003491456661587746
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017956695883944468
+ y: -0.003491456661587746
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017956695883944468
+ y: -0.003491456661587746
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018297118192150297
+ y: -0.002500225430701186
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018297118192150297
+ y: -0.002500225430701186
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018297118192150297
+ y: -0.002500225430701186
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018637540500356133
+ y: -0.0015089941998146263
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018637540500356133
+ y: -0.0015089941998146263
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018637540500356133
+ y: -0.0015089941998146263
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01897796280856196
+ y: -0.000517762968928067
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01897796280856196
+ y: -0.000517762968928067
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01897796280856196
+ y: -0.000517762968928067
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019318385116767794
+ y: 0.00047346826195849266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019318385116767794
+ y: 0.00047346826195849266
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019318385116767794
+ y: 0.00047346826195849266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019658807424973623
+ y: 0.0014646994928450524
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019658807424973623
+ y: 0.0014646994928450524
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019658807424973623
+ y: 0.0014646994928450524
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019999229733179455
+ y: 0.0024559307237316127
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019999229733179455
+ y: 0.0024559307237316127
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019999229733179455
+ y: 0.0024559307237316127
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020339652041385287
+ y: 0.0034471619546181716
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020339652041385287
+ y: 0.0034471619546181716
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020339652041385287
+ y: 0.0034471619546181716
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02068007434959112
+ y: 0.00443839318550473
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02068007434959112
+ y: 0.00443839318550473
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02068007434959112
+ y: 0.00443839318550473
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021020496657796952
+ y: 0.005429624416391291
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021020496657796952
+ y: 0.005429624416391291
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021020496657796952
+ y: 0.005429624416391291
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02136091896600278
+ y: 0.00642085564727785
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02136091896600278
+ y: 0.00642085564727785
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02136091896600278
+ y: 0.00642085564727785
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021701341274208613
+ y: 0.00741208687816441
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021701341274208613
+ y: 0.00741208687816441
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021701341274208613
+ y: 0.00741208687816441
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02235587423271296
+ y: 0.006579252591784172
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02235587423271296
+ y: 0.006579252591784172
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02235587423271296
+ y: 0.006579252591784172
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02269778833127598
+ y: 0.005588534947743798
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02269778833127598
+ y: 0.005588534947743798
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02269778833127598
+ y: 0.005588534947743798
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023039702429838996
+ y: 0.004597817303703424
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023039702429838996
+ y: 0.004597817303703424
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023039702429838996
+ y: 0.004597817303703424
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023381616528402017
+ y: 0.003607099659663051
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023381616528402017
+ y: 0.003607099659663051
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023381616528402017
+ y: 0.003607099659663051
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02372353062696504
+ y: 0.002616382015622677
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02372353062696504
+ y: 0.002616382015622677
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02372353062696504
+ y: 0.002616382015622677
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024065444725528053
+ y: 0.001625664371582303
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024065444725528053
+ y: 0.001625664371582303
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024065444725528053
+ y: 0.001625664371582303
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024407358824091074
+ y: 0.0006349467275419301
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024407358824091074
+ y: 0.0006349467275419301
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024407358824091074
+ y: 0.0006349467275419301
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02474927292265409
+ y: -0.0003557709164984422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02474927292265409
+ y: -0.0003557709164984422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02474927292265409
+ y: -0.0003557709164984422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02509118702121711
+ y: -0.001346488560538817
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02509118702121711
+ y: -0.001346488560538817
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02509118702121711
+ y: -0.001346488560538817
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025433101119780126
+ y: -0.00233720620457919
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025433101119780126
+ y: -0.00233720620457919
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025433101119780126
+ y: -0.00233720620457919
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025775015218343147
+ y: -0.0033279238486195635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025775015218343147
+ y: -0.0033279238486195635
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025775015218343147
+ y: -0.0033279238486195635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026116929316906165
+ y: -0.004318641492659936
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026116929316906165
+ y: -0.004318641492659936
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026116929316906165
+ y: -0.004318641492659936
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026173915000000002
+ y: -0.0044837611
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026173915000000002
+ y: -0.0044837611
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026173915000000002
+ y: -0.0044837611
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.015268731
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.015268731
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.015268731
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -2.8132871288559792e-05
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -2.8132871288559792e-05
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -2.8132871288559792e-05
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0014349539425771195
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0014349539425771195
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0014349539425771195
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0028417750138656785
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0028417750138656785
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0028417750138656785
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004248596085154239
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004248596085154239
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004248596085154239
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005655417156442798
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005655417156442798
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005655417156442798
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007062238227731357
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007062238227731357
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007062238227731357
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008017099848059676
+ y: 0.014517497661940125
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008017099848059676
+ y: 0.014517497661940125
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008017099848059676
+ y: 0.014517497661940125
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008676170335905925
+ y: 0.013274609244313023
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008676170335905925
+ y: 0.013274609244313023
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008676170335905925
+ y: 0.013274609244313023
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00933524082375217
+ y: 0.012031720826685924
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00933524082375217
+ y: 0.012031720826685924
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00933524082375217
+ y: 0.012031720826685924
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00999431131159842
+ y: 0.01078883240905882
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00999431131159842
+ y: 0.01078883240905882
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00999431131159842
+ y: 0.01078883240905882
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010653381799444667
+ y: 0.009545943991431721
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010653381799444667
+ y: 0.009545943991431721
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010653381799444667
+ y: 0.009545943991431721
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011312452287290916
+ y: 0.008303055573804619
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011312452287290916
+ y: 0.008303055573804619
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011312452287290916
+ y: 0.008303055573804619
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011971522775137165
+ y: 0.007060167156177517
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011971522775137165
+ y: 0.007060167156177517
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011971522775137165
+ y: 0.007060167156177517
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01263059326298341
+ y: 0.005817278738550417
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01263059326298341
+ y: 0.005817278738550417
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01263059326298341
+ y: 0.005817278738550417
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013289663750829657
+ y: 0.004574390320923316
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013289663750829657
+ y: 0.004574390320923316
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013289663750829657
+ y: 0.004574390320923316
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013948734238675908
+ y: 0.003331501903296214
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013948734238675908
+ y: 0.003331501903296214
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013948734238675908
+ y: 0.003331501903296214
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014607804726522155
+ y: 0.0020886134856691126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014607804726522155
+ y: 0.0020886134856691126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014607804726522155
+ y: 0.0020886134856691126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0152668752143684
+ y: 0.0008457250680420128
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0152668752143684
+ y: 0.0008457250680420128
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0152668752143684
+ y: 0.0008457250680420128
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015925945702214648
+ y: -0.0003971633495850888
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015925945702214648
+ y: -0.0003971633495850888
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015925945702214648
+ y: -0.0003971633495850888
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016585016190060895
+ y: -0.0016400517672121905
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016585016190060895
+ y: -0.0016400517672121905
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016585016190060895
+ y: -0.0016400517672121905
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017244086677907146
+ y: -0.0028829401848392937
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017244086677907146
+ y: -0.0028829401848392937
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017244086677907146
+ y: -0.0028829401848392937
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017903157165753393
+ y: -0.004125828602466393
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017903157165753393
+ y: -0.004125828602466393
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017903157165753393
+ y: -0.004125828602466393
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01856222765359964
+ y: -0.005368717020093493
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01856222765359964
+ y: -0.005368717020093493
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01856222765359964
+ y: -0.005368717020093493
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: -0.004237095990612462
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: -0.004237095990612462
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: -0.004237095990612462
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: -0.002830274919323902
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: -0.002830274919323902
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: -0.002830274919323902
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: -0.001423453848035342
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: -0.001423453848035342
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: -0.001423453848035342
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: -1.6632776746781985e-05
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: -1.6632776746781985e-05
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: -1.6632776746781985e-05
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.001390188294541777
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.001390188294541777
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.001390188294541777
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.002797009365830337
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.002797009365830337
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.002797009365830337
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.004203830437118897
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.004203830437118897
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.004203830437118897
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.005610651508407456
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.005610651508407456
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.005610651508407456
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.007017472579696016
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.007017472579696016
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.007017472579696016
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.008424293650984576
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.008424293650984576
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.008424293650984576
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.009831114722273136
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.009831114722273136
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.009831114722273136
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.011237935793561697
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.011237935793561697
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.011237935793561697
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.01264475686485026
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.01264475686485026
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.01264475686485026
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.014051577936138817
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.014051577936138817
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018980602000000003
+ y: 0.014051577936138817
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019170270007427378
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019170270007427378
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019170270007427378
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.020577091078715935
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.020577091078715935
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.020577091078715935
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021983912150004496
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021983912150004496
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021983912150004496
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023390733221293054
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023390733221293054
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023390733221293054
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.024797554292581615
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.024797554292581615
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.024797554292581615
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02620437536387018
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02620437536387018
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02620437536387018
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.014275485564841267
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.014275485564841267
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.014275485564841267
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.012868664493552708
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.012868664493552708
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.012868664493552708
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.01146184342226415
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.01146184342226415
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.01146184342226415
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.01005502235097559
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.01005502235097559
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.01005502235097559
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.00864820127968703
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.00864820127968703
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.00864820127968703
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.007241380208398472
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.007241380208398472
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.007241380208398472
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.0058345591371099115
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.0058345591371099115
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.0058345591371099115
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.0044277380658213515
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.0044277380658213515
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.0044277380658213515
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.003020916994532792
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.003020916994532792
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.003020916994532792
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.001614095923244232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.001614095923244232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.001614095923244232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.00020727485195567397
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.00020727485195567397
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: 0.00020727485195567397
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.001199546219332886
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.001199546219332886
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.001199546219332886
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.002606367290621444
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.002606367290621444
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.002606367290621444
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.0040131883619100054
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.0040131883619100054
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.0040131883619100054
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.005420009433198564
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.005420009433198564
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.005420009433198564
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.006826830504487122
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.006826830504487122
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.006826830504487122
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.008233651575775684
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.008233651575775684
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.008233651575775684
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.009640472647064241
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.009640472647064241
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.009640472647064241
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.011047293718352802
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.011047293718352802
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.011047293718352802
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.012454114789641361
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.012454114789641361
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.012454114789641361
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.013860935860929922
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.013860935860929922
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.013860935860929922
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.015267756932218482
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.015267756932218482
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026617951
+ y: -0.015267756932218482
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025445601639396777
+ y: -0.015971168999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025445601639396777
+ y: -0.015971168999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025445601639396777
+ y: -0.015971168999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.024038780568108226
+ y: -0.015971168999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.024038780568108226
+ y: -0.015971168999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.024038780568108226
+ y: -0.015971168999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02263195949681966
+ y: -0.015971168999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02263195949681966
+ y: -0.015971168999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02263195949681966
+ y: -0.015971168999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02122513842553109
+ y: -0.015971168999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02122513842553109
+ y: -0.015971168999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02122513842553109
+ y: -0.015971168999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019818317354242544
+ y: -0.015971168999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019818317354242544
+ y: -0.015971168999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019818317354242544
+ y: -0.015971168999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018411496282953993
+ y: -0.015971168999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018411496282953993
+ y: -0.015971168999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018411496282953993
+ y: -0.015971168999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017332012894276192
+ y: -0.015427078014943836
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017332012894276192
+ y: -0.015427078014943836
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017332012894276192
+ y: -0.015427078014943836
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016672942036262604
+ y: -0.014184189793606635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016672942036262604
+ y: -0.014184189793606635
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016672942036262604
+ y: -0.014184189793606635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016013871178249022
+ y: -0.012941301572269451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016013871178249022
+ y: -0.012941301572269451
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016013871178249022
+ y: -0.012941301572269451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015354800320235444
+ y: -0.011698413350932269
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015354800320235444
+ y: -0.011698413350932269
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015354800320235444
+ y: -0.011698413350932269
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014695729462221856
+ y: -0.010455525129595068
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014695729462221856
+ y: -0.010455525129595068
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014695729462221856
+ y: -0.010455525129595068
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014036658604208265
+ y: -0.009212636908257866
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014036658604208265
+ y: -0.009212636908257866
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014036658604208265
+ y: -0.009212636908257866
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013377587746194686
+ y: -0.007969748686920682
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013377587746194686
+ y: -0.007969748686920682
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013377587746194686
+ y: -0.007969748686920682
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012718516888181108
+ y: -0.006726860465583499
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012718516888181108
+ y: -0.006726860465583499
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012718516888181108
+ y: -0.006726860465583499
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012059446030167517
+ y: -0.005483972244246298
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012059446030167517
+ y: -0.005483972244246298
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012059446030167517
+ y: -0.005483972244246298
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011400375172153929
+ y: -0.004241084022909096
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011400375172153929
+ y: -0.004241084022909096
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011400375172153929
+ y: -0.004241084022909096
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01074130431414035
+ y: -0.002998195801571914
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01074130431414035
+ y: -0.002998195801571914
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01074130431414035
+ y: -0.002998195801571914
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01008223345612677
+ y: -0.001755307580234728
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01008223345612677
+ y: -0.001755307580234728
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01008223345612677
+ y: -0.001755307580234728
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00942316259811318
+ y: -0.0005124193588975281
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00942316259811318
+ y: -0.0005124193588975281
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00942316259811318
+ y: -0.0005124193588975281
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008764091740099591
+ y: 0.0007304688624396736
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008764091740099591
+ y: 0.0007304688624396736
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008764091740099591
+ y: 0.0007304688624396736
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008105020882086011
+ y: 0.001973357083776856
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008105020882086011
+ y: 0.001973357083776856
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008105020882086011
+ y: 0.001973357083776856
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007445950024072431
+ y: 0.0032162453051140416
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007445950024072431
+ y: 0.0032162453051140416
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007445950024072431
+ y: 0.0032162453051140416
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006786879166058842
+ y: 0.004459133526451242
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006786879166058842
+ y: 0.004459133526451242
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006786879166058842
+ y: 0.004459133526451242
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: 0.0033001867799271065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: 0.0033001867799271065
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: 0.0033001867799271065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: 0.0018933657086385575
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: 0.0018933657086385575
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: 0.0018933657086385575
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: 0.0004865446373500078
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: 0.0004865446373500078
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: 0.0004865446373500078
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.0009202764339385627
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.0009202764339385627
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.0009202764339385627
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.0023270975052271325
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.0023270975052271325
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.0023270975052271325
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.0037339185765156817
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.0037339185765156817
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.0037339185765156817
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.005140739647804229
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.005140739647804229
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.005140739647804229
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.006547560719092799
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.006547560719092799
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.006547560719092799
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.00795438179038137
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.00795438179038137
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.00795438179038137
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.00936120286166992
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.00936120286166992
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.00936120286166992
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.010768023932958467
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.010768023932958467
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.010768023932958467
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.012174845004247037
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.012174845004247037
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.012174845004247037
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.013581666075535608
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.013581666075535608
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.013581666075535608
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.014988487146824155
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.014988487146824155
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0062586603
+ y: -0.014988487146824155
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005834521081887295
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005834521081887295
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005834521081887295
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0044277000105987264
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0044277000105987264
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0044277000105987264
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0030208789393101573
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0030208789393101573
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0030208789393101573
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0016140578680216091
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0016140578680216091
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0016140578680216091
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00020723679673306084
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00020723679673306084
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00020723679673306084
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.001199584274555508
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.001199584274555508
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.001199584274555508
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.014743451854155923
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.014743451854155923
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.014743451854155923
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.013336630782867372
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.013336630782867372
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.013336630782867372
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.011929809711578823
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.011929809711578823
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.011929809711578823
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.010522988640290255
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.010522988640290255
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.010522988640290255
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.009116167569001682
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.009116167569001682
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.009116167569001682
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.0077093464977131335
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.0077093464977131335
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.0077093464977131335
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.006302525426424584
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.006302525426424584
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.006302525426424584
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.004895704355136013
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.004895704355136013
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.004895704355136013
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.0034888832838474446
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.0034888832838474446
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.0034888832838474446
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.0020820622125588954
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.0020820622125588954
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.0020820622125588954
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.0006752411412703463
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.0006752411412703463
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: -0.0006752411412703463
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.0007315799300182242
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.0007315799300182242
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.0007315799300182242
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.0021384010013067965
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.0021384010013067965
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.0021384010013067965
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.003545222072595344
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.003545222072595344
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.003545222072595344
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.004952043143883895
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.004952043143883895
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.004952043143883895
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.006358864215172464
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.006358864215172464
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.006358864215172464
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.007765685286461036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.007765685286461036
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.007765685286461036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.009172506357749587
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.009172506357749587
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.009172506357749587
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.010579327429038134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.010579327429038134
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.010579327429038134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.011986148500326702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.011986148500326702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.011986148500326702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.013392969571615272
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.013392969571615272
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.013392969571615272
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.014799790642903822
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.014799790642903822
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.014799790642903822
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.015268730999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.015268730999999999
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013786882000000002
+ y: 0.015268730999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.015268731
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.015268731
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.015268731
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03575407630274675
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03575407630274675
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03575407630274675
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037022677605493486
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037022677605493486
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037022677605493486
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03829127890824023
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03829127890824023
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03829127890824023
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03955988021098698
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03955988021098698
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03955988021098698
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040828481513733715
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040828481513733715
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040828481513733715
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04209708281648046
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04209708281648046
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04209708281648046
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.014021484779857221
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.014021484779857221
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.014021484779857221
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.012752883477110477
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.012752883477110477
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.012752883477110477
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.011484282174363735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.011484282174363735
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.011484282174363735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.010215680871616993
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.010215680871616993
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.010215680871616993
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.008947079568870251
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.008947079568870251
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.008947079568870251
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.007678478266123508
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.007678478266123508
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.007678478266123508
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.006409876963376764
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.006409876963376764
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.006409876963376764
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.005141275660630022
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.005141275660630022
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.005141275660630022
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.0038726743578832803
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.0038726743578832803
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: 0.0038726743578832803
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04344099216413495
+ y: 0.004748489804784953
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04344099216413495
+ y: 0.004748489804784953
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04344099216413495
+ y: 0.004748489804784953
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04434614596204708
+ y: 0.005637335048601895
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04434614596204708
+ y: 0.005637335048601895
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04434614596204708
+ y: 0.005637335048601895
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04525129975995919
+ y: 0.006526180292418838
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04525129975995919
+ y: 0.006526180292418838
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04525129975995919
+ y: 0.006526180292418838
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04615645355787131
+ y: 0.007415025536235779
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04615645355787131
+ y: 0.007415025536235779
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04615645355787131
+ y: 0.007415025536235779
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04706160735578343
+ y: 0.008303870780052722
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04706160735578343
+ y: 0.008303870780052722
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04706160735578343
+ y: 0.008303870780052722
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04796676115369555
+ y: 0.009192716023869665
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04796676115369555
+ y: 0.009192716023869665
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04796676115369555
+ y: 0.009192716023869665
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04887191495160766
+ y: 0.010081561267686607
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04887191495160766
+ y: 0.010081561267686607
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04887191495160766
+ y: 0.010081561267686607
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04977706874951979
+ y: 0.010970406511503548
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04977706874951979
+ y: 0.010970406511503548
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04977706874951979
+ y: 0.010970406511503548
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050682222547431904
+ y: 0.011859251755320491
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050682222547431904
+ y: 0.011859251755320491
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050682222547431904
+ y: 0.011859251755320491
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05158737634534403
+ y: 0.012748096999137433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05158737634534403
+ y: 0.012748096999137433
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05158737634534403
+ y: 0.012748096999137433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.052492530143256146
+ y: 0.013636942242954374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.052492530143256146
+ y: 0.013636942242954374
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.052492530143256146
+ y: 0.013636942242954374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05339768394116826
+ y: 0.014525787486771318
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05339768394116826
+ y: 0.014525787486771318
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05339768394116826
+ y: 0.014525787486771318
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05436249674080451
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05436249674080451
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05436249674080451
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05563109804355125
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05563109804355125
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05563109804355125
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.056899699346297995
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.056899699346297995
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.056899699346297995
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05816830064904474
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05816830064904474
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05816830064904474
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05943690195179148
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05943690195179148
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05943690195179148
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.060705503254538225
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.060705503254538225
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.060705503254538225
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06197410455728497
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06197410455728497
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06197410455728497
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06324270586003171
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06324270586003171
+ y: 0.015268731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06324270586003171
+ y: 0.015268731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06249006459768938
+ y: 0.014268374324236225
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06249006459768938
+ y: 0.014268374324236225
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06249006459768938
+ y: 0.014268374324236225
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06158551154431416
+ y: 0.013378917726666514
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06158551154431416
+ y: 0.013378917726666514
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06158551154431416
+ y: 0.013378917726666514
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.060680958490938935
+ y: 0.0124894611290968
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.060680958490938935
+ y: 0.0124894611290968
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.060680958490938935
+ y: 0.0124894611290968
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.059776405437563705
+ y: 0.011600004531527089
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.059776405437563705
+ y: 0.011600004531527089
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.059776405437563705
+ y: 0.011600004531527089
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05887185238418848
+ y: 0.010710547933957376
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05887185238418848
+ y: 0.010710547933957376
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05887185238418848
+ y: 0.010710547933957376
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05796729933081326
+ y: 0.009821091336387663
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05796729933081326
+ y: 0.009821091336387663
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05796729933081326
+ y: 0.009821091336387663
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05706274627743803
+ y: 0.008931634738817952
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05706274627743803
+ y: 0.008931634738817952
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05706274627743803
+ y: 0.008931634738817952
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.056158193224062805
+ y: 0.00804217814124824
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.056158193224062805
+ y: 0.00804217814124824
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.056158193224062805
+ y: 0.00804217814124824
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05525364017068758
+ y: 0.007152721543678526
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05525364017068758
+ y: 0.007152721543678526
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05525364017068758
+ y: 0.007152721543678526
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05434908711731235
+ y: 0.006263264946108814
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05434908711731235
+ y: 0.006263264946108814
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05434908711731235
+ y: 0.006263264946108814
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05344453406393713
+ y: 0.005373808348539102
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05344453406393713
+ y: 0.005373808348539102
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05344453406393713
+ y: 0.005373808348539102
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.052539981010561905
+ y: 0.004484351750969388
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.052539981010561905
+ y: 0.004484351750969388
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.052539981010561905
+ y: 0.004484351750969388
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05163542795718668
+ y: 0.0035948951533996765
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05163542795718668
+ y: 0.0035948951533996765
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05163542795718668
+ y: 0.0035948951533996765
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05073087490381146
+ y: 0.002705438555829964
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05073087490381146
+ y: 0.002705438555829964
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05073087490381146
+ y: 0.002705438555829964
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04982632185043623
+ y: 0.0018159819582602523
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04982632185043623
+ y: 0.0018159819582602523
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04982632185043623
+ y: 0.0018159819582602523
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.048921768797061005
+ y: 0.0009265253606905386
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.048921768797061005
+ y: 0.0009265253606905386
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.048921768797061005
+ y: 0.0009265253606905386
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0492071087178766
+ y: -0.00026238589613979466
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0492071087178766
+ y: -0.00026238589613979466
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0492071087178766
+ y: -0.00026238589613979466
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050108113123310566
+ y: -0.0011554370294570866
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050108113123310566
+ y: -0.0011554370294570866
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050108113123310566
+ y: -0.0011554370294570866
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05100911752874455
+ y: -0.002048488162774379
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05100911752874455
+ y: -0.002048488162774379
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05100911752874455
+ y: -0.002048488162774379
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05191012193417852
+ y: -0.002941539296091671
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05191012193417852
+ y: -0.002941539296091671
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05191012193417852
+ y: -0.002941539296091671
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0528111263396125
+ y: -0.003834590429408963
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0528111263396125
+ y: -0.003834590429408963
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0528111263396125
+ y: -0.003834590429408963
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05371213074504647
+ y: -0.004727641562726256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05371213074504647
+ y: -0.004727641562726256
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05371213074504647
+ y: -0.004727641562726256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.054613135150480455
+ y: -0.005620692696043547
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.054613135150480455
+ y: -0.005620692696043547
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.054613135150480455
+ y: -0.005620692696043547
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05551413955591443
+ y: -0.0065137438293608385
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05551413955591443
+ y: -0.0065137438293608385
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05551413955591443
+ y: -0.0065137438293608385
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.056415143961348405
+ y: -0.007406794962678132
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.056415143961348405
+ y: -0.007406794962678132
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.056415143961348405
+ y: -0.007406794962678132
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05731614836678238
+ y: -0.008299846095995423
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05731614836678238
+ y: -0.008299846095995423
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05731614836678238
+ y: -0.008299846095995423
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05821715277221636
+ y: -0.009192897229312717
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05821715277221636
+ y: -0.009192897229312717
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05821715277221636
+ y: -0.009192897229312717
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.059118157177650336
+ y: -0.010085948362630008
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.059118157177650336
+ y: -0.010085948362630008
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.059118157177650336
+ y: -0.010085948362630008
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06001916158308431
+ y: -0.010978999495947302
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06001916158308431
+ y: -0.010978999495947302
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06001916158308431
+ y: -0.010978999495947302
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06092016598851829
+ y: -0.011872050629264592
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06092016598851829
+ y: -0.011872050629264592
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06092016598851829
+ y: -0.011872050629264592
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06182117039395226
+ y: -0.012765101762581879
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06182117039395226
+ y: -0.012765101762581879
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06182117039395226
+ y: -0.012765101762581879
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06272217479938624
+ y: -0.013658152895899178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06272217479938624
+ y: -0.013658152895899178
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06272217479938624
+ y: -0.013658152895899178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06362317920482023
+ y: -0.014551204029216475
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06362317920482023
+ y: -0.014551204029216475
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06362317920482023
+ y: -0.014551204029216475
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0645241836102542
+ y: -0.015444255162533761
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0645241836102542
+ y: -0.015444255162533761
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0645241836102542
+ y: -0.015444255162533761
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06326708158000963
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06326708158000963
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06326708158000963
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06199848027726288
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06199848027726288
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06199848027726288
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06072987897451614
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06072987897451614
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06072987897451614
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05946127767176941
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05946127767176941
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05946127767176941
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05819267636902266
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05819267636902266
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05819267636902266
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.056924075066275906
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.056924075066275906
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.056924075066275906
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.055655473763529174
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.055655473763529174
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.055655473763529174
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05455566879871155
+ y: -0.015560715136630448
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05455566879871155
+ y: -0.015560715136630448
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05455566879871155
+ y: -0.015560715136630448
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053654090309512424
+ y: -0.014668243572296777
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053654090309512424
+ y: -0.014668243572296777
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053654090309512424
+ y: -0.014668243572296777
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.052752511820313305
+ y: -0.013775772007963106
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.052752511820313305
+ y: -0.013775772007963106
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.052752511820313305
+ y: -0.013775772007963106
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0518509333311142
+ y: -0.01288330044362945
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0518509333311142
+ y: -0.01288330044362945
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0518509333311142
+ y: -0.01288330044362945
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05094935484191509
+ y: -0.011990828879295793
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05094935484191509
+ y: -0.011990828879295793
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05094935484191509
+ y: -0.011990828879295793
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05004777635271597
+ y: -0.011098357314962122
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05004777635271597
+ y: -0.011098357314962122
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05004777635271597
+ y: -0.011098357314962122
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.049146197863516844
+ y: -0.010205885750628451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.049146197863516844
+ y: -0.010205885750628451
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.049146197863516844
+ y: -0.010205885750628451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04824461937431774
+ y: -0.009313414186294795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04824461937431774
+ y: -0.009313414186294795
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04824461937431774
+ y: -0.009313414186294795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.047343040885118634
+ y: -0.008420942621961138
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.047343040885118634
+ y: -0.008420942621961138
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.047343040885118634
+ y: -0.008420942621961138
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.046441462395919515
+ y: -0.007528471057627467
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.046441462395919515
+ y: -0.007528471057627467
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.046441462395919515
+ y: -0.007528471057627467
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04553988390672039
+ y: -0.006635999493293797
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04553988390672039
+ y: -0.006635999493293797
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04553988390672039
+ y: -0.006635999493293797
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044638305417521285
+ y: -0.00574352792896014
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044638305417521285
+ y: -0.00574352792896014
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044638305417521285
+ y: -0.00574352792896014
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04373672692832217
+ y: -0.004851056364626482
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04373672692832217
+ y: -0.004851056364626482
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04373672692832217
+ y: -0.004851056364626482
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042835148439123054
+ y: -0.003958584800292813
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042835148439123054
+ y: -0.003958584800292813
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042835148439123054
+ y: -0.003958584800292813
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.004945713991045882
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.004945713991045882
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.004945713991045882
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.006214315293792634
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.006214315293792634
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.006214315293792634
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.007482916596539368
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.007482916596539368
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.007482916596539368
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.008751517899286103
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.008751517899286103
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.008751517899286103
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.010020119202032855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.010020119202032855
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.010020119202032855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.011288720504779607
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.011288720504779607
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.011288720504779607
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.012557321807526342
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.012557321807526342
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.012557321807526342
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.013825923110273076
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.013825923110273076
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.013825923110273076
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.015094524413019828
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.015094524413019828
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042541305
+ y: -0.015094524413019828
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04172648118331785
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04172648118331785
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04172648118331785
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0404578798805711
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0404578798805711
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0404578798805711
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03918927857782436
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03918927857782436
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03918927857782436
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03792067727507763
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03792067727507763
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03792067727507763
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036652075972330875
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036652075972330875
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036652075972330875
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03538347466958412
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03538347466958412
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03538347466958412
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.015177700265921803
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.015177700265921803
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.015177700265921803
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.013909098963175067
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.013909098963175067
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.013909098963175067
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.012640497660428334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.012640497660428334
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.012640497660428334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.011371896357681582
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.011371896357681582
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.011371896357681582
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.010103295054934828
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.010103295054934828
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.010103295054934828
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.008834693752188094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.008834693752188094
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.008834693752188094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.00756609244944136
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.00756609244944136
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.00756609244944136
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.0062974911466946075
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.0062974911466946075
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.0062974911466946075
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.005028889843947855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.005028889843947855
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.005028889843947855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.0037602885412011205
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.0037602885412011205
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.0037602885412011205
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.0024916872384543876
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.0024916872384543876
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.0024916872384543876
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.0012230859357076351
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.0012230859357076351
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: -0.0012230859357076351
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 4.551536703911552e-05
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 4.551536703911552e-05
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 4.551536703911552e-05
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.0013141166697858502
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.0013141166697858502
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.0013141166697858502
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.0025827179725325883
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.0025827179725325883
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.0025827179725325883
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.0038513192752793373
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.0038513192752793373
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.0038513192752793373
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.005119920578026093
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.005119920578026093
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.005119920578026093
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.006388521880772825
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.006388521880772825
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.006388521880772825
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.007657123183519559
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.007657123183519559
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.007657123183519559
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.008925724486266311
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.008925724486266311
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.008925724486266311
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.010194325789013064
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.010194325789013064
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.010194325789013064
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.011462927091759795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.011462927091759795
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.011462927091759795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.012731528394506534
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.012731528394506534
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.012731528394506534
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.014000129697253283
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.014000129697253283
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.014000129697253283
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.015268730999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.015268730999999999
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034485475
+ y: 0.015268730999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.086649615
+ y: -0.010279769999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.086649615
+ y: -0.010279769999999999
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.086649615
+ y: -0.010279769999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.086649615
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.086649615
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.086649615
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08547593890322157
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08547593890322157
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08547593890322157
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08430226280644312
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08430226280644312
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08430226280644312
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08312858670966468
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08312858670966468
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08312858670966468
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08195491061288623
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08195491061288623
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08195491061288623
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0807812345161078
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0807812345161078
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0807812345161078
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07960755841932937
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07960755841932937
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07960755841932937
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07843388232255093
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07843388232255093
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07843388232255093
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0772602062257725
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0772602062257725
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0772602062257725
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07608653012899404
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07608653012899404
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07608653012899404
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0749128540322156
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0749128540322156
+ y: -0.010279769999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0749128540322156
+ y: -0.010279769999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.073949669529132
+ y: -0.010576248156555777
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.073949669529132
+ y: -0.010576248156555777
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.073949669529132
+ y: -0.010576248156555777
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07356267065380652
+ y: -0.011684285814149547
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07356267065380652
+ y: -0.011684285814149547
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07356267065380652
+ y: -0.011684285814149547
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07317567177848106
+ y: -0.01279232347174332
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07317567177848106
+ y: -0.01279232347174332
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07317567177848106
+ y: -0.01279232347174332
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07278867290315559
+ y: -0.013900361129337091
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07278867290315559
+ y: -0.013900361129337091
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07278867290315559
+ y: -0.013900361129337091
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07240167402783011
+ y: -0.015008398786930862
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07240167402783011
+ y: -0.015008398786930862
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07240167402783011
+ y: -0.015008398786930862
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07191153913646492
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07191153913646492
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07191153913646492
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07073786303968649
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07073786303968649
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07073786303968649
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06956418694290804
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06956418694290804
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06956418694290804
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0683905108461296
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0683905108461296
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0683905108461296
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06721683474935117
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06721683474935117
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06721683474935117
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06604315865257274
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06604315865257274
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06604315865257274
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06486948255579429
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06486948255579429
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06486948255579429
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06426601041519094
+ y: -0.015165870987172071
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06426601041519094
+ y: -0.015165870987172071
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06426601041519094
+ y: -0.015165870987172071
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06467366887955364
+ y: -0.014065266536616602
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06467366887955364
+ y: -0.014065266536616602
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06467366887955364
+ y: -0.014065266536616602
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06508132734391636
+ y: -0.012964662086061132
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06508132734391636
+ y: -0.012964662086061132
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06508132734391636
+ y: -0.012964662086061132
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06548898580827907
+ y: -0.011864057635505661
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06548898580827907
+ y: -0.011864057635505661
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06548898580827907
+ y: -0.011864057635505661
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06589664427264177
+ y: -0.010763453184950193
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06589664427264177
+ y: -0.010763453184950193
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06589664427264177
+ y: -0.010763453184950193
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0663043027370045
+ y: -0.009662848734394722
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0663043027370045
+ y: -0.009662848734394722
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0663043027370045
+ y: -0.009662848734394722
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0667119612013672
+ y: -0.008562244283839253
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0667119612013672
+ y: -0.008562244283839253
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0667119612013672
+ y: -0.008562244283839253
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06711961966572992
+ y: -0.007461639833283783
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06711961966572992
+ y: -0.007461639833283783
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06711961966572992
+ y: -0.007461639833283783
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06752727813009263
+ y: -0.006361035382728313
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06752727813009263
+ y: -0.006361035382728313
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06752727813009263
+ y: -0.006361035382728313
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06793493659445533
+ y: -0.005260430932172843
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06793493659445533
+ y: -0.005260430932172843
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06793493659445533
+ y: -0.005260430932172843
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06834259505881805
+ y: -0.004159826481617375
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06834259505881805
+ y: -0.004159826481617375
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06834259505881805
+ y: -0.004159826481617375
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06875025352318076
+ y: -0.0030592220310619034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06875025352318076
+ y: -0.0030592220310619034
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06875025352318076
+ y: -0.0030592220310619034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06915791198754345
+ y: -0.0019586175805064343
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06915791198754345
+ y: -0.0019586175805064343
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06915791198754345
+ y: -0.0019586175805064343
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06956557045190619
+ y: -0.0008580131299509653
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06956557045190619
+ y: -0.0008580131299509653
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06956557045190619
+ y: -0.0008580131299509653
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06997322891626888
+ y: 0.00024259132060450384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06997322891626888
+ y: 0.00024259132060450384
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06997322891626888
+ y: 0.00024259132060450384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0703808873806316
+ y: 0.0013431957711599728
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0703808873806316
+ y: 0.0013431957711599728
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0703808873806316
+ y: 0.0013431957711599728
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0707885458449943
+ y: 0.002443800221715442
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0707885458449943
+ y: 0.002443800221715442
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0707885458449943
+ y: 0.002443800221715442
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07119620430935701
+ y: 0.003544404672270915
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07119620430935701
+ y: 0.003544404672270915
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07119620430935701
+ y: 0.003544404672270915
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07160386277371973
+ y: 0.004645009122826384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07160386277371973
+ y: 0.004645009122826384
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07160386277371973
+ y: 0.004645009122826384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07201152123808244
+ y: 0.0057456135733818525
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07201152123808244
+ y: 0.0057456135733818525
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07201152123808244
+ y: 0.0057456135733818525
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07241917970244514
+ y: 0.006846218023937322
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07241917970244514
+ y: 0.006846218023937322
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07241917970244514
+ y: 0.006846218023937322
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07282683816680786
+ y: 0.007946822474492791
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07282683816680786
+ y: 0.007946822474492791
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07282683816680786
+ y: 0.007946822474492791
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07323449663117057
+ y: 0.009047426925048261
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07323449663117057
+ y: 0.009047426925048261
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07323449663117057
+ y: 0.009047426925048261
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07364215509553329
+ y: 0.010148031375603729
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07364215509553329
+ y: 0.010148031375603729
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07364215509553329
+ y: 0.010148031375603729
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.074049813559896
+ y: 0.011248635826159202
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.074049813559896
+ y: 0.011248635826159202
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.074049813559896
+ y: 0.011248635826159202
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0744574720242587
+ y: 0.012349240276714671
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0744574720242587
+ y: 0.012349240276714671
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0744574720242587
+ y: 0.012349240276714671
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07486513048862142
+ y: 0.01344984472727014
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07486513048862142
+ y: 0.01344984472727014
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07486513048862142
+ y: 0.01344984472727014
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07527278895298413
+ y: 0.014550449177825608
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07527278895298413
+ y: 0.014550449177825608
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07527278895298413
+ y: 0.014550449177825608
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07623996192613051
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07623996192613051
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07623996192613051
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07741363802290896
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07741363802290896
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07741363802290896
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07858731411968739
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07858731411968739
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07858731411968739
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07976099021646584
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07976099021646584
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07976099021646584
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08093466631324427
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08093466631324427
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08093466631324427
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0821083424100227
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0821083424100227
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0821083424100227
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08328201850680114
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08328201850680114
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08328201850680114
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08445569460357959
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08445569460357959
+ y: 0.015268730999999999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08445569460357959
+ y: 0.015268730999999999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08541389045222914
+ y: 0.014537550980782065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08541389045222914
+ y: 0.014537550980782065
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08541389045222914
+ y: 0.014537550980782065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08582154888561142
+ y: 0.01343694651875159
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08582154888561142
+ y: 0.01343694651875159
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08582154888561142
+ y: 0.01343694651875159
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08622920731899368
+ y: 0.01233634205672112
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08622920731899368
+ y: 0.01233634205672112
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08622920731899368
+ y: 0.01233634205672112
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08663686575237595
+ y: 0.011235737594690645
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08663686575237595
+ y: 0.011235737594690645
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08663686575237595
+ y: 0.011235737594690645
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08704452418575821
+ y: 0.01013513313266017
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08704452418575821
+ y: 0.01013513313266017
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08704452418575821
+ y: 0.01013513313266017
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08745218261914048
+ y: 0.009034528670629698
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08745218261914048
+ y: 0.009034528670629698
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08745218261914048
+ y: 0.009034528670629698
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08785984105252274
+ y: 0.007933924208599225
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08785984105252274
+ y: 0.007933924208599225
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08785984105252274
+ y: 0.007933924208599225
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08826749948590501
+ y: 0.006833319746568753
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08826749948590501
+ y: 0.006833319746568753
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08826749948590501
+ y: 0.006833319746568753
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08867515791928728
+ y: 0.0057327152845382786
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08867515791928728
+ y: 0.0057327152845382786
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08867515791928728
+ y: 0.0057327152845382786
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08908281635266954
+ y: 0.004632110822507805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08908281635266954
+ y: 0.004632110822507805
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08908281635266954
+ y: 0.004632110822507805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08949047478605181
+ y: 0.003531506360477332
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08949047478605181
+ y: 0.003531506360477332
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08949047478605181
+ y: 0.003531506360477332
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08989813321943407
+ y: 0.0024309018984468586
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08989813321943407
+ y: 0.0024309018984468586
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08989813321943407
+ y: 0.0024309018984468586
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09030579165281634
+ y: 0.0013302974364163855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09030579165281634
+ y: 0.0013302974364163855
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09030579165281634
+ y: 0.0013302974364163855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0907134500861986
+ y: 0.00022969297438591064
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0907134500861986
+ y: 0.00022969297438591064
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0907134500861986
+ y: 0.00022969297438591064
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09112110851958086
+ y: -0.000870911487644559
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09112110851958086
+ y: -0.000870911487644559
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09112110851958086
+ y: -0.000870911487644559
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09152876695296312
+ y: -0.001971515949675034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09152876695296312
+ y: -0.001971515949675034
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09152876695296312
+ y: -0.001971515949675034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09193642538634539
+ y: -0.003072120411705509
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09193642538634539
+ y: -0.003072120411705509
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09193642538634539
+ y: -0.003072120411705509
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09234408381972765
+ y: -0.00417272487373598
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09234408381972765
+ y: -0.00417272487373598
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09234408381972765
+ y: -0.00417272487373598
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09275174225310992
+ y: -0.005273329335766455
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09275174225310992
+ y: -0.005273329335766455
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09275174225310992
+ y: -0.005273329335766455
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09315940068649219
+ y: -0.006373933797796927
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09315940068649219
+ y: -0.006373933797796927
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09315940068649219
+ y: -0.006373933797796927
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09356705911987447
+ y: -0.007474538259827401
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09356705911987447
+ y: -0.007474538259827401
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09356705911987447
+ y: -0.007474538259827401
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09397471755325673
+ y: -0.008575142721857876
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09397471755325673
+ y: -0.008575142721857876
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09397471755325673
+ y: -0.008575142721857876
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.094382375986639
+ y: -0.009675747183888347
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.094382375986639
+ y: -0.009675747183888347
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.094382375986639
+ y: -0.009675747183888347
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09479003442002126
+ y: -0.010776351645918822
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09479003442002126
+ y: -0.010776351645918822
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09479003442002126
+ y: -0.010776351645918822
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09519769285340353
+ y: -0.011876956107949295
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09519769285340353
+ y: -0.011876956107949295
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09519769285340353
+ y: -0.011876956107949295
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0956053512867858
+ y: -0.012977560569979769
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0956053512867858
+ y: -0.012977560569979769
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0956053512867858
+ y: -0.012977560569979769
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09601300972016806
+ y: -0.014078165032010244
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09601300972016806
+ y: -0.014078165032010244
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09601300972016806
+ y: -0.014078165032010244
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09642066815355033
+ y: -0.015178769494040715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09642066815355033
+ y: -0.015178769494040715
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09642066815355033
+ y: -0.015178769494040715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09579866356716094
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09579866356716094
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09579866356716094
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09462498747038249
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09462498747038249
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09462498747038249
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09345131137360406
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09345131137360406
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09345131137360406
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09227763527682563
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09227763527682563
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09227763527682563
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09110395918004717
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09110395918004717
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09110395918004717
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08993028308326874
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08993028308326874
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08993028308326874
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0887566069864903
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0887566069864903
+ y: -0.015971169
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0887566069864903
+ y: -0.015971169
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0882788935953438
+ y: -0.01499430353208961
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0882788935953438
+ y: -0.01499430353208961
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0882788935953438
+ y: -0.01499430353208961
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08789553392585116
+ y: -0.013885001524539121
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08789553392585116
+ y: -0.013885001524539121
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08789553392585116
+ y: -0.013885001524539121
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08751217425635849
+ y: -0.01277569951698863
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08751217425635849
+ y: -0.01277569951698863
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08751217425635849
+ y: -0.01277569951698863
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08712881458686583
+ y: -0.011666397509438141
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08712881458686583
+ y: -0.011666397509438141
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08712881458686583
+ y: -0.011666397509438141
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08674545491737316
+ y: -0.010557095501887652
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08674545491737316
+ y: -0.010557095501887652
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08674545491737316
+ y: -0.010557095501887652
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.086649615
+ y: -0.010279769999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.086649615
+ y: -0.010279769999999999
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.086649615
+ y: -0.010279769999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.076061946
+ y: -0.0044837611
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.076061946
+ y: -0.0044837611
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.076061946
+ y: -0.0044837611
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.076061946
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.076061946
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.076061946
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07614928420827442
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07614928420827442
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07614928420827442
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07623662241654883
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07623662241654883
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07623662241654883
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07632396062482324
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07632396062482324
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07632396062482324
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07641129883309766
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07641129883309766
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07641129883309766
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07649863704137208
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07649863704137208
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07649863704137208
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07658597524964648
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07658597524964648
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07658597524964648
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0766733134579209
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0766733134579209
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0766733134579209
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07676065166619532
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07676065166619532
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07676065166619532
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07684798987446974
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07684798987446974
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07684798987446974
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07693532808274414
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07693532808274414
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07693532808274414
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07702266629101856
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07702266629101856
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07702266629101856
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07711000449929298
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07711000449929298
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07711000449929298
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07719734270756738
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07719734270756738
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07719734270756738
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07728468091584179
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07728468091584179
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07728468091584179
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0773720191241162
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0773720191241162
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0773720191241162
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07745935733239062
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07745935733239062
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07745935733239062
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07754669554066504
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07754669554066504
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07754669554066504
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07763403374893944
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07763403374893944
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07763403374893944
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07772137195721386
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07772137195721386
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07772137195721386
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07780871016548828
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07780871016548828
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07780871016548828
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0778960483737627
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0778960483737627
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0778960483737627
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0779833865820371
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0779833865820371
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0779833865820371
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07807072479031152
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07807072479031152
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07807072479031152
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815806299858594
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815806299858594
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815806299858594
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07824540120686035
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07824540120686035
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07824540120686035
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07833273941513476
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07833273941513476
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07833273941513476
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07842007762340918
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07842007762340918
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07842007762340918
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0785074158316836
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0785074158316836
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0785074158316836
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.078594754039958
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.078594754039958
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.078594754039958
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07868209224823242
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07868209224823242
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07868209224823242
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07876943045650682
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07876943045650682
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07876943045650682
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07885676866478124
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07885676866478124
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07885676866478124
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07894410687305566
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07894410687305566
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07894410687305566
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07903144508133006
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07903144508133006
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07903144508133006
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07911878328960448
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07911878328960448
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07911878328960448
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0792061214978789
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0792061214978789
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0792061214978789
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0792934597061533
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0792934597061533
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0792934597061533
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07938079791442772
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07938079791442772
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07938079791442772
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07946813612270213
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07946813612270213
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07946813612270213
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07955547433097655
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07955547433097655
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07955547433097655
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07964281253925096
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07964281253925096
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07964281253925096
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07973015074752537
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07973015074752537
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07973015074752537
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07981748895579979
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07981748895579979
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07981748895579979
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07990482716407421
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07990482716407421
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07990482716407421
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07999216537234861
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07999216537234861
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07999216537234861
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08007950358062303
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08007950358062303
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08007950358062303
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08016684178889745
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08016684178889745
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08016684178889745
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08025417999717187
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08025417999717187
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08025417999717187
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08034151820544627
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08034151820544627
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08034151820544627
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08042885641372068
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08042885641372068
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08042885641372068
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0805161946219951
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0805161946219951
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0805161946219951
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08060353283026951
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08060353283026951
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08060353283026951
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08069087103854392
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08069087103854392
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08069087103854392
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08077820924681833
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08077820924681833
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08077820924681833
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08086554745509275
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08086554745509275
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08086554745509275
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08095288566336717
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08095288566336717
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08095288566336717
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08104022387164157
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08104022387164157
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08104022387164157
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08112756207991599
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08112756207991599
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08112756207991599
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08121490028819041
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08121490028819041
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08121490028819041
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08130223849646481
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08130223849646481
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08130223849646481
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08138957670473923
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08138957670473923
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08138957670473923
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08147691491301365
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08147691491301365
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08147691491301365
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08156425312128807
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08156425312128807
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08156425312128807
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08165159132956248
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08165159132956248
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08165159132956248
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08173892953783689
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08173892953783689
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08173892953783689
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0818262677461113
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0818262677461113
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0818262677461113
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08191360595438572
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08191360595438572
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08191360595438572
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08200094416266011
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08200094416266011
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08200094416266011
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08208828237093453
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08208828237093453
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08208828237093453
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08217562057920895
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08217562057920895
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08217562057920895
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08226295878748337
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08226295878748337
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08226295878748337
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08235029699575777
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08235029699575777
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08235029699575777
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08243763520403219
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08243763520403219
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08243763520403219
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08252497341230661
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08252497341230661
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08252497341230661
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08261231162058102
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08261231162058102
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08261231162058102
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08269964982885543
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08269964982885543
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08269964982885543
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08278698803712985
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08278698803712985
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08278698803712985
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08287432624540426
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08287432624540426
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08287432624540426
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08296166445367868
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08296166445367868
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08296166445367868
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08304900266195309
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08304900266195309
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08304900266195309
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0831363408702275
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0831363408702275
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0831363408702275
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08322367907850192
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08322367907850192
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08322367907850192
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08331101728677634
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08331101728677634
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08331101728677634
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08339835549505074
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08339835549505074
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08339835549505074
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08348569370332516
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08348569370332516
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08348569370332516
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08357303191159958
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08357303191159958
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08357303191159958
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08366037011987398
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08366037011987398
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08366037011987398
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08374770832814839
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08374770832814839
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08374770832814839
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0838350465364228
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0838350465364228
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0838350465364228
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08392238474469722
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08392238474469722
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08392238474469722
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08400972295297163
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08400972295297163
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08400972295297163
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08409706116124605
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08409706116124605
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08409706116124605
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08418439936952046
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08418439936952046
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08418439936952046
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08427173757779488
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08427173757779488
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08427173757779488
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0843590757860693
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0843590757860693
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0843590757860693
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0844464139943437
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0844464139943437
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0844464139943437
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08453375220261812
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08453375220261812
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08453375220261812
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08461958620503632
+ y: -0.004482687252632065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08461958620503632
+ y: -0.004482687252632065
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08461958620503632
+ y: -0.004482687252632065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08459121771609389
+ y: -0.004400084640931774
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08459121771609389
+ y: -0.004400084640931774
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08459121771609389
+ y: -0.004400084640931774
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08456284922715149
+ y: -0.004317482029231482
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08456284922715149
+ y: -0.004317482029231482
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08456284922715149
+ y: -0.004317482029231482
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08453448073820909
+ y: -0.004234879417531191
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08453448073820909
+ y: -0.004234879417531191
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08453448073820909
+ y: -0.004234879417531191
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08450611224926667
+ y: -0.004152276805830899
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08450611224926667
+ y: -0.004152276805830899
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08450611224926667
+ y: -0.004152276805830899
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08447774376032426
+ y: -0.004069674194130608
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08447774376032426
+ y: -0.004069674194130608
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08447774376032426
+ y: -0.004069674194130608
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08444937527138184
+ y: -0.003987071582430317
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08444937527138184
+ y: -0.003987071582430317
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08444937527138184
+ y: -0.003987071582430317
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08442100678243944
+ y: -0.003904468970730025
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08442100678243944
+ y: -0.003904468970730025
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08442100678243944
+ y: -0.003904468970730025
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08439263829349701
+ y: -0.0038218663590297336
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08439263829349701
+ y: -0.0038218663590297336
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08439263829349701
+ y: -0.0038218663590297336
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08436426980455461
+ y: -0.0037392637473294423
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08436426980455461
+ y: -0.0037392637473294423
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08436426980455461
+ y: -0.0037392637473294423
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08433590131561221
+ y: -0.0036566611356291506
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08433590131561221
+ y: -0.0036566611356291506
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08433590131561221
+ y: -0.0036566611356291506
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08430753282666979
+ y: -0.003574058523928859
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08430753282666979
+ y: -0.003574058523928859
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08430753282666979
+ y: -0.003574058523928859
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08427916433772738
+ y: -0.0034914559122285675
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08427916433772738
+ y: -0.0034914559122285675
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08427916433772738
+ y: -0.0034914559122285675
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08425079584878496
+ y: -0.0034088533005282758
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08425079584878496
+ y: -0.0034088533005282758
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08425079584878496
+ y: -0.0034088533005282758
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08422242735984256
+ y: -0.003326250688827985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08422242735984256
+ y: -0.003326250688827985
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08422242735984256
+ y: -0.003326250688827985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08419405887090013
+ y: -0.003243648077127693
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08419405887090013
+ y: -0.003243648077127693
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08419405887090013
+ y: -0.003243648077127693
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08416569038195773
+ y: -0.0031610454654274014
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08416569038195773
+ y: -0.0031610454654274014
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08416569038195773
+ y: -0.0031610454654274014
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08413732189301533
+ y: -0.0030784428537271105
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08413732189301533
+ y: -0.0030784428537271105
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08413732189301533
+ y: -0.0030784428537271105
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08410895340407291
+ y: -0.0029958402420268183
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08410895340407291
+ y: -0.0029958402420268183
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08410895340407291
+ y: -0.0029958402420268183
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0840805849151305
+ y: -0.0029132376303265275
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0840805849151305
+ y: -0.0029132376303265275
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0840805849151305
+ y: -0.0029132376303265275
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08405221642618808
+ y: -0.0028306350186262357
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08405221642618808
+ y: -0.0028306350186262357
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08405221642618808
+ y: -0.0028306350186262357
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08402384793724568
+ y: -0.002748032406925944
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08402384793724568
+ y: -0.002748032406925944
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08402384793724568
+ y: -0.002748032406925944
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08399547944830327
+ y: -0.0026654297952256527
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08399547944830327
+ y: -0.0026654297952256527
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08399547944830327
+ y: -0.0026654297952256527
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08396711095936085
+ y: -0.0025828271835253614
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08396711095936085
+ y: -0.0025828271835253614
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08396711095936085
+ y: -0.0025828271835253614
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08393874247041845
+ y: -0.0025002245718250696
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08393874247041845
+ y: -0.0025002245718250696
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08393874247041845
+ y: -0.0025002245718250696
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08391037398147604
+ y: -0.0024176219601247783
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08391037398147604
+ y: -0.0024176219601247783
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08391037398147604
+ y: -0.0024176219601247783
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08388200549253362
+ y: -0.002335019348424487
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08388200549253362
+ y: -0.002335019348424487
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08388200549253362
+ y: -0.002335019348424487
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0838536370035912
+ y: -0.0022524167367241952
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0838536370035912
+ y: -0.0022524167367241952
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0838536370035912
+ y: -0.0022524167367241952
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0838252685146488
+ y: -0.002169814125023904
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0838252685146488
+ y: -0.002169814125023904
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0838252685146488
+ y: -0.002169814125023904
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08379690002570639
+ y: -0.002087211513323612
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08379690002570639
+ y: -0.002087211513323612
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08379690002570639
+ y: -0.002087211513323612
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08376853153676397
+ y: -0.0020046089016233204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08376853153676397
+ y: -0.0020046089016233204
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08376853153676397
+ y: -0.0020046089016233204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08374016304782157
+ y: -0.0019220062899230294
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08374016304782157
+ y: -0.0019220062899230294
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08374016304782157
+ y: -0.0019220062899230294
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08371179455887914
+ y: -0.0018394036782227378
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08371179455887914
+ y: -0.0018394036782227378
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08371179455887914
+ y: -0.0018394036782227378
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08368342606993674
+ y: -0.0017568010665224465
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08368342606993674
+ y: -0.0017568010665224465
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08368342606993674
+ y: -0.0017568010665224465
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08365505758099434
+ y: -0.0016741984548221552
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08365505758099434
+ y: -0.0016741984548221552
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08365505758099434
+ y: -0.0016741984548221552
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08362668909205193
+ y: -0.0015915958431218632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08362668909205193
+ y: -0.0015915958431218632
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08362668909205193
+ y: -0.0015915958431218632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08359832060310951
+ y: -0.001508993231421572
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08359832060310951
+ y: -0.001508993231421572
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08359832060310951
+ y: -0.001508993231421572
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0835699521141671
+ y: -0.0014263906197212806
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0835699521141671
+ y: -0.0014263906197212806
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0835699521141671
+ y: -0.0014263906197212806
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0835415836252247
+ y: -0.0013437880080209889
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0835415836252247
+ y: -0.0013437880080209889
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0835415836252247
+ y: -0.0013437880080209889
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08351321513628227
+ y: -0.0012611853963206974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08351321513628227
+ y: -0.0012611853963206974
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08351321513628227
+ y: -0.0012611853963206974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08348484664733986
+ y: -0.001178582784620406
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08348484664733986
+ y: -0.001178582784620406
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08348484664733986
+ y: -0.001178582784620406
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08345647815839746
+ y: -0.0010959801729201147
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08345647815839746
+ y: -0.0010959801729201147
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08345647815839746
+ y: -0.0010959801729201147
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08342810966945505
+ y: -0.0010133775612198232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08342810966945505
+ y: -0.0010133775612198232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08342810966945505
+ y: -0.0010133775612198232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08339974118051263
+ y: -0.0009307749495195319
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08339974118051263
+ y: -0.0009307749495195319
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08339974118051263
+ y: -0.0009307749495195319
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08337137269157022
+ y: -0.0008481723378192405
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08337137269157022
+ y: -0.0008481723378192405
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08337137269157022
+ y: -0.0008481723378192405
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08334300420262782
+ y: -0.0007655697261189492
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08334300420262782
+ y: -0.0007655697261189492
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08334300420262782
+ y: -0.0007655697261189492
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0833146357136854
+ y: -0.0006829671144186569
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0833146357136854
+ y: -0.0006829671144186569
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0833146357136854
+ y: -0.0006829671144186569
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08328626722474299
+ y: -0.0006003645027183656
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08328626722474299
+ y: -0.0006003645027183656
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08328626722474299
+ y: -0.0006003645027183656
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08325789873580058
+ y: -0.0005177618910180741
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08325789873580058
+ y: -0.0005177618910180741
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08325789873580058
+ y: -0.0005177618910180741
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08322953024685817
+ y: -0.0004351592793177828
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08322953024685817
+ y: -0.0004351592793177828
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08322953024685817
+ y: -0.0004351592793177828
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08320116175791575
+ y: -0.00035255666761749093
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08320116175791575
+ y: -0.00035255666761749093
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08320116175791575
+ y: -0.00035255666761749093
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08317279326897334
+ y: -0.0002699540559172
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08317279326897334
+ y: -0.0002699540559172
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08317279326897334
+ y: -0.0002699540559172
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08314442478003094
+ y: -0.0001873514442169082
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08314442478003094
+ y: -0.0001873514442169082
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08314442478003094
+ y: -0.0001873514442169082
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08311605629108852
+ y: -0.00010474883251661638
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08311605629108852
+ y: -0.00010474883251661638
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08311605629108852
+ y: -0.00010474883251661638
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0830876878021461
+ y: -2.2146220816325448e-05
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0830876878021461
+ y: -2.2146220816325448e-05
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0830876878021461
+ y: -2.2146220816325448e-05
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0830593193132037
+ y: 6.0456390883966374e-05
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0830593193132037
+ y: 6.0456390883966374e-05
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0830593193132037
+ y: 6.0456390883966374e-05
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08303095082426129
+ y: 0.0001430590025842573
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08303095082426129
+ y: 0.0001430590025842573
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08303095082426129
+ y: 0.0001430590025842573
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08300258233531888
+ y: 0.0002256616142845491
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08300258233531888
+ y: 0.0002256616142845491
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08300258233531888
+ y: 0.0002256616142845491
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08297421384637647
+ y: 0.00030826422598484004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08297421384637647
+ y: 0.00030826422598484004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08297421384637647
+ y: 0.00030826422598484004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08294584535743406
+ y: 0.0003908668376851319
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08294584535743406
+ y: 0.0003908668376851319
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08294584535743406
+ y: 0.0003908668376851319
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08291747686849164
+ y: 0.0004734694493854237
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08291747686849164
+ y: 0.0004734694493854237
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08291747686849164
+ y: 0.0004734694493854237
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08288910837954923
+ y: 0.0005560720610857155
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08288910837954923
+ y: 0.0005560720610857155
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08288910837954923
+ y: 0.0005560720610857155
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08286073989060683
+ y: 0.0006386746727860065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08286073989060683
+ y: 0.0006386746727860065
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08286073989060683
+ y: 0.0006386746727860065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08283237140166441
+ y: 0.0007212772844862982
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08283237140166441
+ y: 0.0007212772844862982
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08283237140166441
+ y: 0.0007212772844862982
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.082804002912722
+ y: 0.0008038798961865901
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.082804002912722
+ y: 0.0008038798961865901
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.082804002912722
+ y: 0.0008038798961865901
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0827756344237796
+ y: 0.0008864825078868811
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0827756344237796
+ y: 0.0008864825078868811
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0827756344237796
+ y: 0.0008864825078868811
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08274726593483718
+ y: 0.0009690851195871728
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08274726593483718
+ y: 0.0009690851195871728
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08274726593483718
+ y: 0.0009690851195871728
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08271889744589477
+ y: 0.0010516877312874637
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08271889744589477
+ y: 0.0010516877312874637
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08271889744589477
+ y: 0.0010516877312874637
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08269052895695235
+ y: 0.0011342903429877556
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08269052895695235
+ y: 0.0011342903429877556
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08269052895695235
+ y: 0.0011342903429877556
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08266216046800995
+ y: 0.0012168929546880465
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08266216046800995
+ y: 0.0012168929546880465
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08266216046800995
+ y: 0.0012168929546880465
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08263379197906753
+ y: 0.0012994955663883383
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08263379197906753
+ y: 0.0012994955663883383
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08263379197906753
+ y: 0.0012994955663883383
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08260542349012512
+ y: 0.0013820981780886294
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08260542349012512
+ y: 0.0013820981780886294
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08260542349012512
+ y: 0.0013820981780886294
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08257705500118272
+ y: 0.001464700789788921
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08257705500118272
+ y: 0.001464700789788921
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08257705500118272
+ y: 0.001464700789788921
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0825486865122403
+ y: 0.0015473034014892128
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0825486865122403
+ y: 0.0015473034014892128
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0825486865122403
+ y: 0.0015473034014892128
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08252031802329789
+ y: 0.0016299060131895037
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08252031802329789
+ y: 0.0016299060131895037
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08252031802329789
+ y: 0.0016299060131895037
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08249194953435547
+ y: 0.0017125086248897965
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08249194953435547
+ y: 0.0017125086248897965
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08249194953435547
+ y: 0.0017125086248897965
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08246358104541307
+ y: 0.0017951112365900866
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08246358104541307
+ y: 0.0017951112365900866
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08246358104541307
+ y: 0.0017951112365900866
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08243521255647066
+ y: 0.0018777138482903794
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08243521255647066
+ y: 0.0018777138482903794
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08243521255647066
+ y: 0.0018777138482903794
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08240684406752824
+ y: 0.0019603164599906694
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08240684406752824
+ y: 0.0019603164599906694
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08240684406752824
+ y: 0.0019603164599906694
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08237847557858584
+ y: 0.002042919071690962
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08237847557858584
+ y: 0.002042919071690962
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08237847557858584
+ y: 0.002042919071690962
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08235010708964342
+ y: 0.002125521683391253
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08235010708964342
+ y: 0.002125521683391253
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08235010708964342
+ y: 0.002125521683391253
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08232173860070101
+ y: 0.0022081242950915446
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08232173860070101
+ y: 0.0022081242950915446
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08232173860070101
+ y: 0.0022081242950915446
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08229337011175861
+ y: 0.002290726906791837
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08229337011175861
+ y: 0.002290726906791837
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08229337011175861
+ y: 0.002290726906791837
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08226500162281619
+ y: 0.0023733295184921277
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08226500162281619
+ y: 0.0023733295184921277
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08226500162281619
+ y: 0.0023733295184921277
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08223663313387378
+ y: 0.0024559321301924194
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08223663313387378
+ y: 0.0024559321301924194
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08223663313387378
+ y: 0.0024559321301924194
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08220826464493136
+ y: 0.0025385347418927103
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08220826464493136
+ y: 0.0025385347418927103
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08220826464493136
+ y: 0.0025385347418927103
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08217989615598896
+ y: 0.002621137353593003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08217989615598896
+ y: 0.002621137353593003
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08217989615598896
+ y: 0.002621137353593003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08215152766704654
+ y: 0.002703739965293293
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08215152766704654
+ y: 0.002703739965293293
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08215152766704654
+ y: 0.002703739965293293
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08212315917810413
+ y: 0.0027863425769935855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08212315917810413
+ y: 0.0027863425769935855
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08212315917810413
+ y: 0.0027863425769935855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08209479068916173
+ y: 0.002868945188693876
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08209479068916173
+ y: 0.002868945188693876
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08209479068916173
+ y: 0.002868945188693876
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08206642220021931
+ y: 0.0029515478003941686
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08206642220021931
+ y: 0.0029515478003941686
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08206642220021931
+ y: 0.0029515478003941686
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0820380537112769
+ y: 0.0030341504120944595
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0820380537112769
+ y: 0.0030341504120944595
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0820380537112769
+ y: 0.0030341504120944595
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08200968522233448
+ y: 0.003116753023794751
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08200968522233448
+ y: 0.003116753023794751
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08200968522233448
+ y: 0.003116753023794751
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08198131673339208
+ y: 0.003199355635495042
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08198131673339208
+ y: 0.003199355635495042
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08198131673339208
+ y: 0.003199355635495042
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08195294824444967
+ y: 0.003281958247195334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08195294824444967
+ y: 0.003281958247195334
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08195294824444967
+ y: 0.003281958247195334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08192457975550725
+ y: 0.0033645608588956247
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08192457975550725
+ y: 0.0033645608588956247
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08192457975550725
+ y: 0.0033645608588956247
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08189621126656485
+ y: 0.003447163470595917
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08189621126656485
+ y: 0.003447163470595917
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08189621126656485
+ y: 0.003447163470595917
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08186784277762243
+ y: 0.0035297660822962086
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08186784277762243
+ y: 0.0035297660822962086
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08186784277762243
+ y: 0.0035297660822962086
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08183947428868002
+ y: 0.0036123686939965004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08183947428868002
+ y: 0.0036123686939965004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08183947428868002
+ y: 0.0036123686939965004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0818111057997376
+ y: 0.003694971305696792
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0818111057997376
+ y: 0.003694971305696792
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0818111057997376
+ y: 0.003694971305696792
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0817827373107952
+ y: 0.0037775739173970804
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0817827373107952
+ y: 0.0037775739173970804
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0817827373107952
+ y: 0.0037775739173970804
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08175436882185279
+ y: 0.003860176529097374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08175436882185279
+ y: 0.003860176529097374
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08175436882185279
+ y: 0.003860176529097374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08172600033291037
+ y: 0.003942779140797666
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08172600033291037
+ y: 0.003942779140797666
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08172600033291037
+ y: 0.003942779140797666
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08169763184396797
+ y: 0.004025381752497954
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08169763184396797
+ y: 0.004025381752497954
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08169763184396797
+ y: 0.004025381752497954
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08166926335502556
+ y: 0.004107984364198247
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08166926335502556
+ y: 0.004107984364198247
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08166926335502556
+ y: 0.004107984364198247
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08164089486608314
+ y: 0.004190586975898541
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08164089486608314
+ y: 0.004190586975898541
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08164089486608314
+ y: 0.004190586975898541
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08161252637714074
+ y: 0.004273189587598832
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08161252637714074
+ y: 0.004273189587598832
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08161252637714074
+ y: 0.004273189587598832
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08158415788819832
+ y: 0.004355792199299121
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08158415788819832
+ y: 0.004355792199299121
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08158415788819832
+ y: 0.004355792199299121
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08155578939925591
+ y: 0.0044383948109994135
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08155578939925591
+ y: 0.0044383948109994135
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08155578939925591
+ y: 0.0044383948109994135
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0815274209103135
+ y: 0.0045209974226997065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0815274209103135
+ y: 0.0045209974226997065
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0815274209103135
+ y: 0.0045209974226997065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0814990524213711
+ y: 0.004603600034399997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0814990524213711
+ y: 0.004603600034399997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0814990524213711
+ y: 0.004603600034399997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08147068393242868
+ y: 0.0046862026461002865
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08147068393242868
+ y: 0.0046862026461002865
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08147068393242868
+ y: 0.0046862026461002865
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08144231544348626
+ y: 0.0047688052578005805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08144231544348626
+ y: 0.0047688052578005805
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08144231544348626
+ y: 0.0047688052578005805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08141394695454386
+ y: 0.004851407869500874
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08141394695454386
+ y: 0.004851407869500874
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08141394695454386
+ y: 0.004851407869500874
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08138557846560145
+ y: 0.004934010481201162
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08138557846560145
+ y: 0.004934010481201162
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08138557846560145
+ y: 0.004934010481201162
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08135720997665903
+ y: 0.005016613092901453
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08135720997665903
+ y: 0.005016613092901453
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08135720997665903
+ y: 0.005016613092901453
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08132884148771662
+ y: 0.005099215704601746
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08132884148771662
+ y: 0.005099215704601746
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08132884148771662
+ y: 0.005099215704601746
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08130047299877421
+ y: 0.00518181831630204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08130047299877421
+ y: 0.00518181831630204
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08130047299877421
+ y: 0.00518181831630204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0812721045098318
+ y: 0.0052644209280023275
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0812721045098318
+ y: 0.0052644209280023275
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0812721045098318
+ y: 0.0052644209280023275
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08124373602088938
+ y: 0.005347023539702618
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08124373602088938
+ y: 0.005347023539702618
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08124373602088938
+ y: 0.005347023539702618
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08121536753194698
+ y: 0.005429626151402912
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08121536753194698
+ y: 0.005429626151402912
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08121536753194698
+ y: 0.005429626151402912
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08118699904300457
+ y: 0.005512228763103205
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08118699904300457
+ y: 0.005512228763103205
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08118699904300457
+ y: 0.005512228763103205
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08115863055406215
+ y: 0.0055948313748034936
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08115863055406215
+ y: 0.0055948313748034936
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08115863055406215
+ y: 0.0055948313748034936
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08113026206511974
+ y: 0.005677433986503783
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08113026206511974
+ y: 0.005677433986503783
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08113026206511974
+ y: 0.005677433986503783
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08110189357617734
+ y: 0.005760036598204077
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08110189357617734
+ y: 0.005760036598204077
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08110189357617734
+ y: 0.005760036598204077
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08107352508723494
+ y: 0.005842639209904371
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08107352508723494
+ y: 0.005842639209904371
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08107352508723494
+ y: 0.005842639209904371
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0810451565982925
+ y: 0.0059252418216046605
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0810451565982925
+ y: 0.0059252418216046605
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0810451565982925
+ y: 0.0059252418216046605
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0810167881093501
+ y: 0.006007844433304951
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0810167881093501
+ y: 0.006007844433304951
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0810167881093501
+ y: 0.006007844433304951
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08098841962040769
+ y: 0.006090447045005242
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08098841962040769
+ y: 0.006090447045005242
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08098841962040769
+ y: 0.006090447045005242
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08096005113146527
+ y: 0.006173049656705536
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08096005113146527
+ y: 0.006173049656705536
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08096005113146527
+ y: 0.006173049656705536
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08093168264252286
+ y: 0.006255652268405826
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08093168264252286
+ y: 0.006255652268405826
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08093168264252286
+ y: 0.006255652268405826
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08090331415358046
+ y: 0.006338254880106116
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08090331415358046
+ y: 0.006338254880106116
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08090331415358046
+ y: 0.006338254880106116
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08087494566463806
+ y: 0.00642085749180641
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08087494566463806
+ y: 0.00642085749180641
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08087494566463806
+ y: 0.00642085749180641
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08084657717569563
+ y: 0.0065034601035067014
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08084657717569563
+ y: 0.0065034601035067014
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08084657717569563
+ y: 0.0065034601035067014
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08081820868675323
+ y: 0.006586062715206994
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08081820868675323
+ y: 0.006586062715206994
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08081820868675323
+ y: 0.006586062715206994
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08078984019781081
+ y: 0.0066686653269072815
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08078984019781081
+ y: 0.0066686653269072815
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08078984019781081
+ y: 0.0066686653269072815
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0807614717088684
+ y: 0.006751267938607575
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0807614717088684
+ y: 0.006751267938607575
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0807614717088684
+ y: 0.006751267938607575
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.080733103219926
+ y: 0.006833870550307869
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.080733103219926
+ y: 0.006833870550307869
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.080733103219926
+ y: 0.006833870550307869
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08070473473098358
+ y: 0.006916473162008159
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08070473473098358
+ y: 0.006916473162008159
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08070473473098358
+ y: 0.006916473162008159
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08067636624204116
+ y: 0.006999075773708448
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08067636624204116
+ y: 0.006999075773708448
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08067636624204116
+ y: 0.006999075773708448
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08064799775309875
+ y: 0.007081678385408741
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08064799775309875
+ y: 0.007081678385408741
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08064799775309875
+ y: 0.007081678385408741
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08061962926415635
+ y: 0.0071642809971090345
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08061962926415635
+ y: 0.0071642809971090345
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08061962926415635
+ y: 0.0071642809971090345
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08059126077521393
+ y: 0.007246883608809324
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08059126077521393
+ y: 0.007246883608809324
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08059126077521393
+ y: 0.007246883608809324
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08056289228627152
+ y: 0.0073294862205096145
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08056289228627152
+ y: 0.0073294862205096145
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08056289228627152
+ y: 0.0073294862205096145
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08053452379732912
+ y: 0.007412088832209906
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08053452379732912
+ y: 0.007412088832209906
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08053452379732912
+ y: 0.007412088832209906
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0805061553083867
+ y: 0.0074946914439102
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0805061553083867
+ y: 0.0074946914439102
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0805061553083867
+ y: 0.0074946914439102
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08047778681944429
+ y: 0.00757729405561049
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08047778681944429
+ y: 0.00757729405561049
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08047778681944429
+ y: 0.00757729405561049
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08044941833050187
+ y: 0.00765989666731078
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08044941833050187
+ y: 0.00765989666731078
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08044941833050187
+ y: 0.00765989666731078
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08042104984155947
+ y: 0.007742499279011074
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08042104984155947
+ y: 0.007742499279011074
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08042104984155947
+ y: 0.007742499279011074
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08039268135261705
+ y: 0.007825101890711367
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08039268135261705
+ y: 0.007825101890711367
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08039268135261705
+ y: 0.007825101890711367
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08036431286367464
+ y: 0.007907704502411655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08036431286367464
+ y: 0.007907704502411655
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08036431286367464
+ y: 0.007907704502411655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0803358765220905
+ y: 0.007900207445886336
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0803358765220905
+ y: 0.007900207445886336
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0803358765220905
+ y: 0.007900207445886336
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08030738365194323
+ y: 0.007817647655580426
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08030738365194323
+ y: 0.007817647655580426
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08030738365194323
+ y: 0.007817647655580426
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08027889078179595
+ y: 0.007735087865274514
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08027889078179595
+ y: 0.007735087865274514
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08027889078179595
+ y: 0.007735087865274514
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08025039791164869
+ y: 0.007652528074968607
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08025039791164869
+ y: 0.007652528074968607
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08025039791164869
+ y: 0.007652528074968607
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08022190504150142
+ y: 0.007569968284662701
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08022190504150142
+ y: 0.007569968284662701
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08022190504150142
+ y: 0.007569968284662701
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08019341217135416
+ y: 0.00748740849435679
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08019341217135416
+ y: 0.00748740849435679
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08019341217135416
+ y: 0.00748740849435679
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08016491930120688
+ y: 0.0074048487040508796
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08016491930120688
+ y: 0.0074048487040508796
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08016491930120688
+ y: 0.0074048487040508796
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0801364264310596
+ y: 0.007322288913744973
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0801364264310596
+ y: 0.007322288913744973
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0801364264310596
+ y: 0.007322288913744973
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08010793356091235
+ y: 0.007239729123439065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08010793356091235
+ y: 0.007239729123439065
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08010793356091235
+ y: 0.007239729123439065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08007944069076507
+ y: 0.007157169333133154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08007944069076507
+ y: 0.007157169333133154
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08007944069076507
+ y: 0.007157169333133154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0800509478206178
+ y: 0.007074609542827243
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0800509478206178
+ y: 0.007074609542827243
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0800509478206178
+ y: 0.007074609542827243
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08002245495047053
+ y: 0.006992049752521337
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08002245495047053
+ y: 0.006992049752521337
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08002245495047053
+ y: 0.006992049752521337
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07999396208032326
+ y: 0.00690948996221543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07999396208032326
+ y: 0.00690948996221543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07999396208032326
+ y: 0.00690948996221543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07996546921017599
+ y: 0.006826930171909519
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07996546921017599
+ y: 0.006826930171909519
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07996546921017599
+ y: 0.006826930171909519
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07993697634002872
+ y: 0.0067443703816036085
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07993697634002872
+ y: 0.0067443703816036085
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07993697634002872
+ y: 0.0067443703816036085
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07990848346988144
+ y: 0.0066618105912977016
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07990848346988144
+ y: 0.0066618105912977016
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07990848346988144
+ y: 0.0066618105912977016
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07987999059973419
+ y: 0.006579250800991794
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07987999059973419
+ y: 0.006579250800991794
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07987999059973419
+ y: 0.006579250800991794
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07985149772958691
+ y: 0.006496691010685883
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07985149772958691
+ y: 0.006496691010685883
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07985149772958691
+ y: 0.006496691010685883
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07982300485943963
+ y: 0.006414131220379972
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07982300485943963
+ y: 0.006414131220379972
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07982300485943963
+ y: 0.006414131220379972
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07979451198929238
+ y: 0.006331571430074066
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07979451198929238
+ y: 0.006331571430074066
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07979451198929238
+ y: 0.006331571430074066
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0797660191191451
+ y: 0.006249011639768159
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0797660191191451
+ y: 0.006249011639768159
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0797660191191451
+ y: 0.006249011639768159
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07973752624899783
+ y: 0.006166451849462248
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07973752624899783
+ y: 0.006166451849462248
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07973752624899783
+ y: 0.006166451849462248
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07970903337885056
+ y: 0.006083892059156337
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07970903337885056
+ y: 0.006083892059156337
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07970903337885056
+ y: 0.006083892059156337
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0796805405087033
+ y: 0.0060013322688504305
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0796805405087033
+ y: 0.0060013322688504305
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0796805405087033
+ y: 0.0060013322688504305
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07965204763855602
+ y: 0.005918772478544523
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07965204763855602
+ y: 0.005918772478544523
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07965204763855602
+ y: 0.005918772478544523
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07962355476840875
+ y: 0.005836212688238612
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07962355476840875
+ y: 0.005836212688238612
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07962355476840875
+ y: 0.005836212688238612
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07959506189826147
+ y: 0.005753652897932701
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07959506189826147
+ y: 0.005753652897932701
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07959506189826147
+ y: 0.005753652897932701
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07956656902811421
+ y: 0.005671093107626795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07956656902811421
+ y: 0.005671093107626795
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07956656902811421
+ y: 0.005671093107626795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07953807615796694
+ y: 0.005588533317320888
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07953807615796694
+ y: 0.005588533317320888
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07953807615796694
+ y: 0.005588533317320888
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07950958328781967
+ y: 0.005505973527014977
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07950958328781967
+ y: 0.005505973527014977
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07950958328781967
+ y: 0.005505973527014977
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0794810904176724
+ y: 0.0054234137367090655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0794810904176724
+ y: 0.0054234137367090655
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0794810904176724
+ y: 0.0054234137367090655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07945259754752514
+ y: 0.005340853946403159
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07945259754752514
+ y: 0.005340853946403159
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07945259754752514
+ y: 0.005340853946403159
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07942410467737786
+ y: 0.005258294156097252
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07942410467737786
+ y: 0.005258294156097252
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07942410467737786
+ y: 0.005258294156097252
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07939561180723059
+ y: 0.00517573436579134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07939561180723059
+ y: 0.00517573436579134
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07939561180723059
+ y: 0.00517573436579134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07936711893708331
+ y: 0.005093174575485432
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07936711893708331
+ y: 0.005093174575485432
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07936711893708331
+ y: 0.005093174575485432
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07933862606693605
+ y: 0.005010614785179524
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07933862606693605
+ y: 0.005010614785179524
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07933862606693605
+ y: 0.005010614785179524
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07931013319678878
+ y: 0.004928054994873616
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07931013319678878
+ y: 0.004928054994873616
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07931013319678878
+ y: 0.004928054994873616
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0792816403266415
+ y: 0.0048454952045677065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0792816403266415
+ y: 0.0048454952045677065
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0792816403266415
+ y: 0.0048454952045677065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07925314745649424
+ y: 0.004762935414261795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07925314745649424
+ y: 0.004762935414261795
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07925314745649424
+ y: 0.004762935414261795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07922465458634698
+ y: 0.0046803756239558875
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07922465458634698
+ y: 0.0046803756239558875
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07922465458634698
+ y: 0.0046803756239558875
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0791961617161997
+ y: 0.004597815833649981
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0791961617161997
+ y: 0.004597815833649981
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0791961617161997
+ y: 0.004597815833649981
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07916766884605243
+ y: 0.004515256043344071
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07916766884605243
+ y: 0.004515256043344071
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07916766884605243
+ y: 0.004515256043344071
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07913917597590517
+ y: 0.00443269625303816
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07913917597590517
+ y: 0.00443269625303816
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07913917597590517
+ y: 0.00443269625303816
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07911068310575789
+ y: 0.004350136462732252
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07911068310575789
+ y: 0.004350136462732252
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07911068310575789
+ y: 0.004350136462732252
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07908219023561062
+ y: 0.004267576672426346
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07908219023561062
+ y: 0.004267576672426346
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07908219023561062
+ y: 0.004267576672426346
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07905369736546335
+ y: 0.004185016882120435
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07905369736546335
+ y: 0.004185016882120435
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07905369736546335
+ y: 0.004185016882120435
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07902520449531608
+ y: 0.004102457091814524
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07902520449531608
+ y: 0.004102457091814524
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07902520449531608
+ y: 0.004102457091814524
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07899671162516882
+ y: 0.004019897301508616
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07899671162516882
+ y: 0.004019897301508616
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07899671162516882
+ y: 0.004019897301508616
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07896821875502154
+ y: 0.0039373375112027095
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07896821875502154
+ y: 0.0039373375112027095
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07896821875502154
+ y: 0.0039373375112027095
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07893972588487426
+ y: 0.0038547777208967995
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07893972588487426
+ y: 0.0038547777208967995
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07893972588487426
+ y: 0.0038547777208967995
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07891123301472701
+ y: 0.0037722179305908882
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07891123301472701
+ y: 0.0037722179305908882
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07891123301472701
+ y: 0.0037722179305908882
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07888274014457973
+ y: 0.0036896581402849817
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07888274014457973
+ y: 0.0036896581402849817
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07888274014457973
+ y: 0.0036896581402849817
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07885424727443247
+ y: 0.003607098349979074
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07885424727443247
+ y: 0.003607098349979074
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07885424727443247
+ y: 0.003607098349979074
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0788257544042852
+ y: 0.0035245385596731635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0788257544042852
+ y: 0.0035245385596731635
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0788257544042852
+ y: 0.0035245385596731635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07879726153413792
+ y: 0.0034419787693672522
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07879726153413792
+ y: 0.0034419787693672522
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07879726153413792
+ y: 0.0034419787693672522
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07876876866399066
+ y: 0.0033594189790613458
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07876876866399066
+ y: 0.0033594189790613458
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07876876866399066
+ y: 0.0033594189790613458
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07874027579384338
+ y: 0.003276859188755439
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07874027579384338
+ y: 0.003276859188755439
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07874027579384338
+ y: 0.003276859188755439
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07871178292369611
+ y: 0.0031942993984495275
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07871178292369611
+ y: 0.0031942993984495275
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07871178292369611
+ y: 0.0031942993984495275
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07868329005354885
+ y: 0.003111739608143617
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07868329005354885
+ y: 0.003111739608143617
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07868329005354885
+ y: 0.003111739608143617
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07865479718340157
+ y: 0.0030291798178377106
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07865479718340157
+ y: 0.0030291798178377106
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07865479718340157
+ y: 0.0030291798178377106
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0786263043132543
+ y: 0.002946620027531803
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0786263043132543
+ y: 0.002946620027531803
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0786263043132543
+ y: 0.002946620027531803
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07859781144310704
+ y: 0.0028640602372258924
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07859781144310704
+ y: 0.0028640602372258924
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07859781144310704
+ y: 0.0028640602372258924
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07856931857295976
+ y: 0.0027815004469199825
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07856931857295976
+ y: 0.0027815004469199825
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07856931857295976
+ y: 0.0027815004469199825
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0785408257028125
+ y: 0.0026989406566140755
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0785408257028125
+ y: 0.0026989406566140755
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0785408257028125
+ y: 0.0026989406566140755
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07851233283266522
+ y: 0.0026163808663081677
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07851233283266522
+ y: 0.0026163808663081677
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07851233283266522
+ y: 0.0026163808663081677
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07848383996251795
+ y: 0.0025338210760022573
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07848383996251795
+ y: 0.0025338210760022573
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07848383996251795
+ y: 0.0025338210760022573
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07845534709237069
+ y: 0.0024512612856963465
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07845534709237069
+ y: 0.0024512612856963465
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07845534709237069
+ y: 0.0024512612856963465
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07842685422222341
+ y: 0.0023687014953904396
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07842685422222341
+ y: 0.0023687014953904396
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07842685422222341
+ y: 0.0023687014953904396
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07839836135207613
+ y: 0.0022861417050845326
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07839836135207613
+ y: 0.0022861417050845326
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07839836135207613
+ y: 0.0022861417050845326
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07836986848192888
+ y: 0.0022035819147786214
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07836986848192888
+ y: 0.0022035819147786214
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07836986848192888
+ y: 0.0022035819147786214
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0783413756117816
+ y: 0.0021210221244727105
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0783413756117816
+ y: 0.0021210221244727105
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0783413756117816
+ y: 0.0021210221244727105
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07831288274163432
+ y: 0.0020384623341668036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07831288274163432
+ y: 0.0020384623341668036
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07831288274163432
+ y: 0.0020384623341668036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07828438987148707
+ y: 0.0019559025438608967
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07828438987148707
+ y: 0.0019559025438608967
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07828438987148707
+ y: 0.0019559025438608967
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0782558970013398
+ y: 0.0018733427535549856
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0782558970013398
+ y: 0.0018733427535549856
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0782558970013398
+ y: 0.0018733427535549856
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07822740413119252
+ y: 0.0017907829632490752
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07822740413119252
+ y: 0.0017907829632490752
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07822740413119252
+ y: 0.0017907829632490752
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07819891126104525
+ y: 0.0017082231729431685
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07819891126104525
+ y: 0.0017082231729431685
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07819891126104525
+ y: 0.0017082231729431685
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07817041839089799
+ y: 0.001625663382637261
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07817041839089799
+ y: 0.001625663382637261
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07817041839089799
+ y: 0.001625663382637261
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07814192552075072
+ y: 0.0015431035923313505
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07814192552075072
+ y: 0.0015431035923313505
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07814192552075072
+ y: 0.0015431035923313505
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07811343265060344
+ y: 0.0014605438020254392
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07811343265060344
+ y: 0.0014605438020254392
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07811343265060344
+ y: 0.0014605438020254392
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07808493978045616
+ y: 0.0013779840117195325
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07808493978045616
+ y: 0.0013779840117195325
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07808493978045616
+ y: 0.0013779840117195325
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07805644691030891
+ y: 0.001295424221413625
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07805644691030891
+ y: 0.001295424221413625
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07805644691030891
+ y: 0.001295424221413625
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07802795404016163
+ y: 0.0012128644311077154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07802795404016163
+ y: 0.0012128644311077154
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07802795404016163
+ y: 0.0012128644311077154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07799946117001436
+ y: 0.0011303046408018052
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07799946117001436
+ y: 0.0011303046408018052
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07799946117001436
+ y: 0.0011303046408018052
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07797096829986709
+ y: 0.0010477448504958974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07797096829986709
+ y: 0.0010477448504958974
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07797096829986709
+ y: 0.0010477448504958974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07794247542971983
+ y: 0.0009651850601899898
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07794247542971983
+ y: 0.0009651850601899898
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07794247542971983
+ y: 0.0009651850601899898
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07791398255957256
+ y: 0.0008826252698840795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07791398255957256
+ y: 0.0008826252698840795
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07791398255957256
+ y: 0.0008826252698840795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07788548968942528
+ y: 0.0008000654795781693
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07788548968942528
+ y: 0.0008000654795781693
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07788548968942528
+ y: 0.0008000654795781693
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.077856996819278
+ y: 0.0007175056892722616
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.077856996819278
+ y: 0.0007175056892722616
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.077856996819278
+ y: 0.0007175056892722616
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07782850394913075
+ y: 0.0006349458989663539
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07782850394913075
+ y: 0.0006349458989663539
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07782850394913075
+ y: 0.0006349458989663539
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07780001107898347
+ y: 0.0005523861086604436
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07780001107898347
+ y: 0.0005523861086604436
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07780001107898347
+ y: 0.0005523861086604436
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0777715182088362
+ y: 0.0004698263183545333
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0777715182088362
+ y: 0.0004698263183545333
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0777715182088362
+ y: 0.0004698263183545333
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07774302533868895
+ y: 0.0003872665280486256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07774302533868895
+ y: 0.0003872665280486256
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07774302533868895
+ y: 0.0003872665280486256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07771453246854167
+ y: 0.00030470673774271974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07771453246854167
+ y: 0.00030470673774271974
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07771453246854167
+ y: 0.00030470673774271974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07768603959839439
+ y: 0.00022214694743680763
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07768603959839439
+ y: 0.00022214694743680763
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07768603959839439
+ y: 0.00022214694743680763
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07765754672824712
+ y: 0.00013958715713089731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07765754672824712
+ y: 0.00013958715713089731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07765754672824712
+ y: 0.00013958715713089731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07762905385809986
+ y: 5.7027366824989656e-05
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07762905385809986
+ y: 5.7027366824989656e-05
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07762905385809986
+ y: 5.7027366824989656e-05
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0776005609879526
+ y: -2.5532423480916223e-05
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0776005609879526
+ y: -2.5532423480916223e-05
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0776005609879526
+ y: -2.5532423480916223e-05
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07757206811780532
+ y: -0.00010809221378682832
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07757206811780532
+ y: -0.00010809221378682832
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07757206811780532
+ y: -0.00010809221378682832
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07754357524765804
+ y: -0.00019065200409273776
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07754357524765804
+ y: -0.00019065200409273776
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07754357524765804
+ y: -0.00019065200409273776
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07751508237751079
+ y: -0.00027321179439864364
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07751508237751079
+ y: -0.00027321179439864364
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07751508237751079
+ y: -0.00027321179439864364
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0774865895073635
+ y: -0.0003557715847045513
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0774865895073635
+ y: -0.0003557715847045513
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0774865895073635
+ y: -0.0003557715847045513
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07745809663721623
+ y: -0.0004383313750104625
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07745809663721623
+ y: -0.0004383313750104625
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07745809663721623
+ y: -0.0004383313750104625
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07742960376706896
+ y: -0.0005208911653163737
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07742960376706896
+ y: -0.0005208911653163737
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07742960376706896
+ y: -0.0005208911653163737
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0774011108969217
+ y: -0.0006034509556222796
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0774011108969217
+ y: -0.0006034509556222796
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0774011108969217
+ y: -0.0006034509556222796
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07737261802677442
+ y: -0.0006860107459281872
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07737261802677442
+ y: -0.0006860107459281872
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07737261802677442
+ y: -0.0006860107459281872
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07734412515662716
+ y: -0.0007685705362340985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07734412515662716
+ y: -0.0007685705362340985
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07734412515662716
+ y: -0.0007685705362340985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07731563228647989
+ y: -0.0008511303265400096
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07731563228647989
+ y: -0.0008511303265400096
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07731563228647989
+ y: -0.0008511303265400096
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07728713941633261
+ y: -0.0009336901168459156
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07728713941633261
+ y: -0.0009336901168459156
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07728713941633261
+ y: -0.0009336901168459156
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07725864654618535
+ y: -0.0010162499071518232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07725864654618535
+ y: -0.0010162499071518232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07725864654618535
+ y: -0.0010162499071518232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07723015367603807
+ y: -0.0010988096974577344
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07723015367603807
+ y: -0.0010988096974577344
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07723015367603807
+ y: -0.0010988096974577344
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07720166080589082
+ y: -0.0011813694877636438
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07720166080589082
+ y: -0.0011813694877636438
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07720166080589082
+ y: -0.0011813694877636438
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07717316793574354
+ y: -0.0012639292780695516
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07717316793574354
+ y: -0.0012639292780695516
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07717316793574354
+ y: -0.0012639292780695516
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07714467506559626
+ y: -0.0013464890683754591
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07714467506559626
+ y: -0.0013464890683754591
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07714467506559626
+ y: -0.0013464890683754591
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.077116182195449
+ y: -0.0014290488586813687
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.077116182195449
+ y: -0.0014290488586813687
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.077116182195449
+ y: -0.0014290488586813687
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07708768932530173
+ y: -0.0015116086489872797
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07708768932530173
+ y: -0.0015116086489872797
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07708768932530173
+ y: -0.0015116086489872797
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07705919645515445
+ y: -0.0015941684392931875
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07705919645515445
+ y: -0.0015941684392931875
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07705919645515445
+ y: -0.0015941684392931875
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07703070358500719
+ y: -0.001676728229599095
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07703070358500719
+ y: -0.001676728229599095
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07703070358500719
+ y: -0.001676728229599095
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07700221071485991
+ y: -0.0017592880199050046
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07700221071485991
+ y: -0.0017592880199050046
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07700221071485991
+ y: -0.0017592880199050046
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07697371784471264
+ y: -0.0018418478102109157
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07697371784471264
+ y: -0.0018418478102109157
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07697371784471264
+ y: -0.0018418478102109157
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07694522497456538
+ y: -0.0019244076005168235
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07694522497456538
+ y: -0.0019244076005168235
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07694522497456538
+ y: -0.0019244076005168235
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0769167321044181
+ y: -0.0020069673908227293
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0769167321044181
+ y: -0.0020069673908227293
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0769167321044181
+ y: -0.0020069673908227293
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07688823923427085
+ y: -0.0020895271811286406
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07688823923427085
+ y: -0.0020895271811286406
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07688823923427085
+ y: -0.0020895271811286406
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07685974636412357
+ y: -0.002172086971434552
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07685974636412357
+ y: -0.002172086971434552
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07685974636412357
+ y: -0.002172086971434552
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07683125349397629
+ y: -0.0022546467617404592
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07683125349397629
+ y: -0.0022546467617404592
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07683125349397629
+ y: -0.0022546467617404592
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07680276062382903
+ y: -0.0023372065520463653
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07680276062382903
+ y: -0.0023372065520463653
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07680276062382903
+ y: -0.0023372065520463653
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07677426775368176
+ y: -0.0024197663423522766
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07677426775368176
+ y: -0.0024197663423522766
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07677426775368176
+ y: -0.0024197663423522766
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07674577488353448
+ y: -0.002502326132658188
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07674577488353448
+ y: -0.002502326132658188
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07674577488353448
+ y: -0.002502326132658188
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07671728201338722
+ y: -0.0025848859229640935
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07671728201338722
+ y: -0.0025848859229640935
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07671728201338722
+ y: -0.0025848859229640935
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07668878914323994
+ y: -0.0026674457132700013
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07668878914323994
+ y: -0.0026674457132700013
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07668878914323994
+ y: -0.0026674457132700013
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07666029627309268
+ y: -0.002750005503575911
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07666029627309268
+ y: -0.002750005503575911
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07666029627309268
+ y: -0.002750005503575911
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07663180340294541
+ y: -0.0028325652938818217
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07663180340294541
+ y: -0.0028325652938818217
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07663180340294541
+ y: -0.0028325652938818217
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07660331053279813
+ y: -0.0029151250841877295
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07660331053279813
+ y: -0.0029151250841877295
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07660331053279813
+ y: -0.0029151250841877295
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07657481766265087
+ y: -0.0029976848744936373
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07657481766265087
+ y: -0.0029976848744936373
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07657481766265087
+ y: -0.0029976848744936373
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0765463247925036
+ y: -0.0030802446647995464
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0765463247925036
+ y: -0.0030802446647995464
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0765463247925036
+ y: -0.0030802446647995464
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07651783192235632
+ y: -0.0031628044551054576
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07651783192235632
+ y: -0.0031628044551054576
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07651783192235632
+ y: -0.0031628044551054576
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07648933905220906
+ y: -0.0032453642454113637
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07648933905220906
+ y: -0.0032453642454113637
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07648933905220906
+ y: -0.0032453642454113637
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07646084618206178
+ y: -0.0033279240357172715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07646084618206178
+ y: -0.0033279240357172715
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07646084618206178
+ y: -0.0033279240357172715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07643235331191452
+ y: -0.0034104838260231823
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07643235331191452
+ y: -0.0034104838260231823
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07643235331191452
+ y: -0.0034104838260231823
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07640386044176725
+ y: -0.003493043616329092
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07640386044176725
+ y: -0.003493043616329092
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07640386044176725
+ y: -0.003493043616329092
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07637536757161997
+ y: -0.0035756034066349997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07637536757161997
+ y: -0.0035756034066349997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07637536757161997
+ y: -0.0035756034066349997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07634687470147271
+ y: -0.0036581631969409075
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07634687470147271
+ y: -0.0036581631969409075
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07634687470147271
+ y: -0.0036581631969409075
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07631838183132544
+ y: -0.0037407229872468183
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07631838183132544
+ y: -0.0037407229872468183
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07631838183132544
+ y: -0.0037407229872468183
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07628988896117816
+ y: -0.003823282777552728
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07628988896117816
+ y: -0.003823282777552728
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07628988896117816
+ y: -0.003823282777552728
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07626139609103089
+ y: -0.0039058425678586356
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07626139609103089
+ y: -0.0039058425678586356
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07626139609103089
+ y: -0.0039058425678586356
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07623290322088364
+ y: -0.003988402358164543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07623290322088364
+ y: -0.003988402358164543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07623290322088364
+ y: -0.003988402358164543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07620441035073636
+ y: -0.004070962148470455
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07620441035073636
+ y: -0.004070962148470455
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07620441035073636
+ y: -0.004070962148470455
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07617591748058909
+ y: -0.004153521938776364
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07617591748058909
+ y: -0.004153521938776364
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07617591748058909
+ y: -0.004153521938776364
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07614742461044181
+ y: -0.004236081729082271
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07614742461044181
+ y: -0.004236081729082271
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07614742461044181
+ y: -0.004236081729082271
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07611893174029455
+ y: -0.004318641519388177
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07611893174029455
+ y: -0.004318641519388177
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07611893174029455
+ y: -0.004318641519388177
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07609043887014728
+ y: -0.00440120130969409
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07609043887014728
+ y: -0.00440120130969409
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07609043887014728
+ y: -0.00440120130969409
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.076061946
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.076061946
+ y: -0.0044837611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.076061946
+ y: -0.0044837611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.076061946
+ y: -0.0044837611
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.076061946
+ y: -0.0044837611
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
diff --git a/src/dual_arm_sim/objectives/loves.yaml b/src/dual_arm_sim/objectives/loves.yaml
new file mode 100644
index 000000000..593549095
--- /dev/null
+++ b/src/dual_arm_sim/objectives/loves.yaml
@@ -0,0 +1,1886 @@
+
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039873319000000004
+ y: 0.059747032
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039873319000000004
+ y: 0.059747032
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039873319000000004
+ y: 0.059747032
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039873319000000004
+ y: 0.059747032
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039873319000000004
+ y: 0.059747032
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04863724602805421
+ y: 0.05875882909212829
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04863724602805421
+ y: 0.05875882909212829
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04863724602805421
+ y: 0.05875882909212829
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05699090312129845
+ y: 0.055794260034031304
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05699090312129845
+ y: 0.055794260034031304
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05699090312129845
+ y: 0.055794260034031304
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06452401974875764
+ y: 0.050853395671746585
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06452401974875764
+ y: 0.050853395671746585
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06452401974875764
+ y: 0.050853395671746585
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07078409132664713
+ y: 0.04394188960611184
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07078409132664713
+ y: 0.04394188960611184
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07078409132664713
+ y: 0.04394188960611184
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07476757920412364
+ y: 0.03600267788772595
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07476757920412364
+ y: 0.03600267788772595
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07476757920412364
+ y: 0.03600267788772595
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07640057157760646
+ y: 0.027538286978802912
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07640057157760646
+ y: 0.027538286978802912
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07640057157760646
+ y: 0.027538286978802912
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07568306774074957
+ y: 0.018988291167546585
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07568306774074957
+ y: 0.018988291167546585
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07568306774074957
+ y: 0.018988291167546585
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0726150669872069
+ y: 0.010792264742160846
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0726150669872069
+ y: 0.010792264742160846
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0726150669872069
+ y: 0.010792264742160846
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06719656861063247
+ y: 0.0033897819908495492
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06719656861063247
+ y: 0.0033897819908495492
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06719656861063247
+ y: 0.0033897819908495492
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06057932180790721
+ y: -0.0028223643313111655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06057932180790721
+ y: -0.0028223643313111655
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06057932180790721
+ y: -0.0028223643313111655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05402627790975698
+ y: -0.008893191769893226
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05402627790975698
+ y: -0.008893191769893226
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05402627790975698
+ y: -0.008893191769893226
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039603749567328116
+ y: -0.022081567347903366
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039603749567328116
+ y: -0.022081567347903366
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039603749567328116
+ y: -0.022081567347903366
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025187308204632785
+ y: -0.035290707304192905
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025187308204632785
+ y: -0.035290707304192905
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025187308204632785
+ y: -0.035290707304192905
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014800318309419453
+ y: -0.044873336182082176
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014800318309419453
+ y: -0.044873336182082176
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014800318309419453
+ y: -0.044873336182082176
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007782535947200834
+ y: -0.05141143572888867
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007782535947200834
+ y: -0.05141143572888867
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007782535947200834
+ y: -0.05141143572888867
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0034737171834895693
+ y: -0.05548698769192994
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0034737171834895693
+ y: -0.05548698769192994
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0034737171834895693
+ y: -0.05548698769192994
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0012136180837983446
+ y: -0.05768197381852349
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0012136180837983446
+ y: -0.05768197381852349
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0012136180837983446
+ y: -0.05768197381852349
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.000341994713639842
+ y: -0.05857837585598687
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.000341994713639842
+ y: -0.05857837585598687
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.000341994713639842
+ y: -0.05857837585598687
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0023622454925425387
+ y: -0.056779868551856086
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0023622454925425387
+ y: -0.056779868551856086
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0023622454925425387
+ y: -0.056779868551856086
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005936094377234824
+ y: -0.05365989493480217
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005936094377234824
+ y: -0.05365989493480217
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005936094377234824
+ y: -0.05365989493480217
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011850347324979808
+ y: -0.0483028117924435
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011850347324979808
+ y: -0.0483028117924435
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011850347324979808
+ y: -0.0483028117924435
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020693071157964586
+ y: -0.04010417915255722
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020693071157964586
+ y: -0.04010417915255722
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020693071157964586
+ y: -0.04010417915255722
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.033052332698376194
+ y: -0.028459557042920552
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.033052332698376194
+ y: -0.028459557042920552
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.033052332698376194
+ y: -0.028459557042920552
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04951619876840184
+ y: -0.012764505491310538
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04951619876840184
+ y: -0.012764505491310538
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04951619876840184
+ y: -0.012764505491310538
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05735030053547094
+ y: -0.0054446502473111955
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05735030053547094
+ y: -0.0054446502473111955
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05735030053547094
+ y: -0.0054446502473111955
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06390334149577834
+ y: 0.0006261803624701816
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06390334149577834
+ y: 0.0006261803624701816
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06390334149577834
+ y: 0.0006261803624701816
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07016446886182331
+ y: 0.007471681275998109
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07016446886182331
+ y: 0.007471681275998109
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07016446886182331
+ y: 0.007471681275998109
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07424775331334851
+ y: 0.015378872929026772
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07424775331334851
+ y: 0.015378872929026772
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07424775331334851
+ y: 0.015378872929026772
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07598054337665482
+ y: 0.023829910115258177
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07598054337665482
+ y: 0.023829910115258177
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07598054337665482
+ y: 0.023829910115258177
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07536284019276276
+ y: 0.032385214493235476
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07536284019276276
+ y: 0.032385214493235476
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07536284019276276
+ y: 0.032385214493235476
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07239464490269294
+ y: 0.04060520772150183
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07239464490269294
+ y: 0.04060520772150183
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07239464490269294
+ y: 0.04060520772150183
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06707595864746597
+ y: 0.04805031145860036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06707595864746597
+ y: 0.04805031145860036
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06707595864746597
+ y: 0.04805031145860036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05997102449595338
+ y: 0.05390251801401051
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05997102449595338
+ y: 0.05390251801401051
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05997102449595338
+ y: 0.05390251801401051
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05192144117696503
+ y: 0.05772067460086629
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05192144117696503
+ y: 0.05772067460086629
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05192144117696503
+ y: 0.05772067460086629
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04328437494038349
+ y: 0.05956249733267404
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04328437494038349
+ y: 0.05956249733267404
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04328437494038349
+ y: 0.05956249733267404
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03447009691980928
+ y: 0.05942798728998445
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03447009691980928
+ y: 0.05942798728998445
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03447009691980928
+ y: 0.05942798728998445
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025888878248842822
+ y: 0.05731714555334815
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025888878248842822
+ y: 0.05731714555334815
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025888878248842822
+ y: 0.05731714555334815
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017950990061084676
+ y: 0.053229973203315815
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017950990061084676
+ y: 0.053229973203315815
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017950990061084676
+ y: 0.053229973203315815
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011045564230875535
+ y: 0.04739984879347974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011045564230875535
+ y: 0.04739984879347974
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011045564230875535
+ y: 0.04739984879347974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004492526600433951
+ y: 0.04132901458934095
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004492526600433951
+ y: 0.04132901458934095
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004492526600433951
+ y: 0.04132901458934095
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002060511864963299
+ y: 0.03870681271352155
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002060511864963299
+ y: 0.03870681271352155
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002060511864963299
+ y: 0.03870681271352155
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008613552435049254
+ y: 0.04477764374451988
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008613552435049254
+ y: 0.04477764374451988
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008613552435049254
+ y: 0.04477764374451988
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015222615992836877
+ y: 0.05085339372278791
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015222615992836877
+ y: 0.05085339372278791
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015222615992836877
+ y: 0.05085339372278791
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.022755738083005447
+ y: 0.05579425693270848
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.022755738083005447
+ y: 0.05579425693270848
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.022755738083005447
+ y: 0.05579425693270848
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03110939808713792
+ y: 0.058758829334099774
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03110939808713792
+ y: 0.058758829334099774
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03110939808713792
+ y: 0.058758829334099774
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039873319
+ y: 0.05974703200000002
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039873319
+ y: 0.05974703200000002
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039873319
+ y: 0.05974703200000002
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039873319
+ y: 0.05974703200000002
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039873319
+ y: 0.05974703200000002
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
diff --git a/src/dual_arm_sim/objectives/ml_segment_image_from_text_prompt.xml b/src/dual_arm_sim/objectives/ml_segment_image_from_text_prompt.xml
new file mode 100644
index 000000000..6592aca81
--- /dev/null
+++ b/src/dual_arm_sim/objectives/ml_segment_image_from_text_prompt.xml
@@ -0,0 +1,34 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/move_left_home.xml b/src/dual_arm_sim/objectives/move_left_home.xml
new file mode 100644
index 000000000..9b30871d8
--- /dev/null
+++ b/src/dual_arm_sim/objectives/move_left_home.xml
@@ -0,0 +1,28 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/move_right_home.xml b/src/dual_arm_sim/objectives/move_right_home.xml
new file mode 100644
index 000000000..ae5872214
--- /dev/null
+++ b/src/dual_arm_sim/objectives/move_right_home.xml
@@ -0,0 +1,28 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/moveit_pro.yaml b/src/dual_arm_sim/objectives/moveit_pro.yaml
new file mode 100644
index 000000000..9f0f56e7f
--- /dev/null
+++ b/src/dual_arm_sim/objectives/moveit_pro.yaml
@@ -0,0 +1,63194 @@
+
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04366006
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09727609763020818
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09727609763020818
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09727609763020818
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09606981626041637
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09606981626041637
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09606981626041637
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09486353489062456
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09486353489062456
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09486353489062456
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09365725352083275
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09365725352083275
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09365725352083275
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09245097215104094
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09245097215104094
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09245097215104094
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09124469078124912
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09124469078124912
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09124469078124912
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09003840941145731
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09003840941145731
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09003840941145731
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0888321280416655
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0888321280416655
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0888321280416655
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08762584667187369
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08762584667187369
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08762584667187369
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08699702651095914
+ y: 0.04278676184830236
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08699702651095914
+ y: 0.04278676184830236
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08699702651095914
+ y: 0.04278676184830236
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08652470053762656
+ y: 0.04167679657045704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08652470053762656
+ y: 0.04167679657045704
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08652470053762656
+ y: 0.04167679657045704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08605237456429397
+ y: 0.04056683129261172
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08605237456429397
+ y: 0.04056683129261172
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08605237456429397
+ y: 0.04056683129261172
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08558004859096138
+ y: 0.0394568660147664
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08558004859096138
+ y: 0.0394568660147664
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08558004859096138
+ y: 0.0394568660147664
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0851077226176288
+ y: 0.038346900736921076
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0851077226176288
+ y: 0.038346900736921076
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0851077226176288
+ y: 0.038346900736921076
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08463539664429623
+ y: 0.037236935459075755
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08463539664429623
+ y: 0.037236935459075755
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08463539664429623
+ y: 0.037236935459075755
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08416307067096364
+ y: 0.03612697018123044
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08416307067096364
+ y: 0.03612697018123044
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08416307067096364
+ y: 0.03612697018123044
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08369074469763105
+ y: 0.035017004903385114
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08369074469763105
+ y: 0.035017004903385114
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08369074469763105
+ y: 0.035017004903385114
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08321841872429846
+ y: 0.033907039625539794
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08321841872429846
+ y: 0.033907039625539794
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08321841872429846
+ y: 0.033907039625539794
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08274609275096588
+ y: 0.03279707434769448
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08274609275096588
+ y: 0.03279707434769448
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08274609275096588
+ y: 0.03279707434769448
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08227376677763329
+ y: 0.03168710906984916
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08227376677763329
+ y: 0.03168710906984916
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08227376677763329
+ y: 0.03168710906984916
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0818014408043007
+ y: 0.030577143792003842
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0818014408043007
+ y: 0.030577143792003842
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0818014408043007
+ y: 0.030577143792003842
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08132911483096811
+ y: 0.029467178514158518
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08132911483096811
+ y: 0.029467178514158518
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08132911483096811
+ y: 0.029467178514158518
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08085678885763553
+ y: 0.028357213236313204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08085678885763553
+ y: 0.028357213236313204
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08085678885763553
+ y: 0.028357213236313204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08038446288430295
+ y: 0.027247247958467884
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08038446288430295
+ y: 0.027247247958467884
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08038446288430295
+ y: 0.027247247958467884
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07991213691097036
+ y: 0.026137282680622567
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07991213691097036
+ y: 0.026137282680622567
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07991213691097036
+ y: 0.026137282680622567
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0789640558905887
+ y: 0.027156884404869408
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0789640558905887
+ y: 0.027156884404869408
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0789640558905887
+ y: 0.027156884404869408
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07848938116208709
+ y: 0.028265847274053374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07848938116208709
+ y: 0.028265847274053374
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07848938116208709
+ y: 0.028265847274053374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07801470643358548
+ y: 0.029374810143237336
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07801470643358548
+ y: 0.029374810143237336
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07801470643358548
+ y: 0.029374810143237336
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07754003170508386
+ y: 0.030483773012421302
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07754003170508386
+ y: 0.030483773012421302
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07754003170508386
+ y: 0.030483773012421302
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07706535697658225
+ y: 0.031592735881605265
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07706535697658225
+ y: 0.031592735881605265
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07706535697658225
+ y: 0.031592735881605265
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07659068224808063
+ y: 0.03270169875078923
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07659068224808063
+ y: 0.03270169875078923
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07659068224808063
+ y: 0.03270169875078923
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07611600751957902
+ y: 0.03381066161997319
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07611600751957902
+ y: 0.03381066161997319
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07611600751957902
+ y: 0.03381066161997319
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0756413327910774
+ y: 0.034919624489157156
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0756413327910774
+ y: 0.034919624489157156
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0756413327910774
+ y: 0.034919624489157156
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07516665806257578
+ y: 0.03602858735834112
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07516665806257578
+ y: 0.03602858735834112
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07516665806257578
+ y: 0.03602858735834112
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07469198333407417
+ y: 0.03713755022752508
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07469198333407417
+ y: 0.03713755022752508
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07469198333407417
+ y: 0.03713755022752508
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07421730860557256
+ y: 0.038246513096709046
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07421730860557256
+ y: 0.038246513096709046
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07421730860557256
+ y: 0.038246513096709046
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07374263387707095
+ y: 0.039355475965893005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07374263387707095
+ y: 0.039355475965893005
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07374263387707095
+ y: 0.039355475965893005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07326795914856932
+ y: 0.04046443883507698
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07326795914856932
+ y: 0.04046443883507698
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07326795914856932
+ y: 0.04046443883507698
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0727932844200677
+ y: 0.04157340170426094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0727932844200677
+ y: 0.04157340170426094
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0727932844200677
+ y: 0.04157340170426094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0723186096915661
+ y: 0.0426823645734449
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0723186096915661
+ y: 0.0426823645734449
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0723186096915661
+ y: 0.0426823645734449
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07175733500964754
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07175733500964754
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07175733500964754
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07055105363985573
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07055105363985573
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07055105363985573
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0693447722700639
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0693447722700639
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0693447722700639
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06813849090027209
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06813849090027209
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06813849090027209
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06693220953048028
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06693220953048028
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06693220953048028
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06572592816068847
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06572592816068847
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06572592816068847
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06451964679089665
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06451964679089665
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06451964679089665
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06331336542110486
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06331336542110486
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06331336542110486
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06210708405131304
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06210708405131304
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06210708405131304
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06090080268152122
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06090080268152122
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06090080268152122
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.04254552131172941
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.04254552131172941
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.04254552131172941
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.0413392399419376
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.0413392399419376
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.0413392399419376
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.040132958572145785
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.040132958572145785
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.040132958572145785
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.038926677202353974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.038926677202353974
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.038926677202353974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03772039583256216
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03772039583256216
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03772039583256216
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03651411446277034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03651411446277034
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03651411446277034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03530783309297853
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03530783309297853
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03530783309297853
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03410155172318673
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03410155172318673
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03410155172318673
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03289527035339491
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03289527035339491
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.03289527035339491
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.031688988983603096
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.031688988983603096
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.031688988983603096
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.030482707613811288
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.030482707613811288
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.030482707613811288
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.02927642624401947
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.02927642624401947
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.02927642624401947
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.028070144874227657
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.028070144874227657
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.028070144874227657
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.02686386350443585
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.02686386350443585
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.02686386350443585
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.025657582134644034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.025657582134644034
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.025657582134644034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.024451300764852222
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.024451300764852222
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.024451300764852222
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.02324501939506041
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.02324501939506041
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.02324501939506041
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.0220387380252686
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.0220387380252686
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.0220387380252686
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.020832456655476783
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.020832456655476783
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.020832456655476783
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.01962617528568497
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.01962617528568497
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.01962617528568497
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.01841989391589316
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.01841989391589316
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.01841989391589316
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.017213612546101348
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.017213612546101348
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.017213612546101348
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.016007331176309536
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.016007331176309536
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.016007331176309536
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.01480104980651772
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.01480104980651772
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.01480104980651772
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.013594768436725907
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.013594768436725907
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.013594768436725907
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.012388487066934097
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.012388487066934097
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.012388487066934097
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.011182205697142287
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.011182205697142287
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.011182205697142287
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.009975924327350477
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.009975924327350477
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.060809060000000005
+ y: 0.009975924327350477
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.061836582242441346
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.061836582242441346
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.061836582242441346
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06304286361223316
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06304286361223316
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06304286361223316
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06424914498202497
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06424914498202497
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06424914498202497
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06545542635181678
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06545542635181678
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06545542635181678
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06666170772160859
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06666170772160859
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06666170772160859
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0678679890914004
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0678679890914004
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0678679890914004
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.009806456661192208
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.009806456661192208
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.009806456661192208
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.01101273803098402
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.01101273803098402
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.01101273803098402
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.012219019400775832
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.012219019400775832
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.012219019400775832
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.013425300770567646
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.013425300770567646
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.013425300770567646
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.014631582140359456
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.014631582140359456
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.014631582140359456
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.01583786351015127
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.01583786351015127
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.01583786351015127
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.01704414487994308
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.01704414487994308
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.01704414487994308
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.018250426249734893
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.018250426249734893
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.018250426249734893
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.019456707619526704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.019456707619526704
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.019456707619526704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.020662988989318513
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.020662988989318513
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.020662988989318513
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.02186927035911033
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.02186927035911033
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.02186927035911033
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.023075551728902143
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.023075551728902143
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.023075551728902143
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.02428183309869395
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.02428183309869395
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.02428183309869395
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.025488114468485767
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.025488114468485767
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.025488114468485767
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.02669439583827758
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.02669439583827758
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.02669439583827758
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.02790067720806939
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.02790067720806939
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.02790067720806939
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.0291069585778612
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.0291069585778612
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.0291069585778612
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.03031323994765301
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.03031323994765301
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.03031323994765301
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.03151952131744483
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.03151952131744483
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.03151952131744483
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.03272580268723664
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.03272580268723664
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.03272580268723664
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.033932084057028446
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.033932084057028446
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06906497900000001
+ y: 0.033932084057028446
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06976432654150592
+ y: 0.03292837725342176
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06976432654150592
+ y: 0.03292837725342176
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06976432654150592
+ y: 0.03292837725342176
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07023834011036936
+ y: 0.03181913161802797
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07023834011036936
+ y: 0.03181913161802797
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07023834011036936
+ y: 0.03181913161802797
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0707123536792328
+ y: 0.030709885982634192
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0707123536792328
+ y: 0.030709885982634192
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0707123536792328
+ y: 0.030709885982634192
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07118636724809625
+ y: 0.029600640347240408
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07118636724809625
+ y: 0.029600640347240408
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07118636724809625
+ y: 0.029600640347240408
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07166038081695969
+ y: 0.028491394711846623
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07166038081695969
+ y: 0.028491394711846623
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07166038081695969
+ y: 0.028491394711846623
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07213439438582311
+ y: 0.027382149076452842
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07213439438582311
+ y: 0.027382149076452842
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07213439438582311
+ y: 0.027382149076452842
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07260840795468655
+ y: 0.026272903441059058
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07260840795468655
+ y: 0.026272903441059058
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07260840795468655
+ y: 0.026272903441059058
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07308242152355
+ y: 0.025163657805665273
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07308242152355
+ y: 0.025163657805665273
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07308242152355
+ y: 0.025163657805665273
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07355643509241344
+ y: 0.024054412170271492
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07355643509241344
+ y: 0.024054412170271492
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07355643509241344
+ y: 0.024054412170271492
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07403044866127688
+ y: 0.022945166534877708
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07403044866127688
+ y: 0.022945166534877708
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07403044866127688
+ y: 0.022945166534877708
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0745044622301403
+ y: 0.021835920899483923
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0745044622301403
+ y: 0.021835920899483923
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0745044622301403
+ y: 0.021835920899483923
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07497847579900374
+ y: 0.020726675264090142
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07497847579900374
+ y: 0.020726675264090142
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07497847579900374
+ y: 0.020726675264090142
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07545248936786719
+ y: 0.019617429628696358
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07545248936786719
+ y: 0.019617429628696358
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07545248936786719
+ y: 0.019617429628696358
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07592650293673063
+ y: 0.018508183993302573
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07592650293673063
+ y: 0.018508183993302573
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07592650293673063
+ y: 0.018508183993302573
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07640051650559407
+ y: 0.01739893835790879
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07640051650559407
+ y: 0.01739893835790879
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07640051650559407
+ y: 0.01739893835790879
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07688571780891386
+ y: 0.016306639999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07688571780891386
+ y: 0.016306639999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07688571780891386
+ y: 0.016306639999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07809199917870567
+ y: 0.016306639999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07809199917870567
+ y: 0.016306639999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07809199917870567
+ y: 0.016306639999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07929828054849747
+ y: 0.016306639999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07929828054849747
+ y: 0.016306639999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07929828054849747
+ y: 0.016306639999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08050456191828928
+ y: 0.016306639999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08050456191828928
+ y: 0.016306639999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08050456191828928
+ y: 0.016306639999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08171084328808109
+ y: 0.016306639999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08171084328808109
+ y: 0.016306639999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08171084328808109
+ y: 0.016306639999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0826041022100287
+ y: 0.01678080891228289
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0826041022100287
+ y: 0.01678080891228289
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0826041022100287
+ y: 0.01678080891228289
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08307811531654469
+ y: 0.017890054745251342
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08307811531654469
+ y: 0.017890054745251342
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08307811531654469
+ y: 0.017890054745251342
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08355212842306067
+ y: 0.01899930057821979
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08355212842306067
+ y: 0.01899930057821979
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08355212842306067
+ y: 0.01899930057821979
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08402614152957665
+ y: 0.020108546411188248
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08402614152957665
+ y: 0.020108546411188248
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08402614152957665
+ y: 0.020108546411188248
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08450015463609264
+ y: 0.021217792244156698
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08450015463609264
+ y: 0.021217792244156698
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08450015463609264
+ y: 0.021217792244156698
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08497416774260863
+ y: 0.02232703807712515
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08497416774260863
+ y: 0.02232703807712515
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08497416774260863
+ y: 0.02232703807712515
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08544818084912462
+ y: 0.0234362839100936
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08544818084912462
+ y: 0.0234362839100936
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08544818084912462
+ y: 0.0234362839100936
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0859221939556406
+ y: 0.024545529743062053
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0859221939556406
+ y: 0.024545529743062053
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0859221939556406
+ y: 0.024545529743062053
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08639620706215657
+ y: 0.025654775576030502
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08639620706215657
+ y: 0.025654775576030502
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08639620706215657
+ y: 0.025654775576030502
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08687022016867257
+ y: 0.02676402140899896
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08687022016867257
+ y: 0.02676402140899896
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08687022016867257
+ y: 0.02676402140899896
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08734423327518856
+ y: 0.027873267241967408
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08734423327518856
+ y: 0.027873267241967408
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08734423327518856
+ y: 0.027873267241967408
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08781824638170455
+ y: 0.02898251307493586
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08781824638170455
+ y: 0.02898251307493586
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08781824638170455
+ y: 0.02898251307493586
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08829225948822053
+ y: 0.03009175890790431
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08829225948822053
+ y: 0.03009175890790431
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08829225948822053
+ y: 0.03009175890790431
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0887662725947365
+ y: 0.031201004740872763
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0887662725947365
+ y: 0.031201004740872763
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0887662725947365
+ y: 0.031201004740872763
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08924028570125249
+ y: 0.032310250573841216
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08924028570125249
+ y: 0.032310250573841216
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08924028570125249
+ y: 0.032310250573841216
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08971429880776849
+ y: 0.03341949640680967
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08971429880776849
+ y: 0.03341949640680967
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08971429880776849
+ y: 0.03341949640680967
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09018831191428447
+ y: 0.03452874223977812
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09018831191428447
+ y: 0.03452874223977812
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09018831191428447
+ y: 0.03452874223977812
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.03339800205365385
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.03339800205365385
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.03339800205365385
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.032191720683862037
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.032191720683862037
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.032191720683862037
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.030985439314070225
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.030985439314070225
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.030985439314070225
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.02977915794427841
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.02977915794427841
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.02977915794427841
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.0285728765744866
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.0285728765744866
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.0285728765744866
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.027366595204694782
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.027366595204694782
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.027366595204694782
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.026160313834902974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.026160313834902974
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.026160313834902974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.024954032465111162
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.024954032465111162
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.024954032465111162
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.023747751095319344
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.023747751095319344
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.023747751095319344
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.022541469725527535
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.022541469725527535
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.022541469725527535
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.02133518835573572
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.02133518835573572
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.02133518835573572
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.02012890698594391
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.02012890698594391
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.02012890698594391
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.018922625616152097
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.018922625616152097
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.018922625616152097
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.017716344246360285
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.017716344246360285
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.017716344246360285
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.01651006287656847
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.01651006287656847
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.01651006287656847
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.01530378150677666
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.01530378150677666
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.01530378150677666
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.014097500136984846
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.014097500136984846
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.014097500136984846
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.01289121876719303
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.01289121876719303
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.01289121876719303
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.01168493739740122
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.01168493739740122
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.01168493739740122
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.010478656027609407
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.010478656027609407
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09020377600000001
+ y: 0.010478656027609407
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09133170722707834
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09133170722707834
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09133170722707834
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09253798859687012
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09253798859687012
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09253798859687012
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09374426996666196
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09374426996666196
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09374426996666196
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09495055133645375
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09495055133645375
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09495055133645375
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0961568327062456
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0961568327062456
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0961568327062456
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09736311407603739
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09736311407603739
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09736311407603739
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.00988418164582921
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.00988418164582921
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.00988418164582921
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.011090463015620996
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.011090463015620996
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.011090463015620996
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.012296744385412835
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.012296744385412835
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.012296744385412835
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.01350302575520462
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.01350302575520462
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.01350302575520462
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.014709307124996459
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.014709307124996459
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.014709307124996459
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.015915588494788243
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.015915588494788243
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.015915588494788243
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.017121869864580086
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.017121869864580086
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.017121869864580086
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.018328151234371867
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.018328151234371867
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.018328151234371867
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.019534432604163706
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.019534432604163706
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.019534432604163706
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.020740713973955494
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.020740713973955494
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.020740713973955494
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.021946995343747333
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.021946995343747333
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.021946995343747333
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.023153276713539114
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.023153276713539114
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.023153276713539114
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.024359558083330953
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.024359558083330953
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.024359558083330953
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.02556583945312274
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.02556583945312274
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09848237900000001
+ y: 0.02556583945312274
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.02677212082291458
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.02677212082291458
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.02677212082291458
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.027978402192706364
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.027978402192706364
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.027978402192706364
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.0291846835624982
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.0291846835624982
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.0291846835624982
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03039096493228999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03039096493228999
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03039096493228999
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03159724630208183
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03159724630208183
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03159724630208183
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03280352767187361
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03280352767187361
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03280352767187361
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03400980904166545
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03400980904166545
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03400980904166545
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.035216090411457235
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.035216090411457235
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.035216090411457235
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.036422371781249074
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.036422371781249074
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.036422371781249074
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03762865315104086
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03762865315104086
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.03762865315104086
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.0388349345208327
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.0388349345208327
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.0388349345208327
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04004121589062448
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04004121589062448
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04004121589062448
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04124749726041633
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04124749726041633
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04124749726041633
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04245377863020811
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04245377863020811
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04245377863020811
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04366006
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.098482379
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766
+ y: 0.04427245
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766
+ y: 0.04427245
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766
+ y: 0.04427245
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766
+ y: 0.04427245
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766
+ y: 0.04427245
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766
+ y: 0.04427245
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.035499605883844404
+ y: 0.04424224437316326
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.035499605883844404
+ y: 0.04424224437316326
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.035499605883844404
+ y: 0.04424224437316326
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03425519443941264
+ y: 0.04415162745106899
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03425519443941264
+ y: 0.04415162745106899
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03425519443941264
+ y: 0.04415162745106899
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03305653163863549
+ y: 0.044000599171341095
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03305653163863549
+ y: 0.044000599171341095
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03305653163863549
+ y: 0.044000599171341095
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0319036174534437
+ y: 0.043789159471603493
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0319036174534437
+ y: 0.043789159471603493
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0319036174534437
+ y: 0.043789159471603493
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030796451855768042
+ y: 0.0435173082894801
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030796451855768042
+ y: 0.0435173082894801
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030796451855768042
+ y: 0.0435173082894801
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02973503481753927
+ y: 0.04318504556259484
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02973503481753927
+ y: 0.04318504556259484
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02973503481753927
+ y: 0.04318504556259484
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028719366310688145
+ y: 0.0427923712285716
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028719366310688145
+ y: 0.0427923712285716
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028719366310688145
+ y: 0.0427923712285716
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.027749446307145438
+ y: 0.04233928522503433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.027749446307145438
+ y: 0.04233928522503433
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.027749446307145438
+ y: 0.04233928522503433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0268252747788419
+ y: 0.04182578748960693
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0268252747788419
+ y: 0.04182578748960693
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0268252747788419
+ y: 0.04182578748960693
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025946851697708297
+ y: 0.0412518779599133
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025946851697708297
+ y: 0.0412518779599133
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025946851697708297
+ y: 0.0412518779599133
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025114177035675395
+ y: 0.04061755657357737
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025114177035675395
+ y: 0.04061755657357737
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025114177035675395
+ y: 0.04061755657357737
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024327250764673947
+ y: 0.039922823268223065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024327250764673947
+ y: 0.039922823268223065
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024327250764673947
+ y: 0.039922823268223065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02359066378442927
+ y: 0.03917253703485482
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02359066378442927
+ y: 0.03917253703485482
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02359066378442927
+ y: 0.03917253703485482
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022913840270667393
+ y: 0.03837726533541168
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022913840270667393
+ y: 0.03837726533541168
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022913840270667393
+ y: 0.03837726533541168
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02229613741044116
+ y: 0.03753649363078402
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02229613741044116
+ y: 0.03753649363078402
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02229613741044116
+ y: 0.03753649363078402
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0217375552343897
+ y: 0.036650221920971816
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0217375552343897
+ y: 0.036650221920971816
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0217375552343897
+ y: 0.036650221920971816
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021238093773152143
+ y: 0.035718450205975104
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021238093773152143
+ y: 0.035718450205975104
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021238093773152143
+ y: 0.035718450205975104
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02079775305736762
+ y: 0.03474117848579386
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02079775305736762
+ y: 0.03474117848579386
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02079775305736762
+ y: 0.03474117848579386
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02041653311767526
+ y: 0.03371840676042809
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02041653311767526
+ y: 0.03371840676042809
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02041653311767526
+ y: 0.03371840676042809
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020094433984714197
+ y: 0.0326501350298778
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020094433984714197
+ y: 0.0326501350298778
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020094433984714197
+ y: 0.0326501350298778
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019831455689123558
+ y: 0.03153636329414297
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019831455689123558
+ y: 0.03153636329414297
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019831455689123558
+ y: 0.03153636329414297
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01962759826154248
+ y: 0.030377091553223625
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01962759826154248
+ y: 0.030377091553223625
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01962759826154248
+ y: 0.030377091553223625
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019482861732610095
+ y: 0.02917231980711975
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019482861732610095
+ y: 0.02917231980711975
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019482861732610095
+ y: 0.02917231980711975
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019397246132965524
+ y: 0.027922048055831355
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019397246132965524
+ y: 0.027922048055831355
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019397246132965524
+ y: 0.027922048055831355
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01937075173936354
+ y: 0.02662648118500463
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01937075173936354
+ y: 0.02662648118500463
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01937075173936354
+ y: 0.02662648118500463
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019403479091909627
+ y: 0.025336941278840706
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019403479091909627
+ y: 0.025336941278840706
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019403479091909627
+ y: 0.025336941278840706
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019495510444068803
+ y: 0.024092751845141647
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019495510444068803
+ y: 0.024092751845141647
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019495510444068803
+ y: 0.024092751845141647
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019646845765059536
+ y: 0.02289391279156286
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019646845765059536
+ y: 0.02289391279156286
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019646845765059536
+ y: 0.02289391279156286
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019857485024100292
+ y: 0.021740424025759746
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019857485024100292
+ y: 0.021740424025759746
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.019857485024100292
+ y: 0.021740424025759746
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020127428190409538
+ y: 0.02063228545538771
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020127428190409538
+ y: 0.02063228545538771
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020127428190409538
+ y: 0.02063228545538771
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020456675233205747
+ y: 0.019569496988102147
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020456675233205747
+ y: 0.019569496988102147
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020456675233205747
+ y: 0.019569496988102147
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020845226121707385
+ y: 0.01855205853155847
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020845226121707385
+ y: 0.01855205853155847
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.020845226121707385
+ y: 0.01855205853155847
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021293080825132912
+ y: 0.017579969993412072
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021293080825132912
+ y: 0.017579969993412072
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021293080825132912
+ y: 0.017579969993412072
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021800239312700805
+ y: 0.016653231281318362
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021800239312700805
+ y: 0.016653231281318362
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021800239312700805
+ y: 0.016653231281318362
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022366701553629527
+ y: 0.01577184230293274
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022366701553629527
+ y: 0.01577184230293274
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022366701553629527
+ y: 0.01577184230293274
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02299246751713754
+ y: 0.014935802965910603
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02299246751713754
+ y: 0.014935802965910603
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02299246751713754
+ y: 0.014935802965910603
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023677537172443322
+ y: 0.014145113177907358
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023677537172443322
+ y: 0.014145113177907358
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023677537172443322
+ y: 0.014145113177907358
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024421603764727982
+ y: 0.013400299708345333
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024421603764727982
+ y: 0.013400299708345333
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024421603764727982
+ y: 0.013400299708345333
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02521415877680028
+ y: 0.012712999450704419
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02521415877680028
+ y: 0.012712999450704419
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02521415877680028
+ y: 0.012712999450704419
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02605246218276396
+ y: 0.012086111017397372
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02605246218276396
+ y: 0.012086111017397372
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02605246218276396
+ y: 0.012086111017397372
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026936514010688258
+ y: 0.011519634360394599
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026936514010688258
+ y: 0.011519634360394599
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026936514010688258
+ y: 0.011519634360394599
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.027866314288642415
+ y: 0.011013569431666518
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.027866314288642415
+ y: 0.011013569431666518
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.027866314288642415
+ y: 0.011013569431666518
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028841863044695673
+ y: 0.010567916183183547
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028841863044695673
+ y: 0.010567916183183547
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028841863044695673
+ y: 0.010567916183183547
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029863160306917262
+ y: 0.010182674566916098
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029863160306917262
+ y: 0.010182674566916098
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029863160306917262
+ y: 0.010182674566916098
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030930206103376427
+ y: 0.009857844534834589
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030930206103376427
+ y: 0.009857844534834589
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030930206103376427
+ y: 0.009857844534834589
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0320430004621424
+ y: 0.009593426038909433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0320430004621424
+ y: 0.009593426038909433
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0320430004621424
+ y: 0.009593426038909433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03320154341128443
+ y: 0.009389419031111047
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03320154341128443
+ y: 0.009389419031111047
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03320154341128443
+ y: 0.009389419031111047
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03440583497887174
+ y: 0.009245823463409844
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03440583497887174
+ y: 0.009245823463409844
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03440583497887174
+ y: 0.009245823463409844
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03565587519297358
+ y: 0.00916263928777624
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03565587519297358
+ y: 0.00916263928777624
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03565587519297358
+ y: 0.00916263928777624
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03695055247231042
+ y: 0.00913986660058605
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03695055247231042
+ y: 0.00913986660058605
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03695055247231042
+ y: 0.00913986660058605
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03823199900581829
+ y: 0.009177516971747119
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03823199900581829
+ y: 0.009177516971747119
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03823199900581829
+ y: 0.009177516971747119
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03946826890443358
+ y: 0.00927559777325437
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03946826890443358
+ y: 0.00927559777325437
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03946826890443358
+ y: 0.00927559777325437
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040659362261764705
+ y: 0.009434109053160137
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040659362261764705
+ y: 0.009434109053160137
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040659362261764705
+ y: 0.009434109053160137
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04180527917142012
+ y: 0.009653050859516753
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04180527917142012
+ y: 0.009653050859516753
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04180527917142012
+ y: 0.009653050859516753
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04290601972700826
+ y: 0.009932423240376553
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04290601972700826
+ y: 0.009932423240376553
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04290601972700826
+ y: 0.009932423240376553
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04396158402213758
+ y: 0.010272226243791871
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04396158402213758
+ y: 0.010272226243791871
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04396158402213758
+ y: 0.010272226243791871
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04497197215041651
+ y: 0.010672459917815036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04497197215041651
+ y: 0.010672459917815036
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04497197215041651
+ y: 0.010672459917815036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04593718420545351
+ y: 0.01113312431049839
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04593718420545351
+ y: 0.01113312431049839
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04593718420545351
+ y: 0.01113312431049839
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04685722028085701
+ y: 0.011654219469894263
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04685722028085701
+ y: 0.011654219469894263
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04685722028085701
+ y: 0.011654219469894263
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.047732080470235444
+ y: 0.012235745444054992
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.047732080470235444
+ y: 0.012235745444054992
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.047732080470235444
+ y: 0.012235745444054992
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04856176486719728
+ y: 0.012877702281032905
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04856176486719728
+ y: 0.012877702281032905
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04856176486719728
+ y: 0.012877702281032905
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04934627356535094
+ y: 0.01358009002888034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04934627356535094
+ y: 0.01358009002888034
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04934627356535094
+ y: 0.01358009002888034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05007743894469508
+ y: 0.01433700432071624
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05007743894469508
+ y: 0.01433700432071624
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05007743894469508
+ y: 0.01433700432071624
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.050747799093648335
+ y: 0.015138942465754673
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.050747799093648335
+ y: 0.015138942465754673
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.050747799093648335
+ y: 0.015138942465754673
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051358855543168866
+ y: 0.015986230182716873
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051358855543168866
+ y: 0.015986230182716873
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051358855543168866
+ y: 0.015986230182716873
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05191060826247514
+ y: 0.016878867563947443
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05191060826247514
+ y: 0.016878867563947443
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05191060826247514
+ y: 0.016878867563947443
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.052403057220785636
+ y: 0.017816854701790973
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.052403057220785636
+ y: 0.017816854701790973
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.052403057220785636
+ y: 0.017816854701790973
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0528362023873188
+ y: 0.018800191688592066
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0528362023873188
+ y: 0.018800191688592066
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0528362023873188
+ y: 0.018800191688592066
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.053210043731293115
+ y: 0.01982887861669532
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.053210043731293115
+ y: 0.01982887861669532
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.053210043731293115
+ y: 0.01982887861669532
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05352458122192705
+ y: 0.020902915578445327
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05352458122192705
+ y: 0.020902915578445327
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05352458122192705
+ y: 0.020902915578445327
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.053779814828439056
+ y: 0.02202230266618669
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.053779814828439056
+ y: 0.02202230266618669
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.053779814828439056
+ y: 0.02202230266618669
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05397574452004762
+ y: 0.023187039972264005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05397574452004762
+ y: 0.023187039972264005
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05397574452004762
+ y: 0.023187039972264005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0541123702659712
+ y: 0.02439712758902187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0541123702659712
+ y: 0.02439712758902187
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0541123702659712
+ y: 0.02439712758902187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05418969203542827
+ y: 0.025652565608804884
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05418969203542827
+ y: 0.025652565608804884
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05418969203542827
+ y: 0.025652565608804884
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05420771332005702
+ y: 0.02695191883444337
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05420771332005702
+ y: 0.02695191883444337
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05420771332005702
+ y: 0.02695191883444337
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.054166554492522195
+ y: 0.0282364049065748
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.054166554492522195
+ y: 0.0282364049065748
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.054166554492522195
+ y: 0.0282364049065748
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05406627471266006
+ y: 0.029475390973521712
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05406627471266006
+ y: 0.029475390973521712
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05406627471266006
+ y: 0.029475390973521712
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05390687401110975
+ y: 0.030668877035284096
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05390687401110975
+ y: 0.030668877035284096
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05390687401110975
+ y: 0.030668877035284096
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05368835241851039
+ y: 0.031816863091861956
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05368835241851039
+ y: 0.031816863091861956
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05368835241851039
+ y: 0.031816863091861956
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.053410709965501096
+ y: 0.03291934914325529
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.053410709965501096
+ y: 0.03291934914325529
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.053410709965501096
+ y: 0.03291934914325529
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05307394668272103
+ y: 0.033976335189464094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05307394668272103
+ y: 0.033976335189464094
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05307394668272103
+ y: 0.033976335189464094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.052678062600809296
+ y: 0.034987821230488374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.052678062600809296
+ y: 0.034987821230488374
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.052678062600809296
+ y: 0.034987821230488374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05222305775040504
+ y: 0.03595380726632813
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05222305775040504
+ y: 0.03595380726632813
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05222305775040504
+ y: 0.03595380726632813
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051708932162147385
+ y: 0.036874293296983364
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051708932162147385
+ y: 0.036874293296983364
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051708932162147385
+ y: 0.036874293296983364
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05113568586667546
+ y: 0.03774927932245407
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05113568586667546
+ y: 0.03774927932245407
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05113568586667546
+ y: 0.03774927932245407
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05050331889462841
+ y: 0.03857876534274024
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05050331889462841
+ y: 0.03857876534274024
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05050331889462841
+ y: 0.03857876534274024
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04981183127664535
+ y: 0.039362751357841896
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04981183127664535
+ y: 0.039362751357841896
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04981183127664535
+ y: 0.039362751357841896
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04905890571049556
+ y: 0.04010085347451847
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04905890571049556
+ y: 0.04010085347451847
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04905890571049556
+ y: 0.04010085347451847
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04825754481465123
+ y: 0.04078069838366267
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04825754481465123
+ y: 0.04078069838366267
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04825754481465123
+ y: 0.04078069838366267
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04741100818448986
+ y: 0.04140011231461855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04741100818448986
+ y: 0.04140011231461855
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04741100818448986
+ y: 0.04140011231461855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.046519295726403016
+ y: 0.04195909532979174
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.046519295726403016
+ y: 0.04195909532979174
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.046519295726403016
+ y: 0.04195909532979174
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04558240734678225
+ y: 0.042457647491587876
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04558240734678225
+ y: 0.042457647491587876
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04558240734678225
+ y: 0.042457647491587876
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04460034295201912
+ y: 0.04289576886241258
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04460034295201912
+ y: 0.04289576886241258
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04460034295201912
+ y: 0.04289576886241258
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04357310244850518
+ y: 0.0432734595046715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04357310244850518
+ y: 0.0432734595046715
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04357310244850518
+ y: 0.0432734595046715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04250068574263199
+ y: 0.04359071948077025
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04250068574263199
+ y: 0.04359071948077025
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04250068574263199
+ y: 0.04359071948077025
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041383092740791085
+ y: 0.043847548853114454
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041383092740791085
+ y: 0.043847548853114454
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041383092740791085
+ y: 0.043847548853114454
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040220323349374046
+ y: 0.044043947684109755
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040220323349374046
+ y: 0.044043947684109755
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040220323349374046
+ y: 0.044043947684109755
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.039012377474772424
+ y: 0.04417991603616178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.039012377474772424
+ y: 0.04417991603616178
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.039012377474772424
+ y: 0.04417991603616178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03775925502337776
+ y: 0.044255453971676156
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03775925502337776
+ y: 0.044255453971676156
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03775925502337776
+ y: 0.044255453971676156
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789765999999995
+ y: 0.04427244999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789765999999995
+ y: 0.04427244999999999
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789765999999995
+ y: 0.04427244999999999
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766
+ y: 0.03794442
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766
+ y: 0.03794442
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766
+ y: 0.03794442
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766
+ y: 0.03794442
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766
+ y: 0.03794442
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766
+ y: 0.03794442
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03782581472004886
+ y: 0.03789164403433364
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03782581472004886
+ y: 0.03789164403433364
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03782581472004886
+ y: 0.03789164403433364
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03895346959997571
+ y: 0.03769666616117738
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03895346959997571
+ y: 0.03769666616117738
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03895346959997571
+ y: 0.03769666616117738
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.039993819631056964
+ y: 0.03735802038148492
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.039993819631056964
+ y: 0.03735802038148492
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.039993819631056964
+ y: 0.03735802038148492
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04094686463076729
+ y: 0.03687570669525627
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04094686463076729
+ y: 0.03687570669525627
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04094686463076729
+ y: 0.03687570669525627
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041812604416581356
+ y: 0.03624972510249142
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041812604416581356
+ y: 0.03624972510249142
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041812604416581356
+ y: 0.03624972510249142
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04259103880597384
+ y: 0.03548007560319038
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04259103880597384
+ y: 0.03548007560319038
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04259103880597384
+ y: 0.03548007560319038
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04322710461719816
+ y: 0.034649343018321045
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04322710461719816
+ y: 0.034649343018321045
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04322710461719816
+ y: 0.034649343018321045
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04378470501679067
+ y: 0.03369884077363134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04378470501679067
+ y: 0.03369884077363134
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04378470501679067
+ y: 0.03369884077363134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044195976813101195
+ y: 0.03278341149988972
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044195976813101195
+ y: 0.03278341149988972
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044195976813101195
+ y: 0.03278341149988972
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044535728496043724
+ y: 0.031789825331000374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044535728496043724
+ y: 0.031789825331000374
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044535728496043724
+ y: 0.031789825331000374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04480395994128178
+ y: 0.03071808251563627
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04480395994128178
+ y: 0.03071808251563627
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04480395994128178
+ y: 0.03071808251563627
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04500067102447888
+ y: 0.029568183302470352
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04500067102447888
+ y: 0.029568183302470352
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04500067102447888
+ y: 0.029568183302470352
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045112356060325196
+ y: 0.028520349481433307
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045112356060325196
+ y: 0.028520349481433307
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045112356060325196
+ y: 0.028520349481433307
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045171495354411194
+ y: 0.027415094972737048
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045171495354411194
+ y: 0.027415094972737048
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045171495354411194
+ y: 0.027415094972737048
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04517807009227293
+ y: 0.026261204987652612
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04517807009227293
+ y: 0.026261204987652612
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04517807009227293
+ y: 0.026261204987652612
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04513188408605796
+ y: 0.025143318429458755
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04513188408605796
+ y: 0.025143318429458755
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04513188408605796
+ y: 0.025143318429458755
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045032885145655184
+ y: 0.024082600043826185
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045032885145655184
+ y: 0.024082600043826185
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.045032885145655184
+ y: 0.024082600043826185
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044881073349961886
+ y: 0.023079049988549486
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044881073349961886
+ y: 0.023079049988549486
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044881073349961886
+ y: 0.023079049988549486
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04463721011258479
+ y: 0.02198049621877433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04463721011258479
+ y: 0.02198049621877433
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04463721011258479
+ y: 0.02198049621877433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04432146294373622
+ y: 0.02095975536399815
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04432146294373622
+ y: 0.02095975536399815
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04432146294373622
+ y: 0.02095975536399815
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04393383196870218
+ y: 0.02001682767479291
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04393383196870218
+ y: 0.02001682767479291
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04393383196870218
+ y: 0.02001682767479291
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04340280431364265
+ y: 0.019034477778650066
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04340280431364265
+ y: 0.019034477778650066
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04340280431364265
+ y: 0.019034477778650066
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04273283661577196
+ y: 0.018098817511093386
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04273283661577196
+ y: 0.018098817511093386
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04273283661577196
+ y: 0.018098817511093386
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04197144812187419
+ y: 0.017301117683160075
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04197144812187419
+ y: 0.017301117683160075
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04197144812187419
+ y: 0.017301117683160075
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04112275419591781
+ y: 0.01664708576176296
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04112275419591781
+ y: 0.01664708576176296
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04112275419591781
+ y: 0.01664708576176296
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04018675502042815
+ y: 0.016136721746902036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04018675502042815
+ y: 0.016136721746902036
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04018675502042815
+ y: 0.016136721746902036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.039163450777930556
+ y: 0.01577002563857731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.039163450777930556
+ y: 0.01577002563857731
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.039163450777930556
+ y: 0.01577002563857731
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03805284165095034
+ y: 0.015546997436788775
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03805284165095034
+ y: 0.015546997436788775
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03805284165095034
+ y: 0.015546997436788775
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.037031403547920165
+ y: 0.015470178332294757
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.037031403547920165
+ y: 0.015470178332294757
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.037031403547920165
+ y: 0.015470178332294757
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03598197069945095
+ y: 0.015498724917410766
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03598197069945095
+ y: 0.015498724917410766
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03598197069945095
+ y: 0.015498724917410766
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03483457861494467
+ y: 0.015664664609109688
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03483457861494467
+ y: 0.015664664609109688
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03483457861494467
+ y: 0.015664664609109688
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03377507337274186
+ y: 0.01597342200165976
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03377507337274186
+ y: 0.01597342200165976
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03377507337274186
+ y: 0.01597342200165976
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032803455153750015
+ y: 0.016424997095060984
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032803455153750015
+ y: 0.016424997095060984
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032803455153750015
+ y: 0.016424997095060984
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.031919724138876615
+ y: 0.017019389889313365
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.031919724138876615
+ y: 0.017019389889313365
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.031919724138876615
+ y: 0.017019389889313365
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.031123880509029173
+ y: 0.017756600384416902
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.031123880509029173
+ y: 0.017756600384416902
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.031123880509029173
+ y: 0.017756600384416902
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030444365026937547
+ y: 0.01859610344254101
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030444365026937547
+ y: 0.01859610344254101
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030444365026937547
+ y: 0.01859610344254101
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029867957350122154
+ y: 0.0195293296418871
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029867957350122154
+ y: 0.0195293296418871
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029867957350122154
+ y: 0.0195293296418871
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02938543856088537
+ y: 0.020564189877881143
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02938543856088537
+ y: 0.020564189877881143
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02938543856088537
+ y: 0.020564189877881143
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029040252966010434
+ y: 0.02155306396102515
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029040252966010434
+ y: 0.02155306396102515
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029040252966010434
+ y: 0.02155306396102515
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028766951265463858
+ y: 0.02261975106653779
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028766951265463858
+ y: 0.02261975106653779
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028766951265463858
+ y: 0.02261975106653779
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028565533559474433
+ y: 0.023764250943847074
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028565533559474433
+ y: 0.023764250943847074
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028565533559474433
+ y: 0.023764250943847074
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02845010367904498
+ y: 0.02480718326303277
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02845010367904498
+ y: 0.02480718326303277
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02845010367904498
+ y: 0.02480718326303277
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0283874866660659
+ y: 0.02590728380736444
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0283874866660659
+ y: 0.02590728380736444
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0283874866660659
+ y: 0.02590728380736444
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028377669381495847
+ y: 0.027059518832615807
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028377669381495847
+ y: 0.027059518832615807
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028377669381495847
+ y: 0.027059518832615807
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028420460670031882
+ y: 0.028182637966455062
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028420460670031882
+ y: 0.028182637966455062
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028420460670031882
+ y: 0.028182637966455062
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02851579767681548
+ y: 0.02924833645786417
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02851579767681548
+ y: 0.02924833645786417
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02851579767681548
+ y: 0.02924833645786417
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028663680339207152
+ y: 0.030256614150244446
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028663680339207152
+ y: 0.030256614150244446
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028663680339207152
+ y: 0.030256614150244446
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0289026218987122
+ y: 0.03136036440588526
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0289026218987122
+ y: 0.03136036440588526
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0289026218987122
+ y: 0.03136036440588526
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02921308374917751
+ y: 0.03238595811213778
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02921308374917751
+ y: 0.03238595811213778
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02921308374917751
+ y: 0.03238595811213778
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029595065791133895
+ y: 0.03333339502032903
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029595065791133895
+ y: 0.03333339502032903
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029595065791133895
+ y: 0.03333339502032903
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030119192313310887
+ y: 0.03432047753755679
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030119192313310887
+ y: 0.03432047753755679
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030119192313310887
+ y: 0.03432047753755679
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030772412993209357
+ y: 0.035249828889043024
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030772412993209357
+ y: 0.035249828889043024
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030772412993209357
+ y: 0.035249828889043024
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03152598637308297
+ y: 0.036055728772417396
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03152598637308297
+ y: 0.036055728772417396
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03152598637308297
+ y: 0.036055728772417396
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03236744722499154
+ y: 0.03671881095494061
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03236744722499154
+ y: 0.03671881095494061
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03236744722499154
+ y: 0.03671881095494061
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03329679536802756
+ y: 0.03723907543661266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03329679536802756
+ y: 0.03723907543661266
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03329679536802756
+ y: 0.03723907543661266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03431403062128353
+ y: 0.03761652221743357
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03431403062128353
+ y: 0.03761652221743357
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03431403062128353
+ y: 0.03761652221743357
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03541915280385198
+ y: 0.037851151297403324
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03541915280385198
+ y: 0.037851151297403324
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03541915280385198
+ y: 0.037851151297403324
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03643635107306911
+ y: 0.037938590706087696
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03643635107306911
+ y: 0.037938590706087696
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03643635107306911
+ y: 0.037938590706087696
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766000000015
+ y: 0.037944419999999986
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766000000015
+ y: 0.037944419999999986
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036789766000000015
+ y: 0.037944419999999986
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018055170000000002
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018055170000000002
+ y: 0.04366006
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018055170000000002
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018055170000000002
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018055170000000002
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018055170000000002
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01690254466761752
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01690254466761752
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01690254466761752
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01574991933523504
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01574991933523504
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01574991933523504
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014597294002852557
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014597294002852557
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014597294002852557
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013444668670470077
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013444668670470077
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013444668670470077
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012292043338087597
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012292043338087597
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012292043338087597
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011139418005705115
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011139418005705115
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011139418005705115
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009986792673322635
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009986792673322635
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009986792673322635
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00899769489365395
+ y: 0.042881205849615266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00899769489365395
+ y: 0.042881205849615266
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00899769489365395
+ y: 0.042881205849615266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008607905861246427
+ y: 0.041796489450244154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008607905861246427
+ y: 0.041796489450244154
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008607905861246427
+ y: 0.041796489450244154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008218116828838903
+ y: 0.040711773050873035
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008218116828838903
+ y: 0.040711773050873035
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008218116828838903
+ y: 0.040711773050873035
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007828327796431379
+ y: 0.03962705665150192
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007828327796431379
+ y: 0.03962705665150192
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007828327796431379
+ y: 0.03962705665150192
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007438538764023856
+ y: 0.03854234025213082
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007438538764023856
+ y: 0.03854234025213082
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007438538764023856
+ y: 0.03854234025213082
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007048749731616333
+ y: 0.0374576238527597
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007048749731616333
+ y: 0.0374576238527597
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007048749731616333
+ y: 0.0374576238527597
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006658960699208809
+ y: 0.03637290745338859
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006658960699208809
+ y: 0.03637290745338859
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006658960699208809
+ y: 0.03637290745338859
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006269171666801285
+ y: 0.035288191054017475
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006269171666801285
+ y: 0.035288191054017475
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006269171666801285
+ y: 0.035288191054017475
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005879382634393762
+ y: 0.03420347465464636
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005879382634393762
+ y: 0.03420347465464636
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005879382634393762
+ y: 0.03420347465464636
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005489593601986238
+ y: 0.033118758255275244
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005489593601986238
+ y: 0.033118758255275244
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005489593601986238
+ y: 0.033118758255275244
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0050998045695787135
+ y: 0.03203404185590414
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0050998045695787135
+ y: 0.03203404185590414
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0050998045695787135
+ y: 0.03203404185590414
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00471001553717119
+ y: 0.030949325456533026
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00471001553717119
+ y: 0.030949325456533026
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00471001553717119
+ y: 0.030949325456533026
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0043202265047636666
+ y: 0.02986460905716191
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0043202265047636666
+ y: 0.02986460905716191
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0043202265047636666
+ y: 0.02986460905716191
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.003930437472356143
+ y: 0.028779892657790795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.003930437472356143
+ y: 0.028779892657790795
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.003930437472356143
+ y: 0.028779892657790795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00354064843994862
+ y: 0.027695176258419687
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00354064843994862
+ y: 0.027695176258419687
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00354064843994862
+ y: 0.027695176258419687
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.003150859407541095
+ y: 0.02661045985904857
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.003150859407541095
+ y: 0.02661045985904857
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.003150859407541095
+ y: 0.02661045985904857
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0027610703751335714
+ y: 0.025525743459677463
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0027610703751335714
+ y: 0.025525743459677463
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0027610703751335714
+ y: 0.025525743459677463
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0023712813427260483
+ y: 0.024441027060306347
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0023712813427260483
+ y: 0.024441027060306347
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0023712813427260483
+ y: 0.024441027060306347
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.001981492310318525
+ y: 0.023356310660935235
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.001981492310318525
+ y: 0.023356310660935235
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.001981492310318525
+ y: 0.023356310660935235
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0015917032779110007
+ y: 0.022271594261564123
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0015917032779110007
+ y: 0.022271594261564123
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0015917032779110007
+ y: 0.022271594261564123
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0012019142455034757
+ y: 0.021186877862193008
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0012019142455034757
+ y: 0.021186877862193008
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0012019142455034757
+ y: 0.021186877862193008
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008121252130959533
+ y: 0.020102161462821896
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008121252130959533
+ y: 0.020102161462821896
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008121252130959533
+ y: 0.020102161462821896
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00042233618068842916
+ y: 0.019017445063450784
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00042233618068842916
+ y: 0.019017445063450784
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00042233618068842916
+ y: 0.019017445063450784
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00022614187359597666
+ y: 0.020121795626268372
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00022614187359597666
+ y: 0.020121795626268372
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00022614187359597666
+ y: 0.020121795626268372
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0006150589482459457
+ y: 0.021206824964994073
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0006150589482459457
+ y: 0.021206824964994073
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0006150589482459457
+ y: 0.021206824964994073
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0010039760228959147
+ y: 0.02229185430371978
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0010039760228959147
+ y: 0.02229185430371978
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0010039760228959147
+ y: 0.02229185430371978
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.001392893097545884
+ y: 0.023376883642445476
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.001392893097545884
+ y: 0.023376883642445476
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.001392893097545884
+ y: 0.023376883642445476
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.001781810172195853
+ y: 0.02446191298117118
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.001781810172195853
+ y: 0.02446191298117118
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.001781810172195853
+ y: 0.02446191298117118
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002170727246845822
+ y: 0.025546942319896883
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002170727246845822
+ y: 0.025546942319896883
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002170727246845822
+ y: 0.025546942319896883
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002559644321495791
+ y: 0.026631971658622588
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002559644321495791
+ y: 0.026631971658622588
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002559644321495791
+ y: 0.026631971658622588
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00294856139614576
+ y: 0.027717000997348286
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00294856139614576
+ y: 0.027717000997348286
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00294856139614576
+ y: 0.027717000997348286
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0033374784707957293
+ y: 0.02880203033607399
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0033374784707957293
+ y: 0.02880203033607399
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0033374784707957293
+ y: 0.02880203033607399
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.003726395545445698
+ y: 0.029887059674799696
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.003726395545445698
+ y: 0.029887059674799696
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.003726395545445698
+ y: 0.029887059674799696
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004115312620095668
+ y: 0.030972089013525394
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004115312620095668
+ y: 0.030972089013525394
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004115312620095668
+ y: 0.030972089013525394
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004504229694745637
+ y: 0.0320571183522511
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004504229694745637
+ y: 0.0320571183522511
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004504229694745637
+ y: 0.0320571183522511
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0048931467693956055
+ y: 0.0331421476909768
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0048931467693956055
+ y: 0.0331421476909768
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0048931467693956055
+ y: 0.0331421476909768
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005282063844045576
+ y: 0.0342271770297025
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005282063844045576
+ y: 0.0342271770297025
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005282063844045576
+ y: 0.0342271770297025
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005670980918695544
+ y: 0.03531220636842821
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005670980918695544
+ y: 0.03531220636842821
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005670980918695544
+ y: 0.03531220636842821
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006059897993345514
+ y: 0.03639723570715391
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006059897993345514
+ y: 0.03639723570715391
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006059897993345514
+ y: 0.03639723570715391
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006448815067995482
+ y: 0.037482265045879606
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006448815067995482
+ y: 0.037482265045879606
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006448815067995482
+ y: 0.037482265045879606
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006837732142645451
+ y: 0.03856729438460531
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006837732142645451
+ y: 0.03856729438460531
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006837732142645451
+ y: 0.03856729438460531
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007226649217295421
+ y: 0.03965232372333101
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007226649217295421
+ y: 0.03965232372333101
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007226649217295421
+ y: 0.03965232372333101
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00761556629194539
+ y: 0.04073735306205671
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00761556629194539
+ y: 0.04073735306205671
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00761556629194539
+ y: 0.04073735306205671
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008004483366595358
+ y: 0.04182238240078242
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008004483366595358
+ y: 0.04182238240078242
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008004483366595358
+ y: 0.04182238240078242
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008393400441245327
+ y: 0.04290741173950812
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008393400441245327
+ y: 0.04290741173950812
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008393400441245327
+ y: 0.04290741173950812
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00940047555484142
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00940047555484142
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00940047555484142
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010553100887223901
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010553100887223901
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010553100887223901
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011705726219606381
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011705726219606381
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011705726219606381
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012858351551988861
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012858351551988861
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012858351551988861
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014010976884371341
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014010976884371341
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014010976884371341
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015163602216753823
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015163602216753823
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015163602216753823
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016316227549136305
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016316227549136305
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016316227549136305
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017431021221235177
+ y: 0.043633729278519
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017431021221235177
+ y: 0.043633729278519
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017431021221235177
+ y: 0.043633729278519
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017030674082837323
+ y: 0.042552865121639666
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017030674082837323
+ y: 0.042552865121639666
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017030674082837323
+ y: 0.042552865121639666
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016630326944439472
+ y: 0.04147200096476033
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016630326944439472
+ y: 0.04147200096476033
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016630326944439472
+ y: 0.04147200096476033
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016229979806041617
+ y: 0.04039113680788099
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016229979806041617
+ y: 0.04039113680788099
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016229979806041617
+ y: 0.04039113680788099
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015829632667643763
+ y: 0.039310272651001656
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015829632667643763
+ y: 0.039310272651001656
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015829632667643763
+ y: 0.039310272651001656
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01542928552924591
+ y: 0.038229408494122326
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01542928552924591
+ y: 0.038229408494122326
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01542928552924591
+ y: 0.038229408494122326
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015028938390848057
+ y: 0.03714854433724299
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015028938390848057
+ y: 0.03714854433724299
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015028938390848057
+ y: 0.03714854433724299
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014628591252450205
+ y: 0.03606768018036366
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014628591252450205
+ y: 0.03606768018036366
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014628591252450205
+ y: 0.03606768018036366
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014228244114052348
+ y: 0.03498681602348432
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014228244114052348
+ y: 0.03498681602348432
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014228244114052348
+ y: 0.03498681602348432
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013827896975654492
+ y: 0.03390595186660498
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013827896975654492
+ y: 0.03390595186660498
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013827896975654492
+ y: 0.03390595186660498
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013427549837256641
+ y: 0.03282508770972565
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013427549837256641
+ y: 0.03282508770972565
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013427549837256641
+ y: 0.03282508770972565
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01302720269885879
+ y: 0.03174422355284632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01302720269885879
+ y: 0.03174422355284632
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01302720269885879
+ y: 0.03174422355284632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012626855560460934
+ y: 0.030663359395966983
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012626855560460934
+ y: 0.030663359395966983
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012626855560460934
+ y: 0.030663359395966983
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012226508422063078
+ y: 0.029582495239087642
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012226508422063078
+ y: 0.029582495239087642
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012226508422063078
+ y: 0.029582495239087642
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011826161283665227
+ y: 0.028501631082208313
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011826161283665227
+ y: 0.028501631082208313
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011826161283665227
+ y: 0.028501631082208313
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011425814145267376
+ y: 0.027420766925328986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011425814145267376
+ y: 0.027420766925328986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011425814145267376
+ y: 0.027420766925328986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01102546700686952
+ y: 0.026339902768449646
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01102546700686952
+ y: 0.026339902768449646
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01102546700686952
+ y: 0.026339902768449646
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010625119868471665
+ y: 0.025259038611570306
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010625119868471665
+ y: 0.025259038611570306
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010625119868471665
+ y: 0.025259038611570306
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010224772730073812
+ y: 0.024178174454690976
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010224772730073812
+ y: 0.024178174454690976
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010224772730073812
+ y: 0.024178174454690976
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009824425591675961
+ y: 0.02309731029781165
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009824425591675961
+ y: 0.02309731029781165
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009824425591675961
+ y: 0.02309731029781165
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009424078453278105
+ y: 0.022016446140932306
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009424078453278105
+ y: 0.022016446140932306
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009424078453278105
+ y: 0.022016446140932306
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009023731314880249
+ y: 0.020935581984052962
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009023731314880249
+ y: 0.020935581984052962
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009023731314880249
+ y: 0.020935581984052962
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008623384176482396
+ y: 0.019854717827173636
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008623384176482396
+ y: 0.019854717827173636
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008623384176482396
+ y: 0.019854717827173636
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008223037038084547
+ y: 0.01877385367029431
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008223037038084547
+ y: 0.01877385367029431
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008223037038084547
+ y: 0.01877385367029431
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00782268989968669
+ y: 0.01769298951341497
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00782268989968669
+ y: 0.01769298951341497
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00782268989968669
+ y: 0.01769298951341497
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007422342761288833
+ y: 0.016612125356535626
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007422342761288833
+ y: 0.016612125356535626
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007422342761288833
+ y: 0.016612125356535626
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007021995622890984
+ y: 0.0155312611996563
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007021995622890984
+ y: 0.0155312611996563
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007021995622890984
+ y: 0.0155312611996563
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006621648484493132
+ y: 0.014450397042776973
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006621648484493132
+ y: 0.014450397042776973
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006621648484493132
+ y: 0.014450397042776973
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006221301346095276
+ y: 0.013369532885897631
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006221301346095276
+ y: 0.013369532885897631
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006221301346095276
+ y: 0.013369532885897631
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005820954207697421
+ y: 0.012288668729018291
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005820954207697421
+ y: 0.012288668729018291
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005820954207697421
+ y: 0.012288668729018291
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00542060706929957
+ y: 0.011207804572138961
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00542060706929957
+ y: 0.011207804572138961
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00542060706929957
+ y: 0.011207804572138961
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005020259930901718
+ y: 0.010126940415259633
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005020259930901718
+ y: 0.010126940415259633
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005020259930901718
+ y: 0.010126940415259633
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0037129487098187565
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0037129487098187565
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0037129487098187565
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0025603233774362678
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0025603233774362678
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0025603233774362678
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0014076980450537788
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0014076980450537788
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0014076980450537788
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0002550727126713071
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0002550727126713071
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0002550727126713071
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008975526197111652
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008975526197111652
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008975526197111652
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0020501779520936533
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0020501779520936533
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0020501779520936533
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0032028032844761433
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0032028032844761433
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0032028032844761433
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004355428616858616
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004355428616858616
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004355428616858616
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0055080539492410865
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0055080539492410865
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0055080539492410865
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005911313357703975
+ y: 0.010873844813099555
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005911313357703975
+ y: 0.010873844813099555
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005911313357703975
+ y: 0.010873844813099555
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006311660279977473
+ y: 0.011954709050030347
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006311660279977473
+ y: 0.011954709050030347
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006311660279977473
+ y: 0.011954709050030347
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006712007202250965
+ y: 0.013035573286961123
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006712007202250965
+ y: 0.013035573286961123
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006712007202250965
+ y: 0.013035573286961123
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007112354124524457
+ y: 0.014116437523891898
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007112354124524457
+ y: 0.014116437523891898
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007112354124524457
+ y: 0.014116437523891898
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007512701046797955
+ y: 0.01519730176082269
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007512701046797955
+ y: 0.01519730176082269
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007512701046797955
+ y: 0.01519730176082269
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007913047969071454
+ y: 0.016278165997753485
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007913047969071454
+ y: 0.016278165997753485
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007913047969071454
+ y: 0.016278165997753485
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008313394891344947
+ y: 0.017359030234684256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008313394891344947
+ y: 0.017359030234684256
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008313394891344947
+ y: 0.017359030234684256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008713741813618439
+ y: 0.018439894471615034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008713741813618439
+ y: 0.018439894471615034
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008713741813618439
+ y: 0.018439894471615034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009114088735891937
+ y: 0.019520758708545825
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009114088735891937
+ y: 0.019520758708545825
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009114088735891937
+ y: 0.019520758708545825
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009514435658165435
+ y: 0.020601622945476617
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009514435658165435
+ y: 0.020601622945476617
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009514435658165435
+ y: 0.020601622945476617
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009914782580438928
+ y: 0.02168248718240739
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009914782580438928
+ y: 0.02168248718240739
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009914782580438928
+ y: 0.02168248718240739
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01031512950271242
+ y: 0.02276335141933817
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01031512950271242
+ y: 0.02276335141933817
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01031512950271242
+ y: 0.02276335141933817
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01071547642498592
+ y: 0.023844215656268958
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01071547642498592
+ y: 0.023844215656268958
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01071547642498592
+ y: 0.023844215656268958
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011115823347259416
+ y: 0.024925079893199753
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011115823347259416
+ y: 0.024925079893199753
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011115823347259416
+ y: 0.024925079893199753
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011516170269532909
+ y: 0.02600594413013053
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011516170269532909
+ y: 0.02600594413013053
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011516170269532909
+ y: 0.02600594413013053
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011916517191806402
+ y: 0.027086808367061302
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011916517191806402
+ y: 0.027086808367061302
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011916517191806402
+ y: 0.027086808367061302
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0123168641140799
+ y: 0.028167672603992097
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0123168641140799
+ y: 0.028167672603992097
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0123168641140799
+ y: 0.028167672603992097
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012717211036353399
+ y: 0.029248536840922882
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012717211036353399
+ y: 0.029248536840922882
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012717211036353399
+ y: 0.029248536840922882
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01311755795862689
+ y: 0.03032940107785366
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01311755795862689
+ y: 0.03032940107785366
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01311755795862689
+ y: 0.03032940107785366
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013517904880900381
+ y: 0.031410265314784434
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013517904880900381
+ y: 0.031410265314784434
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013517904880900381
+ y: 0.031410265314784434
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013918251803173881
+ y: 0.03249112955171522
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013918251803173881
+ y: 0.03249112955171522
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013918251803173881
+ y: 0.03249112955171522
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014318598725447381
+ y: 0.03357199378864602
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014318598725447381
+ y: 0.03357199378864602
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014318598725447381
+ y: 0.03357199378864602
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014718945647720872
+ y: 0.03465285802557679
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014718945647720872
+ y: 0.03465285802557679
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014718945647720872
+ y: 0.03465285802557679
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015119292569994365
+ y: 0.035733722262507574
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015119292569994365
+ y: 0.035733722262507574
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015119292569994365
+ y: 0.035733722262507574
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015519639492267864
+ y: 0.03681458649943836
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015519639492267864
+ y: 0.03681458649943836
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015519639492267864
+ y: 0.03681458649943836
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01591998641454136
+ y: 0.03789545073636915
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01591998641454136
+ y: 0.03789545073636915
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01591998641454136
+ y: 0.03789545073636915
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016320333336814853
+ y: 0.03897631497329993
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016320333336814853
+ y: 0.03897631497329993
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016320333336814853
+ y: 0.03897631497329993
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016720680259088343
+ y: 0.040057179210230706
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016720680259088343
+ y: 0.040057179210230706
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016720680259088343
+ y: 0.040057179210230706
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017121027181361843
+ y: 0.041138043447161494
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017121027181361843
+ y: 0.041138043447161494
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017121027181361843
+ y: 0.041138043447161494
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017521374103635343
+ y: 0.0422189076840923
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017521374103635343
+ y: 0.0422189076840923
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017521374103635343
+ y: 0.0422189076840923
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017921721025908836
+ y: 0.043299771921023064
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017921721025908836
+ y: 0.043299771921023064
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017921721025908836
+ y: 0.043299771921023064
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018055170000000002
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018055170000000002
+ y: 0.04366006
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018055170000000002
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04366006
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023235544027067668
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023235544027067668
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023235544027067668
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02453945205413534
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02453945205413534
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02453945205413534
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02584336008120301
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02584336008120301
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02584336008120301
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027147268108270676
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027147268108270676
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027147268108270676
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028451176135338346
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028451176135338346
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028451176135338346
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029755084162406013
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029755084162406013
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029755084162406013
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031058992189473684
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031058992189473684
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031058992189473684
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03236290021654135
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03236290021654135
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03236290021654135
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03366680824360903
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03366680824360903
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03366680824360903
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03497071627067669
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03497071627067669
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03497071627067669
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03627462429774436
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03627462429774436
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03627462429774436
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03757853232481203
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03757853232481203
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03757853232481203
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038882440351879696
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038882440351879696
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038882440351879696
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04018634837894737
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04018634837894737
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04018634837894737
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04149025640601504
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04149025640601504
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04149025640601504
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0427941644330827
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0427941644330827
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0427941644330827
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04409807246015038
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04409807246015038
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04409807246015038
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04540198048721804
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04540198048721804
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04540198048721804
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.04245148248571429
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.04245148248571429
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.04245148248571429
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.04114757445864662
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.04114757445864662
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.04114757445864662
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.039843666431578946
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.039843666431578946
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.039843666431578946
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.03853975840451128
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.03853975840451128
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.03853975840451128
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.03723585037744361
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.03723585037744361
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045497311
+ y: 0.03723585037744361
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04436939335037594
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04436939335037594
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04436939335037594
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04306548532330827
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04306548532330827
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04306548532330827
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041761577296240596
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041761577296240596
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041761577296240596
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04045766926917293
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04045766926917293
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04045766926917293
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039153761242105255
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039153761242105255
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039153761242105255
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03784985321503759
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03784985321503759
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03784985321503759
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03654594518796992
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03654594518796992
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03654594518796992
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.035242037160902254
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.035242037160902254
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.035242037160902254
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03393812913383458
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03393812913383458
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03393812913383458
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032634221106766906
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032634221106766906
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032634221106766906
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03133031307969924
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03133031307969924
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03133031307969924
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.035987769043609015
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.035987769043609015
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.035987769043609015
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.03468386101654134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.03468386101654134
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.03468386101654134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.03337995298947368
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.03337995298947368
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.03337995298947368
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.03207604496240601
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.03207604496240601
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.03207604496240601
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.03077213693533834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.03077213693533834
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03066386
+ y: 0.03077213693533834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031950141091729334
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031950141091729334
+ y: 0.03075451
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031950141091729334
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033254049118797
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033254049118797
+ y: 0.03075451
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033254049118797
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03455795714586467
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03455795714586467
+ y: 0.03075451
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03455795714586467
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03586186517293234
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03586186517293234
+ y: 0.03075451
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03586186517293234
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03716577320000001
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03716577320000001
+ y: 0.03075451
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03716577320000001
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03846968122706768
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03846968122706768
+ y: 0.03075451
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03846968122706768
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03977358925413535
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03977358925413535
+ y: 0.03075451
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03977358925413535
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041077497281203024
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041077497281203024
+ y: 0.03075451
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041077497281203024
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042381405308270684
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042381405308270684
+ y: 0.03075451
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042381405308270684
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04368531333533836
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04368531333533836
+ y: 0.03075451
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04368531333533836
+ y: 0.03075451
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.03037802963759397
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.03037802963759397
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.03037802963759397
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.0290741216105263
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.0290741216105263
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.0290741216105263
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.02777021358345863
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.02777021358345863
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.02777021358345863
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.026466305556390964
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.026466305556390964
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.026466305556390964
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.025162397529323293
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.025162397529323293
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044612741
+ y: 0.025162397529323293
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04431693050225562
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04431693050225562
+ y: 0.0241543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04431693050225562
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.043013022475187956
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.043013022475187956
+ y: 0.0241543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.043013022475187956
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04170911444812029
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04170911444812029
+ y: 0.0241543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04170911444812029
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04040520642105262
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04040520642105262
+ y: 0.0241543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04040520642105262
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03910129839398495
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03910129839398495
+ y: 0.0241543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03910129839398495
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037797390366917274
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037797390366917274
+ y: 0.0241543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037797390366917274
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036493482339849614
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036493482339849614
+ y: 0.0241543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036493482339849614
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03518957431278194
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03518957431278194
+ y: 0.0241543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03518957431278194
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033885666285714273
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033885666285714273
+ y: 0.0241543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033885666285714273
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032581758258646606
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032581758258646606
+ y: 0.0241543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032581758258646606
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03127785023157894
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03127785023157894
+ y: 0.0241543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03127785023157894
+ y: 0.0241543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.023029746195488712
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.023029746195488712
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.023029746195488712
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.02172583816842103
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.02172583816842103
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.02172583816842103
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.020421930141353375
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.020421930141353375
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.020421930141353375
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.019118022114285715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.019118022114285715
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.019118022114285715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.017814114087218037
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.017814114087218037
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.017814114087218037
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.01651020606015036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.01651020606015036
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030663860000000005
+ y: 0.01651020606015036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031854931966917306
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031854931966917306
+ y: 0.016397369999999998
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031854931966917306
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033158839993984966
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033158839993984966
+ y: 0.016397369999999998
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033158839993984966
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03446274802105264
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03446274802105264
+ y: 0.016397369999999998
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03446274802105264
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03576665604812033
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03576665604812033
+ y: 0.016397369999999998
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03576665604812033
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03707056407518798
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03707056407518798
+ y: 0.016397369999999998
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03707056407518798
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03837447210225564
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03837447210225564
+ y: 0.016397369999999998
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03837447210225564
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039678380129323315
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039678380129323315
+ y: 0.016397369999999998
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039678380129323315
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040982288156390996
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040982288156390996
+ y: 0.016397369999999998
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040982288156390996
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042286196183458656
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042286196183458656
+ y: 0.016397369999999998
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042286196183458656
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04359010421052632
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04359010421052632
+ y: 0.016397369999999998
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04359010421052632
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044894012237594
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044894012237594
+ y: 0.016397369999999998
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.044894012237594
+ y: 0.016397369999999998
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.016195742735338324
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.016195742735338324
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.016195742735338324
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.014891834708270667
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.014891834708270667
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.014891834708270667
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.013587926681203007
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.013587926681203007
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.013587926681203007
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.012284018654135326
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.012284018654135326
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.012284018654135326
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.010980110627067649
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.010980110627067649
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045996293
+ y: 0.010980110627067649
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04587533039999999
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04587533039999999
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04587533039999999
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04457142237293233
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04457142237293233
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04457142237293233
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.043267514345864656
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.043267514345864656
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.043267514345864656
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04196360631879697
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04196360631879697
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04196360631879697
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040659698291729315
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040659698291729315
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040659698291729315
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03935579026466165
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03935579026466165
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03935579026466165
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038051882237593974
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038051882237593974
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038051882237593974
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036747974210526294
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036747974210526294
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036747974210526294
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03544406618345863
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03544406618345863
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03544406618345863
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03414015815639097
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03414015815639097
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03414015815639097
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0328362501293233
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0328362501293233
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0328362501293233
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03153234210225562
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03153234210225562
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03153234210225562
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030228434075187955
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030228434075187955
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030228434075187955
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028924526048120295
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028924526048120295
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028924526048120295
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027620618021052618
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027620618021052618
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027620618021052618
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026316709993984937
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026316709993984937
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026316709993984937
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025012801966917277
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025012801966917277
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025012801966917277
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023708893939849617
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023708893939849617
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023708893939849617
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02240498591278194
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02240498591278194
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02240498591278194
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.011062359323308289
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.011062359323308289
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.011062359323308289
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.01236626735037597
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.01236626735037597
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.01236626735037597
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.01367017537744363
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.01367017537744363
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.01367017537744363
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.014974083404511288
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.014974083404511288
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.014974083404511288
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.01627799143157897
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.01627799143157897
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.01627799143157897
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.017581899458646646
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.017581899458646646
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.017581899458646646
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.01888580748571431
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.01888580748571431
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.01888580748571431
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.020189715512781967
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.020189715512781967
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.020189715512781967
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.021493623539849648
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.021493623539849648
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.021493623539849648
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.022797531566917325
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.022797531566917325
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.022797531566917325
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.024101439593984985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.024101439593984985
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.024101439593984985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.025405347621052645
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.025405347621052645
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.025405347621052645
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.026709255648120326
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.026709255648120326
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.026709255648120326
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.028013163675188003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.028013163675188003
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.028013163675188003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.02931707170225566
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.02931707170225566
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.02931707170225566
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.030620979729323324
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.030620979729323324
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.030620979729323324
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.031924887756391004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.031924887756391004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.031924887756391004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.03322879578345868
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.03322879578345868
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.03322879578345868
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.034532703810526345
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.034532703810526345
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.034532703810526345
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.035836611837594
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.035836611837594
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.035836611837594
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.03714051986466168
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.03714051986466168
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.03714051986466168
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.03844442789172936
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.03844442789172936
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.03844442789172936
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.03974833591879702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.03974833591879702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.03974833591879702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04105224394586468
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04105224394586468
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04105224394586468
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04235615197293236
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04235615197293236
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04235615197293236
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04366006
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021931636
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04366006
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05473005083709274
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05473005083709274
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05473005083709274
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05579759767418546
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05579759767418546
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05579759767418546
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0568651445112782
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0568651445112782
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0568651445112782
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.057932691348370924
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.057932691348370924
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.057932691348370924
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05900023818546366
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05900023818546366
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05900023818546366
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06006778502255639
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06006778502255639
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06006778502255639
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.061135331859649124
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.061135331859649124
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.061135331859649124
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06220287869674185
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06220287869674185
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06220287869674185
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.04257085309874688
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.04257085309874688
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.04257085309874688
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.04150330626165414
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.04150330626165414
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.04150330626165414
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.04043575942456141
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.04043575942456141
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.04043575942456141
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03936821258746868
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03936821258746868
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03936821258746868
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03830066575037594
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03830066575037594
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03830066575037594
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.037233118913283215
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.037233118913283215
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.037233118913283215
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03616557207619048
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03616557207619048
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03616557207619048
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03509802523909775
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03509802523909775
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03509802523909775
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.034030478402005016
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.034030478402005016
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.034030478402005016
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03296293156491229
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03296293156491229
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.03296293156491229
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.031895384727819553
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.031895384727819553
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.031895384727819553
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.030827837890726822
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.030827837890726822
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.030827837890726822
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.02976029105363409
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.02976029105363409
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.02976029105363409
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.028692744216541357
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.028692744216541357
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.028692744216541357
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.027625197379448626
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.027625197379448626
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.027625197379448626
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.026557650542355895
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.026557650542355895
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.026557650542355895
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.025490103705263164
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.025490103705263164
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.025490103705263164
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.024422556868170433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.024422556868170433
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.024422556868170433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.023355010031077702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.023355010031077702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.023355010031077702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.02228746319398497
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.02228746319398497
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.02228746319398497
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.021219916356892233
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.021219916356892233
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.021219916356892233
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.02015236951979951
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.02015236951979951
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.02015236951979951
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.01908482268270677
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.01908482268270677
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.01908482268270677
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.01801727584561404
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.01801727584561404
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.01801727584561404
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.01694972900852131
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.01694972900852131
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.01694972900852131
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.015882182171428578
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.015882182171428578
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.015882182171428578
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.014814635334335843
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.014814635334335843
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.014814635334335843
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.01374708849724312
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.01374708849724312
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.01374708849724312
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.012679541660150381
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.012679541660150381
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.012679541660150381
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.011611994823057657
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.011611994823057657
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.011611994823057657
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.010544447985964916
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.010544447985964916
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.062394728
+ y: 0.010544447985964916
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06164744521403509
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06164744521403509
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06164744521403509
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06057989837694236
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06057989837694236
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06057989837694236
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.059512351539849635
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.059512351539849635
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.059512351539849635
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0584448047027569
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0584448047027569
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0584448047027569
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05737725786566416
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05737725786566416
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05737725786566416
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05630971102857143
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05630971102857143
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05630971102857143
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.055242164191478704
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.055242164191478704
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.055242164191478704
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.054174617354385966
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.054174617354385966
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.054174617354385966
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.010779617417543852
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.010779617417543852
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.010779617417543852
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.011847164254636588
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.011847164254636588
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.011847164254636588
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.012914711091729326
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.012914711091729326
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.012914711091729326
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.013982257928822054
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.013982257928822054
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.013982257928822054
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.01504980476591478
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.01504980476591478
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.01504980476591478
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.016117351603007517
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.016117351603007517
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.016117351603007517
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.017184898440100252
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.017184898440100252
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.017184898440100252
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.01825244527719298
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.01825244527719298
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.01825244527719298
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.019319992114285704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.019319992114285704
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.019319992114285704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.02038753895137844
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.02038753895137844
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.02038753895137844
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.02145508578847118
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.02145508578847118
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.02145508578847118
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.022522632625563907
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.022522632625563907
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.022522632625563907
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.023590179462656635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.023590179462656635
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.023590179462656635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.024657726299749372
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.024657726299749372
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.024657726299749372
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.025725273136842107
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.025725273136842107
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.025725273136842107
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.026792819973934835
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.026792819973934835
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.026792819973934835
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.027860366811027562
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.027860366811027562
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.027860366811027562
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.028927913648120297
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.028927913648120297
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.028927913648120297
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.02999546048521303
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.02999546048521303
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.02999546048521303
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03106300732230576
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03106300732230576
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03106300732230576
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.032130554159398486
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.032130554159398486
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.032130554159398486
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.033198100996491224
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.033198100996491224
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.033198100996491224
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03426564783358396
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03426564783358396
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03426564783358396
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03533319467067669
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03533319467067669
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03533319467067669
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03640074150776941
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03640074150776941
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03640074150776941
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.037468288344862155
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.037468288344862155
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.037468288344862155
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.038535835181954886
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.038535835181954886
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.038535835181954886
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03960338201904762
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03960338201904762
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.03960338201904762
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04067092885614034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04067092885614034
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04067092885614034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04173847569323308
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04173847569323308
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04173847569323308
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04280602253032581
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04280602253032581
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04280602253032581
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04366006
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053662504
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04366006
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06821298889573936
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06821298889573936
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06821298889573936
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06951769279147871
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06951769279147871
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06951769279147871
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07082239668721804
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07082239668721804
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07082239668721804
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0721271005829574
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0721271005829574
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0721271005829574
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07343180447869675
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07343180447869675
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07343180447869675
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0747365083744361
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0747365083744361
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0747365083744361
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07604121227017545
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07604121227017545
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07604121227017545
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07734591616591478
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07734591616591478
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07734591616591478
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07865062006165414
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07865062006165414
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07865062006165414
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07995532395739349
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07995532395739349
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07995532395739349
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08126002785313284
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08126002785313284
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08126002785313284
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08256473174887219
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08256473174887219
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08256473174887219
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08386943564461155
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08386943564461155
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08386943564461155
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08517413954035088
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08517413954035088
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08517413954035088
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08647884343609023
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08647884343609023
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08647884343609023
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08778354733182958
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08778354733182958
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08778354733182958
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08908825122756893
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08908825122756893
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08908825122756893
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09039295512330828
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09039295512330828
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09039295512330828
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09169765901904763
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09169765901904763
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09169765901904763
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09300236291478697
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09300236291478697
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09300236291478697
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09430706681052632
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09430706681052632
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09430706681052632
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09561177070626567
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09561177070626567
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09561177070626567
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09691647460200503
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09691647460200503
+ y: 0.04366006
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09691647460200503
+ y: 0.04366006
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.04355637850225565
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.04355637850225565
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.04355637850225565
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.042251674606516305
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.042251674606516305
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.042251674606516305
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.04094697071077695
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.04094697071077695
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.04094697071077695
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.0396422668150376
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.0396422668150376
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.0396422668150376
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.03833756291929826
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.03833756291929826
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09811749700000001
+ y: 0.03833756291929826
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09809049602355893
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09809049602355893
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09809049602355893
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09678579212781958
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09678579212781958
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09678579212781958
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09548108823208022
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09548108823208022
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09548108823208022
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09417638433634087
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09417638433634087
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09417638433634087
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09287168044060153
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09287168044060153
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09287168044060153
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09156697654486219
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09156697654486219
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09156697654486219
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09026227264912284
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09026227264912284
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09026227264912284
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08895756875338348
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08895756875338348
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08895756875338348
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08765286485764413
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08765286485764413
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08765286485764413
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.036191499987969944
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.036191499987969944
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.036191499987969944
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.034886796092230596
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.034886796092230596
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.034886796092230596
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.03358209219649125
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.03358209219649125
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.03358209219649125
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.03227738830075189
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.03227738830075189
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.03227738830075189
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.03097268440501255
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.03097268440501255
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.03097268440501255
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.0296679805092732
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.0296679805092732
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.0296679805092732
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.028363276613533852
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.028363276613533852
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.028363276613533852
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.027058572717794504
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.027058572717794504
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.027058572717794504
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.025753868822055163
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.025753868822055163
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.025753868822055163
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.02444916492631581
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.02444916492631581
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.02444916492631581
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.02314446103057646
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.02314446103057646
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.02314446103057646
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.021839757134837115
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.021839757134837115
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.021839757134837115
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.02053505323909777
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.02053505323909777
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.02053505323909777
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.019230349343358426
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.019230349343358426
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.019230349343358426
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.017925645447619074
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.017925645447619074
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.017925645447619074
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.01662094155187973
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.01662094155187973
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.01662094155187973
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.015316237656140382
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.015316237656140382
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.015316237656140382
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.014011533760401033
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.014011533760401033
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.014011533760401033
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.012706829864661685
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.012706829864661685
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.012706829864661685
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.011402125968922334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.011402125968922334
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.011402125968922334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.010097422073182991
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.010097422073182991
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08689034500000001
+ y: 0.010097422073182991
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08588589797744364
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08588589797744364
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08588589797744364
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0845811940817043
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0845811940817043
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0845811940817043
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08327649018596495
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08327649018596495
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08327649018596495
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08197178629022561
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08197178629022561
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08197178629022561
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08066708239448626
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08066708239448626
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08066708239448626
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0793623784987469
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0793623784987469
+ y: 0.009797165200000001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0793623784987469
+ y: 0.009797165200000001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.009897602596992457
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.009897602596992457
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.009897602596992457
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.011202306492731805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.011202306492731805
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.011202306492731805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.012507010388471154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.012507010388471154
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.012507010388471154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.013811714284210503
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.013811714284210503
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.013811714284210503
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.01511641817994985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.01511641817994985
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.01511641817994985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.016421122075689198
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.016421122075689198
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.016421122075689198
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.01772582597142855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.01772582597142855
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.01772582597142855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.019030529867167897
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.019030529867167897
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.019030529867167897
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.020335233762907245
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.020335233762907245
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.020335233762907245
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.02163993765864659
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.02163993765864659
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.02163993765864659
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.022944641554385938
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.022944641554385938
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.022944641554385938
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.02424934545012529
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.02424934545012529
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.02424934545012529
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.025554049345864638
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.025554049345864638
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.025554049345864638
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.026858753241603986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.026858753241603986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.026858753241603986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.028163457137343337
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.028163457137343337
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.028163457137343337
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.029468161033082682
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.029468161033082682
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.029468161033082682
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.03077286492882203
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.03077286492882203
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.03077286492882203
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.032077568824561385
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.032077568824561385
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.032077568824561385
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.033382272720300726
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.033382272720300726
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.033382272720300726
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.03468697661604008
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.03468697661604008
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.03468697661604008
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.03599168051177942
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.03599168051177942
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07815811200000002
+ y: 0.03599168051177942
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07792158759248125
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07792158759248125
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07792158759248125
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0766168836967419
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0766168836967419
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0766168836967419
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07531217980100255
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07531217980100255
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07531217980100255
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0740074759052632
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0740074759052632
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0740074759052632
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07270277200952385
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07270277200952385
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07270277200952385
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0713980681137845
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0713980681137845
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0713980681137845
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07009336421804516
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07009336421804516
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07009336421804516
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06878866032230582
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06878866032230582
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06878866032230582
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06748395642656646
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06748395642656646
+ y: 0.03705986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06748395642656646
+ y: 0.03705986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000003
+ y: 0.038115068443107754
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000003
+ y: 0.038115068443107754
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000003
+ y: 0.038115068443107754
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000003
+ y: 0.0394197723388471
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000003
+ y: 0.0394197723388471
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000003
+ y: 0.0394197723388471
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04072447623458646
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04072447623458646
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04072447623458646
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.042029180130325805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.042029180130325805
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.042029180130325805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04333388402606516
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04333388402606516
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04333388402606516
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04366006
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06690828500000001
+ y: 0.04366006
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.013082232
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.013082232
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.013082232
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.013082232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05071456351424036
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05071456351424036
+ y: -0.013082232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05071456351424036
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.049571003028480734
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.049571003028480734
+ y: -0.013082232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.049571003028480734
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0484274425427211
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0484274425427211
+ y: -0.013082232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0484274425427211
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04728388205696147
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04728388205696147
+ y: -0.013082232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04728388205696147
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.046140321571201834
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.046140321571201834
+ y: -0.013082232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.046140321571201834
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0449967610854422
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0449967610854422
+ y: -0.013082232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0449967610854422
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04385320059968257
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04385320059968257
+ y: -0.013082232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04385320059968257
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.042709640113922934
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.042709640113922934
+ y: -0.013082232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.042709640113922934
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0415660796281633
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0415660796281633
+ y: -0.013082232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0415660796281633
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04042251914240367
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04042251914240367
+ y: -0.013082232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04042251914240367
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03927895865664403
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03927895865664403
+ y: -0.013082232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03927895865664403
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0381353981708844
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0381353981708844
+ y: -0.013082232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0381353981708844
+ y: -0.013082232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036910784819519565
+ y: -0.013085845313088871
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036910784819519565
+ y: -0.013085845313088871
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036910784819519565
+ y: -0.013085845313088871
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.035895469715033025
+ y: -0.0131215587735585
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.035895469715033025
+ y: -0.0131215587735585
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.035895469715033025
+ y: -0.0131215587735585
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03460394301089546
+ y: -0.013228595742423594
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03460394301089546
+ y: -0.013228595742423594
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03460394301089546
+ y: -0.013228595742423594
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.033383532479891606
+ y: -0.013403540263056582
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.033383532479891606
+ y: -0.013403540263056582
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.033383532479891606
+ y: -0.013403540263056582
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03223423797612743
+ y: -0.013646392442958333
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03223423797612743
+ y: -0.013646392442958333
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03223423797612743
+ y: -0.013646392442958333
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.031156059353708885
+ y: -0.013957152389629716
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.031156059353708885
+ y: -0.013957152389629716
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.031156059353708885
+ y: -0.013957152389629716
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030148996466741945
+ y: -0.014335820210571592
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030148996466741945
+ y: -0.014335820210571592
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030148996466741945
+ y: -0.014335820210571592
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029213049169332577
+ y: -0.014782396013284831
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029213049169332577
+ y: -0.014782396013284831
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029213049169332577
+ y: -0.014782396013284831
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028348217315586753
+ y: -0.0152968799052703
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028348217315586753
+ y: -0.0152968799052703
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028348217315586753
+ y: -0.0152968799052703
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02735410347448341
+ y: -0.016045468699857922
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02735410347448341
+ y: -0.016045468699857922
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02735410347448341
+ y: -0.016045468699857922
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02655643504130594
+ y: -0.016803608707574042
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02655643504130594
+ y: -0.016803608707574042
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02655643504130594
+ y: -0.016803608707574042
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025866289173628956
+ y: -0.017637646673902253
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025866289173628956
+ y: -0.017637646673902253
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025866289173628956
+ y: -0.017637646673902253
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025283665987150532
+ y: -0.01854758271454063
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025283665987150532
+ y: -0.01854758271454063
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025283665987150532
+ y: -0.01854758271454063
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02480856559756875
+ y: -0.019533416945187256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02480856559756875
+ y: -0.019533416945187256
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02480856559756875
+ y: -0.019533416945187256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02444098812058168
+ y: -0.020595149481540204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02444098812058168
+ y: -0.020595149481540204
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02444098812058168
+ y: -0.020595149481540204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02418093367188741
+ y: -0.021732780439297564
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02418093367188741
+ y: -0.021732780439297564
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02418093367188741
+ y: -0.021732780439297564
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024028402367184017
+ y: -0.022946309934157402
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024028402367184017
+ y: -0.022946309934157402
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024028402367184017
+ y: -0.022946309934157402
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023983391229230055
+ y: -0.024235227327777713
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023983391229230055
+ y: -0.024235227327777713
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.023983391229230055
+ y: -0.024235227327777713
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02404536387085331
+ y: -0.02551255889382556
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02404536387085331
+ y: -0.02551255889382556
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02404536387085331
+ y: -0.02551255889382556
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024213926439308746
+ y: -0.026714650387585633
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024213926439308746
+ y: -0.026714650387585633
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024213926439308746
+ y: -0.026714650387585633
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024489078820401432
+ y: -0.02784150169486298
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024489078820401432
+ y: -0.02784150169486298
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.024489078820401432
+ y: -0.02784150169486298
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02487082089993642
+ y: -0.02889311270146267
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02487082089993642
+ y: -0.02889311270146267
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02487082089993642
+ y: -0.02889311270146267
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025359152563718765
+ y: -0.02986948329318975
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025359152563718765
+ y: -0.02986948329318975
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025359152563718765
+ y: -0.02986948329318975
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02595407369755353
+ y: -0.030770613355849283
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02595407369755353
+ y: -0.030770613355849283
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02595407369755353
+ y: -0.030770613355849283
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02665558418724577
+ y: -0.031596502775246324
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02665558418724577
+ y: -0.031596502775246324
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02665558418724577
+ y: -0.031596502775246324
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.027462336543451413
+ y: -0.03234602554901122
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.027462336543451413
+ y: -0.03234602554901122
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.027462336543451413
+ y: -0.03234602554901122
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0284556329538187
+ y: -0.0330686320648118
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0284556329538187
+ y: -0.0330686320648118
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0284556329538187
+ y: -0.0330686320648118
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029330413421094013
+ y: -0.03357079162078818
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029330413421094013
+ y: -0.03357079162078818
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.029330413421094013
+ y: -0.03357079162078818
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030276432570371232
+ y: -0.034005461620772746
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030276432570371232
+ y: -0.034005461620772746
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030276432570371232
+ y: -0.034005461620772746
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03129369054792374
+ y: -0.03437264198777954
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03129369054792374
+ y: -0.03437264198777954
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03129369054792374
+ y: -0.03437264198777954
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03238218750002492
+ y: -0.034672332644822564
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03238218750002492
+ y: -0.034672332644822564
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03238218750002492
+ y: -0.034672332644822564
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.033541923572948135
+ y: -0.03490453351491582
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.033541923572948135
+ y: -0.03490453351491582
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.033541923572948135
+ y: -0.03490453351491582
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.034772898912966775
+ y: -0.03506924452107334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.034772898912966775
+ y: -0.03506924452107334
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.034772898912966775
+ y: -0.03506924452107334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0360751136663542
+ y: -0.03516646558630911
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0360751136663542
+ y: -0.03516646558630911
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0360751136663542
+ y: -0.03516646558630911
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03709852568441062
+ y: -0.03519509106519419
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03709852568441062
+ y: -0.03519509106519419
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03709852568441062
+ y: -0.03519509106519419
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.038290572861939
+ y: -0.035196316000000005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.038290572861939
+ y: -0.035196316000000005
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.038290572861939
+ y: -0.035196316000000005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03943413334769864
+ y: -0.035196316000000005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03943413334769864
+ y: -0.035196316000000005
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03943413334769864
+ y: -0.035196316000000005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040577693833458266
+ y: -0.035196316000000005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040577693833458266
+ y: -0.035196316000000005
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040577693833458266
+ y: -0.035196316000000005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0417212543192179
+ y: -0.035196316000000005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0417212543192179
+ y: -0.035196316000000005
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0417212543192179
+ y: -0.035196316000000005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04286481480497753
+ y: -0.035196316000000005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04286481480497753
+ y: -0.035196316000000005
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04286481480497753
+ y: -0.035196316000000005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.03636469041217707
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.03636469041217707
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.03636469041217707
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.037508250897936704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.037508250897936704
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.037508250897936704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.03865181138369633
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.03865181138369633
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.03865181138369633
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.03979537186945597
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.03979537186945597
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.03979537186945597
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.040938932355215604
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.040938932355215604
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.040938932355215604
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.04208249284097523
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.04208249284097523
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.04208249284097523
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.04322605332673487
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.04322605332673487
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.04322605332673487
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.044369613812494504
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.044369613812494504
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.044369613812494504
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.04551317429825413
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.04551317429825413
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.04551317429825413
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.04665673478401377
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.04665673478401377
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891
+ y: -0.04665673478401377
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04426695039121332
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04426695039121332
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04426695039121332
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04541051087697295
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04541051087697295
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04541051087697295
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04655407136273258
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04655407136273258
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04655407136273258
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04769763184849222
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04769763184849222
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04769763184849222
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04884119233425185
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04884119233425185
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04884119233425185
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04998475282001148
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04998475282001148
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04998475282001148
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05112831330577112
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05112831330577112
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05112831330577112
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04624548608702934
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04624548608702934
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04624548608702934
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04510192560126971
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04510192560126971
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04510192560126971
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04395836511551007
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04395836511551007
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04395836511551007
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.042814804629750444
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.042814804629750444
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.042814804629750444
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04167124414399081
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04167124414399081
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04167124414399081
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04052768365823117
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04052768365823117
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.04052768365823117
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.039384123172471544
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.039384123172471544
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.039384123172471544
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.0382405626867119
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.0382405626867119
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.0382405626867119
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.037097002200952266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.037097002200952266
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.037097002200952266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.03595344171519264
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.03595344171519264
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.03595344171519264
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.034809881229433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.034809881229433
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.034809881229433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.033666320743673366
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.033666320743673366
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.033666320743673366
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.03252276025791374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.03252276025791374
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.03252276025791374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.0313791997721541
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.0313791997721541
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.0313791997721541
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.03023563928639447
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.03023563928639447
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.03023563928639447
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.029092078800634837
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.029092078800634837
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.029092078800634837
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.027948518314875204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.027948518314875204
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.027948518314875204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.02680495782911557
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.02680495782911557
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.02680495782911557
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.02566139734335594
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.02566139734335594
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.02566139734335594
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.024517836857596308
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.024517836857596308
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.024517836857596308
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.023374276371836672
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.023374276371836672
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.023374276371836672
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.02223071588607704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.02223071588607704
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.02223071588607704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.021087155400317404
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.021087155400317404
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.021087155400317404
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.019943594914557772
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.019943594914557772
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.019943594914557772
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.01880003442879814
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.01880003442879814
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.01880003442879814
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.017656473943038507
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.017656473943038507
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.017656473943038507
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.016512913457278875
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.016512913457278875
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.016512913457278875
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.015369352971519238
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.015369352971519238
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.015369352971519238
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.014225792485759605
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.014225792485759605
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.014225792485759605
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.013082231999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.013082231999999997
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.013082231999999997
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051858124
+ y: -0.013082231999999997
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.019410256
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.019410256
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.019410256
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.019410256
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.020471976188560163
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.020471976188560163
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.020471976188560163
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.02153369637712033
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.02153369637712033
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.02153369637712033
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.022595416565680492
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.022595416565680492
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.022595416565680492
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.023657136754240655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.023657136754240655
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.023657136754240655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.024718856942800817
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.024718856942800817
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.024718856942800817
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.02578057713136098
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.02578057713136098
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.02578057713136098
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.026842297319921146
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.026842297319921146
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.026842297319921146
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.027904017508481305
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.027904017508481305
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.027904017508481305
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04285148593819851
+ y: -0.028868286000000003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04285148593819851
+ y: -0.028868286000000003
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04285148593819851
+ y: -0.028868286000000003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041789765749638344
+ y: -0.028868286000000003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041789765749638344
+ y: -0.028868286000000003
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.041789765749638344
+ y: -0.028868286000000003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04072804556107818
+ y: -0.028868286000000003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04072804556107818
+ y: -0.028868286000000003
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04072804556107818
+ y: -0.028868286000000003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03966632537251802
+ y: -0.028868286000000003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03966632537251802
+ y: -0.028868286000000003
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03966632537251802
+ y: -0.028868286000000003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.038604605183957856
+ y: -0.028868286000000003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.038604605183957856
+ y: -0.028868286000000003
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.038604605183957856
+ y: -0.028868286000000003
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03752170084142102
+ y: -0.028837770224424637
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03752170084142102
+ y: -0.028837770224424637
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03752170084142102
+ y: -0.028837770224424637
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036491888201131306
+ y: -0.028682577306288704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036491888201131306
+ y: -0.028682577306288704
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036491888201131306
+ y: -0.028682577306288704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.035509915638836875
+ y: -0.02836349716706397
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.035509915638836875
+ y: -0.02836349716706397
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.035509915638836875
+ y: -0.02836349716706397
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03461268331747297
+ y: -0.027841460356771233
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03461268331747297
+ y: -0.027841460356771233
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03461268331747297
+ y: -0.027841460356771233
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03386378499835741
+ y: -0.027091680818270365
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03386378499835741
+ y: -0.027091680818270365
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03386378499835741
+ y: -0.027091680818270365
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03336652066574746
+ y: -0.026222732382640456
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03336652066574746
+ y: -0.026222732382640456
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03336652066574746
+ y: -0.026222732382640456
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.033074616731911505
+ y: -0.025202291031726415
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.033074616731911505
+ y: -0.025202291031726415
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.033074616731911505
+ y: -0.025202291031726415
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03298744132455022
+ y: -0.024133804142114638
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03298744132455022
+ y: -0.024133804142114638
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03298744132455022
+ y: -0.024133804142114638
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0330736676075827
+ y: -0.023060491361076588
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0330736676075827
+ y: -0.023060491361076588
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0330736676075827
+ y: -0.023060491361076588
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0333664773511755
+ y: -0.02203944214321588
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0333664773511755
+ y: -0.02203944214321588
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0333664773511755
+ y: -0.02203944214321588
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03391771730808074
+ y: -0.02110978337832906
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03391771730808074
+ y: -0.02110978337832906
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03391771730808074
+ y: -0.02110978337832906
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03468198656213321
+ y: -0.0203857362561593
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03468198656213321
+ y: -0.0203857362561593
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03468198656213321
+ y: -0.0203857362561593
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03559389606005738
+ y: -0.019879238501514917
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03559389606005738
+ y: -0.019879238501514917
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03559389606005738
+ y: -0.019879238501514917
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03658941685022611
+ y: -0.01957450574549672
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03658941685022611
+ y: -0.01957450574549672
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03658941685022611
+ y: -0.01957450574549672
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03763164875412696
+ y: -0.019432465116212477
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03763164875412696
+ y: -0.019432465116212477
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03763164875412696
+ y: -0.019432465116212477
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.038702056880999314
+ y: -0.019410256000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.038702056880999314
+ y: -0.019410256000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.038702056880999314
+ y: -0.019410256000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03976377706955948
+ y: -0.019410256000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03976377706955948
+ y: -0.019410256000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03976377706955948
+ y: -0.019410256000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040825497258119646
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040825497258119646
+ y: -0.019410256
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040825497258119646
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04188721744667981
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04188721744667981
+ y: -0.019410256
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04188721744667981
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04294893763523997
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04294893763523997
+ y: -0.019410256
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04294893763523997
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.019410256
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.019410256
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.043125891000000006
+ y: -0.019410256
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.034130306
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.034130306
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.034130306
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.034130306
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.034130306
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.034130306
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.03524001011016946
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.03524001011016946
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.03524001011016946
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.03634971422033892
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.03634971422033892
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.03634971422033892
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.03745941833050838
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.03745941833050838
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.03745941833050838
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.03856912244067784
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.03856912244067784
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.03856912244067784
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.0396788265508473
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.0396788265508473
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.0396788265508473
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04078853066101676
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04078853066101676
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04078853066101676
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04189823477118622
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04189823477118622
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04189823477118622
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04300793888135567
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04300793888135567
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04300793888135567
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04411764299152513
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04411764299152513
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04411764299152513
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04522734710169459
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04522734710169459
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04522734710169459
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04633705121186405
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04633705121186405
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.04633705121186405
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009953068092090005
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009953068092090005
+ y: -0.046945126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009953068092090005
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011062772202259463
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011062772202259463
+ y: -0.046945126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011062772202259463
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012172476312428923
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012172476312428923
+ y: -0.046945126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012172476312428923
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013282180422598383
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013282180422598383
+ y: -0.046945126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013282180422598383
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014391884532767844
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014391884532767844
+ y: -0.046945126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014391884532767844
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015501588642937304
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015501588642937304
+ y: -0.046945126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015501588642937304
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016611292753106764
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016611292753106764
+ y: -0.046945126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016611292753106764
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01772099686327622
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01772099686327622
+ y: -0.046945126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01772099686327622
+ y: -0.046945126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04592819602655432
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04592819602655432
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04592819602655432
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04481849191638486
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04481849191638486
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04481849191638486
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.0437087878062154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.0437087878062154
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.0437087878062154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04259908369604594
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04259908369604594
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04259908369604594
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04148937958587648
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04148937958587648
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04148937958587648
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04037967547570702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04037967547570702
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.04037967547570702
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03926997136553756
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03926997136553756
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03926997136553756
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.0381602672553681
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.0381602672553681
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.0381602672553681
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03705056314519864
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03705056314519864
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03705056314519864
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03594085903502918
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03594085903502918
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03594085903502918
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03483115492485972
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03483115492485972
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03483115492485972
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03372145081469026
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03372145081469026
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03372145081469026
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.0326117467045208
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.0326117467045208
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.0326117467045208
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03150204259435134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03150204259435134
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03150204259435134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03039233848418188
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03039233848418188
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.03039233848418188
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.02928263437401242
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.02928263437401242
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.02928263437401242
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.02817293026384296
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.02817293026384296
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.02817293026384296
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.0270632261536735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.0270632261536735
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.0270632261536735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.025953522043504044
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.025953522043504044
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.025953522043504044
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.02484381793333458
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.02484381793333458
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.02484381793333458
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.023734113823165124
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.023734113823165124
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.023734113823165124
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.022624409712995664
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.022624409712995664
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.022624409712995664
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.021514705602826204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.021514705602826204
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.021514705602826204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.020405001492656744
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.020405001492656744
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.020405001492656744
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.019295297382487284
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.019295297382487284
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.019295297382487284
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.018185593272317824
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.018185593272317824
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.018185593272317824
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.017075889162148368
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.017075889162148368
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.017075889162148368
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.015966185051978905
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.015966185051978905
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.015966185051978905
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.014856480941809445
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.014856480941809445
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.014856480941809445
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.013746776831639985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.013746776831639985
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.017813771000000003
+ y: -0.013746776831639985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016998710351414047
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016998710351414047
+ y: -0.013082231999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016998710351414047
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015889006241244587
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015889006241244587
+ y: -0.013082231999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015889006241244587
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014779302131075128
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014779302131075128
+ y: -0.013082231999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.014779302131075128
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013669598020905668
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013669598020905668
+ y: -0.013082231999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.013669598020905668
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012559893910736208
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012559893910736208
+ y: -0.013082231999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012559893910736208
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01145018980056675
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01145018980056675
+ y: -0.013082231999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01145018980056675
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01034048569039729
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01034048569039729
+ y: -0.013082231999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01034048569039729
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00923078158022783
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00923078158022783
+ y: -0.013082231999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00923078158022783
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008121077470058372
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008121077470058372
+ y: -0.013082231999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008121077470058372
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007011373359888911
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007011373359888911
+ y: -0.013082231999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007011373359888911
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005901669249719453
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005901669249719453
+ y: -0.013082231999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005901669249719453
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004791965139549993
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004791965139549993
+ y: -0.013082231999999997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004791965139549993
+ y: -0.013082231999999997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0034566253542502715
+ y: -0.013095856690897576
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0034566253542502715
+ y: -0.013095856690897576
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0034566253542502715
+ y: -0.013095856690897576
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.002104689175999007
+ y: -0.013160437961345268
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.002104689175999007
+ y: -0.013160437961345268
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.002104689175999007
+ y: -0.013160437961345268
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008374848491989866
+ y: -0.013278110680402645
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008374848491989866
+ y: -0.013278110680402645
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008374848491989866
+ y: -0.013278110680402645
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0003449874849332035
+ y: -0.013448874956045253
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0003449874849332035
+ y: -0.013448874956045253
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0003449874849332035
+ y: -0.013448874956045253
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0014427276851809747
+ y: -0.013672730896248632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0014427276851809747
+ y: -0.013672730896248632
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0014427276851809747
+ y: -0.013672730896248632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002455735610327749
+ y: -0.013949678608988336
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002455735610327749
+ y: -0.013949678608988336
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002455735610327749
+ y: -0.013949678608988336
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0036746068385104884
+ y: -0.014401529614322166
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0036746068385104884
+ y: -0.014401529614322166
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0036746068385104884
+ y: -0.014401529614322166
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004742842325170784
+ y: -0.01494776644095245
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004742842325170784
+ y: -0.01494776644095245
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004742842325170784
+ y: -0.01494776644095245
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0057515280519906346
+ y: -0.01566123335909806
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0057515280519906346
+ y: -0.01566123335909806
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0057515280519906346
+ y: -0.01566123335909806
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006490935713251094
+ y: -0.01637833316695462
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006490935713251094
+ y: -0.01637833316695462
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006490935713251094
+ y: -0.01637833316695462
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0071122590019167846
+ y: -0.017193836377078244
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0071122590019167846
+ y: -0.017193836377078244
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0071122590019167846
+ y: -0.017193836377078244
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007615497779640094
+ y: -0.01810774283402218
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007615497779640094
+ y: -0.01810774283402218
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007615497779640094
+ y: -0.01810774283402218
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008000651908073394
+ y: -0.019120052382339655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008000651908073394
+ y: -0.019120052382339655
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008000651908073394
+ y: -0.019120052382339655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008267721248869058
+ y: -0.020230764866583886
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008267721248869058
+ y: -0.020230764866583886
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008267721248869058
+ y: -0.020230764866583886
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008416705663679474
+ y: -0.021439880131308122
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008416705663679474
+ y: -0.021439880131308122
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008416705663679474
+ y: -0.021439880131308122
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008447624324170937
+ y: -0.022727756786424597
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008447624324170937
+ y: -0.022727756786424597
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008447624324170937
+ y: -0.022727756786424597
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00836094041178165
+ y: -0.023936827283641843
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00836094041178165
+ y: -0.023936827283641843
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00836094041178165
+ y: -0.023936827283641843
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008156850789770612
+ y: -0.025059474028261256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008156850789770612
+ y: -0.025059474028261256
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008156850789770612
+ y: -0.025059474028261256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007835355073747103
+ y: -0.02609569702028286
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007835355073747103
+ y: -0.02609569702028286
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007835355073747103
+ y: -0.02609569702028286
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007396452879320391
+ y: -0.027045496259706665
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007396452879320391
+ y: -0.027045496259706665
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007396452879320391
+ y: -0.027045496259706665
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006840143822099764
+ y: -0.02790887174653265
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006840143822099764
+ y: -0.02790887174653265
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006840143822099764
+ y: -0.02790887174653265
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006181532696321212
+ y: -0.028680380244262716
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006181532696321212
+ y: -0.028680380244262716
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.006181532696321212
+ y: -0.028680380244262716
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005406999134694602
+ y: -0.02937179046360693
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005406999134694602
+ y: -0.02937179046360693
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005406999134694602
+ y: -0.02937179046360693
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004515994932129984
+ y: -0.02998342551492118
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004515994932129984
+ y: -0.02998342551492118
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004515994932129984
+ y: -0.02998342551492118
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0035085193722656414
+ y: -0.030515285398205454
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0035085193722656414
+ y: -0.030515285398205454
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0035085193722656414
+ y: -0.030515285398205454
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0023845717387398642
+ y: -0.030967370113459743
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0023845717387398642
+ y: -0.030967370113459743
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0023845717387398642
+ y: -0.030967370113459743
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0032605952503470766
+ y: -0.03158103066991616
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0032605952503470766
+ y: -0.03158103066991616
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0032605952503470766
+ y: -0.03158103066991616
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004198952371002349
+ y: -0.03215058038122556
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004198952371002349
+ y: -0.03215058038122556
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004198952371002349
+ y: -0.03215058038122556
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005069887900977411
+ y: -0.03290256476253384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005069887900977411
+ y: -0.03290256476253384
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005069887900977411
+ y: -0.03290256476253384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005897167019776713
+ y: -0.03383439810554612
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005897167019776713
+ y: -0.03383439810554612
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005897167019776713
+ y: -0.03383439810554612
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0065056295780797505
+ y: -0.034674025332586914
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0065056295780797505
+ y: -0.034674025332586914
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0065056295780797505
+ y: -0.034674025332586914
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0071161250411687985
+ y: -0.035647790024350444
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0071161250411687985
+ y: -0.035647790024350444
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0071161250411687985
+ y: -0.035647790024350444
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007728652367775082
+ y: -0.0367556921808367
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007728652367775082
+ y: -0.0367556921808367
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007728652367775082
+ y: -0.0367556921808367
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008277836552005653
+ y: -0.03785137697001283
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008277836552005653
+ y: -0.03785137697001283
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008277836552005653
+ y: -0.03785137697001283
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00876846930569405
+ y: -0.03884672751787782
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00876846930569405
+ y: -0.03884672751787782
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00876846930569405
+ y: -0.03884672751787782
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009259102059382447
+ y: -0.039842078065742824
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009259102059382447
+ y: -0.039842078065742824
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009259102059382447
+ y: -0.039842078065742824
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009749734813070838
+ y: -0.040837428613607805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009749734813070838
+ y: -0.040837428613607805
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009749734813070838
+ y: -0.040837428613607805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010240367566759227
+ y: -0.04183277916147279
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010240367566759227
+ y: -0.04183277916147279
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010240367566759227
+ y: -0.04183277916147279
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010731000320447624
+ y: -0.04282812970933779
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010731000320447624
+ y: -0.04282812970933779
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.010731000320447624
+ y: -0.04282812970933779
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011221633074136022
+ y: -0.043823480257202785
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011221633074136022
+ y: -0.043823480257202785
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011221633074136022
+ y: -0.043823480257202785
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011712265827824413
+ y: -0.04481883080506776
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011712265827824413
+ y: -0.04481883080506776
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011712265827824413
+ y: -0.04481883080506776
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012202898581512802
+ y: -0.04581418135293275
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012202898581512802
+ y: -0.04581418135293275
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012202898581512802
+ y: -0.04581418135293275
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012693531335201201
+ y: -0.04680953190079774
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012693531335201201
+ y: -0.04680953190079774
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012693531335201201
+ y: -0.04680953190079774
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011431935716868057
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011431935716868057
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011431935716868057
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01032223160669859
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01032223160669859
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01032223160669859
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009212527496529137
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009212527496529137
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009212527496529137
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008102823386359688
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008102823386359688
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008102823386359688
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00699311927619022
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00699311927619022
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00699311927619022
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005883415166020752
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005883415166020752
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005883415166020752
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004773711055851301
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004773711055851301
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.004773711055851301
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0036640069456818497
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0036640069456818497
+ y: -0.046945126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0036640069456818497
+ y: -0.046945126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00306173249194054
+ y: -0.046130999402417834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00306173249194054
+ y: -0.046130999402417834
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00306173249194054
+ y: -0.046130999402417834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0025729912153318814
+ y: -0.045134718730786616
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0025729912153318814
+ y: -0.045134718730786616
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0025729912153318814
+ y: -0.045134718730786616
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00208424993872323
+ y: -0.04413843805915541
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00208424993872323
+ y: -0.04413843805915541
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00208424993872323
+ y: -0.04413843805915541
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0015955086621145787
+ y: -0.04314215738752421
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0015955086621145787
+ y: -0.04314215738752421
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0015955086621145787
+ y: -0.04314215738752421
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0011067673855059202
+ y: -0.042145876715892996
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0011067673855059202
+ y: -0.042145876715892996
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0011067673855059202
+ y: -0.042145876715892996
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0006180261088972619
+ y: -0.04114959604426178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0006180261088972619
+ y: -0.04114959604426178
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0006180261088972619
+ y: -0.04114959604426178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0001292848322886102
+ y: -0.040153315372630574
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0001292848322886102
+ y: -0.040153315372630574
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0001292848322886102
+ y: -0.040153315372630574
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00035945644432004145
+ y: -0.03915703470099937
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00035945644432004145
+ y: -0.03915703470099937
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00035945644432004145
+ y: -0.03915703470099937
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0009039582569468468
+ y: -0.03806291307154859
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0009039582569468468
+ y: -0.03806291307154859
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0009039582569468468
+ y: -0.03806291307154859
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0015470370040797227
+ y: -0.03694729677353757
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0015470370040797227
+ y: -0.03694729677353757
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0015470370040797227
+ y: -0.03694729677353757
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0021960457220069596
+ y: -0.0360422346609595
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0021960457220069596
+ y: -0.0360422346609595
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0021960457220069596
+ y: -0.0360422346609595
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00307061669553446
+ y: -0.035163010443584476
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00307061669553446
+ y: -0.035163010443584476
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00307061669553446
+ y: -0.035163010443584476
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004197335078877571
+ y: -0.03452491974585933
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004197335078877571
+ y: -0.03452491974585933
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004197335078877571
+ y: -0.03452491974585933
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005251683092986492
+ y: -0.03423909283871014
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005251683092986492
+ y: -0.03423909283871014
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005251683092986492
+ y: -0.03423909283871014
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006471037988523159
+ y: -0.03413129668182423
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006471037988523159
+ y: -0.03413129668182423
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006471037988523159
+ y: -0.03413129668182423
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007601931919774068
+ y: -0.034130306
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007601931919774068
+ y: -0.034130306
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007601931919774068
+ y: -0.034130306
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008711636029943522
+ y: -0.034130306
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008711636029943522
+ y: -0.034130306
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008711636029943522
+ y: -0.034130306
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.034130306
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.034130306
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.034130306
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0054071974
+ y: -0.028097126
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0054071974
+ y: -0.028097126
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0054071974
+ y: -0.028097126
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0054071974
+ y: -0.028097126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0054071974
+ y: -0.028097126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0054071974
+ y: -0.028097126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004319791116334824
+ y: -0.028051779847801626
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004319791116334824
+ y: -0.028051779847801626
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004319791116334824
+ y: -0.028051779847801626
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0032921277163711436
+ y: -0.027898877566359146
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0032921277163711436
+ y: -0.027898877566359146
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0032921277163711436
+ y: -0.027898877566359146
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0023023516711421486
+ y: -0.027584079889773946
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0023023516711421486
+ y: -0.027584079889773946
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0023023516711421486
+ y: -0.027584079889773946
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0014416601189505363
+ y: -0.02704035031059767
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0014416601189505363
+ y: -0.02704035031059767
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0014416601189505363
+ y: -0.02704035031059767
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008042804915471634
+ y: -0.026229213063083893
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008042804915471634
+ y: -0.026229213063083893
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008042804915471634
+ y: -0.026229213063083893
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00043554135763214277
+ y: -0.025224663839166092
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00043554135763214277
+ y: -0.025224663839166092
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00043554135763214277
+ y: -0.025224663839166092
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00029326943481268653
+ y: -0.02417343525967408
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00029326943481268653
+ y: -0.02417343525967408
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00029326943481268653
+ y: -0.02417343525967408
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0003042880267824107
+ y: -0.023104534009411794
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0003042880267824107
+ y: -0.023104534009411794
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0003042880267824107
+ y: -0.023104534009411794
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00047321784072907805
+ y: -0.02208079963357049
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00047321784072907805
+ y: -0.02208079963357049
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00047321784072907805
+ y: -0.02208079963357049
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008776294554301506
+ y: -0.02111332729695229
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008776294554301506
+ y: -0.02111332729695229
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0008776294554301506
+ y: -0.02111332729695229
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0015487320624878924
+ y: -0.020354636891941034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0015487320624878924
+ y: -0.020354636891941034
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0015487320624878924
+ y: -0.020354636891941034
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0024473623763271216
+ y: -0.01985230455403272
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0024473623763271216
+ y: -0.01985230455403272
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0024473623763271216
+ y: -0.01985230455403272
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0034760290274472496
+ y: -0.019567315167310608
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0034760290274472496
+ y: -0.019567315167310608
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0034760290274472496
+ y: -0.019567315167310608
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004537786837407204
+ y: -0.01943784909602887
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004537786837407204
+ y: -0.01943784909602887
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004537786837407204
+ y: -0.01943784909602887
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005592696066180082
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005592696066180082
+ y: -0.019410256
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.005592696066180082
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006622949402878378
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006622949402878378
+ y: -0.019410256
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006622949402878378
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007653202739576671
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007653202739576671
+ y: -0.019410256
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007653202739576671
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008683456076274968
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008683456076274968
+ y: -0.019410256
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008683456076274968
+ y: -0.019410256
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.020359429039649664
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.020359429039649664
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.020359429039649664
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.021389682376347956
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.021389682376347956
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.021389682376347956
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.02241993571304625
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.02241993571304625
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.02241993571304625
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.023450189049744545
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.023450189049744545
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.023450189049744545
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.02448044238644284
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.02448044238644284
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.02448044238644284
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.025510695723141134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.025510695723141134
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.025510695723141134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.026540949059839426
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.026540949059839426
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.026540949059839426
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.027571202396537722
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.027571202396537722
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0090815374
+ y: -0.027571202396537722
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008180956383418488
+ y: -0.028097126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008180956383418488
+ y: -0.028097126000000004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008180956383418488
+ y: -0.028097126000000004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007150703046720195
+ y: -0.028097126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007150703046720195
+ y: -0.028097126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007150703046720195
+ y: -0.028097126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006120449710021898
+ y: -0.028097126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006120449710021898
+ y: -0.028097126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006120449710021898
+ y: -0.028097126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0054071974
+ y: -0.028097126
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0054071974
+ y: -0.028097126
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0054071974
+ y: -0.028097126
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.012469834
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.012469834
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.012469834
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.012469834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.012469834
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.012469834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03471300277798209
+ y: -0.012500039571559632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03471300277798209
+ y: -0.012500039571559632
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03471300277798209
+ y: -0.012500039571559632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03595741385516209
+ y: -0.012590656365248138
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03595741385516209
+ y: -0.012590656365248138
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03595741385516209
+ y: -0.012590656365248138
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0371560762689656
+ y: -0.012741684499579924
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0371560762689656
+ y: -0.012741684499579924
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0371560762689656
+ y: -0.012741684499579924
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03830899005681821
+ y: -0.012953124093069401
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03830899005681821
+ y: -0.012953124093069401
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03830899005681821
+ y: -0.012953124093069401
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039416155256145544
+ y: -0.013224975264230977
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039416155256145544
+ y: -0.013224975264230977
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039416155256145544
+ y: -0.013224975264230977
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04047757190437319
+ y: -0.013557238131579068
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04047757190437319
+ y: -0.013557238131579068
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04047757190437319
+ y: -0.013557238131579068
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04149324003892677
+ y: -0.013949912813628078
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04149324003892677
+ y: -0.013949912813628078
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04149324003892677
+ y: -0.013949912813628078
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04246315969723186
+ y: -0.01440299942889242
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04246315969723186
+ y: -0.01440299942889242
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04246315969723186
+ y: -0.01440299942889242
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04338733091671408
+ y: -0.014916498095886504
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04338733091671408
+ y: -0.014916498095886504
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04338733091671408
+ y: -0.014916498095886504
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04426575373479903
+ y: -0.015490408933124736
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04426575373479903
+ y: -0.015490408933124736
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04426575373479903
+ y: -0.015490408933124736
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045098428188912326
+ y: -0.01612473205912153
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045098428188912326
+ y: -0.01612473205912153
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.045098428188912326
+ y: -0.01612473205912153
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04588535431647954
+ y: -0.016819467592391293
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04588535431647954
+ y: -0.016819467592391293
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04588535431647954
+ y: -0.016819467592391293
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04662194175647431
+ y: -0.01756975518126854
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04662194175647431
+ y: -0.01756975518126854
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04662194175647431
+ y: -0.01756975518126854
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04729876604714119
+ y: -0.018365027255299822
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04729876604714119
+ y: -0.018365027255299822
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04729876604714119
+ y: -0.018365027255299822
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.047916469595235475
+ y: -0.019205799355155543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.047916469595235475
+ y: -0.019205799355155543
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.047916469595235475
+ y: -0.019205799355155543
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04847505237011797
+ y: -0.020092071450196498
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04847505237011797
+ y: -0.020092071450196498
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04847505237011797
+ y: -0.020092071450196498
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04897451434114945
+ y: -0.021023843509783487
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04897451434114945
+ y: -0.021023843509783487
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04897451434114945
+ y: -0.021023843509783487
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.049414855477690735
+ y: -0.022001115503277314
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.049414855477690735
+ y: -0.022001115503277314
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.049414855477690735
+ y: -0.022001115503277314
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04979607574910262
+ y: -0.023023887400038773
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04979607574910262
+ y: -0.023023887400038773
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04979607574910262
+ y: -0.023023887400038773
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05011817512474591
+ y: -0.024092159169428674
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05011817512474591
+ y: -0.024092159169428674
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05011817512474591
+ y: -0.024092159169428674
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050381153573981395
+ y: -0.025205930780807805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050381153573981395
+ y: -0.025205930780807805
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050381153573981395
+ y: -0.025205930780807805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050585011066169874
+ y: -0.026365202203536976
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050585011066169874
+ y: -0.026365202203536976
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050585011066169874
+ y: -0.026365202203536976
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05072974757067216
+ y: -0.027569973406976978
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05072974757067216
+ y: -0.027569973406976978
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05072974757067216
+ y: -0.027569973406976978
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050815363056849035
+ y: -0.028820244360488616
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050815363056849035
+ y: -0.028820244360488616
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050815363056849035
+ y: -0.028820244360488616
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05084185724802708
+ y: -0.030115810195579698
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05084185724802708
+ y: -0.030115810195579698
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05084185724802708
+ y: -0.030115810195579698
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050809129652560486
+ y: -0.031405350105517704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050809129652560486
+ y: -0.031405350105517704
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050809129652560486
+ y: -0.031405350105517704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05071709805790947
+ y: -0.032649539830697814
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05071709805790947
+ y: -0.032649539830697814
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05071709805790947
+ y: -0.032649539830697814
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05056576249485557
+ y: -0.03384837937112004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05056576249485557
+ y: -0.03384837937112004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05056576249485557
+ y: -0.03384837937112004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05035512299418032
+ y: -0.035001868726784374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05035512299418032
+ y: -0.035001868726784374
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05035512299418032
+ y: -0.035001868726784374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050085179586665245
+ y: -0.03611000789769083
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050085179586665245
+ y: -0.03611000789769083
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.050085179586665245
+ y: -0.03611000789769083
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.049755932303091874
+ y: -0.03717279688383939
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.049755932303091874
+ y: -0.03717279688383939
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.049755932303091874
+ y: -0.03717279688383939
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.049367381174241755
+ y: -0.038190235685230056
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.049367381174241755
+ y: -0.038190235685230056
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.049367381174241755
+ y: -0.038190235685230056
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04891952623089642
+ y: -0.039162324301862846
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04891952623089642
+ y: -0.039162324301862846
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04891952623089642
+ y: -0.039162324301862846
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04841236750383737
+ y: -0.04008906273373774
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04841236750383737
+ y: -0.04008906273373774
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04841236750383737
+ y: -0.04008906273373774
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.047845905023846176
+ y: -0.04097045098085475
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.047845905023846176
+ y: -0.04097045098085475
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.047845905023846176
+ y: -0.04097045098085475
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04722013882170435
+ y: -0.041806489043213865
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04722013882170435
+ y: -0.041806489043213865
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04722013882170435
+ y: -0.041806489043213865
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04653506892819344
+ y: -0.042597176920815105
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04653506892819344
+ y: -0.042597176920815105
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04653506892819344
+ y: -0.042597176920815105
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04579100209330975
+ y: -0.043341989344553855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04579100209330975
+ y: -0.043341989344553855
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04579100209330975
+ y: -0.043341989344553855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04499844687914967
+ y: -0.0440292895305204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04499844687914967
+ y: -0.0440292895305204
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04499844687914967
+ y: -0.0440292895305204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0441601432896267
+ y: -0.04465617779844965
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0441601432896267
+ y: -0.04465617779844965
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0441601432896267
+ y: -0.04465617779844965
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04327609128731517
+ y: -0.04522265421071775
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04327609128731517
+ y: -0.04522265421071775
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04327609128731517
+ y: -0.04522265421071775
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042346290834789434
+ y: -0.045728718829700754
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042346290834789434
+ y: -0.045728718829700754
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.042346290834789434
+ y: -0.045728718829700754
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041370741894623836
+ y: -0.046174371717774776
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041370741894623836
+ y: -0.046174371717774776
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041370741894623836
+ y: -0.046174371717774776
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04034944442939271
+ y: -0.04655961293731591
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04034944442939271
+ y: -0.04655961293731591
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04034944442939271
+ y: -0.04655961293731591
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0392823984016704
+ y: -0.046884442550700255
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0392823984016704
+ y: -0.046884442550700255
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0392823984016704
+ y: -0.046884442550700255
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03816960377403125
+ y: -0.0471488606203039
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03816960377403125
+ y: -0.0471488606203039
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03816960377403125
+ y: -0.0471488606203039
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037011060509049606
+ y: -0.047352867208502944
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037011060509049606
+ y: -0.047352867208502944
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037011060509049606
+ y: -0.047352867208502944
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03580676856929981
+ y: -0.04749646237767347
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03580676856929981
+ y: -0.04749646237767347
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03580676856929981
+ y: -0.04749646237767347
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03455672791735621
+ y: -0.047579646190191595
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03455672791735621
+ y: -0.047579646190191595
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03455672791735621
+ y: -0.047579646190191595
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033262050260619534
+ y: -0.047602418564053735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033262050260619534
+ y: -0.047602418564053735
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033262050260619534
+ y: -0.047602418564053735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031980603927674364
+ y: -0.04756476794057189
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031980603927674364
+ y: -0.04756476794057189
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031980603927674364
+ y: -0.04756476794057189
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030744333909000256
+ y: -0.04746668693903934
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030744333909000256
+ y: -0.04746668693903934
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030744333909000256
+ y: -0.04746668693903934
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0295532402045972
+ y: -0.04730817549705046
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0295532402045972
+ y: -0.04730817549705046
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0295532402045972
+ y: -0.04730817549705046
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028407322814465195
+ y: -0.047089233552199614
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028407322814465195
+ y: -0.047089233552199614
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028407322814465195
+ y: -0.047089233552199614
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02730658173860425
+ y: -0.04680986104208117
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02730658173860425
+ y: -0.04680986104208117
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02730658173860425
+ y: -0.04680986104208117
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02625101697701436
+ y: -0.04647005790428951
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02625101697701436
+ y: -0.04647005790428951
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02625101697701436
+ y: -0.04647005790428951
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02524062852969552
+ y: -0.04606982407641899
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02524062852969552
+ y: -0.04606982407641899
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02524062852969552
+ y: -0.04606982407641899
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.024275416396647743
+ y: -0.045609159496063985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.024275416396647743
+ y: -0.045609159496063985
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.024275416396647743
+ y: -0.045609159496063985
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023355380577871013
+ y: -0.04508806410081886
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023355380577871013
+ y: -0.04508806410081886
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023355380577871013
+ y: -0.04508806410081886
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.022480521073365345
+ y: -0.04450653782827798
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.022480521073365345
+ y: -0.04450653782827798
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.022480521073365345
+ y: -0.04450653782827798
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021650837883130724
+ y: -0.04386458061603572
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021650837883130724
+ y: -0.04386458061603572
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021650837883130724
+ y: -0.04386458061603572
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02086633100716716
+ y: -0.04316219240168646
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02086633100716716
+ y: -0.04316219240168646
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02086633100716716
+ y: -0.04316219240168646
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.020135165332678943
+ y: -0.04240527946261486
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.020135165332678943
+ y: -0.04240527946261486
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.020135165332678943
+ y: -0.04240527946261486
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019464803911751403
+ y: -0.04160334294061488
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019464803911751403
+ y: -0.04160334294061488
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019464803911751403
+ y: -0.04160334294061488
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018853746449174882
+ y: -0.04075605626441126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018853746449174882
+ y: -0.04075605626441126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018853746449174882
+ y: -0.04075605626441126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01830199294802753
+ y: -0.03986341943400401
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01830199294802753
+ y: -0.03986341943400401
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01830199294802753
+ y: -0.03986341943400401
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017809543411387508
+ y: -0.038925432449393116
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017809543411387508
+ y: -0.038925432449393116
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017809543411387508
+ y: -0.038925432449393116
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017376397842332955
+ y: -0.037942095310578586
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017376397842332955
+ y: -0.037942095310578586
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017376397842332955
+ y: -0.037942095310578586
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01700255624394203
+ y: -0.03691340801756041
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01700255624394203
+ y: -0.03691340801756041
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01700255624394203
+ y: -0.03691340801756041
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01668801861929287
+ y: -0.03583937057033861
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01668801861929287
+ y: -0.03583937057033861
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01668801861929287
+ y: -0.03583937057033861
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016432784971463638
+ y: -0.03471998296891316
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016432784971463638
+ y: -0.03471998296891316
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016432784971463638
+ y: -0.03471998296891316
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01623685530353247
+ y: -0.03355524521328408
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01623685530353247
+ y: -0.03355524521328408
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01623685530353247
+ y: -0.03355524521328408
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016100229618577537
+ y: -0.032345157303451354
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016100229618577537
+ y: -0.032345157303451354
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016100229618577537
+ y: -0.032345157303451354
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016022907919676976
+ y: -0.031089719239414993
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016022907919676976
+ y: -0.031089719239414993
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016022907919676976
+ y: -0.031089719239414993
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016004886689258535
+ y: -0.029790366582606836
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016004886689258535
+ y: -0.029790366582606836
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016004886689258535
+ y: -0.029790366582606836
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016046045601412325
+ y: -0.028505882160651457
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016046045601412325
+ y: -0.028505882160651457
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016046045601412325
+ y: -0.028505882160651457
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016146325548168295
+ y: -0.02726689743513843
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016146325548168295
+ y: -0.02726689743513843
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016146325548168295
+ y: -0.02726689743513843
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01630572652646253
+ y: -0.026073412436706918
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01630572652646253
+ y: -0.026073412436706918
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01630572652646253
+ y: -0.026073412436706918
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01652424853323111
+ y: -0.024925427195996094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01652424853323111
+ y: -0.024925427195996094
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01652424853323111
+ y: -0.024925427195996094
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016801891565410117
+ y: -0.023822941743645125
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016801891565410117
+ y: -0.023822941743645125
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.016801891565410117
+ y: -0.023822941743645125
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017138655619935633
+ y: -0.022765956110293178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017138655619935633
+ y: -0.022765956110293178
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017138655619935633
+ y: -0.022765956110293178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01753454069374375
+ y: -0.02175447032657943
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01753454069374375
+ y: -0.02175447032657943
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01753454069374375
+ y: -0.02175447032657943
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017989546783770544
+ y: -0.020788484423143044
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017989546783770544
+ y: -0.020788484423143044
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.017989546783770544
+ y: -0.020788484423143044
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018503673886952097
+ y: -0.019867998430623188
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018503673886952097
+ y: -0.019867998430623188
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018503673886952097
+ y: -0.019867998430623188
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019076922000224494
+ y: -0.018993012379659037
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019076922000224494
+ y: -0.018993012379659037
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019076922000224494
+ y: -0.018993012379659037
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01970929112052382
+ y: -0.018163526300889757
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01970929112052382
+ y: -0.018163526300889757
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01970929112052382
+ y: -0.018163526300889757
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.020400781244786153
+ y: -0.01737954022495452
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.020400781244786153
+ y: -0.01737954022495452
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.020400781244786153
+ y: -0.01737954022495452
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021153706336183634
+ y: -0.016641436372823306
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021153706336183634
+ y: -0.016641436372823306
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.021153706336183634
+ y: -0.016641436372823306
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02195506572500741
+ y: -0.015961589428980433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02195506572500741
+ y: -0.015961589428980433
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02195506572500741
+ y: -0.015961589428980433
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.022801601384511237
+ y: -0.015342173931825062
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.022801601384511237
+ y: -0.015342173931825062
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.022801601384511237
+ y: -0.015342173931825062
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023693313314695114
+ y: -0.014783189762786662
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023693313314695114
+ y: -0.014783189762786662
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.023693313314695114
+ y: -0.014783189762786662
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02463020151555904
+ y: -0.014284636803294712
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02463020151555904
+ y: -0.014284636803294712
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02463020151555904
+ y: -0.014284636803294712
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02561226598710302
+ y: -0.013846514934778679
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02561226598710302
+ y: -0.013846514934778679
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02561226598710302
+ y: -0.013846514934778679
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02663950672932705
+ y: -0.013468824038668038
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02663950672932705
+ y: -0.013468824038668038
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02663950672932705
+ y: -0.013468824038668038
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02771192374223113
+ y: -0.013151563996392262
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02771192374223113
+ y: -0.013151563996392262
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02771192374223113
+ y: -0.013151563996392262
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028829517025815266
+ y: -0.012894734689380826
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028829517025815266
+ y: -0.012894734689380826
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028829517025815266
+ y: -0.012894734689380826
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029992286580079446
+ y: -0.0126983359990632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029992286580079446
+ y: -0.0126983359990632
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029992286580079446
+ y: -0.0126983359990632
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031200232405023676
+ y: -0.012562367806868861
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031200232405023676
+ y: -0.012562367806868861
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031200232405023676
+ y: -0.012562367806868861
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032453354500647964
+ y: -0.012486829994227278
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032453354500647964
+ y: -0.012486829994227278
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032453354500647964
+ y: -0.012486829994227278
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.012469834
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.012469834
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.012469834
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.018797866
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.018797866
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.018797866
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.018797866
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.018797866
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.018797866
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03324571394833089
+ y: -0.018799331999280956
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03324571394833089
+ y: -0.018799331999280956
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03324571394833089
+ y: -0.018799331999280956
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03307036661640359
+ y: -0.01880372999712383
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03307036661640359
+ y: -0.01880372999712383
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03307036661640359
+ y: -0.01880372999712383
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0328968010049498
+ y: -0.018811059993528615
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0328968010049498
+ y: -0.018811059993528615
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0328968010049498
+ y: -0.018811059993528615
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032725017114701216
+ y: -0.01882132198849532
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032725017114701216
+ y: -0.01882132198849532
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032725017114701216
+ y: -0.01882132198849532
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03255501494638954
+ y: -0.018834515982023934
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03255501494638954
+ y: -0.018834515982023934
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03255501494638954
+ y: -0.018834515982023934
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03238679450074647
+ y: -0.018850641974114467
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03238679450074647
+ y: -0.018850641974114467
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03238679450074647
+ y: -0.018850641974114467
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032220355778503705
+ y: -0.018869699964766912
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032220355778503705
+ y: -0.018869699964766912
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032220355778503705
+ y: -0.018869699964766912
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03205569878039293
+ y: -0.018891689953981276
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03205569878039293
+ y: -0.018891689953981276
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03205569878039293
+ y: -0.018891689953981276
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031892823507145854
+ y: -0.01891661194175755
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031892823507145854
+ y: -0.01891661194175755
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031892823507145854
+ y: -0.01891661194175755
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03173172995949418
+ y: -0.018944465928095743
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03173172995949418
+ y: -0.018944465928095743
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03173172995949418
+ y: -0.018944465928095743
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0315724181381696
+ y: -0.018975251912995848
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0315724181381696
+ y: -0.018975251912995848
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0315724181381696
+ y: -0.018975251912995848
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031414888043903806
+ y: -0.01900896989645787
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031414888043903806
+ y: -0.01900896989645787
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031414888043903806
+ y: -0.01900896989645787
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0312591396774285
+ y: -0.019045619878481804
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0312591396774285
+ y: -0.019045619878481804
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0312591396774285
+ y: -0.019045619878481804
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031105173039475385
+ y: -0.019085201859067657
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031105173039475385
+ y: -0.019085201859067657
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031105173039475385
+ y: -0.019085201859067657
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030952988130776158
+ y: -0.019127715838215424
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030952988130776158
+ y: -0.019127715838215424
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030952988130776158
+ y: -0.019127715838215424
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030802584952062506
+ y: -0.019173161815925103
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030802584952062506
+ y: -0.019173161815925103
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030802584952062506
+ y: -0.019173161815925103
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030653963504066142
+ y: -0.019221539792196696
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030653963504066142
+ y: -0.019221539792196696
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030653963504066142
+ y: -0.019221539792196696
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030507123787518756
+ y: -0.01927284976703021
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030507123787518756
+ y: -0.01927284976703021
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030507123787518756
+ y: -0.01927284976703021
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030362065803152042
+ y: -0.019327091740425635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030362065803152042
+ y: -0.019327091740425635
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030362065803152042
+ y: -0.019327091740425635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030218789551697708
+ y: -0.019384265712382973
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030218789551697708
+ y: -0.019384265712382973
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030218789551697708
+ y: -0.019384265712382973
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030077295033887445
+ y: -0.01944437168290223
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030077295033887445
+ y: -0.01944437168290223
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030077295033887445
+ y: -0.01944437168290223
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029937582250452954
+ y: -0.0195074096519834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029937582250452954
+ y: -0.0195074096519834
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029937582250452954
+ y: -0.0195074096519834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02979965120212593
+ y: -0.019573379619626487
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02979965120212593
+ y: -0.019573379619626487
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02979965120212593
+ y: -0.019573379619626487
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029663501889638073
+ y: -0.019642281585831485
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029663501889638073
+ y: -0.019642281585831485
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029663501889638073
+ y: -0.019642281585831485
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029529134313721086
+ y: -0.0197141155505984
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029529134313721086
+ y: -0.0197141155505984
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029529134313721086
+ y: -0.0197141155505984
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029396548475106653
+ y: -0.01978888151392723
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029396548475106653
+ y: -0.01978888151392723
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029396548475106653
+ y: -0.01978888151392723
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029265744374526486
+ y: -0.01986657947581797
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029265744374526486
+ y: -0.01986657947581797
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029265744374526486
+ y: -0.01986657947581797
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029136722012712273
+ y: -0.019947209436270635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029136722012712273
+ y: -0.019947209436270635
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029136722012712273
+ y: -0.019947209436270635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029009481390395716
+ y: -0.020030771395285207
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029009481390395716
+ y: -0.020030771395285207
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029009481390395716
+ y: -0.020030771395285207
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02888402250830852
+ y: -0.020117265352861693
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02888402250830852
+ y: -0.020117265352861693
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02888402250830852
+ y: -0.020117265352861693
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028760345367182368
+ y: -0.0202066913090001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028760345367182368
+ y: -0.0202066913090001
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028760345367182368
+ y: -0.0202066913090001
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028638449967748968
+ y: -0.02029904926370042
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028638449967748968
+ y: -0.02029904926370042
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028638449967748968
+ y: -0.02029904926370042
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02851833631074002
+ y: -0.02039433921696265
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02851833631074002
+ y: -0.02039433921696265
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02851833631074002
+ y: -0.02039433921696265
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028400004396887217
+ y: -0.0204925611687868
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028400004396887217
+ y: -0.0204925611687868
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028400004396887217
+ y: -0.0204925611687868
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028283454226922255
+ y: -0.020593715119172865
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028283454226922255
+ y: -0.020593715119172865
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028283454226922255
+ y: -0.020593715119172865
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028168685801576835
+ y: -0.020697801068120844
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028168685801576835
+ y: -0.020697801068120844
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028168685801576835
+ y: -0.020697801068120844
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028055699121582657
+ y: -0.020804819015630735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028055699121582657
+ y: -0.020804819015630735
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028055699121582657
+ y: -0.020804819015630735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027944494187671413
+ y: -0.020914768961702544
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027944494187671413
+ y: -0.020914768961702544
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027944494187671413
+ y: -0.020914768961702544
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027835071000574807
+ y: -0.021027650906336265
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027835071000574807
+ y: -0.021027650906336265
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027835071000574807
+ y: -0.021027650906336265
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027727429561024537
+ y: -0.021143464849531904
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027727429561024537
+ y: -0.021143464849531904
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027727429561024537
+ y: -0.021143464849531904
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027621569869752293
+ y: -0.021262210791289454
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027621569869752293
+ y: -0.021262210791289454
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027621569869752293
+ y: -0.021262210791289454
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027517491927489784
+ y: -0.021383888731608923
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027517491927489784
+ y: -0.021383888731608923
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027517491927489784
+ y: -0.021383888731608923
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0274151957349687
+ y: -0.021508498670490307
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0274151957349687
+ y: -0.021508498670490307
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0274151957349687
+ y: -0.021508498670490307
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02731468129292074
+ y: -0.0216360406079336
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02731468129292074
+ y: -0.0216360406079336
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02731468129292074
+ y: -0.0216360406079336
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02721868746750582
+ y: -0.021762823409634386
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02721868746750582
+ y: -0.021762823409634386
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02721868746750582
+ y: -0.021762823409634386
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02713950008165203
+ y: -0.02187126891828603
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02713950008165203
+ y: -0.02187126891828603
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02713950008165203
+ y: -0.02187126891828603
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02706177228618064
+ y: -0.021981309439919345
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02706177228618064
+ y: -0.021981309439919345
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02706177228618064
+ y: -0.021981309439919345
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026985504081381655
+ y: -0.02209294497489682
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026985504081381655
+ y: -0.02209294497489682
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026985504081381655
+ y: -0.02209294497489682
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02691069546754507
+ y: -0.022206175523580965
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02691069546754507
+ y: -0.022206175523580965
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02691069546754507
+ y: -0.022206175523580965
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02683734644496089
+ y: -0.022321001086334263
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02683734644496089
+ y: -0.022321001086334263
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02683734644496089
+ y: -0.022321001086334263
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026765457013919105
+ y: -0.022437421663519225
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026765457013919105
+ y: -0.022437421663519225
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026765457013919105
+ y: -0.022437421663519225
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02669502717470971
+ y: -0.022555437255498342
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02669502717470971
+ y: -0.022555437255498342
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02669502717470971
+ y: -0.022555437255498342
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026626056927622713
+ y: -0.022675047862634107
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026626056927622713
+ y: -0.022675047862634107
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026626056927622713
+ y: -0.022675047862634107
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026558546272948104
+ y: -0.022796253485289023
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026558546272948104
+ y: -0.022796253485289023
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026558546272948104
+ y: -0.022796253485289023
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026492495210975884
+ y: -0.022919054123825586
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026492495210975884
+ y: -0.022919054123825586
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026492495210975884
+ y: -0.022919054123825586
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026427903741996047
+ y: -0.02304344977860629
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026427903741996047
+ y: -0.02304344977860629
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026427903741996047
+ y: -0.02304344977860629
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026364771866298597
+ y: -0.023169440449993636
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026364771866298597
+ y: -0.023169440449993636
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026364771866298597
+ y: -0.023169440449993636
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02630309958417353
+ y: -0.023297026138350125
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02630309958417353
+ y: -0.023297026138350125
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02630309958417353
+ y: -0.023297026138350125
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026242886895910835
+ y: -0.023426206844038244
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026242886895910835
+ y: -0.023426206844038244
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026242886895910835
+ y: -0.023426206844038244
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02618413380180052
+ y: -0.023556982567420497
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02618413380180052
+ y: -0.023556982567420497
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02618413380180052
+ y: -0.023556982567420497
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02612684030213258
+ y: -0.023689353308859382
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02612684030213258
+ y: -0.023689353308859382
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02612684030213258
+ y: -0.023689353308859382
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02607100639719702
+ y: -0.02382331906871739
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02607100639719702
+ y: -0.02382331906871739
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02607100639719702
+ y: -0.02382331906871739
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026016632087283817
+ y: -0.023958879847357027
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026016632087283817
+ y: -0.023958879847357027
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026016632087283817
+ y: -0.023958879847357027
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02596371737268299
+ y: -0.024096035645140776
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02596371737268299
+ y: -0.024096035645140776
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02596371737268299
+ y: -0.024096035645140776
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025912262253684527
+ y: -0.024234786462431154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025912262253684527
+ y: -0.024234786462431154
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025912262253684527
+ y: -0.024234786462431154
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025862266730578426
+ y: -0.024375132299590645
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025862266730578426
+ y: -0.024375132299590645
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025862266730578426
+ y: -0.024375132299590645
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025813730803654684
+ y: -0.024517073156981744
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025813730803654684
+ y: -0.024517073156981744
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025813730803654684
+ y: -0.024517073156981744
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025766654473203306
+ y: -0.024660609034966956
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025766654473203306
+ y: -0.024660609034966956
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025766654473203306
+ y: -0.024660609034966956
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025721037739514285
+ y: -0.024805739933908777
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025721037739514285
+ y: -0.024805739933908777
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025721037739514285
+ y: -0.024805739933908777
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02567688060287762
+ y: -0.024952465854169704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02567688060287762
+ y: -0.024952465854169704
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02567688060287762
+ y: -0.024952465854169704
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0256341830635833
+ y: -0.025100786796112228
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0256341830635833
+ y: -0.025100786796112228
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0256341830635833
+ y: -0.025100786796112228
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025592945121921333
+ y: -0.025250702760098855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025592945121921333
+ y: -0.025250702760098855
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025592945121921333
+ y: -0.025250702760098855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025553166778181712
+ y: -0.025402213746492073
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025553166778181712
+ y: -0.025402213746492073
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025553166778181712
+ y: -0.025402213746492073
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02551484803265444
+ y: -0.02555531975565439
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02551484803265444
+ y: -0.02555531975565439
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02551484803265444
+ y: -0.02555531975565439
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02547798888562951
+ y: -0.025710020787948294
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02547798888562951
+ y: -0.025710020787948294
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02547798888562951
+ y: -0.025710020787948294
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02544258933739692
+ y: -0.025866316843736286
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02544258933739692
+ y: -0.025866316843736286
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02544258933739692
+ y: -0.025866316843736286
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025408649388246673
+ y: -0.026024207923380865
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025408649388246673
+ y: -0.026024207923380865
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025408649388246673
+ y: -0.026024207923380865
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025376169038468756
+ y: -0.026183694027244523
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025376169038468756
+ y: -0.026183694027244523
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025376169038468756
+ y: -0.026183694027244523
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02534514828835318
+ y: -0.026344775155689764
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02534514828835318
+ y: -0.026344775155689764
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02534514828835318
+ y: -0.026344775155689764
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02531558713818993
+ y: -0.02650745130907908
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02531558713818993
+ y: -0.02650745130907908
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02531558713818993
+ y: -0.02650745130907908
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025287485588269015
+ y: -0.026671722487774968
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025287485588269015
+ y: -0.026671722487774968
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025287485588269015
+ y: -0.026671722487774968
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025260843638880426
+ y: -0.026837588692139928
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025260843638880426
+ y: -0.026837588692139928
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025260843638880426
+ y: -0.026837588692139928
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025235661290314158
+ y: -0.027005049922536457
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025235661290314158
+ y: -0.027005049922536457
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025235661290314158
+ y: -0.027005049922536457
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02521193854286022
+ y: -0.027174106179327053
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02521193854286022
+ y: -0.027174106179327053
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02521193854286022
+ y: -0.027174106179327053
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025189675396808598
+ y: -0.02734475746287421
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025189675396808598
+ y: -0.02734475746287421
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025189675396808598
+ y: -0.02734475746287421
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025168871852449298
+ y: -0.027517003773540424
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025168871852449298
+ y: -0.027517003773540424
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025168871852449298
+ y: -0.027517003773540424
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025149527910072307
+ y: -0.0276908451116882
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025149527910072307
+ y: -0.0276908451116882
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025149527910072307
+ y: -0.0276908451116882
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02513164356996764
+ y: -0.027866281477680027
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02513164356996764
+ y: -0.027866281477680027
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02513164356996764
+ y: -0.027866281477680027
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02511521883242528
+ y: -0.028043312871878407
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02511521883242528
+ y: -0.028043312871878407
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02511521883242528
+ y: -0.028043312871878407
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02510025369773523
+ y: -0.028221939294645833
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02510025369773523
+ y: -0.028221939294645833
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02510025369773523
+ y: -0.028221939294645833
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025086748166187486
+ y: -0.028402160746344805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025086748166187486
+ y: -0.028402160746344805
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025086748166187486
+ y: -0.028402160746344805
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02507470223807205
+ y: -0.028583977227337826
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02507470223807205
+ y: -0.028583977227337826
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02507470223807205
+ y: -0.028583977227337826
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02506411591367892
+ y: -0.02876738873798738
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02506411591367892
+ y: -0.02876738873798738
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02506411591367892
+ y: -0.02876738873798738
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025054989193298086
+ y: -0.028952395278655976
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025054989193298086
+ y: -0.028952395278655976
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025054989193298086
+ y: -0.028952395278655976
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025047322077219547
+ y: -0.029138996849706104
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025047322077219547
+ y: -0.029138996849706104
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025047322077219547
+ y: -0.029138996849706104
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02504111456573331
+ y: -0.029327193451500266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02504111456573331
+ y: -0.029327193451500266
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02504111456573331
+ y: -0.029327193451500266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025036366659129367
+ y: -0.029516985084400954
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025036366659129367
+ y: -0.029516985084400954
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025036366659129367
+ y: -0.029516985084400954
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025033078357697715
+ y: -0.029708371748770668
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025033078357697715
+ y: -0.029708371748770668
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025033078357697715
+ y: -0.029708371748770668
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025031249661728355
+ y: -0.02990135344497191
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025031249661728355
+ y: -0.02990135344497191
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025031249661728355
+ y: -0.02990135344497191
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02503088079803573
+ y: -0.03009575071568722
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02503088079803573
+ y: -0.03009575071568722
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02503088079803573
+ y: -0.03009575071568722
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025031976856005996
+ y: -0.030289211460023877
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025031976856005996
+ y: -0.030289211460023877
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025031976856005996
+ y: -0.030289211460023877
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02503453993774285
+ y: -0.03048108416955857
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02503453993774285
+ y: -0.03048108416955857
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02503453993774285
+ y: -0.03048108416955857
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02503857004295407
+ y: -0.030671368845021828
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02503857004295407
+ y: -0.030671368845021828
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02503857004295407
+ y: -0.030671368845021828
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02504406717134745
+ y: -0.030860065487144178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02504406717134745
+ y: -0.030860065487144178
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02504406717134745
+ y: -0.030860065487144178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025051031322630774
+ y: -0.031047174096656145
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025051031322630774
+ y: -0.031047174096656145
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025051031322630774
+ y: -0.031047174096656145
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02505946249651184
+ y: -0.031232694674288266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02505946249651184
+ y: -0.031232694674288266
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02505946249651184
+ y: -0.031232694674288266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025069360692698425
+ y: -0.031416627220771064
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025069360692698425
+ y: -0.031416627220771064
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025069360692698425
+ y: -0.031416627220771064
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025080725910898327
+ y: -0.03159897173683506
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025080725910898327
+ y: -0.03159897173683506
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025080725910898327
+ y: -0.03159897173683506
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025093558150819328
+ y: -0.0317797282232108
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025093558150819328
+ y: -0.0317797282232108
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025093558150819328
+ y: -0.0317797282232108
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02510785741216922
+ y: -0.03195889668062879
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02510785741216922
+ y: -0.03195889668062879
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02510785741216922
+ y: -0.03195889668062879
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025123623694655792
+ y: -0.03213647710981958
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025123623694655792
+ y: -0.03213647710981958
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025123623694655792
+ y: -0.03213647710981958
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02514085699798683
+ y: -0.03231246951151368
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02514085699798683
+ y: -0.03231246951151368
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02514085699798683
+ y: -0.03231246951151368
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02515955732187013
+ y: -0.032486873886441635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02515955732187013
+ y: -0.032486873886441635
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02515955732187013
+ y: -0.032486873886441635
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02517972466601347
+ y: -0.03265969023533396
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02517972466601347
+ y: -0.03265969023533396
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02517972466601347
+ y: -0.03265969023533396
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025201359030124645
+ y: -0.032830918558921195
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025201359030124645
+ y: -0.032830918558921195
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025201359030124645
+ y: -0.032830918558921195
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02522446041391144
+ y: -0.03300055885793386
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02522446041391144
+ y: -0.03300055885793386
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02522446041391144
+ y: -0.03300055885793386
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025249028817081652
+ y: -0.03316861113310248
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025249028817081652
+ y: -0.03316861113310248
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025249028817081652
+ y: -0.03316861113310248
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02527506423934306
+ y: -0.03333507538515759
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02527506423934306
+ y: -0.03333507538515759
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02527506423934306
+ y: -0.03333507538515759
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025302566680403454
+ y: -0.03349995161482973
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025302566680403454
+ y: -0.03349995161482973
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025302566680403454
+ y: -0.03349995161482973
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02533153613997063
+ y: -0.033663239822849404
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02533153613997063
+ y: -0.033663239822849404
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02533153613997063
+ y: -0.033663239822849404
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02536197261775237
+ y: -0.03382494000994716
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02536197261775237
+ y: -0.03382494000994716
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02536197261775237
+ y: -0.03382494000994716
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025393876113456462
+ y: -0.033985052176853506
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025393876113456462
+ y: -0.033985052176853506
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025393876113456462
+ y: -0.033985052176853506
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0254272466267907
+ y: -0.03414357632429899
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0254272466267907
+ y: -0.03414357632429899
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0254272466267907
+ y: -0.03414357632429899
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02546208415746287
+ y: -0.03430051245301414
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02546208415746287
+ y: -0.03430051245301414
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02546208415746287
+ y: -0.03430051245301414
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025498388705180754
+ y: -0.03445586056372947
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025498388705180754
+ y: -0.03445586056372947
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025498388705180754
+ y: -0.03445586056372947
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025536160269652153
+ y: -0.03460962065717552
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025536160269652153
+ y: -0.03460962065717552
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025536160269652153
+ y: -0.03460962065717552
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02557539885058485
+ y: -0.03476179273408281
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02557539885058485
+ y: -0.03476179273408281
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02557539885058485
+ y: -0.03476179273408281
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025616104447686628
+ y: -0.03491237679518188
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025616104447686628
+ y: -0.03491237679518188
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025616104447686628
+ y: -0.03491237679518188
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025658277060665285
+ y: -0.035061372841203246
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025658277060665285
+ y: -0.035061372841203246
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025658277060665285
+ y: -0.035061372841203246
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025701916689228603
+ y: -0.03520878087287744
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025701916689228603
+ y: -0.03520878087287744
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025701916689228603
+ y: -0.03520878087287744
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025747023333084377
+ y: -0.03535460089093499
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025747023333084377
+ y: -0.03535460089093499
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025747023333084377
+ y: -0.03535460089093499
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025793596991940386
+ y: -0.03549883289610643
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025793596991940386
+ y: -0.03549883289610643
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025793596991940386
+ y: -0.03549883289610643
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02584163766550443
+ y: -0.03564147688912229
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02584163766550443
+ y: -0.03564147688912229
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02584163766550443
+ y: -0.03564147688912229
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025891145353484288
+ y: -0.03578253287071309
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025891145353484288
+ y: -0.03578253287071309
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025891145353484288
+ y: -0.03578253287071309
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025942120055587756
+ y: -0.03592200084160936
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025942120055587756
+ y: -0.03592200084160936
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025942120055587756
+ y: -0.03592200084160936
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025994561771522616
+ y: -0.036059880802541626
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025994561771522616
+ y: -0.036059880802541626
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.025994561771522616
+ y: -0.036059880802541626
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02604847050099666
+ y: -0.03619617275424043
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02604847050099666
+ y: -0.03619617275424043
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02604847050099666
+ y: -0.03619617275424043
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02610384624371768
+ y: -0.03633087669743628
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02610384624371768
+ y: -0.03633087669743628
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02610384624371768
+ y: -0.03633087669743628
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026160688999393458
+ y: -0.036463992632859724
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026160688999393458
+ y: -0.036463992632859724
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026160688999393458
+ y: -0.036463992632859724
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026218998767731788
+ y: -0.036595520561241275
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026218998767731788
+ y: -0.036595520561241275
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026218998767731788
+ y: -0.036595520561241275
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026278775548440457
+ y: -0.036725460483311476
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026278775548440457
+ y: -0.036725460483311476
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026278775548440457
+ y: -0.036725460483311476
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02634001934122725
+ y: -0.03685381239980084
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02634001934122725
+ y: -0.03685381239980084
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02634001934122725
+ y: -0.03685381239980084
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026402730145799965
+ y: -0.0369805763114399
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026402730145799965
+ y: -0.0369805763114399
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026402730145799965
+ y: -0.0369805763114399
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026466907961866376
+ y: -0.0371057522189592
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026466907961866376
+ y: -0.0371057522189592
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026466907961866376
+ y: -0.0371057522189592
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026532552789134287
+ y: -0.03722934012308925
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026532552789134287
+ y: -0.03722934012308925
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026532552789134287
+ y: -0.03722934012308925
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026599664627311476
+ y: -0.03735134002456057
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026599664627311476
+ y: -0.03735134002456057
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026599664627311476
+ y: -0.03735134002456057
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026668243476105736
+ y: -0.037471751924103715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026668243476105736
+ y: -0.037471751924103715
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026668243476105736
+ y: -0.037471751924103715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02673828933522486
+ y: -0.0375905758224492
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02673828933522486
+ y: -0.0375905758224492
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02673828933522486
+ y: -0.0375905758224492
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026809802204376627
+ y: -0.03770781172032755
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026809802204376627
+ y: -0.03770781172032755
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026809802204376627
+ y: -0.03770781172032755
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02688278208326883
+ y: -0.0378234596184693
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02688278208326883
+ y: -0.0378234596184693
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02688278208326883
+ y: -0.0378234596184693
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02695722897160926
+ y: -0.037937519517604976
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02695722897160926
+ y: -0.037937519517604976
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02695722897160926
+ y: -0.037937519517604976
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027033142869105704
+ y: -0.03804999141846511
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027033142869105704
+ y: -0.03804999141846511
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027033142869105704
+ y: -0.03804999141846511
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027110523775465946
+ y: -0.03816087532178022
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027110523775465946
+ y: -0.03816087532178022
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027110523775465946
+ y: -0.03816087532178022
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027189371690397784
+ y: -0.038270171228280844
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027189371690397784
+ y: -0.038270171228280844
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027189371690397784
+ y: -0.038270171228280844
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027278264611716084
+ y: -0.03838917079868804
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027278264611716084
+ y: -0.03838917079868804
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027278264611716084
+ y: -0.03838917079868804
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02737812569306803
+ y: -0.03851778750560408
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02737812569306803
+ y: -0.03851778750560408
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02737812569306803
+ y: -0.03851778750560408
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02747976852829721
+ y: -0.038643472237644826
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02747976852829721
+ y: -0.038643472237644826
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02747976852829721
+ y: -0.038643472237644826
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027583193116671924
+ y: -0.03876622499414509
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027583193116671924
+ y: -0.03876622499414509
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027583193116671924
+ y: -0.03876622499414509
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027688399457460475
+ y: -0.03888604577443969
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027688399457460475
+ y: -0.03888604577443969
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027688399457460475
+ y: -0.03888604577443969
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027795387549931157
+ y: -0.03900293457786344
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027795387549931157
+ y: -0.03900293457786344
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027795387549931157
+ y: -0.03900293457786344
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027904157393352277
+ y: -0.039116891403751186
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027904157393352277
+ y: -0.039116891403751186
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.027904157393352277
+ y: -0.039116891403751186
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02801470898699213
+ y: -0.03922791625143771
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02801470898699213
+ y: -0.03922791625143771
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02801470898699213
+ y: -0.03922791625143771
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028127042330119017
+ y: -0.03933600912025785
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028127042330119017
+ y: -0.03933600912025785
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028127042330119017
+ y: -0.03933600912025785
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028241157422001242
+ y: -0.03944117000954642
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028241157422001242
+ y: -0.03944117000954642
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028241157422001242
+ y: -0.03944117000954642
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0283570542619071
+ y: -0.03954339891863824
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0283570542619071
+ y: -0.03954339891863824
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0283570542619071
+ y: -0.03954339891863824
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028474732849104893
+ y: -0.03964269584686813
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028474732849104893
+ y: -0.03964269584686813
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028474732849104893
+ y: -0.03964269584686813
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02859419318286292
+ y: -0.0397390607935709
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02859419318286292
+ y: -0.0397390607935709
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02859419318286292
+ y: -0.0397390607935709
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028715435262449487
+ y: -0.03983249375808138
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028715435262449487
+ y: -0.03983249375808138
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028715435262449487
+ y: -0.03983249375808138
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028838459087132888
+ y: -0.039922994739734374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028838459087132888
+ y: -0.039922994739734374
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028838459087132888
+ y: -0.039922994739734374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028963264656181424
+ y: -0.04001056373786471
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028963264656181424
+ y: -0.04001056373786471
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028963264656181424
+ y: -0.04001056373786471
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029089851968863396
+ y: -0.040095200751807204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029089851968863396
+ y: -0.040095200751807204
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029089851968863396
+ y: -0.040095200751807204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029218221024447103
+ y: -0.04017690578089668
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029218221024447103
+ y: -0.04017690578089668
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029218221024447103
+ y: -0.04017690578089668
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02934837182220085
+ y: -0.04025567882446795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02934837182220085
+ y: -0.04025567882446795
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02934837182220085
+ y: -0.04025567882446795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029480304361392932
+ y: -0.040331519881855835
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029480304361392932
+ y: -0.040331519881855835
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029480304361392932
+ y: -0.040331519881855835
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02961401864129165
+ y: -0.04040442895239515
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02961401864129165
+ y: -0.04040442895239515
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02961401864129165
+ y: -0.04040442895239515
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029749514661165304
+ y: -0.04047440603542071
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029749514661165304
+ y: -0.04047440603542071
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029749514661165304
+ y: -0.04047440603542071
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029886792420282197
+ y: -0.04054145113026735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029886792420282197
+ y: -0.04054145113026735
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029886792420282197
+ y: -0.04054145113026735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030025851917910625
+ y: -0.04060556423626986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030025851917910625
+ y: -0.04060556423626986
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030025851917910625
+ y: -0.04060556423626986
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030166693153318894
+ y: -0.04066674535276309
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030166693153318894
+ y: -0.04066674535276309
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030166693153318894
+ y: -0.04066674535276309
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030309316125775292
+ y: -0.04072499447908184
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030309316125775292
+ y: -0.04072499447908184
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030309316125775292
+ y: -0.04072499447908184
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030453720834548136
+ y: -0.04078031161456093
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030453720834548136
+ y: -0.04078031161456093
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030453720834548136
+ y: -0.04078031161456093
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03059990727890571
+ y: -0.04083269675853518
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03059990727890571
+ y: -0.04083269675853518
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03059990727890571
+ y: -0.04083269675853518
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03074787545811633
+ y: -0.04088214991033941
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03074787545811633
+ y: -0.04088214991033941
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03074787545811633
+ y: -0.04088214991033941
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030897625371448283
+ y: -0.04092867106930843
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030897625371448283
+ y: -0.04092867106930843
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.030897625371448283
+ y: -0.04092867106930843
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031049157018169873
+ y: -0.04097226023477707
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031049157018169873
+ y: -0.04097226023477707
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031049157018169873
+ y: -0.04097226023477707
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031202470397549406
+ y: -0.041012917406080145
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031202470397549406
+ y: -0.041012917406080145
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031202470397549406
+ y: -0.041012917406080145
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03135756550885517
+ y: -0.04105064258255246
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03135756550885517
+ y: -0.04105064258255246
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03135756550885517
+ y: -0.04105064258255246
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031514442351355476
+ y: -0.041085435763528855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031514442351355476
+ y: -0.041085435763528855
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031514442351355476
+ y: -0.041085435763528855
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031673100924318624
+ y: -0.041117296948344144
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031673100924318624
+ y: -0.041117296948344144
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.031673100924318624
+ y: -0.041117296948344144
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03183354122701291
+ y: -0.041146226136333126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03183354122701291
+ y: -0.041146226136333126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03183354122701291
+ y: -0.041146226136333126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03199576325870663
+ y: -0.04117222332683065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03199576325870663
+ y: -0.04117222332683065
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03199576325870663
+ y: -0.04117222332683065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032159767018668094
+ y: -0.0411952885191715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032159767018668094
+ y: -0.0411952885191715
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032159767018668094
+ y: -0.0411952885191715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032325552506165596
+ y: -0.04121542171269052
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032325552506165596
+ y: -0.04121542171269052
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.032325552506165596
+ y: -0.04121542171269052
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03249311972046744
+ y: -0.04123262290672252
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03249311972046744
+ y: -0.04123262290672252
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03249311972046744
+ y: -0.04123262290672252
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03266246866084191
+ y: -0.04124689210060231
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03266246866084191
+ y: -0.04124689210060231
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03266246866084191
+ y: -0.04124689210060231
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03283359932655733
+ y: -0.041258229293664725
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03283359932655733
+ y: -0.041258229293664725
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03283359932655733
+ y: -0.041258229293664725
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03300651171688199
+ y: -0.04126663448524457
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03300651171688199
+ y: -0.04126663448524457
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03300651171688199
+ y: -0.04126663448524457
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033181205831084186
+ y: -0.04127210767467667
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033181205831084186
+ y: -0.04127210767467667
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033181205831084186
+ y: -0.04127210767467667
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03335768166843222
+ y: -0.04127464886129584
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03335768166843222
+ y: -0.04127464886129584
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03335768166843222
+ y: -0.04127464886129584
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03353552698539059
+ y: -0.04127426152396583
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03353552698539059
+ y: -0.04127426152396583
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03353552698539059
+ y: -0.04127426152396583
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03371199553839578
+ y: -0.04127095836805027
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03371199553839578
+ y: -0.04127095836805027
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03371199553839578
+ y: -0.04127095836805027
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03388667048696376
+ y: -0.041264740560848334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03388667048696376
+ y: -0.041264740560848334
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03388667048696376
+ y: -0.041264740560848334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034059551830369295
+ y: -0.04125560810301931
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034059551830369295
+ y: -0.04125560810301931
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034059551830369295
+ y: -0.04125560810301931
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03423063956788717
+ y: -0.04124356099522247
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03423063956788717
+ y: -0.04124356099522247
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03423063956788717
+ y: -0.04124356099522247
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03439993369879218
+ y: -0.04122859923811712
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03439993369879218
+ y: -0.04122859923811712
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03439993369879218
+ y: -0.04122859923811712
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03456743422235911
+ y: -0.04121072283236254
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03456743422235911
+ y: -0.04121072283236254
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03456743422235911
+ y: -0.04121072283236254
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034733141137862744
+ y: -0.041189931778618
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034733141137862744
+ y: -0.041189931778618
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034733141137862744
+ y: -0.041189931778618
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03489705444457787
+ y: -0.04116622607754281
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03489705444457787
+ y: -0.04116622607754281
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03489705444457787
+ y: -0.04116622607754281
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03505917414177926
+ y: -0.04113960572979624
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03505917414177926
+ y: -0.04113960572979624
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03505917414177926
+ y: -0.04113960572979624
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03521950022874172
+ y: -0.04111007073603758
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03521950022874172
+ y: -0.04111007073603758
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03521950022874172
+ y: -0.04111007073603758
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03537803270474003
+ y: -0.04107762109692611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03537803270474003
+ y: -0.04107762109692611
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03537803270474003
+ y: -0.04107762109692611
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03553477156904897
+ y: -0.04104225681312112
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03553477156904897
+ y: -0.04104225681312112
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03553477156904897
+ y: -0.04104225681312112
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03568971682094332
+ y: -0.04100397788528191
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03568971682094332
+ y: -0.04100397788528191
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03568971682094332
+ y: -0.04100397788528191
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.035842868459697884
+ y: -0.04096278431406773
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.035842868459697884
+ y: -0.04096278431406773
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.035842868459697884
+ y: -0.04096278431406773
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03599422648458743
+ y: -0.0409186761001379
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03599422648458743
+ y: -0.0409186761001379
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03599422648458743
+ y: -0.0409186761001379
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03614379089488675
+ y: -0.0408716532441517
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03614379089488675
+ y: -0.0408716532441517
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03614379089488675
+ y: -0.0408716532441517
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03629156168987063
+ y: -0.040821715746768406
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03629156168987063
+ y: -0.040821715746768406
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03629156168987063
+ y: -0.040821715746768406
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03643753886881387
+ y: -0.0407688636086473
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03643753886881387
+ y: -0.0407688636086473
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03643753886881387
+ y: -0.0407688636086473
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03658172243099123
+ y: -0.04071309683044767
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03658172243099123
+ y: -0.04071309683044767
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03658172243099123
+ y: -0.04071309683044767
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03672411237567751
+ y: -0.04065441541282882
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03672411237567751
+ y: -0.04065441541282882
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03672411237567751
+ y: -0.04065441541282882
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036864708702147496
+ y: -0.04059281935645002
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036864708702147496
+ y: -0.04059281935645002
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036864708702147496
+ y: -0.04059281935645002
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037003511409675977
+ y: -0.04052830866197055
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037003511409675977
+ y: -0.04052830866197055
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037003511409675977
+ y: -0.04052830866197055
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03714052049753772
+ y: -0.040460883330049706
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03714052049753772
+ y: -0.040460883330049706
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03714052049753772
+ y: -0.040460883330049706
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037275735965007536
+ y: -0.04039054336134677
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037275735965007536
+ y: -0.04039054336134677
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037275735965007536
+ y: -0.04039054336134677
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037409157811360186
+ y: -0.04031728875652103
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037409157811360186
+ y: -0.04031728875652103
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037409157811360186
+ y: -0.04031728875652103
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03754078603587048
+ y: -0.04024111951623177
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03754078603587048
+ y: -0.04024111951623177
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03754078603587048
+ y: -0.04024111951623177
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03767062063781319
+ y: -0.04016203564113827
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03767062063781319
+ y: -0.04016203564113827
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03767062063781319
+ y: -0.04016203564113827
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0377986616164631
+ y: -0.04008003713189984
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0377986616164631
+ y: -0.04008003713189984
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0377986616164631
+ y: -0.04008003713189984
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037924908971095
+ y: -0.03999512398917574
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037924908971095
+ y: -0.03999512398917574
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037924908971095
+ y: -0.03999512398917574
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03804936270098368
+ y: -0.03990729621362525
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03804936270098368
+ y: -0.03990729621362525
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03804936270098368
+ y: -0.03990729621362525
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03817202280540392
+ y: -0.03981655380590768
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03817202280540392
+ y: -0.03981655380590768
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03817202280540392
+ y: -0.03981655380590768
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038292889283630505
+ y: -0.0397228967666823
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038292889283630505
+ y: -0.0397228967666823
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038292889283630505
+ y: -0.0397228967666823
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03841196213493822
+ y: -0.03962632509660841
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03841196213493822
+ y: -0.03962632509660841
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03841196213493822
+ y: -0.03962632509660841
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03852924135860186
+ y: -0.03952683879634528
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03852924135860186
+ y: -0.03952683879634528
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03852924135860186
+ y: -0.03952683879634528
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038644726953896195
+ y: -0.0394244378665522
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038644726953896195
+ y: -0.0394244378665522
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038644726953896195
+ y: -0.0394244378665522
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03875841892009603
+ y: -0.039319122307888456
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03875841892009603
+ y: -0.039319122307888456
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03875841892009603
+ y: -0.039319122307888456
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038870317256476127
+ y: -0.03921089212101334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038870317256476127
+ y: -0.03921089212101334
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038870317256476127
+ y: -0.03921089212101334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0389804219623113
+ y: -0.039099747306586136
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0389804219623113
+ y: -0.039099747306586136
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0389804219623113
+ y: -0.039099747306586136
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039088733036876315
+ y: -0.038985687865266114
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039088733036876315
+ y: -0.038985687865266114
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039088733036876315
+ y: -0.038985687865266114
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03919525047944596
+ y: -0.03886871379771258
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03919525047944596
+ y: -0.03886871379771258
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03919525047944596
+ y: -0.03886871379771258
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03929997428929502
+ y: -0.038748825104584814
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03929997428929502
+ y: -0.038748825104584814
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03929997428929502
+ y: -0.038748825104584814
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039402904465698295
+ y: -0.0386260217865421
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039402904465698295
+ y: -0.0386260217865421
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039402904465698295
+ y: -0.0386260217865421
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039504041007930556
+ y: -0.03850030384424371
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039504041007930556
+ y: -0.03850030384424371
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039504041007930556
+ y: -0.03850030384424371
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039603383915266584
+ y: -0.03837167127834896
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039603383915266584
+ y: -0.03837167127834896
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039603383915266584
+ y: -0.03837167127834896
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03968959495577177
+ y: -0.03825569453225742
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03968959495577177
+ y: -0.03825569453225742
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03968959495577177
+ y: -0.03825569453225742
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039768247328150874
+ y: -0.03814618695629435
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039768247328150874
+ y: -0.03814618695629435
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039768247328150874
+ y: -0.03814618695629435
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03984543269191944
+ y: -0.03803509138341943
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03984543269191944
+ y: -0.03803509138341943
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03984543269191944
+ y: -0.03803509138341943
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039921151046785244
+ y: -0.03792240781290212
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039921151046785244
+ y: -0.03792240781290212
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039921151046785244
+ y: -0.03792240781290212
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03999540239245609
+ y: -0.03780813624401188
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03999540239245609
+ y: -0.03780813624401188
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03999540239245609
+ y: -0.03780813624401188
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04006818672863976
+ y: -0.03769227667601819
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04006818672863976
+ y: -0.03769227667601819
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04006818672863976
+ y: -0.03769227667601819
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040139504055044045
+ y: -0.03757482910819053
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040139504055044045
+ y: -0.03757482910819053
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040139504055044045
+ y: -0.03757482910819053
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040209354371376724
+ y: -0.03745579353979836
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040209354371376724
+ y: -0.03745579353979836
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040209354371376724
+ y: -0.03745579353979836
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040277737677345604
+ y: -0.03733516997011116
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040277737677345604
+ y: -0.03733516997011116
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040277737677345604
+ y: -0.03733516997011116
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04034465397265846
+ y: -0.037212958398398395
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04034465397265846
+ y: -0.037212958398398395
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04034465397265846
+ y: -0.037212958398398395
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040410103257023086
+ y: -0.03708915882392953
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040410103257023086
+ y: -0.03708915882392953
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040410103257023086
+ y: -0.03708915882392953
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04047408553014727
+ y: -0.03696377124597406
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04047408553014727
+ y: -0.03696377124597406
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04047408553014727
+ y: -0.03696377124597406
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04053660079173879
+ y: -0.03683679566380144
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04053660079173879
+ y: -0.03683679566380144
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04053660079173879
+ y: -0.03683679566380144
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04059764904150546
+ y: -0.036708232076681134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04059764904150546
+ y: -0.036708232076681134
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04059764904150546
+ y: -0.036708232076681134
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04065723027915504
+ y: -0.03657808048388263
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04065723027915504
+ y: -0.03657808048388263
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04065723027915504
+ y: -0.03657808048388263
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04071534450439534
+ y: -0.036446340884675396
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04071534450439534
+ y: -0.036446340884675396
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04071534450439534
+ y: -0.036446340884675396
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04077199171693413
+ y: -0.03631301327832891
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04077199171693413
+ y: -0.03631301327832891
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04077199171693413
+ y: -0.03631301327832891
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04082717191647922
+ y: -0.03617809766411261
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04082717191647922
+ y: -0.03617809766411261
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04082717191647922
+ y: -0.03617809766411261
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040880885102738386
+ y: -0.036041594041296005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040880885102738386
+ y: -0.036041594041296005
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040880885102738386
+ y: -0.036041594041296005
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040933131275419414
+ y: -0.03590350240914856
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040933131275419414
+ y: -0.03590350240914856
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040933131275419414
+ y: -0.03590350240914856
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040983910434230095
+ y: -0.035763822766939735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040983910434230095
+ y: -0.035763822766939735
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040983910434230095
+ y: -0.035763822766939735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041033222578878224
+ y: -0.035622555113939004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041033222578878224
+ y: -0.035622555113939004
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041033222578878224
+ y: -0.035622555113939004
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041081067709071585
+ y: -0.035479699449415834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041081067709071585
+ y: -0.035479699449415834
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041081067709071585
+ y: -0.035479699449415834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041127445824517966
+ y: -0.03533525577263972
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041127445824517966
+ y: -0.03533525577263972
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041127445824517966
+ y: -0.03533525577263972
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04117235692492516
+ y: -0.03518922408288012
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04117235692492516
+ y: -0.03518922408288012
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04117235692492516
+ y: -0.03518922408288012
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04121580101000094
+ y: -0.03504160437940649
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04121580101000094
+ y: -0.03504160437940649
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04121580101000094
+ y: -0.03504160437940649
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04125777807945311
+ y: -0.034892396661488315
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04125777807945311
+ y: -0.034892396661488315
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04125777807945311
+ y: -0.034892396661488315
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04129828813298946
+ y: -0.034741600928395074
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04129828813298946
+ y: -0.034741600928395074
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04129828813298946
+ y: -0.034741600928395074
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04133733117031778
+ y: -0.03458921717939623
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04133733117031778
+ y: -0.03458921717939623
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04133733117031778
+ y: -0.03458921717939623
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041374907191145845
+ y: -0.03443524541376125
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041374907191145845
+ y: -0.03443524541376125
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041374907191145845
+ y: -0.03443524541376125
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041411016195181456
+ y: -0.034279685630759615
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041411016195181456
+ y: -0.034279685630759615
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041411016195181456
+ y: -0.034279685630759615
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04144565818213238
+ y: -0.0341225378296608
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04144565818213238
+ y: -0.0341225378296608
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04144565818213238
+ y: -0.0341225378296608
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04147883315170644
+ y: -0.03396380200973427
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04147883315170644
+ y: -0.03396380200973427
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04147883315170644
+ y: -0.03396380200973427
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0415105411036114
+ y: -0.03380347817024948
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0415105411036114
+ y: -0.03380347817024948
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0415105411036114
+ y: -0.03380347817024948
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04154078203755506
+ y: -0.03364156631047593
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04154078203755506
+ y: -0.03364156631047593
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04154078203755506
+ y: -0.03364156631047593
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041569555953245206
+ y: -0.033478066429683075
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041569555953245206
+ y: -0.033478066429683075
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041569555953245206
+ y: -0.033478066429683075
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04159686285038962
+ y: -0.0333129785271404
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04159686285038962
+ y: -0.0333129785271404
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04159686285038962
+ y: -0.0333129785271404
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04162270272869611
+ y: -0.03314630260211736
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04162270272869611
+ y: -0.03314630260211736
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04162270272869611
+ y: -0.03314630260211736
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04164707558787243
+ y: -0.032978038653883435
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04164707558787243
+ y: -0.032978038653883435
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04164707558787243
+ y: -0.032978038653883435
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041669981427626394
+ y: -0.032808186681708096
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041669981427626394
+ y: -0.032808186681708096
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041669981427626394
+ y: -0.032808186681708096
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04169142024766579
+ y: -0.032636746684860815
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04169142024766579
+ y: -0.032636746684860815
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04169142024766579
+ y: -0.032636746684860815
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04171139204769841
+ y: -0.032463718662611066
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04171139204769841
+ y: -0.032463718662611066
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04171139204769841
+ y: -0.032463718662611066
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04172989682743202
+ y: -0.032289102614228314
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04172989682743202
+ y: -0.032289102614228314
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04172989682743202
+ y: -0.032289102614228314
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041746934586574434
+ y: -0.03211289853898204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041746934586574434
+ y: -0.03211289853898204
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041746934586574434
+ y: -0.03211289853898204
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04176250532483343
+ y: -0.03193510643614171
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04176250532483343
+ y: -0.03193510643614171
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04176250532483343
+ y: -0.03193510643614171
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04177660904191679
+ y: -0.031755726304976785
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04177660904191679
+ y: -0.031755726304976785
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04177660904191679
+ y: -0.031755726304976785
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041789245737532316
+ y: -0.03157475814475675
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041789245737532316
+ y: -0.03157475814475675
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041789245737532316
+ y: -0.03157475814475675
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041800415411387785
+ y: -0.03139220195475108
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041800415411387785
+ y: -0.03139220195475108
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041800415411387785
+ y: -0.03139220195475108
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041810118063190994
+ y: -0.031208057734229248
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041810118063190994
+ y: -0.031208057734229248
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041810118063190994
+ y: -0.031208057734229248
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041818353692649725
+ y: -0.031022325482460703
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041818353692649725
+ y: -0.031022325482460703
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041818353692649725
+ y: -0.031022325482460703
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04182512229947177
+ y: -0.030835005198714932
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04182512229947177
+ y: -0.030835005198714932
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04182512229947177
+ y: -0.030835005198714932
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04183042388336492
+ y: -0.030646096882261418
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04183042388336492
+ y: -0.030646096882261418
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04183042388336492
+ y: -0.030646096882261418
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04183425844403697
+ y: -0.03045560053236962
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04183425844403697
+ y: -0.03045560053236962
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04183425844403697
+ y: -0.03045560053236962
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04183662598119569
+ y: -0.030263516148309
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04183662598119569
+ y: -0.030263516148309
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04183662598119569
+ y: -0.030263516148309
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04183752649454888
+ y: -0.030069843729349042
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04183752649454888
+ y: -0.030069843729349042
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04183752649454888
+ y: -0.030069843729349042
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041836962896557604
+ y: -0.029875538123271525
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041836962896557604
+ y: -0.029875538123271525
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041836962896557604
+ y: -0.029875538123271525
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041834939644787524
+ y: -0.02968276903431725
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041834939644787524
+ y: -0.02968276903431725
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041834939644787524
+ y: -0.02968276903431725
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041831456787593826
+ y: -0.029491594977146172
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041831456787593826
+ y: -0.029491594977146172
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041831456787593826
+ y: -0.029491594977146172
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041826514325266476
+ y: -0.0293020159513958
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041826514325266476
+ y: -0.0293020159513958
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041826514325266476
+ y: -0.0293020159513958
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041820112258095496
+ y: -0.02911403195670365
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041820112258095496
+ y: -0.02911403195670365
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041820112258095496
+ y: -0.02911403195670365
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041812250586370864
+ y: -0.02892764299270721
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041812250586370864
+ y: -0.02892764299270721
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041812250586370864
+ y: -0.02892764299270721
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0418029293103826
+ y: -0.028742849059043975
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0418029293103826
+ y: -0.028742849059043975
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0418029293103826
+ y: -0.028742849059043975
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04179214843042068
+ y: -0.028559650155351467
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04179214843042068
+ y: -0.028559650155351467
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04179214843042068
+ y: -0.028559650155351467
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041779907946775115
+ y: -0.028378046281267184
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041779907946775115
+ y: -0.028378046281267184
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041779907946775115
+ y: -0.028378046281267184
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0417662078597359
+ y: -0.028198037436428625
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0417662078597359
+ y: -0.028198037436428625
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0417662078597359
+ y: -0.028198037436428625
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04175104816959303
+ y: -0.028019623620473288
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04175104816959303
+ y: -0.028019623620473288
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04175104816959303
+ y: -0.028019623620473288
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04173442887663652
+ y: -0.02784280483303868
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04173442887663652
+ y: -0.02784280483303868
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04173442887663652
+ y: -0.02784280483303868
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041716349981156337
+ y: -0.027667581073762312
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041716349981156337
+ y: -0.027667581073762312
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041716349981156337
+ y: -0.027667581073762312
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041696811483442495
+ y: -0.02749395234228168
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041696811483442495
+ y: -0.02749395234228168
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041696811483442495
+ y: -0.02749395234228168
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04167581338378499
+ y: -0.02732191863823428
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04167581338378499
+ y: -0.02732191863823428
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04167581338378499
+ y: -0.02732191863823428
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04165335568247383
+ y: -0.027151479961257618
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04165335568247383
+ y: -0.027151479961257618
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04165335568247383
+ y: -0.027151479961257618
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041629438379798996
+ y: -0.026982636310989207
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041629438379798996
+ y: -0.026982636310989207
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041629438379798996
+ y: -0.026982636310989207
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0416040614760505
+ y: -0.02681538768706655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0416040614760505
+ y: -0.02681538768706655
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0416040614760505
+ y: -0.02681538768706655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041577224971518334
+ y: -0.02664973408912713
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041577224971518334
+ y: -0.02664973408912713
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041577224971518334
+ y: -0.02664973408912713
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04154892886649249
+ y: -0.026485675516808464
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04154892886649249
+ y: -0.026485675516808464
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04154892886649249
+ y: -0.026485675516808464
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041519173161262975
+ y: -0.02632321196974806
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041519173161262975
+ y: -0.02632321196974806
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041519173161262975
+ y: -0.02632321196974806
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04148795785611978
+ y: -0.026162343447583412
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04148795785611978
+ y: -0.026162343447583412
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04148795785611978
+ y: -0.026162343447583412
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04145528295135291
+ y: -0.02600306994995202
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04145528295135291
+ y: -0.02600306994995202
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04145528295135291
+ y: -0.02600306994995202
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04142114844725235
+ y: -0.02584539147649139
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04142114844725235
+ y: -0.02584539147649139
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04142114844725235
+ y: -0.02584539147649139
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04138555434410811
+ y: -0.025689308026839035
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04138555434410811
+ y: -0.025689308026839035
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04138555434410811
+ y: -0.025689308026839035
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04134850064221019
+ y: -0.02553481960063245
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04134850064221019
+ y: -0.02553481960063245
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04134850064221019
+ y: -0.02553481960063245
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04130998734184858
+ y: -0.025381926197509126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04130998734184858
+ y: -0.025381926197509126
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04130998734184858
+ y: -0.025381926197509126
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04127001444331327
+ y: -0.02523062781710658
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04127001444331327
+ y: -0.02523062781710658
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04127001444331327
+ y: -0.02523062781710658
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041228581946894265
+ y: -0.02508092445906232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041228581946894265
+ y: -0.02508092445906232
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041228581946894265
+ y: -0.02508092445906232
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04118568985288158
+ y: -0.02493281612301384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04118568985288158
+ y: -0.02493281612301384
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04118568985288158
+ y: -0.02493281612301384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04114133816156519
+ y: -0.024786302808598636
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04114133816156519
+ y: -0.024786302808598636
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04114133816156519
+ y: -0.024786302808598636
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041095526873235096
+ y: -0.024641384515454216
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041095526873235096
+ y: -0.024641384515454216
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041095526873235096
+ y: -0.024641384515454216
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041048255988181306
+ y: -0.024498061243218093
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041048255988181306
+ y: -0.024498061243218093
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.041048255988181306
+ y: -0.024498061243218093
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04099952550669381
+ y: -0.02435633299152776
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04099952550669381
+ y: -0.02435633299152776
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04099952550669381
+ y: -0.02435633299152776
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04094933542906261
+ y: -0.024216199760020717
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04094933542906261
+ y: -0.024216199760020717
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04094933542906261
+ y: -0.024216199760020717
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0408976857555777
+ y: -0.024077661548334472
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0408976857555777
+ y: -0.024077661548334472
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0408976857555777
+ y: -0.024077661548334472
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040844576486529074
+ y: -0.023940718356106533
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040844576486529074
+ y: -0.023940718356106533
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040844576486529074
+ y: -0.023940718356106533
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04079000762220674
+ y: -0.023805370182974392
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04079000762220674
+ y: -0.023805370182974392
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04079000762220674
+ y: -0.023805370182974392
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04073397916290069
+ y: -0.023671617028575558
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04073397916290069
+ y: -0.023671617028575558
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04073397916290069
+ y: -0.023671617028575558
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04067649110890092
+ y: -0.023539458892547528
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04067649110890092
+ y: -0.023539458892547528
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04067649110890092
+ y: -0.023539458892547528
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04061754346049743
+ y: -0.023408895774527816
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04061754346049743
+ y: -0.023408895774527816
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04061754346049743
+ y: -0.023408895774527816
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040557136217980225
+ y: -0.02327992767415392
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040557136217980225
+ y: -0.02327992767415392
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040557136217980225
+ y: -0.02327992767415392
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04049526938163929
+ y: -0.023152554591063332
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04049526938163929
+ y: -0.023152554591063332
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04049526938163929
+ y: -0.023152554591063332
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040431942951764624
+ y: -0.023026776524893565
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040431942951764624
+ y: -0.023026776524893565
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040431942951764624
+ y: -0.023026776524893565
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04036715692864624
+ y: -0.022902593475282125
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04036715692864624
+ y: -0.022902593475282125
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04036715692864624
+ y: -0.022902593475282125
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04030091131257412
+ y: -0.02278000544186651
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04030091131257412
+ y: -0.02278000544186651
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04030091131257412
+ y: -0.02278000544186651
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040233206103838265
+ y: -0.022659012424284218
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040233206103838265
+ y: -0.022659012424284218
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040233206103838265
+ y: -0.022659012424284218
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04016404130272868
+ y: -0.02253961442217276
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04016404130272868
+ y: -0.02253961442217276
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04016404130272868
+ y: -0.02253961442217276
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04009341690953535
+ y: -0.022421811435169636
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04009341690953535
+ y: -0.022421811435169636
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04009341690953535
+ y: -0.022421811435169636
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040021332924548285
+ y: -0.02230560346291235
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040021332924548285
+ y: -0.02230560346291235
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.040021332924548285
+ y: -0.02230560346291235
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039947789348057476
+ y: -0.0221909905050384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039947789348057476
+ y: -0.0221909905050384
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039947789348057476
+ y: -0.0221909905050384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03987278618035292
+ y: -0.02207797256118529
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03987278618035292
+ y: -0.02207797256118529
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03987278618035292
+ y: -0.02207797256118529
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03979632342172462
+ y: -0.021966549630990533
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03979632342172462
+ y: -0.021966549630990533
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03979632342172462
+ y: -0.021966549630990533
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03971840107246258
+ y: -0.02185672171409162
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03971840107246258
+ y: -0.02185672171409162
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03971840107246258
+ y: -0.02185672171409162
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03963901913285677
+ y: -0.021748488810126056
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03963901913285677
+ y: -0.021748488810126056
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03963901913285677
+ y: -0.021748488810126056
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03954067513538163
+ y: -0.02161924454213011
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03954067513538163
+ y: -0.02161924454213011
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03954067513538163
+ y: -0.02161924454213011
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039440196350451096
+ y: -0.021492457386569516
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039440196350451096
+ y: -0.021492457386569516
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039440196350451096
+ y: -0.021492457386569516
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03933792393422759
+ y: -0.021368584878263187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03933792393422759
+ y: -0.021368584878263187
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03933792393422759
+ y: -0.021368584878263187
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03923385788743632
+ y: -0.02124762701721112
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03923385788743632
+ y: -0.02124762701721112
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03923385788743632
+ y: -0.02124762701721112
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03912799821080251
+ y: -0.02112958380341332
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03912799821080251
+ y: -0.02112958380341332
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03912799821080251
+ y: -0.02112958380341332
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039020344905051366
+ y: -0.021014455236869786
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039020344905051366
+ y: -0.021014455236869786
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.039020344905051366
+ y: -0.021014455236869786
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038910897970908104
+ y: -0.020902241317580526
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038910897970908104
+ y: -0.020902241317580526
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038910897970908104
+ y: -0.020902241317580526
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038799657409097923
+ y: -0.020792942045545524
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038799657409097923
+ y: -0.020792942045545524
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038799657409097923
+ y: -0.020792942045545524
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03868662322034605
+ y: -0.02068655742076479
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03868662322034605
+ y: -0.02068655742076479
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03868662322034605
+ y: -0.02068655742076479
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038571795405377696
+ y: -0.020583087443238324
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038571795405377696
+ y: -0.020583087443238324
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038571795405377696
+ y: -0.020583087443238324
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038455173964918064
+ y: -0.020482532112966127
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038455173964918064
+ y: -0.020482532112966127
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.038455173964918064
+ y: -0.020482532112966127
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03833675889969237
+ y: -0.020384891429948194
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03833675889969237
+ y: -0.020384891429948194
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03833675889969237
+ y: -0.020384891429948194
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03821655021042583
+ y: -0.020290165394184524
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03821655021042583
+ y: -0.020290165394184524
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03821655021042583
+ y: -0.020290165394184524
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03809454789784366
+ y: -0.02019835400567513
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03809454789784366
+ y: -0.02019835400567513
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03809454789784366
+ y: -0.02019835400567513
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03797075196267107
+ y: -0.020109457264419997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03797075196267107
+ y: -0.020109457264419997
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03797075196267107
+ y: -0.020109457264419997
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037845162405633265
+ y: -0.02002347517041913
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037845162405633265
+ y: -0.02002347517041913
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037845162405633265
+ y: -0.02002347517041913
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03771777922745546
+ y: -0.01994040772367253
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03771777922745546
+ y: -0.01994040772367253
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03771777922745546
+ y: -0.01994040772367253
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037588602428862875
+ y: -0.0198602549241802
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037588602428862875
+ y: -0.0198602549241802
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037588602428862875
+ y: -0.0198602549241802
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03745763201058071
+ y: -0.019783016771942132
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03745763201058071
+ y: -0.019783016771942132
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03745763201058071
+ y: -0.019783016771942132
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03732486797333419
+ y: -0.019708693266958333
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03732486797333419
+ y: -0.019708693266958333
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03732486797333419
+ y: -0.019708693266958333
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037190310317848516
+ y: -0.019637284409228798
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037190310317848516
+ y: -0.019637284409228798
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.037190310317848516
+ y: -0.019637284409228798
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03705395904484891
+ y: -0.019568790198753534
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03705395904484891
+ y: -0.019568790198753534
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03705395904484891
+ y: -0.019568790198753534
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03691581415506058
+ y: -0.019503210635532536
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03691581415506058
+ y: -0.019503210635532536
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03691581415506058
+ y: -0.019503210635532536
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036775875649208735
+ y: -0.019440545719565803
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036775875649208735
+ y: -0.019440545719565803
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036775875649208735
+ y: -0.019440545719565803
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03663414352801859
+ y: -0.019380795450853333
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03663414352801859
+ y: -0.019380795450853333
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03663414352801859
+ y: -0.019380795450853333
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036490617792215366
+ y: -0.019323959829395138
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036490617792215366
+ y: -0.019323959829395138
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036490617792215366
+ y: -0.019323959829395138
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036345298442524265
+ y: -0.019270038855191202
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036345298442524265
+ y: -0.019270038855191202
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036345298442524265
+ y: -0.019270038855191202
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0361981854796705
+ y: -0.019219032528241538
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0361981854796705
+ y: -0.019219032528241538
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0361981854796705
+ y: -0.019219032528241538
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03604927890437928
+ y: -0.019170940848546137
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03604927890437928
+ y: -0.019170940848546137
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03604927890437928
+ y: -0.019170940848546137
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03589857871737583
+ y: -0.019125763816105007
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03589857871737583
+ y: -0.019125763816105007
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03589857871737583
+ y: -0.019125763816105007
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.035746084919385364
+ y: -0.01908350143091814
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.035746084919385364
+ y: -0.01908350143091814
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.035746084919385364
+ y: -0.01908350143091814
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03559179751113307
+ y: -0.019044153692985538
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03559179751113307
+ y: -0.019044153692985538
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03559179751113307
+ y: -0.019044153692985538
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03543571649334418
+ y: -0.019007720602307206
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03543571649334418
+ y: -0.019007720602307206
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03543571649334418
+ y: -0.019007720602307206
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0352778418667439
+ y: -0.018974202158883142
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0352778418667439
+ y: -0.018974202158883142
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0352778418667439
+ y: -0.018974202158883142
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03511817363205746
+ y: -0.01894359836271334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03511817363205746
+ y: -0.01894359836271334
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03511817363205746
+ y: -0.01894359836271334
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03495671179001004
+ y: -0.018915909213797807
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03495671179001004
+ y: -0.018915909213797807
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03495671179001004
+ y: -0.018915909213797807
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03479345634132687
+ y: -0.01889113471213654
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03479345634132687
+ y: -0.01889113471213654
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03479345634132687
+ y: -0.01889113471213654
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03462840728673317
+ y: -0.018869274857729542
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03462840728673317
+ y: -0.018869274857729542
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03462840728673317
+ y: -0.018869274857729542
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03446156462695414
+ y: -0.01885032965057681
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03446156462695414
+ y: -0.01885032965057681
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03446156462695414
+ y: -0.01885032965057681
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034292928362715
+ y: -0.018834299090678342
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034292928362715
+ y: -0.018834299090678342
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.034292928362715
+ y: -0.018834299090678342
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03412249849474095
+ y: -0.018821183178034145
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03412249849474095
+ y: -0.018821183178034145
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03412249849474095
+ y: -0.018821183178034145
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03395027502375722
+ y: -0.018810981912644215
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03395027502375722
+ y: -0.018810981912644215
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03395027502375722
+ y: -0.018810981912644215
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03377625795048901
+ y: -0.018803695294508548
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03377625795048901
+ y: -0.018803695294508548
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03377625795048901
+ y: -0.018803695294508548
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03360044727566154
+ y: -0.018799323323627146
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03360044727566154
+ y: -0.018799323323627146
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03360044727566154
+ y: -0.018799323323627146
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.018797866
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.018797866
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.018797866
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.018797866
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.033422843
+ y: -0.018797866
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
diff --git a/src/dual_arm_sim/objectives/open_gripper.xml b/src/dual_arm_sim/objectives/open_gripper.xml
new file mode 100644
index 000000000..1c929867b
--- /dev/null
+++ b/src/dual_arm_sim/objectives/open_gripper.xml
@@ -0,0 +1,26 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/open_left_gripper.xml b/src/dual_arm_sim/objectives/open_left_gripper.xml
new file mode 100644
index 000000000..4ed072d1e
--- /dev/null
+++ b/src/dual_arm_sim/objectives/open_left_gripper.xml
@@ -0,0 +1,26 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/open_right_gripper.xml b/src/dual_arm_sim/objectives/open_right_gripper.xml
new file mode 100644
index 000000000..72dcbef27
--- /dev/null
+++ b/src/dual_arm_sim/objectives/open_right_gripper.xml
@@ -0,0 +1,26 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/segment_image_from_no_negative_text_prompt_subtree.xml b/src/dual_arm_sim/objectives/segment_image_from_no_negative_text_prompt_subtree.xml
new file mode 100644
index 000000000..d7f8d366c
--- /dev/null
+++ b/src/dual_arm_sim/objectives/segment_image_from_no_negative_text_prompt_subtree.xml
@@ -0,0 +1,74 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/segment_point_cloud_from_text.xml b/src/dual_arm_sim/objectives/segment_point_cloud_from_text.xml
new file mode 100644
index 000000000..68fd1f38c
--- /dev/null
+++ b/src/dual_arm_sim/objectives/segment_point_cloud_from_text.xml
@@ -0,0 +1,119 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/sort_blocks.xml b/src/dual_arm_sim/objectives/sort_blocks.xml
new file mode 100644
index 000000000..aed98bc7c
--- /dev/null
+++ b/src/dual_arm_sim/objectives/sort_blocks.xml
@@ -0,0 +1,289 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/take_snap.xml b/src/dual_arm_sim/objectives/take_snap.xml
new file mode 100644
index 000000000..646c71083
--- /dev/null
+++ b/src/dual_arm_sim/objectives/take_snap.xml
@@ -0,0 +1,33 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/teleoperate.xml b/src/dual_arm_sim/objectives/teleoperate.xml
new file mode 100644
index 000000000..bb3dc89db
--- /dev/null
+++ b/src/dual_arm_sim/objectives/teleoperate.xml
@@ -0,0 +1,25 @@
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/objectives/wipe_zig_zag.yaml b/src/dual_arm_sim/objectives/wipe_zig_zag.yaml
new file mode 100644
index 000000000..ed4706f8a
--- /dev/null
+++ b/src/dual_arm_sim/objectives/wipe_zig_zag.yaml
@@ -0,0 +1,7853 @@
+
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.1
+ y: -0.062429166
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.1
+ y: -0.062429166
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.1
+ y: -0.062429166
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.1
+ y: -0.062429166
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.1
+ y: -0.062429166
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10005437663720108
+ y: -0.05739104176380474
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10005437663720108
+ y: -0.05739104176380474
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10005437663720108
+ y: -0.05739104176380474
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10010875327440218
+ y: -0.05235291752760946
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10010875327440218
+ y: -0.05235291752760946
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10010875327440218
+ y: -0.05235291752760946
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10016312991160327
+ y: -0.0473147932914142
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10016312991160327
+ y: -0.0473147932914142
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10016312991160327
+ y: -0.0473147932914142
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10021750654880433
+ y: -0.04227666905521893
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10021750654880433
+ y: -0.04227666905521893
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10021750654880433
+ y: -0.04227666905521893
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10027188318600543
+ y: -0.03723854481902366
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10027188318600543
+ y: -0.03723854481902366
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10027188318600543
+ y: -0.03723854481902366
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10032625982320652
+ y: -0.03220042058282838
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10032625982320652
+ y: -0.03220042058282838
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10032625982320652
+ y: -0.03220042058282838
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.1003806364604076
+ y: -0.02716229634663312
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.1003806364604076
+ y: -0.02716229634663312
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.1003806364604076
+ y: -0.02716229634663312
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10043501309760869
+ y: -0.022124172110437854
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10043501309760869
+ y: -0.022124172110437854
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10043501309760869
+ y: -0.022124172110437854
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10048938973480978
+ y: -0.01708604787424258
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10048938973480978
+ y: -0.01708604787424258
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10048938973480978
+ y: -0.01708604787424258
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10054376637201087
+ y: -0.012047923638047315
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10054376637201087
+ y: -0.012047923638047315
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10054376637201087
+ y: -0.012047923638047315
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10059814300921195
+ y: -0.007009799401852043
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10059814300921195
+ y: -0.007009799401852043
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10059814300921195
+ y: -0.007009799401852043
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10065251964641303
+ y: -0.0019716751656567765
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10065251964641303
+ y: -0.0019716751656567765
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.10065251964641303
+ y: -0.0019716751656567765
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09760717233003492
+ y: 1.444084212957552e-10
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09760717233003492
+ y: 1.444084212957552e-10
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09760717233003492
+ y: 1.444084212957552e-10
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09256875465798635
+ y: 3.816690281099673e-10
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09256875465798635
+ y: 3.816690281099673e-10
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09256875465798635
+ y: 3.816690281099673e-10
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08753033698593776
+ y: 6.1892963492418e-10
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08753033698593776
+ y: 6.1892963492418e-10
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08753033698593776
+ y: 6.1892963492418e-10
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08301165207954962
+ y: -0.0011947414252804229
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08301165207954962
+ y: -0.0011947414252804229
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08301165207954962
+ y: -0.0011947414252804229
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07957672575579597
+ y: -0.0048807872454508065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07957672575579597
+ y: -0.0048807872454508065
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07957672575579597
+ y: -0.0048807872454508065
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07614179943204229
+ y: -0.0085668330656212
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07614179943204229
+ y: -0.0085668330656212
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07614179943204229
+ y: -0.0085668330656212
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07270687310828862
+ y: -0.012252878885791584
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07270687310828862
+ y: -0.012252878885791584
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07270687310828862
+ y: -0.012252878885791584
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06927194678453495
+ y: -0.015938924705961977
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06927194678453495
+ y: -0.015938924705961977
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06927194678453495
+ y: -0.015938924705961977
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06583702046078128
+ y: -0.019624970526132362
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06583702046078128
+ y: -0.019624970526132362
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06583702046078128
+ y: -0.019624970526132362
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06240209413702762
+ y: -0.023311016346302754
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06240209413702762
+ y: -0.023311016346302754
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06240209413702762
+ y: -0.023311016346302754
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.058967167813273956
+ y: -0.026997062166473136
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.058967167813273956
+ y: -0.026997062166473136
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.058967167813273956
+ y: -0.026997062166473136
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05553224148952029
+ y: -0.03068310798664352
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05553224148952029
+ y: -0.03068310798664352
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05553224148952029
+ y: -0.03068310798664352
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05209731516576663
+ y: -0.03436915380681391
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05209731516576663
+ y: -0.03436915380681391
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05209731516576663
+ y: -0.03436915380681391
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04866238884201294
+ y: -0.03805519962698431
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04866238884201294
+ y: -0.03805519962698431
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04866238884201294
+ y: -0.03805519962698431
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04522746251825928
+ y: -0.04174124544715469
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04522746251825928
+ y: -0.04174124544715469
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04522746251825928
+ y: -0.04174124544715469
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04179253619450562
+ y: -0.04542729126732507
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04179253619450562
+ y: -0.04542729126732507
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04179253619450562
+ y: -0.04542729126732507
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03835760987075196
+ y: -0.049113337087495455
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03835760987075196
+ y: -0.049113337087495455
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03835760987075196
+ y: -0.049113337087495455
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03492268354699827
+ y: -0.05279938290766586
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03492268354699827
+ y: -0.05279938290766586
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03492268354699827
+ y: -0.05279938290766586
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03148775722324461
+ y: -0.05648542872783624
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03148775722324461
+ y: -0.05648542872783624
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03148775722324461
+ y: -0.05648542872783624
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028052830899490944
+ y: -0.06017147454800663
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028052830899490944
+ y: -0.06017147454800663
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.028052830899490944
+ y: -0.06017147454800663
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02377827962647745
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02377827962647745
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02377827962647745
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018739861954428873
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018739861954428873
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.018739861954428873
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013701444282380267
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013701444282380267
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.013701444282380267
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008663026610331689
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008663026610331689
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.008663026610331689
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00362460893828311
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00362460893828311
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00362460893828311
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.001413808733765471
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.001413808733765471
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.001413808733765471
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0064522264058140735
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0064522264058140735
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0064522264058140735
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011490644077862655
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011490644077862655
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011490644077862655
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016529061749911228
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016529061749911228
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.016529061749911228
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015139475860270656
+ y: -0.05913320630461974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015139475860270656
+ y: -0.05913320630461974
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015139475860270656
+ y: -0.05913320630461974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011702550701485098
+ y: -0.05544902415780367
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011702550701485098
+ y: -0.05544902415780367
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011702550701485098
+ y: -0.05544902415780367
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008265625542699523
+ y: -0.05176484201098758
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008265625542699523
+ y: -0.05176484201098758
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.008265625542699523
+ y: -0.05176484201098758
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004828700383913965
+ y: -0.04808065986417151
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004828700383913965
+ y: -0.04808065986417151
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004828700383913965
+ y: -0.04808065986417151
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013917752251284092
+ y: -0.044396477717355436
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013917752251284092
+ y: -0.044396477717355436
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013917752251284092
+ y: -0.044396477717355436
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0020451499336571503
+ y: -0.04071229557053937
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0020451499336571503
+ y: -0.04071229557053937
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0020451499336571503
+ y: -0.04071229557053937
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005482075092442706
+ y: -0.0370281134237233
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005482075092442706
+ y: -0.0370281134237233
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.005482075092442706
+ y: -0.0370281134237233
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00891900025122828
+ y: -0.0333439312769072
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00891900025122828
+ y: -0.0333439312769072
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.00891900025122828
+ y: -0.0333439312769072
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012355925410013818
+ y: -0.029659749130091152
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012355925410013818
+ y: -0.029659749130091152
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012355925410013818
+ y: -0.029659749130091152
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015792850568799397
+ y: -0.02597556698327506
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015792850568799397
+ y: -0.02597556698327506
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015792850568799397
+ y: -0.02597556698327506
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01922977572758497
+ y: -0.02229138483645897
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01922977572758497
+ y: -0.02229138483645897
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.01922977572758497
+ y: -0.02229138483645897
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02266670088637051
+ y: -0.01860720268964292
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02266670088637051
+ y: -0.01860720268964292
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02266670088637051
+ y: -0.01860720268964292
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02610362604515609
+ y: -0.014923020542826827
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02610362604515609
+ y: -0.014923020542826827
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02610362604515609
+ y: -0.014923020542826827
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029540551203941664
+ y: -0.011238838396010736
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029540551203941664
+ y: -0.011238838396010736
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.029540551203941664
+ y: -0.011238838396010736
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0329774763627272
+ y: -0.007554656249194686
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0329774763627272
+ y: -0.007554656249194686
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0329774763627272
+ y: -0.007554656249194686
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036414401521512776
+ y: -0.0038704741023785944
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036414401521512776
+ y: -0.0038704741023785944
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.036414401521512776
+ y: -0.0038704741023785944
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03985132668029832
+ y: -0.0001862919555625453
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03985132668029832
+ y: -0.0001862919555625453
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03985132668029832
+ y: -0.0001862919555625453
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.043288251839083886
+ y: 0.0034978901912535534
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.043288251839083886
+ y: 0.0034978901912535534
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.043288251839083886
+ y: 0.0034978901912535534
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04672517699786947
+ y: 0.007182072338069638
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04672517699786947
+ y: 0.007182072338069638
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04672517699786947
+ y: 0.007182072338069638
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05016210215665501
+ y: 0.010866254484885695
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05016210215665501
+ y: 0.010866254484885695
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05016210215665501
+ y: 0.010866254484885695
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053599027315440584
+ y: 0.01455043663170178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053599027315440584
+ y: 0.01455043663170178
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.053599027315440584
+ y: 0.01455043663170178
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.057035952474226125
+ y: 0.018234618778517835
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.057035952474226125
+ y: 0.018234618778517835
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.057035952474226125
+ y: 0.018234618778517835
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06047287763301171
+ y: 0.021918800925333933
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06047287763301171
+ y: 0.021918800925333933
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06047287763301171
+ y: 0.021918800925333933
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06390980279179728
+ y: 0.025602983072150018
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06390980279179728
+ y: 0.025602983072150018
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06390980279179728
+ y: 0.025602983072150018
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0673467279505828
+ y: 0.02928716521896606
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0673467279505828
+ y: 0.02928716521896606
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0673467279505828
+ y: 0.02928716521896606
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07078365310936839
+ y: 0.03297134736578216
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07078365310936839
+ y: 0.03297134736578216
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07078365310936839
+ y: 0.03297134736578216
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07422057826815393
+ y: 0.03665552951259821
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07422057826815393
+ y: 0.03665552951259821
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07422057826815393
+ y: 0.03665552951259821
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07765750342693951
+ y: 0.0403397116594143
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07765750342693951
+ y: 0.0403397116594143
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07765750342693951
+ y: 0.0403397116594143
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08109442858572508
+ y: 0.04402389380623038
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08109442858572508
+ y: 0.04402389380623038
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08109442858572508
+ y: 0.04402389380623038
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08453135374451061
+ y: 0.04770807595304644
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08453135374451061
+ y: 0.04770807595304644
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08453135374451061
+ y: 0.04770807595304644
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0879682789032962
+ y: 0.05139225809986254
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0879682789032962
+ y: 0.05139225809986254
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0879682789032962
+ y: 0.05139225809986254
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09140520406208173
+ y: 0.05507644024667859
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09140520406208173
+ y: 0.05507644024667859
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09140520406208173
+ y: 0.05507644024667859
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09484212922086732
+ y: 0.05876062239349468
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09484212922086732
+ y: 0.05876062239349468
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09484212922086732
+ y: 0.05876062239349468
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09708883244461333
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09708883244461333
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09708883244461333
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09205041477256479
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09205041477256479
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.09205041477256479
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08701199710051619
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08701199710051619
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08701199710051619
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08197357942846757
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08197357942846757
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.08197357942846757
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07693516175641904
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07693516175641904
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07693516175641904
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07189674408437043
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07189674408437043
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.07189674408437043
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0668583264123219
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0668583264123219
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0668583264123219
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06181990874027329
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06181990874027329
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.06181990874027329
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05712654402355206
+ y: 0.06113363874644417
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05712654402355206
+ y: 0.06113363874644417
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05712654402355206
+ y: 0.06113363874644417
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05368961886476652
+ y: 0.05744945659962811
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05368961886476652
+ y: 0.05744945659962811
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05368961886476652
+ y: 0.05744945659962811
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05025269370598094
+ y: 0.05376527445281202
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05025269370598094
+ y: 0.05376527445281202
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.05025269370598094
+ y: 0.05376527445281202
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04681576854719541
+ y: 0.050081092305995965
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04681576854719541
+ y: 0.050081092305995965
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04681576854719541
+ y: 0.050081092305995965
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04337884338840982
+ y: 0.04639691015917987
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04337884338840982
+ y: 0.04639691015917987
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.04337884338840982
+ y: 0.04639691015917987
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03994191822962425
+ y: 0.04271272801236378
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03994191822962425
+ y: 0.04271272801236378
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03994191822962425
+ y: 0.04271272801236378
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03650499307083871
+ y: 0.03902854586554773
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03650499307083871
+ y: 0.03902854586554773
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03650499307083871
+ y: 0.03902854586554773
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03306806791205313
+ y: 0.03534436371873163
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03306806791205313
+ y: 0.03534436371873163
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.03306806791205313
+ y: 0.03534436371873163
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02963114275326759
+ y: 0.03166018157191559
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02963114275326759
+ y: 0.03166018157191559
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.02963114275326759
+ y: 0.03166018157191559
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026194217594482008
+ y: 0.027975999425099488
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026194217594482008
+ y: 0.027975999425099488
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.026194217594482008
+ y: 0.027975999425099488
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.022757292435696436
+ y: 0.024291817278283397
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.022757292435696436
+ y: 0.024291817278283397
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.022757292435696436
+ y: 0.024291817278283397
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019320367276910895
+ y: 0.020607635131467347
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019320367276910895
+ y: 0.020607635131467347
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.019320367276910895
+ y: 0.020607635131467347
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015883442118125316
+ y: 0.016923452984651248
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015883442118125316
+ y: 0.016923452984651248
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.015883442118125316
+ y: 0.016923452984651248
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012446516959339782
+ y: 0.013239270837835207
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012446516959339782
+ y: 0.013239270837835207
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012446516959339782
+ y: 0.013239270837835207
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009009591800554205
+ y: 0.009555088691019108
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009009591800554205
+ y: 0.009555088691019108
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.009009591800554205
+ y: 0.009555088691019108
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0055726666417686204
+ y: 0.005870906544203016
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0055726666417686204
+ y: 0.005870906544203016
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0055726666417686204
+ y: 0.005870906544203016
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002135741482983086
+ y: 0.0021867243973869607
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002135741482983086
+ y: 0.0021867243973869607
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002135741482983086
+ y: 0.0021867243973869607
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013011836758024488
+ y: -0.0014974577494290884
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013011836758024488
+ y: -0.0014974577494290884
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0013011836758024488
+ y: -0.0014974577494290884
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004738108834588033
+ y: -0.00518163989624518
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004738108834588033
+ y: -0.00518163989624518
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.004738108834588033
+ y: -0.00518163989624518
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00817503399337361
+ y: -0.00886582204306128
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00817503399337361
+ y: -0.00886582204306128
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.00817503399337361
+ y: -0.00886582204306128
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011611959152159195
+ y: -0.012550004189877378
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011611959152159195
+ y: -0.012550004189877378
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.011611959152159195
+ y: -0.012550004189877378
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015048884310944765
+ y: -0.016234186336693462
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015048884310944765
+ y: -0.016234186336693462
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.015048884310944765
+ y: -0.016234186336693462
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018485809469730264
+ y: -0.01991836848350946
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018485809469730264
+ y: -0.01991836848350946
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.018485809469730264
+ y: -0.01991836848350946
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021922734628515832
+ y: -0.02360255063032556
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021922734628515832
+ y: -0.02360255063032556
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.021922734628515832
+ y: -0.02360255063032556
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025359659787301418
+ y: -0.027286732777141658
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025359659787301418
+ y: -0.027286732777141658
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.025359659787301418
+ y: -0.027286732777141658
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028796584946087004
+ y: -0.030970914923957742
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028796584946087004
+ y: -0.030970914923957742
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.028796584946087004
+ y: -0.030970914923957742
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032233510104872576
+ y: -0.03465509707077384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032233510104872576
+ y: -0.03465509707077384
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.032233510104872576
+ y: -0.03465509707077384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03567043526365816
+ y: -0.03833927921758994
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03567043526365816
+ y: -0.03833927921758994
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03567043526365816
+ y: -0.03833927921758994
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03910736042244366
+ y: -0.042023461364405955
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03910736042244366
+ y: -0.042023461364405955
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03910736042244366
+ y: -0.042023461364405955
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.042544285581229226
+ y: -0.045707643511222036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.042544285581229226
+ y: -0.045707643511222036
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.042544285581229226
+ y: -0.045707643511222036
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04598121074001481
+ y: -0.049391825658038124
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04598121074001481
+ y: -0.049391825658038124
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04598121074001481
+ y: -0.049391825658038124
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04941813589880038
+ y: -0.05307600780485422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04941813589880038
+ y: -0.05307600780485422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04941813589880038
+ y: -0.05307600780485422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.052855061057585966
+ y: -0.05676018995167032
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.052855061057585966
+ y: -0.05676018995167032
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.052855061057585966
+ y: -0.05676018995167032
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.056291986216371465
+ y: -0.06044437209848633
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.056291986216371465
+ y: -0.06044437209848633
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.056291986216371465
+ y: -0.06044437209848633
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06068573073725077
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06068573073725077
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06068573073725077
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06572414840929938
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06572414840929938
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06572414840929938
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07076256608134798
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07076256608134798
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07076256608134798
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0758009837533966
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0758009837533966
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0758009837533966
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08083940142544509
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08083940142544509
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08083940142544509
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0858778190974937
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0858778190974937
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0858778190974937
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09091623676954232
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09091623676954232
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09091623676954232
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09595465444159092
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09595465444159092
+ y: -0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09595465444159092
+ y: -0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09885412184690039
+ y: -0.06099763277619392
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09885412184690039
+ y: -0.06099763277619392
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09885412184690039
+ y: -0.06099763277619392
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09541719670401946
+ y: -0.05731345061454075
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09541719670401946
+ y: -0.05731345061454075
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09541719670401946
+ y: -0.05731345061454075
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09198027156113846
+ y: -0.053629268452887485
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09198027156113846
+ y: -0.053629268452887485
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09198027156113846
+ y: -0.053629268452887485
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08854334641825747
+ y: -0.04994508629123423
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08854334641825747
+ y: -0.04994508629123423
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08854334641825747
+ y: -0.04994508629123423
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08510642127537645
+ y: -0.04626090412958097
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08510642127537645
+ y: -0.04626090412958097
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08510642127537645
+ y: -0.04626090412958097
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08166949613249544
+ y: -0.042576721967927715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08166949613249544
+ y: -0.042576721967927715
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08166949613249544
+ y: -0.042576721967927715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07823257098961452
+ y: -0.038892539806274544
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07823257098961452
+ y: -0.038892539806274544
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07823257098961452
+ y: -0.038892539806274544
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07479564584673351
+ y: -0.03520835764462129
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07479564584673351
+ y: -0.03520835764462129
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07479564584673351
+ y: -0.03520835764462129
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0713587207038525
+ y: -0.03152417548296803
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0713587207038525
+ y: -0.03152417548296803
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0713587207038525
+ y: -0.03152417548296803
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0679217955609715
+ y: -0.027839993321314774
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0679217955609715
+ y: -0.027839993321314774
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0679217955609715
+ y: -0.027839993321314774
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06448487041809049
+ y: -0.02415581115966152
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06448487041809049
+ y: -0.02415581115966152
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06448487041809049
+ y: -0.02415581115966152
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06104794527520956
+ y: -0.02047162899800834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06104794527520956
+ y: -0.02047162899800834
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06104794527520956
+ y: -0.02047162899800834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05761102013232856
+ y: -0.01678744683635508
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05761102013232856
+ y: -0.01678744683635508
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05761102013232856
+ y: -0.01678744683635508
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05417409498944756
+ y: -0.013103264674701834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05417409498944756
+ y: -0.013103264674701834
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05417409498944756
+ y: -0.013103264674701834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.050737169846566545
+ y: -0.009419082513048573
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.050737169846566545
+ y: -0.009419082513048573
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.050737169846566545
+ y: -0.009419082513048573
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.047300244703685546
+ y: -0.005734900351395311
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.047300244703685546
+ y: -0.005734900351395311
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.047300244703685546
+ y: -0.005734900351395311
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04386331956080462
+ y: -0.0020507181897421417
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04386331956080462
+ y: -0.0020507181897421417
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.04386331956080462
+ y: -0.0020507181897421417
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0404263944179236
+ y: 0.0016334639719111266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0404263944179236
+ y: 0.0016334639719111266
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0404263944179236
+ y: 0.0016334639719111266
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036989469275042604
+ y: 0.005317646133564374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036989469275042604
+ y: 0.005317646133564374
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.036989469275042604
+ y: 0.005317646133564374
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0335525441321616
+ y: 0.009001828295217628
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0335525441321616
+ y: 0.009001828295217628
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0335525441321616
+ y: 0.009001828295217628
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03011561898928059
+ y: 0.012686010456870896
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03011561898928059
+ y: 0.012686010456870896
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03011561898928059
+ y: 0.012686010456870896
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02667869384639967
+ y: 0.016370192618524064
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02667869384639967
+ y: 0.016370192618524064
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02667869384639967
+ y: 0.016370192618524064
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02324176870351866
+ y: 0.02005437478017732
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02324176870351866
+ y: 0.02005437478017732
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.02324176870351866
+ y: 0.02005437478017732
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01980484356063765
+ y: 0.023738556941830587
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01980484356063765
+ y: 0.023738556941830587
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01980484356063765
+ y: 0.023738556941830587
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01636791841775664
+ y: 0.02742273910348384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01636791841775664
+ y: 0.02742273910348384
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01636791841775664
+ y: 0.02742273910348384
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012930993274875647
+ y: 0.03110692126513708
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012930993274875647
+ y: 0.03110692126513708
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.012930993274875647
+ y: 0.03110692126513708
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009494068131994639
+ y: 0.03479110342679035
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009494068131994639
+ y: 0.03479110342679035
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.009494068131994639
+ y: 0.03479110342679035
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006057142989113714
+ y: 0.03847528558844352
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006057142989113714
+ y: 0.03847528558844352
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.006057142989113714
+ y: 0.03847528558844352
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0026202178462327056
+ y: 0.042159467750096775
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0026202178462327056
+ y: 0.042159467750096775
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0026202178462327056
+ y: 0.042159467750096775
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0008167072966483033
+ y: 0.045843649911750044
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0008167072966483033
+ y: 0.045843649911750044
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0008167072966483033
+ y: 0.045843649911750044
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0042536324395293125
+ y: 0.0495278320734033
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0042536324395293125
+ y: 0.0495278320734033
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.0042536324395293125
+ y: 0.0495278320734033
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007690557582410307
+ y: 0.05321201423505655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007690557582410307
+ y: 0.05321201423505655
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007690557582410307
+ y: 0.05321201423505655
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011127482725291245
+ y: 0.05689619639670974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011127482725291245
+ y: 0.05689619639670974
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.011127482725291245
+ y: 0.05689619639670974
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014564407868172239
+ y: 0.06058037855836299
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014564407868172239
+ y: 0.06058037855836299
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.014564407868172239
+ y: 0.06058037855836299
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012624820398741318
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012624820398741318
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.012624820398741318
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007586402726692718
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007586402726692718
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.007586402726692718
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002547985054644121
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002547985054644121
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: -0.002547985054644121
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0024904326174043662
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0024904326174043662
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0024904326174043662
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007528850289452962
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007528850289452962
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.007528850289452962
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01256726796150156
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01256726796150156
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01256726796150156
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01760568563355016
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01760568563355016
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.01760568563355016
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022644103305598764
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022644103305598764
+ y: 0.061927422
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.022644103305598764
+ y: 0.061927422
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026638455859429054
+ y: 0.059483368378239115
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026638455859429054
+ y: 0.059483368378239115
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.026638455859429054
+ y: 0.059483368378239115
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030121763133068042
+ y: 0.05584300808351203
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030121763133068042
+ y: 0.05584300808351203
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.030121763133068042
+ y: 0.05584300808351203
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03360507040670703
+ y: 0.05220264778878496
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03360507040670703
+ y: 0.05220264778878496
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.03360507040670703
+ y: 0.05220264778878496
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.037088377680346014
+ y: 0.048562287494057874
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.037088377680346014
+ y: 0.048562287494057874
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.037088377680346014
+ y: 0.048562287494057874
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040571684953985
+ y: 0.044921927199330795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040571684953985
+ y: 0.044921927199330795
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.040571684953985
+ y: 0.044921927199330795
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044054992227623914
+ y: 0.04128156690460379
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044054992227623914
+ y: 0.04128156690460379
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.044054992227623914
+ y: 0.04128156690460379
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0475382995012629
+ y: 0.037641206609876715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0475382995012629
+ y: 0.037641206609876715
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0475382995012629
+ y: 0.037641206609876715
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051021606774901876
+ y: 0.03400084631514963
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051021606774901876
+ y: 0.03400084631514963
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.051021606774901876
+ y: 0.03400084631514963
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05450491404854086
+ y: 0.03036048602042255
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05450491404854086
+ y: 0.03036048602042255
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.05450491404854086
+ y: 0.03036048602042255
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.057988221322179845
+ y: 0.026720125725695477
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.057988221322179845
+ y: 0.026720125725695477
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.057988221322179845
+ y: 0.026720125725695477
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06147152859581876
+ y: 0.02307976543096847
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06147152859581876
+ y: 0.02307976543096847
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06147152859581876
+ y: 0.02307976543096847
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06495483586945776
+ y: 0.01943940513624139
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06495483586945776
+ y: 0.01943940513624139
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06495483586945776
+ y: 0.01943940513624139
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06843814314309674
+ y: 0.015799044841514308
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06843814314309674
+ y: 0.015799044841514308
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.06843814314309674
+ y: 0.015799044841514308
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07192145041673573
+ y: 0.012158684546787235
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07192145041673573
+ y: 0.012158684546787235
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07192145041673573
+ y: 0.012158684546787235
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0754047576903747
+ y: 0.008518324252060148
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0754047576903747
+ y: 0.008518324252060148
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.0754047576903747
+ y: 0.008518324252060148
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07888806496401361
+ y: 0.004877963957333151
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07888806496401361
+ y: 0.004877963957333151
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.07888806496401361
+ y: 0.004877963957333151
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08237137223765259
+ y: 0.0012376036626060695
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08237137223765259
+ y: 0.0012376036626060695
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08237137223765259
+ y: 0.0012376036626060695
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08688110313998332
+ y: 1.575938308096752e-10
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08688110313998332
+ y: 1.575938308096752e-10
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.08688110313998332
+ y: 1.575938308096752e-10
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09191952081203192
+ y: 3.963605526257968e-10
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09191952081203192
+ y: 3.963605526257968e-10
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09191952081203192
+ y: 3.963605526257968e-10
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09695793848408052
+ y: 6.351272744419184e-10
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09695793848408052
+ y: 6.351272744419184e-10
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.09695793848408052
+ y: 6.351272744419184e-10
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.001996356935417233
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.001996356935417233
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.001996356935417233
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.007034774607465834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.007034774607465834
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.007034774607465834
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.012073192279514434
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.012073192279514434
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.012073192279514434
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.017111609951563037
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.017111609951563037
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.017111609951563037
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.022150027623611634
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.022150027623611634
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.022150027623611634
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.027188445295660127
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.027188445295660127
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.027188445295660127
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.032226862967708735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.032226862967708735
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.032226862967708735
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.03726528063975733
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.03726528063975733
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.03726528063975733
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.04230369831180593
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.04230369831180593
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.04230369831180593
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.04734211598385453
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.04734211598385453
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.04734211598385453
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.05238053365590313
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.05238053365590313
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.05238053365590313
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.05741895132795163
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.05741895132795163
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.05741895132795163
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.062457369
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.062457369
+ z: 0.0
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.062457369
+ z: 1e-05
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.062457369
+ z: -0.00999
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: 0.1
+ y: 0.062457369
+ z: -0.01
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0
diff --git a/src/dual_arm_sim/objectives/writing_demo.xml b/src/dual_arm_sim/objectives/writing_demo.xml
new file mode 100644
index 000000000..39381ca5a
--- /dev/null
+++ b/src/dual_arm_sim/objectives/writing_demo.xml
@@ -0,0 +1,65 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/package.xml b/src/dual_arm_sim/package.xml
new file mode 100644
index 000000000..ac0816c9a
--- /dev/null
+++ b/src/dual_arm_sim/package.xml
@@ -0,0 +1,33 @@
+
+
+ dual_arm_sim
+ 9.5.0
+
+ Base configuration package for the Franka arm.
+
+ MoveIt Pro Maintainer
+
+ BSD-3-Clause
+
+ ament_cmake
+
+ franka_base_config
+ franka_description
+ moveit_pro_behavior
+ moveit_pro_sam3
+ moveit_studio_agent
+
+ ament_clang_format
+ ament_clang_tidy
+ ament_cmake_copyright
+ ament_cmake_lint_cmake
+ ament_cmake_pytest
+ ament_flake8
+ ament_lint_auto
+ picknik_ament_copyright
+ rclpy
+
+
+ ament_cmake
+
+
diff --git a/src/dual_arm_sim/scripts/README.md b/src/dual_arm_sim/scripts/README.md
new file mode 100644
index 000000000..6bb875e65
--- /dev/null
+++ b/src/dual_arm_sim/scripts/README.md
@@ -0,0 +1,21 @@
+# How to draw images and text
+
+In this folder, you will find several SVG images that can be used in a dual arm configuration for Franka.
+
+When you open one of these images, you will find a vector image embedded inside a square 20cm x 20cm centered at the origin of the document.
+
+The square represents the area that can be reached by both Franka arms. You can draw anything, as long as it remain inside the square.
+
+You must convert all images into paths, before exporting them to YAML format. Additionally, if you want to draw letters in the correct order, you must brake the text into subpaths and order them accordingly.
+
+We use the command `svg_to_yaml.py` which requires an additional parameter `-d` to determine the number of generated waypoints.
+
+Following the commands used to convert the current SVG images.
+
+```bash
+python3 svg_to_yaml.py loves.svg loves.yaml -d 50
+python3 svg_to_yaml.py franka.svg franka.yaml -d 400
+python3 svg_to_yaml.py moveit_pro.svg moveit_pro.yaml -d 400
+python3 svg_to_yaml.py wipe.svg wipe.yaml -d 200
+python3 svg_to_yaml.py wipe_zig_zag.svg wipe_zig_zag.yaml -d 200
+```
diff --git a/src/dual_arm_sim/scripts/franka.svg b/src/dual_arm_sim/scripts/franka.svg
new file mode 100644
index 000000000..a99c05686
--- /dev/null
+++ b/src/dual_arm_sim/scripts/franka.svg
@@ -0,0 +1,120 @@
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/scripts/loves.svg b/src/dual_arm_sim/scripts/loves.svg
new file mode 100644
index 000000000..b8f1347a9
--- /dev/null
+++ b/src/dual_arm_sim/scripts/loves.svg
@@ -0,0 +1,80 @@
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/scripts/moveit_pro.svg b/src/dual_arm_sim/scripts/moveit_pro.svg
new file mode 100644
index 000000000..eb84d3423
--- /dev/null
+++ b/src/dual_arm_sim/scripts/moveit_pro.svg
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/scripts/svg_to_yaml.py b/src/dual_arm_sim/scripts/svg_to_yaml.py
new file mode 100755
index 000000000..eab0d943b
--- /dev/null
+++ b/src/dual_arm_sim/scripts/svg_to_yaml.py
@@ -0,0 +1,230 @@
+#!/usr/bin/env python3
+#
+# Copyright 2025 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+#
+# * Neither the name of the PickNik Inc. nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""
+SVG to Waypoints Converter
+
+This module converts SVG paths into 3D waypoints formatted as YAML PoseStamped messages.
+It extracts paths from SVG files, samples points along the paths based on specified density,
+and generates waypoints with appropriate z-clearance for transitions between paths.
+"""
+
+import argparse
+import copy
+import numpy as np
+import pygame
+from svgpathtools import svg2paths
+
+
+def write_waypoints_to_file(waypoints, filename, scale=1.0):
+ with open(filename, "w") as file:
+ file.write(waypoints_to_string(waypoints, scale))
+
+
+def waypoints_to_string(waypoints, scale=1.0):
+ yaml = ""
+ for i in range(len(waypoints) - 1):
+ w1 = waypoints[i]
+ w2 = waypoints[i + 1]
+
+ # Add the first waypoint to the string
+ yaml += waypoint_to_string(w1, scale=scale)
+
+ # Calculate the distance between the two waypoints
+ distance = np.linalg.norm(np.array(w1) - np.array(w2))
+
+ # If the distance is more than 2 cm, add elevated copies of both waypoints
+ if distance > 0.02: # 2 cm in meters
+ elevated_w1 = (w1[0], w1[1], w1[2] + 0.01) # Elevate w1 by 1 cm
+ elevated_w2 = (w2[0], w2[1], w2[2] + 0.01) # Elevate w2 by 1 cm
+ yaml += waypoint_to_string(elevated_w1, scale=scale)
+ yaml += waypoint_to_string(elevated_w2, scale=scale)
+
+ # Add the last waypoint to the string
+ yaml += waypoint_to_string(waypoints[-1], scale=scale)
+
+ return yaml
+
+
+def waypoint_to_string(w, scale=1.0):
+ pose_stamped_string = f"""
+---
+header:
+ frame_id: local
+pose:
+ position:
+ x: {scale * w[0]}
+ y: {scale * w[1]}
+ z: {scale * w[2]}
+ orientation:
+ x: 0
+ y: 0
+ z: 1
+ w: 0"""
+ return pose_stamped_string
+
+
+def draw_waypoints(waypoints, scale=1):
+ pygame.init()
+ screen = pygame.display.set_mode([500, 500])
+ screen.fill((255, 255, 255))
+
+ for waypoint in waypoints:
+ pygame.draw.circle(
+ screen, (0, 0, 255), (waypoint[0] * scale, waypoint[1] * scale), 1
+ )
+ pygame.display.flip()
+
+ while True:
+ for event in pygame.event.get():
+ if event.type == pygame.QUIT:
+ pygame.quit()
+ return
+
+
+def log(info):
+ """Print if the VERBOSE flag was set"""
+ if VERBOSE:
+ print(info)
+
+
+def extract_waypoints_from_paths(paths, density):
+ all_waypoints = []
+ # Clearance on transition strokes, i.e. from the end of one path to the beginning of another.
+ z_transition_clearance = 10.0 # mm
+ # Iterate on each continuous path (letter/connected shape)
+ for path in paths:
+ points = path_to_points(path, density)
+ log(f"Path has {len(points)} waypoints")
+ waypoints = [
+ list(a)
+ for a in zip(
+ points.real, points.imag, np.zeros(len(points.real)), strict=True
+ )
+ ]
+ log(f"Subpath has {len(waypoints)} waypoints")
+ # Add a pre-waypoint and post-waypoint with Z clearance for transitions between subpaths.
+ waypoints.insert(0, copy.deepcopy(waypoints[0]))
+ waypoints[0][2] = -z_transition_clearance
+ waypoints.append(copy.deepcopy(waypoints[-1]))
+ waypoints[-1][2] = -z_transition_clearance
+
+ all_waypoints = all_waypoints + waypoints
+ return all_waypoints
+
+
+def path_to_points(path, sample_density=10):
+ points = []
+ for s in np.linspace(0, 1, sample_density):
+ points += [path.point(s)]
+ # points_length = 0
+ # for segment in path:
+ # if type(segment).__name__ == "Line":
+ # # Just add the start and end points of straight line segments
+ # points += [segment.start, segment.end]
+ # else:
+ # # If it's a curve, then sample several waypoints along it depending on sampling desity (but always sample at least 2)
+ # for s in np.linspace(
+ # 0, 1, max(2, int(np.ceil((sample_density * 0.1) * segment.length())))
+ # ):
+ # points += [path.point(s)]
+ # log(f"Added {len(points) - points_length} points for '{type(segment).__name__}' of length {(segment.length())}")
+ # points_length = len(points)
+ return np.array(points)
+
+
+def prune_waypoints(waypoints):
+ i = 0
+ while waypoints[i] != waypoints[-1] or i == 0:
+ distance = waypoint_distance(i, waypoints[i], waypoints[i + 1])
+ if distance < 1:
+ del waypoints[i + 1]
+ log(f"pruned waypoint {i + 1}")
+ continue
+ i += 1
+
+
+def check_waypoints(waypoints):
+ i = 0
+ while waypoints[i] != waypoints[-1] or i == 0:
+ waypoint_distance(i, waypoints[i], waypoints[i + 1])
+ i += 1
+
+
+def waypoint_distance(i, w1, w2):
+ distance = np.linalg.norm(np.array(w1) - np.array(w2))
+ log(f"distance between waypoint {i} and waypoint {i+1}: {distance}")
+ if distance < 1:
+ log("NEED TO PRUNE")
+ return distance
+
+
+if __name__ == "__main__":
+ # Parse arguments
+ parser = argparse.ArgumentParser(description="Translate SVG paths to waypoints")
+ parser.add_argument("input_file", help="Path to the input SVG file")
+ parser.add_argument("output_file", help="Path to the output YAML file")
+ parser.add_argument(
+ "-d",
+ "--density",
+ type=int,
+ default=5,
+ action="store",
+ help="Waypoint sampling density",
+ )
+ parser.add_argument(
+ "-v", "--verbose", action="store_true", help="Enable verbose mode"
+ )
+ args = parser.parse_args()
+ global VERBOSE
+ VERBOSE = args.verbose
+
+ svg_attributes = svg2paths(args.input_file)
+ paths = svg_attributes[0]
+ paths.reverse()
+ log(f"Found {len(paths)} paths")
+
+ log("Extracting waypoints")
+ all_waypoints = extract_waypoints_from_paths(paths, args.density)
+
+ log("Pruning waypoints")
+ prune_waypoints(all_waypoints)
+
+ # log("Checking waypoints")
+ # check_waypoints(all_waypoints)
+
+ if VERBOSE:
+ print("Drawing waypoints")
+ draw_waypoints(all_waypoints)
+
+ # Write waypoints with PoseStamped YAML format
+ log("Saving waypoints")
+ # SVG units are close to mm (actually pixels), divide by 1000.0 to bring it near meters
+ write_waypoints_to_file(all_waypoints, args.output_file, scale=(1 / 1000))
diff --git a/src/dual_arm_sim/scripts/wipe.svg b/src/dual_arm_sim/scripts/wipe.svg
new file mode 100644
index 000000000..c11d0640e
--- /dev/null
+++ b/src/dual_arm_sim/scripts/wipe.svg
@@ -0,0 +1,84 @@
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/scripts/wipe_zig_zag.svg b/src/dual_arm_sim/scripts/wipe_zig_zag.svg
new file mode 100644
index 000000000..06c690d4b
--- /dev/null
+++ b/src/dual_arm_sim/scripts/wipe_zig_zag.svg
@@ -0,0 +1,98 @@
+
+
+
+
+
+
+
+
+
diff --git a/src/dual_arm_sim/test/objectives_integration_test.py b/src/dual_arm_sim/test/objectives_integration_test.py
new file mode 100644
index 000000000..83adcd7d8
--- /dev/null
+++ b/src/dual_arm_sim/test/objectives_integration_test.py
@@ -0,0 +1,105 @@
+# Copyright 2026 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+#
+# * Neither the name of the PickNik Inc. nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""Integration tests for the dual_arm_sim objective library."""
+
+import pytest
+
+from moveit_pro_test_utils.objective_test_fixture import (
+ EndStateSpec,
+ ExecuteObjectiveResource,
+ JointTarget,
+ MUJOCO_RESET_HOOK,
+ SIM_RESETTER,
+ execute_objective_resource as execute_objective_resource,
+ get_objective_pytest_params,
+ reset_simulation_before_test as reset_simulation_before_test,
+ run_objective,
+)
+
+# dual_arm_sim is a MuJoCo-backed sim: reset the keyframe between tests with the
+# default reset hook.
+SIM_RESETTER.register("dual_arm_sim", MUJOCO_RESET_HOOK)
+
+# Looping objectives to cancel partway through rather than run to completion.
+cancel_objectives: set[str] = set()
+
+# Objectives to skip entirely. Teleoperate waits on UI input, and the block
+# find/sort objectives drive ML text-prompt segmentation that the headless CI
+# backend cannot satisfy. Expand this set from the first weekly CI run rather
+# than guessing more aggressively up front.
+skip_objectives: set[str] = {
+ "Teleoperate", # Waits on UI teleoperation input.
+ "Marker Visualization Example", # GetTextFromUser server unavailable headless.
+ "Writing Demo", # Long-running drawing objective times out on the CI backend.
+ "Find Green Block", # ML text-prompt segmentation.
+ "Find Red Block", # ML text-prompt segmentation.
+ "Sort Blocks", # ML perception + multi-step grasp pipeline.
+}
+
+# End-state correctness checks beyond SUCCESS/FAILURE. "Move Left Home" and
+# "Move Right Home" each drive one arm to the shared "Home" waypoint. The
+# target is resolved at runtime from /get_saved_waypoints (the same source of
+# truth the objective moves to), restricted to that arm's joint group so the
+# uncommanded arm's joints are not compared.
+expected_end_state_by_id = {
+ "Move Left Home": EndStateSpec(
+ joints=JointTarget(waypoint="Home", joint_group_name="left_manipulator")
+ ),
+ "Move Right Home": EndStateSpec(
+ joints=JointTarget(waypoint="Home", joint_group_name="right_manipulator")
+ ),
+}
+
+
+@pytest.mark.parametrize(
+ "objective_id, should_cancel",
+ get_objective_pytest_params("dual_arm_sim", cancel_objectives, skip_objectives),
+)
+def test_all_objectives(
+ objective_id: str,
+ should_cancel: bool,
+ execute_objective_resource: ExecuteObjectiveResource,
+) -> None:
+ """Run (or cancel) each dual_arm_sim objective and assert it completes without error."""
+ try:
+ run_objective(
+ objective_id,
+ should_cancel,
+ execute_objective_resource,
+ expected_end_state_by_id=expected_end_state_by_id,
+ )
+ except AssertionError as e:
+ mode = "cancel" if should_cancel else "execute"
+ pytest.fail(f"Objective '{objective_id}' failed to {mode}: {e}")
+ except Exception as e:
+ mode = "cancel" if should_cancel else "execute"
+ pytest.fail(
+ f"Objective '{objective_id}' hit an unexpected error during {mode}: "
+ f"{type(e).__name__}: {e}"
+ )
diff --git a/src/dual_arm_sim/thumbnail.jpg b/src/dual_arm_sim/thumbnail.jpg
new file mode 100644
index 000000000..ab9e0e39f
--- /dev/null
+++ b/src/dual_arm_sim/thumbnail.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccaec083ae7115630fddb704b69f70f4d047ac38178131e3ca7acecfbd5b7775
+size 27085
diff --git a/src/dual_arm_sim/waypoints/waypoints.yaml b/src/dual_arm_sim/waypoints/waypoints.yaml
new file mode 100644
index 000000000..d664a66a7
--- /dev/null
+++ b/src/dual_arm_sim/waypoints/waypoints.yaml
@@ -0,0 +1,173 @@
+- description: ''
+ favorite: false
+ joint_group_names:
+ - left_manipulator
+ - right_manipulator
+ - manipulator
+ joint_state:
+ effort: []
+ header:
+ frame_id: world
+ stamp:
+ nanosec: 0
+ sec: 0
+ name:
+ - right_fr3_joint1
+ - right_fr3_joint2
+ - right_fr3_joint3
+ - right_fr3_joint4
+ - right_fr3_joint5
+ - right_fr3_joint6
+ - right_fr3_joint7
+ - left_fr3_joint1
+ - left_fr3_joint2
+ - left_fr3_joint3
+ - left_fr3_joint4
+ - left_fr3_joint5
+ - left_fr3_joint6
+ - left_fr3_joint7
+ position:
+ - 0
+ - -0.7854
+ - 0
+ - -2.3562
+ - 0
+ - 1.5707
+ - 0.7853
+ - 0
+ - -0.7854
+ - 0
+ - -2.3562
+ - 0
+ - 1.5707
+ - 0.7853
+ velocity: []
+ multi_dof_joint_state:
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ joint_names: []
+ transforms: []
+ twist: []
+ wrench: []
+ name: Home
+- description: ''
+ favorite: false
+ joint_group_names:
+ - left_manipulator
+ - right_manipulator
+ - manipulator
+ joint_state:
+ effort: []
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ name:
+ - left_fr3_joint1
+ - left_fr3_joint2
+ - left_fr3_joint3
+ - left_fr3_joint4
+ - left_fr3_joint5
+ - left_fr3_joint6
+ - left_fr3_joint7
+ - left_fr3_finger_joint1
+ - right_fr3_joint1
+ - right_fr3_joint2
+ - right_fr3_joint3
+ - right_fr3_joint4
+ - right_fr3_joint5
+ - right_fr3_joint6
+ - right_fr3_joint7
+ - right_fr3_finger_joint1
+ position:
+ - 0.7631439836051002
+ - -1.7256971279852666
+ - 1.0600563247617216
+ - -2.389989603996341
+ - 1.5875756227741065
+ - 1.946673982728032
+ - 1.228841619420035
+ - -1.206526992588383e-06
+ - -0.0013177742221101801
+ - -0.78657302417956
+ - -0.011311296228273288
+ - -2.363709370359536
+ - -0.0017492815088556665
+ - 1.5691264546747385
+ - 0.7852388406584784
+ - 0.0001266099321349138
+ velocity: []
+ multi_dof_joint_state:
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ joint_names: []
+ transforms: []
+ twist: []
+ wrench: []
+ name: Place Left
+- description: ''
+ favorite: false
+ joint_group_names:
+ - left_manipulator
+ - right_manipulator
+ - manipulator
+ joint_state:
+ effort: []
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ name:
+ - left_fr3_joint1
+ - left_fr3_joint2
+ - left_fr3_joint3
+ - left_fr3_joint4
+ - left_fr3_joint5
+ - left_fr3_joint6
+ - left_fr3_joint7
+ - left_fr3_finger_joint1
+ - right_fr3_joint1
+ - right_fr3_joint2
+ - right_fr3_joint3
+ - right_fr3_joint4
+ - right_fr3_joint5
+ - right_fr3_joint6
+ - right_fr3_joint7
+ - right_fr3_finger_joint1
+ position:
+ - 0.0007136559011727871
+ - -0.7866070922383005
+ - 0.0058260641539913584
+ - -2.3598693918370577
+ - 0.0004167706563591327
+ - 1.5698542053401963
+ - 0.7853530142146962
+ - -3.102443235020368e-05
+ - -0.9123206417362171
+ - -1.6248200992913444
+ - -0.8998577753262823
+ - -2.488156178512647
+ - -1.4102913730535007
+ - 2.102824648497987
+ - -0.896605178475249
+ - 3.0056037776778505e-07
+ velocity: []
+ multi_dof_joint_state:
+ header:
+ frame_id: ''
+ stamp:
+ nanosec: 0
+ sec: 0
+ joint_names: []
+ transforms: []
+ twist: []
+ wrench: []
+ name: Place Right
diff --git a/src/example_behaviors/CMakeLists.txt b/src/example_behaviors/CMakeLists.txt
new file mode 100644
index 000000000..d062a1cf8
--- /dev/null
+++ b/src/example_behaviors/CMakeLists.txt
@@ -0,0 +1,63 @@
+cmake_minimum_required(VERSION 3.22)
+project(example_behaviors CXX)
+
+find_package(moveit_pro_package REQUIRED)
+find_package(example_interfaces REQUIRED)
+moveit_pro_package()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS cartesian_planning moveit_pro_behavior
+ moveit_pro_behavior_interface pluginlib moveit_studio_vision
+ moveit_studio_vision_msgs PCL pcl_conversions pcl_ros example_interfaces)
+foreach(package IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+ find_package(${package} REQUIRED)
+endforeach()
+
+add_library(
+ example_behaviors
+ SHARED
+ src/example_add_two_ints_service_client.cpp
+ src/example_convert_mtc_solution_to_joint_trajectory.cpp
+ src/example_delayed_message.cpp
+ src/example_get_string_from_topic.cpp
+ src/example_fibonacci_action_client.cpp
+ src/example_hello_world.cpp
+ src/example_publish_color_rgba.cpp
+ src/example_setup_mtc_wave_hand.cpp
+ src/example_ndt_registration.cpp
+ src/example_ransac_registration.cpp
+ src/example_sam2_segmentation.cpp
+ src/example_create_string_msg.cpp
+ src/register_behaviors.cpp)
+target_include_directories(
+ example_behaviors
+ PUBLIC $
+ $
+ PRIVATE ${PCL_INCLUDE_DIRS})
+ament_target_dependencies(example_behaviors
+ ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+# Install Libraries
+install(
+ TARGETS example_behaviors
+ EXPORT example_behaviorsTargets
+ ARCHIVE DESTINATION lib
+ LIBRARY DESTINATION lib
+ RUNTIME DESTINATION bin
+ INCLUDES
+ DESTINATION include)
+
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+ moveit_pro_behavior_test(example_behaviors)
+endif()
+
+# Export the behavior plugins defined in this package so they are available to
+# plugin loaders that load the behavior base class library from the
+# moveit_pro_behavior package.
+pluginlib_export_plugin_description_file(
+ moveit_pro_behavior_interface example_behaviors_plugin_description.xml)
+
+ament_export_targets(example_behaviorsTargets HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()
diff --git a/src/example_behaviors/COLCON_IGNORE b/src/example_behaviors/COLCON_IGNORE
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/example_behaviors/README.md b/src/example_behaviors/README.md
new file mode 100644
index 000000000..c240711fe
--- /dev/null
+++ b/src/example_behaviors/README.md
@@ -0,0 +1 @@
+# example_behaviors
diff --git a/src/example_behaviors/behavior_plugin.yaml b/src/example_behaviors/behavior_plugin.yaml
new file mode 100644
index 000000000..a5f10861b
--- /dev/null
+++ b/src/example_behaviors/behavior_plugin.yaml
@@ -0,0 +1,4 @@
+objectives:
+ behavior_loader_plugins:
+ example_behaviors:
+ - "example_behaviors::ExampleBehaviorsLoader"
diff --git a/src/example_behaviors/config/tree_nodes_model.xml b/src/example_behaviors/config/tree_nodes_model.xml
new file mode 100644
index 000000000..f3844c223
--- /dev/null
+++ b/src/example_behaviors/config/tree_nodes_model.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
diff --git a/src/example_behaviors/example_behaviors_plugin_description.xml b/src/example_behaviors/example_behaviors_plugin_description.xml
new file mode 100644
index 000000000..d25e3e49a
--- /dev/null
+++ b/src/example_behaviors/example_behaviors_plugin_description.xml
@@ -0,0 +1,7 @@
+
+
+
diff --git a/src/example_behaviors/include/example_behaviors/example_add_two_ints_service_client.hpp b/src/example_behaviors/include/example_behaviors/example_add_two_ints_service_client.hpp
new file mode 100644
index 000000000..f4f0e97b5
--- /dev/null
+++ b/src/example_behaviors/include/example_behaviors/example_add_two_ints_service_client.hpp
@@ -0,0 +1,51 @@
+#pragma once
+
+#include
+#include
+
+using moveit_pro::behaviors::BehaviorContext;
+using moveit_pro::behaviors::ServiceClientBehaviorBase;
+using AddTwoInts = example_interfaces::srv::AddTwoInts;
+
+namespace example_behaviors
+{
+class ExampleAddTwoIntsServiceClient final : public ServiceClientBehaviorBase
+{
+public:
+ ExampleAddTwoIntsServiceClient(const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources);
+
+ /** @brief Implementation of the required providedPorts() function for the hello_world Behavior. */
+ static BT::PortsList providedPorts();
+
+ /**
+ * @brief Implementation of the metadata() function for displaying metadata, such as Behavior description and
+ * subcategory, in the MoveIt Studio Developer Tool.
+ * @return A BT::KeyValueVector containing the Behavior metadata.
+ */
+ static BT::KeyValueVector metadata();
+
+private:
+ /** @brief User-provided function to get the name of the service when initializing the service client. */
+ tl::expected getServiceName() override;
+
+ /**
+ * @brief User-provided function to create the service request.
+ * @return Returns a service request message. If not successful, returns an error message. Note that the criteria for
+ * success or failure is defined by the user's implementation of this function.
+ */
+ tl::expected createRequest() override;
+
+ /** @brief Optional user-provided function to process the service response after the service has finished. */
+ tl::expected processResponse(const AddTwoInts::Response& response) override;
+
+ /** @brief Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member */
+ std::shared_future>& getFuture() override
+ {
+ return future_;
+ }
+
+ /** @brief Classes derived from AsyncBehaviorBase must have this shared_future as a class member */
+ std::shared_future> future_;
+};
+} // namespace example_behaviors
diff --git a/src/example_behaviors/include/example_behaviors/example_convert_mtc_solution_to_joint_trajectory.hpp b/src/example_behaviors/include/example_behaviors/example_convert_mtc_solution_to_joint_trajectory.hpp
new file mode 100644
index 000000000..2beccb44a
--- /dev/null
+++ b/src/example_behaviors/include/example_behaviors/example_convert_mtc_solution_to_joint_trajectory.hpp
@@ -0,0 +1,51 @@
+#pragma once
+
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+namespace example_behaviors
+{
+/**
+ * @brief Converts a MoveIt Task Constructor Solution into a JointTrajectory.
+ *
+ * @details
+ * | Data Port Name | Port Type | Object Type |
+ * | ----------------- |---------------|---------------------------------------------------------|
+ * | solution | Input | moveit_task_constructor_msgs::msg::Solution |
+ * | joint_group | Input | std::string |
+ * | velocity_scaling_factor | Input | double |
+ * | acceleration_scaling_factor | Input | double |
+ * | sampling_rate | Input | int |
+ * | joint_trajectory | Output | trajectory_msgs::msg::JointTrajectory |
+ */
+class ExampleConvertMtcSolutionToJointTrajectory final
+ : public moveit_pro::behaviors::SharedResourcesNode
+{
+public:
+ ExampleConvertMtcSolutionToJointTrajectory(
+ const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources);
+
+ static BT::PortsList providedPorts();
+
+ static BT::KeyValueVector metadata();
+
+ BT::NodeStatus tick() override;
+
+private:
+ std::unique_ptr robot_model_loader_;
+
+ const std::vector& extractJointPositions(const moveit_task_constructor_msgs::msg::Solution& solution);
+};
+} // namespace example_behaviors
diff --git a/src/example_behaviors/include/example_behaviors/example_create_string_msg.hpp b/src/example_behaviors/include/example_behaviors/example_create_string_msg.hpp
new file mode 100644
index 000000000..5490e610e
--- /dev/null
+++ b/src/example_behaviors/include/example_behaviors/example_create_string_msg.hpp
@@ -0,0 +1,59 @@
+#pragma once
+
+#include
+
+// This header includes the SharedResourcesNode type
+#include
+
+namespace example_behaviors
+{
+/**
+ * @brief The ExampleCreateStringMsg Behavior uses FailureLoggerROS to log a "Hello World" message and will always return SUCCESS
+ */
+class ExampleCreateStringMsg : public moveit_pro::behaviors::SharedResourcesNode
+{
+public:
+ /**
+ * @brief Constructor for the hello_world behavior.
+ * @param name The name of a particular instance of this Behavior. This will be set by the behavior tree factory when
+ * this Behavior is created within a new behavior tree.
+ * @param shared_resources A shared_ptr to a BehaviorContext that is shared among all SharedResourcesNode Behaviors in
+ * the behavior tree. This BehaviorContext is owned by the Studio Agent's ObjectiveServerNode.
+ * @param config This contains runtime configuration info for this Behavior, such as the mapping between the
+ * Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this
+ * Behavior is created within a new behavior tree.
+ * @details An important limitation is that the members of the base Behavior class are not instantiated until after
+ * the initialize() function is called, so these classes should not be used within the constructor.
+ */
+ ExampleCreateStringMsg(const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources);
+
+ /**
+ * @brief Implementation of the required providedPorts() function for the hello_world Behavior.
+ * @details The BehaviorTree.CPP library requires that Behaviors must implement a static function named
+ * providedPorts() which defines their input and output ports. If the Behavior does not use any ports, this function
+ * must return an empty BT::PortsList. This function returns a list of ports with their names and port info, which is
+ * used internally by the behavior tree.
+ * @return hello_world does not expose any ports, so this function returns an empty list.
+ */
+ static BT::PortsList providedPorts();
+
+ /**
+ * @brief Implementation of the metadata() function for displaying metadata, such as Behavior description and
+ * subcategory, in the MoveIt Studio Developer Tool.
+ * @return A BT::KeyValueVector containing the Behavior metadata.
+ */
+ static BT::KeyValueVector metadata();
+
+ /**
+ * @brief Implementation of BT::SyncActionNode::tick() for ExampleCreateStringMsg.
+ * @details This function is where the Behavior performs its work when the behavior tree is being run.
+ * Since ExampleCreateStringMsg is derived from BT::SyncActionNode, it is very important that its tick() function always
+ * finishes very quickly. If tick() blocks before returning, it will block execution of the entire behavior tree,
+ * which may have undesirable consequences for other Behaviors that require a fast update rate to work correctly.
+ * @return BT::NodeStatus::RUNNING, BT::NodeStatus::SUCCESS, or BT::NodeStatus::FAILURE depending on the result of the
+ * work done in this function.
+ */
+ BT::NodeStatus tick() override;
+};
+} // namespace example_behaviors
diff --git a/src/example_behaviors/include/example_behaviors/example_delayed_message.hpp b/src/example_behaviors/include/example_behaviors/example_delayed_message.hpp
new file mode 100644
index 000000000..cc1bf0930
--- /dev/null
+++ b/src/example_behaviors/include/example_behaviors/example_delayed_message.hpp
@@ -0,0 +1,72 @@
+#pragma once
+
+#include
+
+// This header includes the SharedResourcesNode type
+#include
+
+#include
+
+#include
+
+namespace example_behaviors
+{
+/**
+ * @brief ExampleDelayedMessage will use FailureLoggerROS to log a "Hello World" message after the duration specified on
+ * the input port
+ */
+class ExampleDelayedMessage : public moveit_pro::behaviors::SharedResourcesNode
+{
+private:
+ std::chrono::time_point start_time_;
+ double delay_duration_;
+
+public:
+ /**
+ * @brief Constructor for the delayed_message behavior.
+ * @param name The name of a particular instance of this Behavior. This will be set by the behavior tree factory when
+ * this Behavior is created within a new behavior tree.
+ * @param shared_resources A shared_ptr to a BehaviorContext that is shared among all SharedResourcesNode Behaviors in
+ * the behavior tree. This BehaviorContext is owned by the Studio Agent's ObjectiveServerNode.
+ * @param config This contains runtime configuration info for this Behavior, such as the mapping between the
+ * Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this
+ * Behavior is created within a new behavior tree.
+ * @details An important limitation is that the members of the base Behavior class are not instantiated until after
+ * the initialize() function is called, so these classes should not be used within the constructor.
+ */
+ ExampleDelayedMessage(const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources);
+
+ /**
+ * @brief Implementation of the required providedPorts() function for the delayed_message Behavior.
+ * @details The BehaviorTree.CPP library requires that Behaviors must implement a static function named
+ * providedPorts() which defines their input and output ports. If the Behavior does not use any ports, this function
+ * must return an empty BT::PortsList. This function returns a list of ports with their names and port info, which is
+ * used internally by the behavior tree.
+ * @return If delayed_message does not expose any ports, this function returns an empty list.
+ */
+ static BT::PortsList providedPorts();
+
+ /**
+ * @brief Implementation of the metadata() function for displaying metadata, such as Behavior description and
+ * subcategory, in the MoveIt Studio Developer Tool.
+ * @return A BT::KeyValueVector containing the Behavior metadata.
+ */
+ static BT::KeyValueVector metadata();
+
+ /**
+ * @brief Implementation of onStart(). Runs when the Behavior is ticked for the first time.
+ * @return Always returns BT::NodeStatus::RUNNING, since the success of Behavior's initialization is checked in @ref
+ * onRunning().
+ */
+ BT::NodeStatus onStart() override;
+
+ /**
+ * @brief Implementation of onRunning(). Checks the status of the Behavior when it is ticked after it starts running.
+ * @return BT::NodeStatus::RUNNING, BT::NodeStatus::SUCCESS, or BT::NodeStatus::FAILURE depending on the Behavior status.
+ */
+ BT::NodeStatus onRunning() override;
+
+ void onHalted() override;
+};
+} // namespace example_behaviors
diff --git a/src/example_behaviors/include/example_behaviors/example_fibonacci_action_client.hpp b/src/example_behaviors/include/example_behaviors/example_fibonacci_action_client.hpp
new file mode 100644
index 000000000..54a4d280c
--- /dev/null
+++ b/src/example_behaviors/include/example_behaviors/example_fibonacci_action_client.hpp
@@ -0,0 +1,50 @@
+#pragma once
+
+#include
+#include
+
+using moveit_pro::behaviors::ActionClientBehaviorBase;
+using moveit_pro::behaviors::BehaviorContext;
+using Fibonacci = example_interfaces::action::Fibonacci;
+
+namespace example_behaviors
+{
+class ExampleFibonacciActionClient final : public ActionClientBehaviorBase
+{
+public:
+ ExampleFibonacciActionClient(const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources);
+
+ /** @brief Implementation of the required providedPorts() function for the hello_world Behavior. */
+ static BT::PortsList providedPorts();
+
+ /**
+ * @brief Implementation of the metadata() function for displaying metadata, such as Behavior description and
+ * subcategory, in the MoveIt Studio Developer Tool.
+ * @return A BT::KeyValueVector containing the Behavior metadata.
+ */
+ static BT::KeyValueVector metadata();
+
+private:
+ /** @brief User-provided function to get the name of the action when initializing the action client. */
+ tl::expected getActionName() override;
+
+ /** @brief User-provided function to create the action goal before sending the action goal request. */
+ tl::expected createGoal() override;
+
+ /** @brief Optional user-provided function to process the action result after the action has finished. */
+ tl::expected processResult(const std::shared_ptr result) override;
+
+ /** @brief Optional user-provided function to process feedback sent by the action server. */
+ void processFeedback(const std::shared_ptr feedback) override;
+
+ /** @brief Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member */
+ std::shared_future>& getFuture() override
+ {
+ return future_;
+ }
+
+ /** @brief Classes derived from AsyncBehaviorBase must have this shared_future as a class member */
+ std::shared_future> future_;
+};
+} // namespace example_behaviors
diff --git a/src/example_behaviors/include/example_behaviors/example_get_string_from_topic.hpp b/src/example_behaviors/include/example_behaviors/example_get_string_from_topic.hpp
new file mode 100644
index 000000000..c110a5b41
--- /dev/null
+++ b/src/example_behaviors/include/example_behaviors/example_get_string_from_topic.hpp
@@ -0,0 +1,37 @@
+#pragma once
+
+#include
+#include
+
+using moveit_pro::behaviors::BehaviorContext;
+using moveit_pro::behaviors::GetMessageFromTopicBehaviorBase;
+
+namespace example_behaviors
+{
+class ExampleGetStringFromTopic final : public GetMessageFromTopicBehaviorBase
+{
+public:
+ ExampleGetStringFromTopic(const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources);
+
+ /** @brief Implementation of the required providedPorts() function for the hello_world Behavior. */
+ static BT::PortsList providedPorts();
+
+ /**
+ * @brief Implementation of the metadata() function for displaying metadata, such as Behavior description and
+ * subcategory, in the MoveIt Studio Developer Tool.
+ * @return A BT::KeyValueVector containing the Behavior metadata.
+ */
+ static BT::KeyValueVector metadata();
+
+private:
+ /** @brief Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member */
+ std::shared_future>& getFuture() override
+ {
+ return future_;
+ }
+
+ /** @brief Classes derived from AsyncBehaviorBase must have this shared_future as a class member */
+ std::shared_future> future_;
+};
+} // namespace example_behaviors
diff --git a/src/example_behaviors/include/example_behaviors/example_hello_world.hpp b/src/example_behaviors/include/example_behaviors/example_hello_world.hpp
new file mode 100644
index 000000000..33c736a6b
--- /dev/null
+++ b/src/example_behaviors/include/example_behaviors/example_hello_world.hpp
@@ -0,0 +1,59 @@
+#pragma once
+
+#include
+
+// This header includes the SharedResourcesNode type
+#include
+
+namespace example_behaviors
+{
+/**
+ * @brief The ExampleHelloWorld Behavior uses FailureLoggerROS to log a "Hello World" message and will always return SUCCESS
+ */
+class ExampleHelloWorld : public moveit_pro::behaviors::SharedResourcesNode
+{
+public:
+ /**
+ * @brief Constructor for the hello_world behavior.
+ * @param name The name of a particular instance of this Behavior. This will be set by the behavior tree factory when
+ * this Behavior is created within a new behavior tree.
+ * @param shared_resources A shared_ptr to a BehaviorContext that is shared among all SharedResourcesNode Behaviors in
+ * the behavior tree. This BehaviorContext is owned by the Studio Agent's ObjectiveServerNode.
+ * @param config This contains runtime configuration info for this Behavior, such as the mapping between the
+ * Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this
+ * Behavior is created within a new behavior tree.
+ * @details An important limitation is that the members of the base Behavior class are not instantiated until after
+ * the initialize() function is called, so these classes should not be used within the constructor.
+ */
+ ExampleHelloWorld(const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources);
+
+ /**
+ * @brief Implementation of the required providedPorts() function for the hello_world Behavior.
+ * @details The BehaviorTree.CPP library requires that Behaviors must implement a static function named
+ * providedPorts() which defines their input and output ports. If the Behavior does not use any ports, this function
+ * must return an empty BT::PortsList. This function returns a list of ports with their names and port info, which is
+ * used internally by the behavior tree.
+ * @return hello_world does not expose any ports, so this function returns an empty list.
+ */
+ static BT::PortsList providedPorts();
+
+ /**
+ * @brief Implementation of the metadata() function for displaying metadata, such as Behavior description and
+ * subcategory, in the MoveIt Studio Developer Tool.
+ * @return A BT::KeyValueVector containing the Behavior metadata.
+ */
+ static BT::KeyValueVector metadata();
+
+ /**
+ * @brief Implementation of BT::SyncActionNode::tick() for ExampleHelloWorld.
+ * @details This function is where the Behavior performs its work when the behavior tree is being run.
+ * Since ExampleHelloWorld is derived from BT::SyncActionNode, it is very important that its tick() function always
+ * finishes very quickly. If tick() blocks before returning, it will block execution of the entire behavior tree,
+ * which may have undesirable consequences for other Behaviors that require a fast update rate to work correctly.
+ * @return BT::NodeStatus::RUNNING, BT::NodeStatus::SUCCESS, or BT::NodeStatus::FAILURE depending on the result of the
+ * work done in this function.
+ */
+ BT::NodeStatus tick() override;
+};
+} // namespace example_behaviors
diff --git a/src/example_behaviors/include/example_behaviors/example_ndt_registration.hpp b/src/example_behaviors/include/example_behaviors/example_ndt_registration.hpp
new file mode 100644
index 000000000..26c1d6408
--- /dev/null
+++ b/src/example_behaviors/include/example_behaviors/example_ndt_registration.hpp
@@ -0,0 +1,62 @@
+#pragma once
+
+#include
+
+// This header includes the SharedResourcesNode type
+#include
+#include
+
+namespace example_behaviors
+{
+/**
+ * @brief TODO(...)
+ */
+class ExampleNDTRegistration : public moveit_pro::behaviors::AsyncBehaviorBase
+{
+public:
+ /**
+ * @brief Constructor for the behavior.
+ * @param name The name of a particular instance of this Behavior. This will be set by the behavior tree factory when
+ * this Behavior is created within a new behavior tree.
+ * @param shared_resources A shared_ptr to a BehaviorContext that is shared among all SharedResourcesNode Behaviors in
+ * the behavior tree. This BehaviorContext is owned by the Studio Agent's ObjectiveServerNode.
+ * @param config This contains runtime configuration info for this Behavior, such as the mapping between the
+ * Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this
+ * Behavior is created within a new behavior tree.
+ * @details An important limitation is that the members of the base Behavior class are not instantiated until after
+ * the initialize() function is called, so these classes should not be used within the constructor.
+ */
+ ExampleNDTRegistration(const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources);
+
+ /**
+ * @brief Implementation of the required providedPorts() function for the Behavior.
+ * @details The BehaviorTree.CPP library requires that Behaviors must implement a static function named
+ * providedPorts() which defines their input and output ports. If the Behavior does not use any ports, this function
+ * must return an empty BT::PortsList. This function returns a list of ports with their names and port info, which is
+ * used internally by the behavior tree.
+ * @return See ndt_registration.cpp for port list and description.
+ */
+ static BT::PortsList providedPorts();
+
+ /**
+ * @brief Implementation of the metadata() function for displaying metadata, such as Behavior description and
+ * subcategory, in the MoveIt Studio Developer Tool.
+ * @return A BT::KeyValueVector containing the Behavior metadata.
+ */
+ static BT::KeyValueVector metadata();
+
+protected:
+ tl::expected doWork() override;
+
+private:
+ /** @brief Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member */
+ std::shared_future>& getFuture() override
+ {
+ return future_;
+ }
+
+ /** @brief Classes derived from AsyncBehaviorBase must have this shared_future as a class member */
+ std::shared_future> future_;
+};
+} // namespace example_behaviors
diff --git a/src/example_behaviors/include/example_behaviors/example_publish_color_rgba.hpp b/src/example_behaviors/include/example_behaviors/example_publish_color_rgba.hpp
new file mode 100644
index 000000000..3f44a0d67
--- /dev/null
+++ b/src/example_behaviors/include/example_behaviors/example_publish_color_rgba.hpp
@@ -0,0 +1,30 @@
+#pragma once
+
+#include
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+
+namespace example_behaviors
+{
+class ExamplePublishColorRGBA final : public moveit_pro::behaviors::SharedResourcesNode
+{
+public:
+ ExamplePublishColorRGBA(const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources);
+
+ static BT::PortsList providedPorts();
+
+ static BT::KeyValueVector metadata();
+
+ BT::NodeStatus tick() override;
+
+private:
+ std::shared_ptr> publisher_;
+};
+} // namespace example_behaviors
diff --git a/src/example_behaviors/include/example_behaviors/example_ransac_registration.hpp b/src/example_behaviors/include/example_behaviors/example_ransac_registration.hpp
new file mode 100644
index 000000000..4f4aed09d
--- /dev/null
+++ b/src/example_behaviors/include/example_behaviors/example_ransac_registration.hpp
@@ -0,0 +1,62 @@
+#pragma once
+
+#include
+
+// This header includes the SharedResourcesNode type
+#include
+#include
+
+namespace example_behaviors
+{
+/**
+ * @brief TODO(...)
+ */
+class ExampleRANSACRegistration : public moveit_pro::behaviors::AsyncBehaviorBase
+{
+public:
+ /**
+ * @brief Constructor for the behavior.
+ * @param name The name of a particular instance of this Behavior. This will be set by the behavior tree factory when
+ * this Behavior is created within a new behavior tree.
+ * @param shared_resources A shared_ptr to a BehaviorContext that is shared among all SharedResourcesNode Behaviors in
+ * the behavior tree. This BehaviorContext is owned by the Studio Agent's ObjectiveServerNode.
+ * @param config This contains runtime configuration info for this Behavior, such as the mapping between the
+ * Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this
+ * Behavior is created within a new behavior tree.
+ * @details An important limitation is that the members of the base Behavior class are not instantiated until after
+ * the initialize() function is called, so these classes should not be used within the constructor.
+ */
+ ExampleRANSACRegistration(const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources);
+
+ /**
+ * @brief Implementation of the required providedPorts() function for the Behavior.
+ * @details The BehaviorTree.CPP library requires that Behaviors must implement a static function named
+ * providedPorts() which defines their input and output ports. If the Behavior does not use any ports, this function
+ * must return an empty BT::PortsList. This function returns a list of ports with their names and port info, which is
+ * used internally by the behavior tree.
+ * @return See ransac_registration.cpp for port list and description.
+ */
+ static BT::PortsList providedPorts();
+
+ /**
+ * @brief Implementation of the metadata() function for displaying metadata, such as Behavior description and
+ * subcategory, in the MoveIt Studio Developer Tool.
+ * @return A BT::KeyValueVector containing the Behavior metadata.
+ */
+ static BT::KeyValueVector metadata();
+
+protected:
+ tl::expected doWork() override;
+
+private:
+ /** @brief Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member */
+ std::shared_future>& getFuture() override
+ {
+ return future_;
+ }
+
+ /** @brief Classes derived from AsyncBehaviorBase must have this shared_future as a class member */
+ std::shared_future> future_;
+};
+} // namespace example_behaviors
diff --git a/src/example_behaviors/include/example_behaviors/example_sam2_segmentation.hpp b/src/example_behaviors/include/example_behaviors/example_sam2_segmentation.hpp
new file mode 100644
index 000000000..62e85e645
--- /dev/null
+++ b/src/example_behaviors/include/example_behaviors/example_sam2_segmentation.hpp
@@ -0,0 +1,70 @@
+#pragma once
+
+#include
+#include
+#include
+
+#include
+#include
+#include
+#include
+#include
+#include
+
+namespace example_behaviors
+{
+/**
+ * @brief Segment an image using the SAM 2 model
+ */
+class ExampleSAM2Segmentation : public moveit_pro::behaviors::AsyncBehaviorBase
+{
+public:
+ /**
+ * @brief Constructor for the ExampleSAM2Segmentation behavior.
+ * @param name The name of a particular instance of this Behavior. This will be set by the behavior tree factory when
+ * this Behavior is created within a new behavior tree.
+ * @param config This contains runtime configuration info for this Behavior, such as the mapping between the
+ * Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this
+ * Behavior is created within a new behavior tree.
+ * @details An important limitation is that the members of the base Behavior class are not instantiated until after
+ * the initialize() function is called, so these classes should not be used within the constructor.
+ */
+ ExampleSAM2Segmentation(const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources);
+
+ /**
+ * @brief Implementation of the required providedPorts() function for the Behavior.
+ * @details The BehaviorTree.CPP library requires that Behaviors must implement a static function named
+ * providedPorts() which defines their input and output ports. If the Behavior does not use any ports, this function
+ * must return an empty BT::PortsList. This function returns a list of ports with their names and port info, which is
+ * used internally by the behavior tree.
+ * @return List of ports for the behavior.
+ */
+ static BT::PortsList providedPorts();
+
+ /**
+ * @brief Implementation of the metadata() function for displaying metadata, such as Behavior description and
+ * subcategory, in the MoveIt Studio Developer Tool.
+ * @return A BT::KeyValueVector containing the Behavior metadata.
+ */
+ static BT::KeyValueVector metadata();
+
+protected:
+ tl::expected doWork() override;
+
+private:
+ std::unique_ptr sam2_;
+ moveit_pro_ml::ONNXImage onnx_image_;
+ sensor_msgs::msg::Image mask_image_msg_;
+ moveit_studio_vision_msgs::msg::Mask2D mask_msg_;
+
+ /** @brief Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member */
+ std::shared_future>& getFuture() override
+ {
+ return future_;
+ }
+
+ /** @brief Classes derived from AsyncBehaviorBase must have this shared_future as a class member */
+ std::shared_future> future_;
+};
+} // namespace example_behaviors
diff --git a/src/example_behaviors/include/example_behaviors/example_setup_mtc_wave_hand.hpp b/src/example_behaviors/include/example_behaviors/example_setup_mtc_wave_hand.hpp
new file mode 100644
index 000000000..e005e037b
--- /dev/null
+++ b/src/example_behaviors/include/example_behaviors/example_setup_mtc_wave_hand.hpp
@@ -0,0 +1,84 @@
+
+
+#pragma once
+
+#include
+#include
+#include
+#include
+#include
+
+namespace example_behaviors
+{
+/**
+ * @brief The ExampleSetupMTCWaveHand behavior makes any robot move the end of its arm back and forth.
+ * @details This is an example of a behavior that uses MoveIt Task Constructor to configure an MTC task,
+ * which can be planned and executed by MoveIt Pro's core PlanMTCTask and ExecuteMTCTask Behaviors.
+ * It is derived from AsyncBehaviorBase, an extension of the templated SharedResourcesNode type,
+ * which augments the core BehaviorTree.Cpp types with an additional constructor parameter
+ * to allow the Behavior to access a rclcpp Node owned by the Agent's ObjectiveServerNode.
+ * The AsyncBehaviorBase requires a user-implemented function doWork()
+ * which is called within an async process in a separate thread.
+ * It returns an tl::expected which contains a bool indicating task success
+ * If the task fails, doWork() returns a tl::unexpected which contains a string indicating the error
+ * if the process completed successfully or was canceled,
+ * or an error message if the process failed unexpectedly.
+ */
+class ExampleSetupMTCWaveHand final : public moveit_pro::behaviors::AsyncBehaviorBase
+{
+public:
+ /**
+ * @brief Constructor for the ExampleSetupMTCWaveHand behavior.
+ * @param name The name of a particular instance of this Behavior. This will be set by the behavior
+ * tree factory when this Behavior is created within a new behavior tree.
+ * @param shared_resources A shared_ptr to a BehaviorContext that is shared among all
+ * SharedResourcesNode Behaviors in the behavior tree. This BehaviorContext is owned by the MoveIt Pro
+ * Agent's ObjectiveServerNode.
+ * @param config This contains runtime configuration info for this Behavior, such as the mapping
+ * between the Behavior's data ports on the behavior tree's blackboard. This will be set by the
+ * behavior tree factory when this Behavior is created within a new behavior tree.
+ */
+ ExampleSetupMTCWaveHand(const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources);
+
+ /**
+ * @brief Implementation of the required providedPorts() function for the ExampleSetupMTCWaveHand Behavior.
+ * @details The BehaviorTree.CPP library requires that Behaviors must implement a static function
+ * named providedPorts() which defines their input and output ports. If the Behavior does not use
+ * any ports, this function must return an empty BT::PortsList.
+ * This function returns a list of ports with their names and port info, which is used internally
+ * by the behavior tree.
+ * @return ExampleSetupMTCWaveHand has one data port: a bidirectional port named "task", which is a shared_ptr
+ * to an MTC task object. This function returns a BT::PortsList that declares this single port.
+ */
+ static BT::PortsList providedPorts();
+
+ /**
+ * @brief Implementation of the metadata() function for displaying metadata, such as Behavior description and
+ * subcategory, in the MoveIt Studio Developer Tool.
+ * @return A BT::KeyValueVector containing the Behavior metadata.
+ */
+ static BT::KeyValueVector metadata();
+
+private:
+ /**
+ * @brief Async thread for ExampleSetupMTCWaveHand. Adds MTC stages to an MTC task provided on a data port.
+ * @details This function is where the Behavior performs its work asynchronously while the behavior tree ticks.
+ * It is very important that behaviors return from being ticked very quickly because if it blocks before returning
+ * it will block execution of the entire behavior tree, which may have undesirable consequences for other Behaviors
+ * that require a fast update rate to work correctly.
+ * @return An tl::expected which contains a true if the MTC stages were configured and added to the MTC task,
+ * or a string if it failed to retrieve the MTC task from the "task" data port.
+ */
+ tl::expected doWork() override;
+
+ /** @brief Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member */
+ std::shared_future>& getFuture() override
+ {
+ return future_;
+ }
+
+ /** @brief Classes derived from AsyncBehaviorBase must have this shared_future as a class member */
+ std::shared_future> future_;
+};
+} // namespace example_behaviors
diff --git a/src/example_behaviors/package.xml b/src/example_behaviors/package.xml
new file mode 100644
index 000000000..5b499c4f4
--- /dev/null
+++ b/src/example_behaviors/package.xml
@@ -0,0 +1,34 @@
+
+
+ example_behaviors
+ 9.5.0
+ Example behaviors for MoveIt Pro
+
+ MoveIt Pro Maintainer
+ MoveIt Pro Maintainer
+
+ BSD-3-Clause
+
+ ament_cmake
+
+ moveit_pro_package
+
+ moveit_pro_behavior_interface
+ example_interfaces
+ perception_pcl
+ moveit_ros_planning_interface
+ moveit_studio_vision_msgs
+ moveit_studio_vision
+ moveit_pro_behavior
+
+ moveit_pro_sam2
+
+ ament_lint_auto
+ ament_cmake_gtest
+ ament_clang_format
+ ament_clang_tidy
+
+
+ ament_cmake
+
+
diff --git a/src/example_behaviors/src/example_add_two_ints_service_client.cpp b/src/example_behaviors/src/example_add_two_ints_service_client.cpp
new file mode 100644
index 000000000..b6a0e81f2
--- /dev/null
+++ b/src/example_behaviors/src/example_add_two_ints_service_client.cpp
@@ -0,0 +1,57 @@
+#include
+
+// Include the template implementation for GetMessageFromTopicBehaviorBase.
+#include
+namespace example_behaviors
+{
+ExampleAddTwoIntsServiceClient::ExampleAddTwoIntsServiceClient(
+ const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources)
+ : ServiceClientBehaviorBase(name, config, shared_resources)
+{
+}
+
+BT::PortsList ExampleAddTwoIntsServiceClient::providedPorts()
+{
+ // This node has three input ports and one output port
+ return BT::PortsList({
+ BT::InputPort("service_name", "/add_two_ints", "The name of the service to call."),
+ BT::InputPort("addend1", "The first int to add to the other."),
+ BT::InputPort("addend2", "The second int to add to the other."),
+ BT::OutputPort("result", "{result}", "Result of the AddTwoInts service."),
+ });
+}
+
+BT::KeyValueVector ExampleAddTwoIntsServiceClient::metadata()
+{
+ return { { "subcategory", "Example Behaviors" },
+ { "description", "Calls a service to add two integers and makes the result available on an output port." } };
+}
+
+tl::expected ExampleAddTwoIntsServiceClient::getServiceName()
+{
+ const auto service_name = getInput("service_name");
+ if (const auto error = moveit_pro::behaviors::maybe_error(service_name))
+ {
+ return tl::make_unexpected("Failed to get required value from input data port: " + error.value());
+ }
+ return service_name.value();
+}
+
+tl::expected ExampleAddTwoIntsServiceClient::createRequest()
+{
+ const auto a = getInput("addend1");
+ const auto b = getInput("addend2");
+ if (const auto error = moveit_pro::behaviors::maybe_error(a, b))
+ {
+ return tl::make_unexpected("Failed to get required value from input data port: " + error.value());
+ }
+ return example_interfaces::build().a(a.value()).b(b.value());
+}
+
+tl::expected ExampleAddTwoIntsServiceClient::processResponse(const AddTwoInts::Response& response)
+{
+ setOutput("result", response.sum);
+ return { true };
+}
+} // namespace example_behaviors
diff --git a/src/example_behaviors/src/example_convert_mtc_solution_to_joint_trajectory.cpp b/src/example_behaviors/src/example_convert_mtc_solution_to_joint_trajectory.cpp
new file mode 100644
index 000000000..a6eef17fa
--- /dev/null
+++ b/src/example_behaviors/src/example_convert_mtc_solution_to_joint_trajectory.cpp
@@ -0,0 +1,143 @@
+#include
+
+namespace
+{
+const auto kLogger = rclcpp::get_logger("ExampleConvertMtcSolutionToJointTrajectory");
+
+// Port names for input and output ports.
+constexpr auto kPortIDSolution = "solution";
+constexpr auto kPortIDJointGroup = "joint_group";
+constexpr auto kPortIDJointTrajectory = "joint_trajectory";
+constexpr auto kPortIDVelocityScalingFactor = "velocity_scaling_factor";
+constexpr auto kPortIDAccelerationScalingFactor = "acceleration_scaling_factor";
+constexpr auto kPortIDSamplingRate = "sampling_rate";
+} // namespace
+
+namespace example_behaviors
+{
+ExampleConvertMtcSolutionToJointTrajectory::ExampleConvertMtcSolutionToJointTrajectory(
+ const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources)
+ : moveit_pro::behaviors::SharedResourcesNode(name, config, shared_resources)
+{
+}
+
+BT::PortsList ExampleConvertMtcSolutionToJointTrajectory::providedPorts()
+{
+ return {
+ BT::InputPort(kPortIDSolution, "{mtc_solution}",
+ "MoveIt Task Constructor solution."),
+ BT::InputPort(kPortIDJointGroup, "manipulator", "Joint group name used in the MTC solution."),
+ BT::InputPort(kPortIDVelocityScalingFactor, 1.0, "Velocity scaling factor for trajectory generation."),
+ BT::InputPort(kPortIDAccelerationScalingFactor, 1.0,
+ "Acceleration scaling factor for trajectory generation."),
+ BT::InputPort(kPortIDSamplingRate, 100, "Sampling rate for trajectory generation."),
+ BT::OutputPort(kPortIDJointTrajectory, "{joint_trajectory_msg}",
+ "Resulting joint trajectory."),
+ };
+}
+
+BT::KeyValueVector ExampleConvertMtcSolutionToJointTrajectory::metadata()
+{
+ return { { "subcategory", "Motion Planning" },
+ { "description",
+ "Extracts joint space trajectories from an MTC solution and adds time parameterization using TOTG." } };
+}
+
+BT::NodeStatus ExampleConvertMtcSolutionToJointTrajectory::tick()
+{
+ using namespace moveit_pro::behaviors;
+
+ // Load data from the behavior input ports.
+ const auto solution = getInput(kPortIDSolution);
+ const auto joint_group_name = getInput(kPortIDJointGroup);
+ const auto velocity_scaling_factor = getInput(kPortIDVelocityScalingFactor);
+ const auto acceleration_scaling_factor = getInput(kPortIDAccelerationScalingFactor);
+ const auto sampling_rate = getInput(kPortIDSamplingRate);
+
+ // Check that the required input data port was set
+ if (const auto error =
+ maybe_error(solution, joint_group_name, velocity_scaling_factor, acceleration_scaling_factor, sampling_rate);
+ error)
+ {
+ spdlog::error("Failed to get required value from input data port: {}", error.value());
+ return BT::NodeStatus::FAILURE;
+ }
+ // Initialize the robot model loader if this is the first time this Behavior has been run.
+ if (robot_model_loader_ == nullptr)
+ {
+ robot_model_loader_ = std::make_unique(getBehaviorContext()->node);
+ }
+
+ // Get the robot model from the robot model loader.
+ const auto robot_model = robot_model_loader_->getModel();
+ if (robot_model == nullptr)
+ {
+ // Return as a failure case if the robot model loader has no robot model.
+ spdlog::error("Failed to load robot model.");
+ return BT::NodeStatus::FAILURE;
+ }
+
+ // Get the JointModelGroup using the joint group name from the input port
+ auto joint_model_group = robot_model->getJointModelGroup(joint_group_name.value());
+ if (!joint_model_group)
+ {
+ spdlog::error("Failed to get JointModelGroup '{}'.", joint_group_name.value());
+ return BT::NodeStatus::FAILURE;
+ }
+
+ // Extract joint positions from the MTC solution
+ const auto& waypoints = extractJointPositions(solution.value());
+
+ // Use trajectory_utils.hpp to create a trajectory
+ auto trajectory_result =
+ cartesian_planning::createTrajectoryFromWaypoints(*joint_model_group, waypoints, velocity_scaling_factor.value(),
+ acceleration_scaling_factor.value(), sampling_rate.value());
+
+ if (!trajectory_result)
+ {
+ spdlog::error("Trajectory generation failed: {}", trajectory_result.error());
+ return BT::NodeStatus::FAILURE;
+ }
+
+ // Set the output port with the resulting joint trajectory
+ setOutput(kPortIDJointTrajectory, trajectory_result.value());
+
+ spdlog::info("Successfully converted MTC Solution to JointTrajectory with {} points.",
+ trajectory_result.value().points.size());
+
+ return BT::NodeStatus::SUCCESS;
+}
+
+const std::vector& ExampleConvertMtcSolutionToJointTrajectory::extractJointPositions(
+ const moveit_task_constructor_msgs::msg::Solution& solution)
+{
+ static std::vector waypoints;
+ waypoints.clear();
+ for (size_t sub_traj_idx = 0; sub_traj_idx < solution.sub_trajectory.size(); ++sub_traj_idx)
+ {
+ const auto& sub_traj = solution.sub_trajectory[sub_traj_idx];
+ const auto& joint_traj = sub_traj.trajectory.joint_trajectory;
+
+ if (joint_traj.points.empty())
+ {
+ spdlog::warn("Sub-trajectory {} has no points.", sub_traj_idx);
+ continue;
+ }
+
+ spdlog::info("Processing sub-trajectory {} with {} points.", sub_traj_idx, joint_traj.points.size());
+
+ for (const auto& point : joint_traj.points)
+ {
+ Eigen::VectorXd positions(point.positions.size());
+ for (size_t i = 0; i < point.positions.size(); ++i)
+ {
+ positions[i] = point.positions[i];
+ }
+ waypoints.push_back(positions);
+ }
+ }
+ return waypoints;
+}
+
+} // namespace example_behaviors
diff --git a/src/example_behaviors/src/example_create_string_msg.cpp b/src/example_behaviors/src/example_create_string_msg.cpp
new file mode 100644
index 000000000..bfd759628
--- /dev/null
+++ b/src/example_behaviors/src/example_create_string_msg.cpp
@@ -0,0 +1,51 @@
+#include
+
+#include
+#include
+
+namespace example_behaviors
+{
+ExampleCreateStringMsg::ExampleCreateStringMsg(
+ const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources)
+ : moveit_pro::behaviors::SharedResourcesNode(name, config, shared_resources)
+{
+}
+
+BT::PortsList ExampleCreateStringMsg::providedPorts()
+{
+ // This node has no input or output ports
+ return BT::PortsList(
+ { BT::InputPort("string", "example_string", "The value of the string ROS message to be created."),
+ BT::OutputPort("string_msg", "{string_msg}", "The string ROS message.") });
+}
+
+BT::KeyValueVector ExampleCreateStringMsg::metadata()
+{
+ return { { "subcategory", "Example Behaviors" }, { "description", "Create a ROS String msg on the blackboard." } };
+}
+
+BT::NodeStatus ExampleCreateStringMsg::tick()
+{
+ // getInput returns a BT::Expected so we'll store the result temporarily while we check if it was set correctly
+ const auto expected_string = getInput("string");
+
+ // The maybe_error function returns a std::optional with an error message if the port was set incorrectly
+ if (const auto error = moveit_pro::behaviors::maybe_error(expected_string); error)
+ {
+ // If the port was set incorrectly, we will log an error message to the UI and the node will return FAILURE
+ getBehaviorContext()->logger->publishFailureMessage(name(), "Failed to get required values from input data ports." +
+ error.value());
+ return BT::NodeStatus::FAILURE;
+ }
+
+ // Create the string msg with the input string.
+ std_msgs::msg::String string_msg;
+ string_msg.data = expected_string.value();
+
+ setOutput("string_msg", string_msg);
+
+ return BT::NodeStatus::SUCCESS;
+}
+
+} // namespace example_behaviors
diff --git a/src/example_behaviors/src/example_delayed_message.cpp b/src/example_behaviors/src/example_delayed_message.cpp
new file mode 100644
index 000000000..ecd11232f
--- /dev/null
+++ b/src/example_behaviors/src/example_delayed_message.cpp
@@ -0,0 +1,78 @@
+#include
+
+namespace example_behaviors
+{
+ExampleDelayedMessage::ExampleDelayedMessage(
+ const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources)
+ : moveit_pro::behaviors::SharedResourcesNode(name, config, shared_resources)
+{
+}
+
+BT::PortsList ExampleDelayedMessage::providedPorts()
+{
+ // delay_duration: Number of seconds to wait before logging a message
+ return BT::PortsList(
+ { BT::InputPort("delay_duration", "5", "The duration, in seconds, to wait before logging a message.") });
+}
+
+BT::KeyValueVector ExampleDelayedMessage::metadata()
+{
+ return { { "subcategory", "Example Behaviors" },
+ { "description", "After some time, log a message that says \"Hello, world!\"." } };
+}
+
+BT::NodeStatus ExampleDelayedMessage::onStart()
+{
+ // Store the time at which this node was first ticked
+ start_time_ = std::chrono::steady_clock::now();
+
+ // getInput returns a BT::Expected so we'll store the result temporarily while we check if it was set correctly
+ const auto maybe_duration = getInput("delay_duration");
+
+ // The maybe_error function returns a std::optional with an error message if the port was set incorrectly
+ if (const auto error = moveit_pro::behaviors::maybe_error(maybe_duration); error)
+ {
+ // If the port was set incorrectly, we will log an error message to the UI and the node will return FAILURE
+ getBehaviorContext()->logger->publishFailureMessage(name(), "Failed to get required values from input data ports." +
+ error.value());
+ return BT::NodeStatus::FAILURE;
+ }
+
+ // Store the value of the port
+ delay_duration_ = maybe_duration.value();
+
+ // If the duration is zero, we can log the message immediately
+ if (delay_duration_ <= 0)
+ {
+ // Log the "Hello, world!" message.
+ // Setting the third argument to false ensures the message will be shown immediately
+ getBehaviorContext()->logger->publishInfoMessage(name(), "Hello, world!");
+ return BT::NodeStatus::SUCCESS;
+ }
+
+ return BT::NodeStatus::RUNNING;
+}
+
+BT::NodeStatus ExampleDelayedMessage::onRunning()
+{
+ // If the delay duration has not elapsed since this node was started, return RUNNING
+ if (std::chrono::duration_cast(std::chrono::steady_clock::now() - start_time_).count() <
+ delay_duration_)
+ {
+ // Log the "Hello, world!" message.
+ // Setting the third argument to false ensures the message will be shown immediately
+ getBehaviorContext()->logger->publishInfoMessage(name(), "Hello, world!");
+ return BT::NodeStatus::SUCCESS;
+ }
+ else
+ {
+ return BT::NodeStatus::SUCCESS;
+ }
+}
+
+void ExampleDelayedMessage::onHalted()
+{
+}
+
+} // namespace example_behaviors
diff --git a/src/example_behaviors/src/example_fibonacci_action_client.cpp b/src/example_behaviors/src/example_fibonacci_action_client.cpp
new file mode 100644
index 000000000..4e06356ed
--- /dev/null
+++ b/src/example_behaviors/src/example_fibonacci_action_client.cpp
@@ -0,0 +1,90 @@
+#include
+
+// Include the template implementation for ActionClientBehaviorBase.
+#include
+
+namespace example_behaviors
+{
+ExampleFibonacciActionClient::ExampleFibonacciActionClient(
+ const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources)
+ : ActionClientBehaviorBase(name, config, shared_resources)
+{
+}
+
+BT::PortsList ExampleFibonacciActionClient::providedPorts()
+{
+ // This node has two input ports and two output ports
+ return BT::PortsList({
+ BT::InputPort("action_name", "/fibonacci", "The name of the action to send a goal to."),
+ BT::InputPort("order", "The order of the Fibonacci sequence"),
+ BT::OutputPort>("feedback", "{feedback}",
+ "The action feedback containing the latest element in the current Fibonacci "
+ "sequence."),
+ BT::OutputPort>(
+ "result", "{result}", "The result containing the entire Fibonacci sequence up to the specified order."),
+ });
+}
+
+BT::KeyValueVector ExampleFibonacciActionClient::metadata()
+{
+ return { { "subcategory", "Example Behaviors" },
+ { "description",
+ "Calls an action to get a Fibonacci sequence and makes the result available on an output port." } };
+}
+
+tl::expected ExampleFibonacciActionClient::getActionName()
+{
+ const auto action_name = getInput("action_name");
+ if (const auto error = moveit_pro::behaviors::maybe_error(action_name))
+ {
+ return tl::make_unexpected("Failed to get required value from input data port: " + error.value());
+ }
+ return action_name.value();
+}
+
+tl::expected ExampleFibonacciActionClient::createGoal()
+{
+ const auto order = getInput("order");
+
+ if (const auto error = moveit_pro::behaviors::maybe_error(order))
+ {
+ return tl::make_unexpected("Failed to get required value from input data port: " + error.value());
+ }
+
+ return example_interfaces::build().order(order.value());
+}
+
+tl::expected
+ExampleFibonacciActionClient::processResult(const std::shared_ptr result)
+{
+ std::stringstream stream;
+ for (const auto& value : result->sequence)
+ {
+ stream << value << " ";
+ }
+ std::cout << stream.str() << std::endl;
+
+ // Publish the result to the UI
+ getBehaviorContext()->logger->publishInfoMessage(name(), "Result: " + stream.str());
+
+ setOutput>("result", result->sequence);
+
+ return { true };
+}
+
+void ExampleFibonacciActionClient::processFeedback(const std::shared_ptr feedback)
+{
+ std::stringstream stream;
+ for (const auto& value : feedback->sequence)
+ {
+ stream << value << " ";
+ }
+ std::cout << stream.str() << std::endl;
+
+ // Publish the feedback to the UI
+ getBehaviorContext()->logger->publishInfoMessage(name(), "Feedback: " + stream.str());
+
+ setOutput>("feedback", feedback->sequence);
+}
+} // namespace example_behaviors
diff --git a/src/example_behaviors/src/example_get_string_from_topic.cpp b/src/example_behaviors/src/example_get_string_from_topic.cpp
new file mode 100644
index 000000000..42587a079
--- /dev/null
+++ b/src/example_behaviors/src/example_get_string_from_topic.cpp
@@ -0,0 +1,32 @@
+#include
+
+// Include the template implementation for GetMessageFromTopicBehaviorBase.
+#include
+
+namespace example_behaviors
+{
+ExampleGetStringFromTopic::ExampleGetStringFromTopic(const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources)
+ : GetMessageFromTopicBehaviorBase(name, config, shared_resources)
+{
+}
+
+BT::PortsList ExampleGetStringFromTopic::providedPorts()
+{
+ // This node has one input port and one output port
+ return BT::PortsList({
+ BT::InputPort("topic_name", "/chatter", "The name of the topic the Behavior subscribes to."),
+ BT::OutputPort>("message_out", "{my_string}", "The output String message."),
+ });
+}
+
+BT::KeyValueVector ExampleGetStringFromTopic::metadata()
+{
+ return { { "subcategory", "Example Behaviors" },
+ { "description", "Captures a string message and makes it available on an output port." } };
+}
+
+} // namespace example_behaviors
+
+// Template specialization of GetMessageFromTopicBehaviorBase for the String message type
+template class moveit_pro::behaviors::GetMessageFromTopicBehaviorBase;
diff --git a/src/example_behaviors/src/example_hello_world.cpp b/src/example_behaviors/src/example_hello_world.cpp
new file mode 100644
index 000000000..69793ff09
--- /dev/null
+++ b/src/example_behaviors/src/example_hello_world.cpp
@@ -0,0 +1,31 @@
+#include
+
+namespace example_behaviors
+{
+ExampleHelloWorld::ExampleHelloWorld(const std::string& name, const BT::NodeConfiguration& config,
+ const std::shared_ptr& shared_resources)
+ : moveit_pro::behaviors::SharedResourcesNode(name, config, shared_resources)
+{
+}
+
+BT::PortsList ExampleHelloWorld::providedPorts()
+{
+ // This node has no input or output ports
+ return BT::PortsList({});
+}
+
+BT::KeyValueVector ExampleHelloWorld::metadata()
+{
+ return { { "subcategory", "Example Behaviors" }, { "description", "Log a message that says \"Hello, world!\"." } };
+}
+
+BT::NodeStatus ExampleHelloWorld::tick()
+{
+ // Do ExampleHelloWorld's useful work.
+ // Setting the third argument to false ensures the message will be shown immediately
+ getBehaviorContext()->logger->publishInfoMessage(name(), "Hello, world!");
+
+ return BT::NodeStatus::SUCCESS;
+}
+
+} // namespace example_behaviors
diff --git a/src/example_behaviors/src/example_ndt_registration.cpp b/src/example_behaviors/src/example_ndt_registration.cpp
new file mode 100644
index 000000000..c16d147f5
--- /dev/null
+++ b/src/example_behaviors/src/example_ndt_registration.cpp
@@ -0,0 +1,143 @@
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include 
MoveIt Pro Example WS - Objectives Integration Test Report',
+ '',
+ sections.join('\n'),
+ ].join('\n');
+ await github.rest.issues.createComment({
+ owner,
+ repo,
+ issue_number: context.issue.number,
+ body,
+ });
ensure-no-ssh-in-gitmodules:
name: Ensure no SSH URLs in .gitmodules
runs-on: ubuntu-22.04
steps:
- - uses: actions/checkout@v3
+ - uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7.0.0
- name: Check .gitmodules file for Git-over-SSH URLs
run: "! grep 'git@' .gitmodules"
+
+ validate_objectives:
+ runs-on: ubuntu-22.04
+ steps:
+ - uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7.0.0
+ - uses: PickNikRobotics/moveit_pro_lint@v0.0.2
+
+ # Single aggregator job that branch protection requires. Lists every job
+ # that must succeed (or be intentionally skipped) for a PR to be mergeable;
+ # `!cancelled()` makes it run even when an upstream job failed so the
+ # required check resolves loudly instead of hanging. Add new gating jobs
+ # to the `needs:` list and to the `required` map below.
+ build-status:
+ name: Build Status
+ needs:
+ - integration-test
+ - integration-status
+ - ensure-no-ssh-in-gitmodules
+ - validate_objectives
+ if: ${{ !cancelled() }}
+ runs-on: ubuntu-22.04
+ steps:
+ - name: Verify required jobs succeeded
+ uses: actions/github-script@3a2844b7e9c422d3c10d287c895573f7108da1b3 # v9.0.0
+ env:
+ INTEGRATION_TEST: ${{ needs.integration-test.result }}
+ INTEGRATION_STATUS: ${{ needs.integration-status.result }}
+ NO_SSH: ${{ needs['ensure-no-ssh-in-gitmodules'].result }}
+ VALIDATE_OBJECTIVES: ${{ needs.validate_objectives.result }}
+ with:
+ script: |
+ const results = {
+ 'integration-test': process.env.INTEGRATION_TEST,
+ 'integration-status': process.env.INTEGRATION_STATUS,
+ 'ensure-no-ssh-in-gitmodules': process.env.NO_SSH,
+ 'validate_objectives': process.env.VALIDATE_OBJECTIVES,
+ };
+ // `skipped` is acceptable (e.g., integration-test is skipped on
+ // push/schedule when the `resolve` job determines no run is
+ // appropriate). `success` is required for the gating jobs.
+ // Anything else (failure, cancelled) blocks the merge.
+ const failed = Object.entries(results).filter(
+ ([_, r]) => r !== 'success' && r !== 'skipped'
+ );
+ if (failed.length) {
+ core.setFailed(
+ `Required jobs did not succeed: ${failed.map(([n, r]) => `${n}=${r}`).join(', ')}`
+ );
+ } else {
+ core.info(`All required jobs OK: ${JSON.stringify(results)}`);
+ }
diff --git a/.github/workflows/cleanup-pr-reports.yaml b/.github/workflows/cleanup-pr-reports.yaml
new file mode 100644
index 000000000..e13b6c489
--- /dev/null
+++ b/.github/workflows/cleanup-pr-reports.yaml
@@ -0,0 +1,68 @@
+# Delete pr-