Robot observations

Log data
~DuckietownMap:
  tile_size: 0.61
~PlacedObject:
  spatial_relations:
    0:
      ~SpatialRelation:
        a: []
        sr_type: ground_truth
        b:
        - tilemap
        transform:
          ~Scale2D:
            scale: 0.61
    1:
      ~SpatialRelation:
        a: []
        sr_type: ground_truth
        b:
        - duckiebot
        transform:
          ~Sequence:
            timestamps:
            - 0.03333333333333333
            - 0.03333333333333333
            - 0.06666666666666667
            - 0.06666666666666667
            - 0.1
            - 0.1
            - 0.13333333333333333
            - 0.13333333333333333
            - 0.16666666666666666
            - 0.16666666666666666
            - 0.19999999999999998
            - 0.19999999999999998
            - 0.2333333333333333
            - 0.2333333333333333
            - 0.26666666666666666
            - 0.26666666666666666
            - 0.3
            - 0.3
            - 0.3333333333333333
            - 0.3333333333333333
            - 0.36666666666666664
            - 0.36666666666666664
            - 0.39999999999999997
            - 0.39999999999999997
            - 0.4333333333333333
            - 0.4333333333333333
            - 0.4666666666666666
            - 0.4666666666666666
            - 0.49999999999999994
            - 0.49999999999999994
            - 0.5333333333333333
            - 0.5333333333333333
            - 0.5666666666666667
            - 0.5666666666666667
            - 0.6
            - 0.6
            - 0.6333333333333333
            - 0.6333333333333333
            - 0.6666666666666666
            - 0.6666666666666666
            - 0.7
            - 0.7
            - 0.7333333333333333
            - 0.7333333333333333
            - 0.7666666666666666
            - 0.7666666666666666
            - 0.7999999999999999
            - 0.7999999999999999
            - 0.8333333333333333
            - 0.8333333333333333
            - 0.8666666666666666
            - 0.8666666666666666
            - 0.8999999999999999
            - 0.8999999999999999
            - 0.9333333333333332
            - 0.9333333333333332
            - 0.9666666666666666
            - 0.9666666666666666
            - 0.9999999999999999
            - 0.9999999999999999
            - 1.0333333333333332
            - 1.0333333333333332
            - 1.0666666666666667
            - 1.0666666666666667
            - 1.1
            - 1.1
            - 1.1333333333333335
            - 1.1333333333333335
            - 1.166666666666667
            - 1.166666666666667
            - 1.2000000000000004
            - 1.2000000000000004
            - 1.2333333333333338
            - 1.2333333333333338
            - 1.2666666666666673
            - 1.2666666666666673
            - 1.3000000000000007
            - 1.3000000000000007
            - 1.3333333333333341
            - 1.3333333333333341
            - 1.3666666666666676
            - 1.3666666666666676
            - 1.400000000000001
            - 1.400000000000001
            - 1.4333333333333345
            - 1.4333333333333345
            - 1.466666666666668
            - 1.466666666666668
            - 1.5000000000000013
            - 1.5000000000000013
            - 1.5333333333333348
            - 1.5333333333333348
            - 1.5666666666666682
            - 1.5666666666666682
            - 1.6000000000000016
            - 1.6000000000000016
            - 1.633333333333335
            - 1.633333333333335
            - 1.6666666666666685
            - 1.6666666666666685
            - 1.700000000000002
            - 1.700000000000002
            - 1.7333333333333354
            - 1.7333333333333354
            - 1.7666666666666688
            - 1.7666666666666688
            - 1.8000000000000023
            - 1.8000000000000023
            - 1.8333333333333357
            - 1.8333333333333357
            - 1.8666666666666691
            - 1.8666666666666691
            - 1.9000000000000026
            - 1.9000000000000026
            - 1.933333333333336
            - 1.933333333333336
            - 1.9666666666666694
            - 1.9666666666666694
            - 2.0000000000000027
            - 2.0000000000000027
            - 2.033333333333336
            - 2.033333333333336
            - 2.066666666666669
            - 2.066666666666669
            - 2.1000000000000023
            - 2.1000000000000023
            - 2.1333333333333355
            - 2.1333333333333355
            - 2.1666666666666687
            - 2.1666666666666687
            - 2.200000000000002
            - 2.200000000000002
            - 2.233333333333335
            - 2.233333333333335
            - 2.2666666666666684
            - 2.2666666666666684
            - 2.3000000000000016
            - 2.3000000000000016
            - 2.333333333333335
            - 2.333333333333335
            - 2.366666666666668
            - 2.366666666666668
            - 2.4000000000000012
            - 2.4000000000000012
            - 2.4333333333333345
            - 2.4333333333333345
            - 2.4666666666666677
            - 2.4666666666666677
            - 2.500000000000001
            - 2.500000000000001
            - 2.533333333333334
            - 2.533333333333334
            - 2.5666666666666673
            - 2.5666666666666673
            - 2.6000000000000005
            - 2.6000000000000005
            - 2.6333333333333337
            - 2.6333333333333337
            - 2.666666666666667
            - 2.666666666666667
            - 2.7
            - 2.7
            - 2.7333333333333334
            - 2.7333333333333334
            - 2.7666666666666666
            - 2.7666666666666666
            - 2.8
            - 2.8
            - 2.833333333333333
            - 2.833333333333333
            - 2.8666666666666663
            - 2.8666666666666663
            - 2.8999999999999995
            - 2.8999999999999995
            - 2.9333333333333327
            - 2.9333333333333327
            - 2.966666666666666
            - 2.966666666666666
            - 2.999999999999999
            - 2.999999999999999
            - 3.0333333333333323
            - 3.0333333333333323
            - 3.0666666666666655
            - 3.0666666666666655
            - 3.0999999999999988
            - 3.0999999999999988
            - 3.133333333333332
            - 3.133333333333332
            - 3.166666666666665
            - 3.166666666666665
            - 3.1999999999999984
            - 3.1999999999999984
            - 3.2333333333333316
            - 3.2333333333333316
            - 3.266666666666665
            - 3.266666666666665
            - 3.299999999999998
            - 3.299999999999998
            - 3.3333333333333313
            - 3.3333333333333313
            - 3.3666666666666645
            - 3.3666666666666645
            - 3.3999999999999977
            - 3.3999999999999977
            - 3.433333333333331
            - 3.433333333333331
            - 3.466666666666664
            - 3.466666666666664
            - 3.4999999999999973
            - 3.4999999999999973
            - 3.5333333333333306
            - 3.5333333333333306
            - 3.5666666666666638
            - 3.5666666666666638
            - 3.599999999999997
            - 3.599999999999997
            - 3.63333333333333
            - 3.63333333333333
            - 3.6666666666666634
            - 3.6666666666666634
            - 3.6999999999999966
            - 3.6999999999999966
            - 3.73333333333333
            - 3.73333333333333
            - 3.766666666666663
            - 3.766666666666663
            - 3.7999999999999963
            - 3.7999999999999963
            - 3.8333333333333295
            - 3.8333333333333295
            - 3.8666666666666627
            - 3.8666666666666627
            - 3.899999999999996
            - 3.899999999999996
            values:
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.947463167702081
                - 2.0896863493360924
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.947463167702081
                - 2.0896863493360924
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.947600734056955
                - 2.103018972981714
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.947600734056955
                - 2.103018972981714
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9477383004118294
                - 2.1163515966273354
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9477383004118294
                - 2.1163515966273354
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9478758667667035
                - 2.129684220272957
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9478758667667035
                - 2.129684220272957
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9480134331215777
                - 2.1430168439185784
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9480134331215777
                - 2.1430168439185784
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.948150999476452
                - 2.1563494675642
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.948150999476452
                - 2.1563494675642
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.948288565831326
                - 2.1696820912098214
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.948288565831326
                - 2.1696820912098214
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9484261321862
                - 2.183014714855443
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9484261321862
                - 2.183014714855443
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9485636985410744
                - 2.1963473385010643
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9485636985410744
                - 2.1963473385010643
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9487012648959485
                - 2.209679962146686
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9487012648959485
                - 2.209679962146686
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9488388312508227
                - 2.2230125857923073
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9488388312508227
                - 2.2230125857923073
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.948976397605697
                - 2.236345209437929
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.948976397605697
                - 2.236345209437929
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949113963960571
                - 2.2496778330835503
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949113963960571
                - 2.2496778330835503
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949251530315445
                - 2.263010456729172
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949251530315445
                - 2.263010456729172
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9493890966703193
                - 2.2763430803747933
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9493890966703193
                - 2.2763430803747933
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9495266630251935
                - 2.2896757040204148
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9495266630251935
                - 2.2896757040204148
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9496642293800677
                - 2.3030083276660362
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9496642293800677
                - 2.3030083276660362
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949801795734942
                - 2.3163409513116577
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949801795734942
                - 2.3163409513116577
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949939362089816
                - 2.3296735749572792
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949939362089816
                - 2.3296735749572792
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95007692844469
                - 2.3430061986029007
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95007692844469
                - 2.3430061986029007
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9502144947995643
                - 2.356338822248522
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9502144947995643
                - 2.356338822248522
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9503520611544385
                - 2.3696714458941437
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9503520611544385
                - 2.3696714458941437
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9504896275093127
                - 2.383004069539765
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9504896275093127
                - 2.383004069539765
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.950627193864187
                - 2.3963366931853867
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.950627193864187
                - 2.3963366931853867
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.950764760219061
                - 2.409669316831008
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.950764760219061
                - 2.409669316831008
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.950902326573935
                - 2.4230019404766296
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.950902326573935
                - 2.4230019404766296
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9510398929288093
                - 2.436334564122251
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9510398929288093
                - 2.436334564122251
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9511774592836835
                - 2.4496671877678726
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9511774592836835
                - 2.4496671877678726
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9513150256385576
                - 2.462999811413494
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9513150256385576
                - 2.462999811413494
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.951452591993432
                - 2.4763324350591156
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.951452591993432
                - 2.4763324350591156
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.951590158348306
                - 2.489665058704737
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.951590158348306
                - 2.489665058704737
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95172772470318
                - 2.5029976823503586
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95172772470318
                - 2.5029976823503586
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9518652910580543
                - 2.51633030599598
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9518652910580543
                - 2.51633030599598
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9520028574129284
                - 2.5296629296416016
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9520028574129284
                - 2.5296629296416016
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9521404237678026
                - 2.542995553287223
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9521404237678026
                - 2.542995553287223
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9522779901226768
                - 2.5563281769328445
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9522779901226768
                - 2.5563281769328445
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.952415556477551
                - 2.569660800578466
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.952415556477551
                - 2.569660800578466
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.952553122832425
                - 2.5829934242240875
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.952553122832425
                - 2.5829934242240875
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9526906891872993
                - 2.596326047869709
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9526906891872993
                - 2.596326047869709
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9528282555421734
                - 2.6096586715153305
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9528282555421734
                - 2.6096586715153305
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9529658218970476
                - 2.622991295160952
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9529658218970476
                - 2.622991295160952
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9531033882519218
                - 2.6363239188065735
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9531033882519218
                - 2.6363239188065735
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.953240954606796
                - 2.649656542452195
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.953240954606796
                - 2.649656542452195
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95337852096167
                - 2.6629891660978164
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95337852096167
                - 2.6629891660978164
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9535160873165442
                - 2.676321789743438
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9535160873165442
                - 2.676321789743438
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9536536536714184
                - 2.6896544133890594
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9536536536714184
                - 2.6896544133890594
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9537912200262926
                - 2.702987037034681
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9537912200262926
                - 2.702987037034681
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9539287863811667
                - 2.7163196606803024
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9539287863811667
                - 2.7163196606803024
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.954066352736041
                - 2.729652284325924
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.954066352736041
                - 2.729652284325924
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.954203919090915
                - 2.7429849079715454
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.954203919090915
                - 2.7429849079715454
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9543414854457892
                - 2.756317531617167
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9543414854457892
                - 2.756317531617167
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9544790518006634
                - 2.7696501552627883
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9544790518006634
                - 2.7696501552627883
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9546166181555376
                - 2.78298277890841
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9546166181555376
                - 2.78298277890841
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9547541845104117
                - 2.7963154025540313
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9547541845104117
                - 2.7963154025540313
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.954891750865286
                - 2.809648026199653
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.954891750865286
                - 2.809648026199653
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95502931722016
                - 2.8229806498452743
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95502931722016
                - 2.8229806498452743
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955166883575034
                - 2.836313273490896
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955166883575034
                - 2.836313273490896
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9553044499299084
                - 2.8496458971365173
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9553044499299084
                - 2.8496458971365173
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9554420162847825
                - 2.8629785207821388
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9554420162847825
                - 2.8629785207821388
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9555795826396567
                - 2.8763111444277603
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9555795826396567
                - 2.8763111444277603
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955717148994531
                - 2.8896437680733817
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955717148994531
                - 2.8896437680733817
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955854715349405
                - 2.9029763917190032
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955854715349405
                - 2.9029763917190032
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955992281704279
                - 2.9163090153646247
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955992281704279
                - 2.9163090153646247
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9561298480591534
                - 2.929641639010246
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9561298480591534
                - 2.929641639010246
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9562674144140275
                - 2.9429742626558677
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9562674144140275
                - 2.9429742626558677
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9564049807689017
                - 2.956306886301489
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9564049807689017
                - 2.956306886301489
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.956542547123776
                - 2.9696395099471107
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.956542547123776
                - 2.9696395099471107
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95668011347865
                - 2.982972133592732
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95668011347865
                - 2.982972133592732
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.956817679833524
                - 2.9963047572383537
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.956817679833524
                - 2.9963047572383537
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9569552461883983
                - 3.009637380883975
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9569552461883983
                - 3.009637380883975
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9570928125432725
                - 3.0229700045295966
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9570928125432725
                - 3.0229700045295966
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9572303788981467
                - 3.036302628175218
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9572303788981467
                - 3.036302628175218
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.957367945253021
                - 3.0496352518208396
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.957367945253021
                - 3.0496352518208396
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.957505511607895
                - 3.062967875466461
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.957505511607895
                - 3.062967875466461
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.957643077962769
                - 3.0763004991120826
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.957643077962769
                - 3.0763004991120826
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9577806443176433
                - 3.089633122757704
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9577806443176433
                - 3.089633122757704
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9579182106725175
                - 3.1029657464033256
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9579182106725175
                - 3.1029657464033256
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9580557770273916
                - 3.116298370048947
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9580557770273916
                - 3.116298370048947
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.958193343382266
                - 3.1296309936945685
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.958193343382266
                - 3.1296309936945685
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95833090973714
                - 3.14296361734019
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95833090973714
                - 3.14296361734019
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.958468476092014
                - 3.1562962409858115
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.958468476092014
                - 3.1562962409858115
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9586060424468883
                - 3.169628864631433
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9586060424468883
                - 3.169628864631433
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9587436088017625
                - 3.1829614882770545
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9587436088017625
                - 3.1829614882770545
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9588811751566366
                - 3.196294111922676
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9588811751566366
                - 3.196294111922676
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.959018741511511
                - 3.2096267355682975
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.959018741511511
                - 3.2096267355682975
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.959156307866385
                - 3.222959359213919
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.959156307866385
                - 3.222959359213919
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.959293874221259
                - 3.2362919828595405
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.959293874221259
                - 3.2362919828595405
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9594314405761333
                - 3.249624606505162
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9594314405761333
                - 3.249624606505162
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9595690069310074
                - 3.2629572301507834
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9595690069310074
                - 3.2629572301507834
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9597065732858816
                - 3.276289853796405
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9597065732858816
                - 3.276289853796405
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9598441396407558
                - 3.2896224774420264
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9598441396407558
                - 3.2896224774420264
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95998170599563
                - 3.302955101087648
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95998170599563
                - 3.302955101087648
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.960119272350504
                - 3.3162877247332694
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.960119272350504
                - 3.3162877247332694
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9602568387053783
                - 3.329620348378891
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9602568387053783
                - 3.329620348378891
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9603944050602524
                - 3.3429529720245124
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9603944050602524
                - 3.3429529720245124
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9605319714151266
                - 3.356285595670134
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9605319714151266
                - 3.356285595670134
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9606695377700007
                - 3.3696182193157553
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9606695377700007
                - 3.3696182193157553
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.960807104124875
                - 3.382950842961377
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.960807104124875
                - 3.382950842961377
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.960944670479749
                - 3.3962834666069983
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.960944670479749
                - 3.3962834666069983
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9610822368346232
                - 3.40961609025262
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9610822368346232
                - 3.40961609025262
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9612198031894974
                - 3.4229487138982413
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9612198031894974
                - 3.4229487138982413
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9613573695443716
                - 3.436281337543863
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9613573695443716
                - 3.436281337543863
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9614949358992457
                - 3.4496139611894843
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9614949358992457
                - 3.4496139611894843
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.96163250225412
                - 3.4629465848351058
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.96163250225412
                - 3.4629465848351058
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.961770068608994
                - 3.4762792084807272
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.961770068608994
                - 3.4762792084807272
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.961907634963868
                - 3.4896118321263487
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.961907634963868
                - 3.4896118321263487
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9620452013187424
                - 3.5029444557719702
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9620452013187424
                - 3.5029444557719702
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9621827676736165
                - 3.5162770794175917
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9621827676736165
                - 3.5162770794175917
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9623203340284907
                - 3.529609703063213
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9623203340284907
                - 3.529609703063213
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.962457900383365
                - 3.5429423267088347
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.962457900383365
                - 3.5429423267088347
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.962595466738239
                - 3.556274950354456
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.962595466738239
                - 3.556274950354456
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.962733033093113
                - 3.5696075740000777
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.962733033093113
                - 3.5696075740000777
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9628705994479874
                - 3.582940197645699
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9628705994479874
                - 3.582940197645699
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9630081658028615
                - 3.5962728212913206
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9630081658028615
                - 3.5962728212913206
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9631457321577357
                - 3.609605444936942
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9631457321577357
                - 3.609605444936942
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.96328329851261
                - 3.6229380685825636
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.96328329851261
                - 3.6229380685825636
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.963420864867484
                - 3.636270692228185
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.963420864867484
                - 3.636270692228185
          ~SampledSequence:
            timestamps:
            - 0.03333333333333333
            - 0.03333333333333333
            - 0.06666666666666667
            - 0.06666666666666667
            - 0.1
            - 0.1
            - 0.13333333333333333
            - 0.13333333333333333
            - 0.16666666666666666
            - 0.16666666666666666
            - 0.19999999999999998
            - 0.19999999999999998
            - 0.2333333333333333
            - 0.2333333333333333
            - 0.26666666666666666
            - 0.26666666666666666
            - 0.3
            - 0.3
            - 0.3333333333333333
            - 0.3333333333333333
            - 0.36666666666666664
            - 0.36666666666666664
            - 0.39999999999999997
            - 0.39999999999999997
            - 0.4333333333333333
            - 0.4333333333333333
            - 0.4666666666666666
            - 0.4666666666666666
            - 0.49999999999999994
            - 0.49999999999999994
            - 0.5333333333333333
            - 0.5333333333333333
            - 0.5666666666666667
            - 0.5666666666666667
            - 0.6
            - 0.6
            - 0.6333333333333333
            - 0.6333333333333333
            - 0.6666666666666666
            - 0.6666666666666666
            - 0.7
            - 0.7
            - 0.7333333333333333
            - 0.7333333333333333
            - 0.7666666666666666
            - 0.7666666666666666
            - 0.7999999999999999
            - 0.7999999999999999
            - 0.8333333333333333
            - 0.8333333333333333
            - 0.8666666666666666
            - 0.8666666666666666
            - 0.8999999999999999
            - 0.8999999999999999
            - 0.9333333333333332
            - 0.9333333333333332
            - 0.9666666666666666
            - 0.9666666666666666
            - 0.9999999999999999
            - 0.9999999999999999
            - 1.0333333333333332
            - 1.0333333333333332
            - 1.0666666666666667
            - 1.0666666666666667
            - 1.1
            - 1.1
            - 1.1333333333333335
            - 1.1333333333333335
            - 1.166666666666667
            - 1.166666666666667
            - 1.2000000000000004
            - 1.2000000000000004
            - 1.2333333333333338
            - 1.2333333333333338
            - 1.2666666666666673
            - 1.2666666666666673
            - 1.3000000000000007
            - 1.3000000000000007
            - 1.3333333333333341
            - 1.3333333333333341
            - 1.3666666666666676
            - 1.3666666666666676
            - 1.400000000000001
            - 1.400000000000001
            - 1.4333333333333345
            - 1.4333333333333345
            - 1.466666666666668
            - 1.466666666666668
            - 1.5000000000000013
            - 1.5000000000000013
            - 1.5333333333333348
            - 1.5333333333333348
            - 1.5666666666666682
            - 1.5666666666666682
            - 1.6000000000000016
            - 1.6000000000000016
            - 1.633333333333335
            - 1.633333333333335
            - 1.6666666666666685
            - 1.6666666666666685
            - 1.700000000000002
            - 1.700000000000002
            - 1.7333333333333354
            - 1.7333333333333354
            - 1.7666666666666688
            - 1.7666666666666688
            - 1.8000000000000023
            - 1.8000000000000023
            - 1.8333333333333357
            - 1.8333333333333357
            - 1.8666666666666691
            - 1.8666666666666691
            - 1.9000000000000026
            - 1.9000000000000026
            - 1.933333333333336
            - 1.933333333333336
            - 1.9666666666666694
            - 1.9666666666666694
            - 2.0000000000000027
            - 2.0000000000000027
            - 2.033333333333336
            - 2.033333333333336
            - 2.066666666666669
            - 2.066666666666669
            - 2.1000000000000023
            - 2.1000000000000023
            - 2.1333333333333355
            - 2.1333333333333355
            - 2.1666666666666687
            - 2.1666666666666687
            - 2.200000000000002
            - 2.200000000000002
            - 2.233333333333335
            - 2.233333333333335
            - 2.2666666666666684
            - 2.2666666666666684
            - 2.3000000000000016
            - 2.3000000000000016
            - 2.333333333333335
            - 2.333333333333335
            - 2.366666666666668
            - 2.366666666666668
            - 2.4000000000000012
            - 2.4000000000000012
            - 2.4333333333333345
            - 2.4333333333333345
            - 2.4666666666666677
            - 2.4666666666666677
            - 2.500000000000001
            - 2.500000000000001
            - 2.533333333333334
            - 2.533333333333334
            - 2.5666666666666673
            - 2.5666666666666673
            - 2.6000000000000005
            - 2.6000000000000005
            - 2.6333333333333337
            - 2.6333333333333337
            - 2.666666666666667
            - 2.666666666666667
            - 2.7
            - 2.7
            - 2.7333333333333334
            - 2.7333333333333334
            - 2.7666666666666666
            - 2.7666666666666666
            - 2.8
            - 2.8
            - 2.833333333333333
            - 2.833333333333333
            - 2.8666666666666663
            - 2.8666666666666663
            - 2.8999999999999995
            - 2.8999999999999995
            - 2.9333333333333327
            - 2.9333333333333327
            - 2.966666666666666
            - 2.966666666666666
            - 2.999999999999999
            - 2.999999999999999
            - 3.0333333333333323
            - 3.0333333333333323
            - 3.0666666666666655
            - 3.0666666666666655
            - 3.0999999999999988
            - 3.0999999999999988
            - 3.133333333333332
            - 3.133333333333332
            - 3.166666666666665
            - 3.166666666666665
            - 3.1999999999999984
            - 3.1999999999999984
            - 3.2333333333333316
            - 3.2333333333333316
            - 3.266666666666665
            - 3.266666666666665
            - 3.299999999999998
            - 3.299999999999998
            - 3.3333333333333313
            - 3.3333333333333313
            - 3.3666666666666645
            - 3.3666666666666645
            - 3.3999999999999977
            - 3.3999999999999977
            - 3.433333333333331
            - 3.433333333333331
            - 3.466666666666664
            - 3.466666666666664
            - 3.4999999999999973
            - 3.4999999999999973
            - 3.5333333333333306
            - 3.5333333333333306
            - 3.5666666666666638
            - 3.5666666666666638
            - 3.599999999999997
            - 3.599999999999997
            - 3.63333333333333
            - 3.63333333333333
            - 3.6666666666666634
            - 3.6666666666666634
            - 3.6999999999999966
            - 3.6999999999999966
            - 3.73333333333333
            - 3.73333333333333
            - 3.766666666666663
            - 3.766666666666663
            - 3.7999999999999963
            - 3.7999999999999963
            - 3.8333333333333295
            - 3.8333333333333295
            - 3.8666666666666627
            - 3.8666666666666627
            - 3.899999999999996
            - 3.899999999999996
            values:
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.947463167702081
                - 2.0896863493360924
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.947463167702081
                - 2.0896863493360924
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.947600734056955
                - 2.103018972981714
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.947600734056955
                - 2.103018972981714
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9477383004118294
                - 2.1163515966273354
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9477383004118294
                - 2.1163515966273354
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9478758667667035
                - 2.129684220272957
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9478758667667035
                - 2.129684220272957
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9480134331215777
                - 2.1430168439185784
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9480134331215777
                - 2.1430168439185784
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.948150999476452
                - 2.1563494675642
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.948150999476452
                - 2.1563494675642
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.948288565831326
                - 2.1696820912098214
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.948288565831326
                - 2.1696820912098214
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9484261321862
                - 2.183014714855443
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9484261321862
                - 2.183014714855443
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9485636985410744
                - 2.1963473385010643
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9485636985410744
                - 2.1963473385010643
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9487012648959485
                - 2.209679962146686
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9487012648959485
                - 2.209679962146686
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9488388312508227
                - 2.2230125857923073
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9488388312508227
                - 2.2230125857923073
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.948976397605697
                - 2.236345209437929
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.948976397605697
                - 2.236345209437929
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949113963960571
                - 2.2496778330835503
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949113963960571
                - 2.2496778330835503
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949251530315445
                - 2.263010456729172
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949251530315445
                - 2.263010456729172
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9493890966703193
                - 2.2763430803747933
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9493890966703193
                - 2.2763430803747933
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9495266630251935
                - 2.2896757040204148
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9495266630251935
                - 2.2896757040204148
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9496642293800677
                - 2.3030083276660362
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9496642293800677
                - 2.3030083276660362
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949801795734942
                - 2.3163409513116577
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949801795734942
                - 2.3163409513116577
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949939362089816
                - 2.3296735749572792
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.949939362089816
                - 2.3296735749572792
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95007692844469
                - 2.3430061986029007
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95007692844469
                - 2.3430061986029007
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9502144947995643
                - 2.356338822248522
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9502144947995643
                - 2.356338822248522
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9503520611544385
                - 2.3696714458941437
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9503520611544385
                - 2.3696714458941437
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9504896275093127
                - 2.383004069539765
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9504896275093127
                - 2.383004069539765
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.950627193864187
                - 2.3963366931853867
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.950627193864187
                - 2.3963366931853867
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.950764760219061
                - 2.409669316831008
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.950764760219061
                - 2.409669316831008
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.950902326573935
                - 2.4230019404766296
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.950902326573935
                - 2.4230019404766296
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9510398929288093
                - 2.436334564122251
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9510398929288093
                - 2.436334564122251
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9511774592836835
                - 2.4496671877678726
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9511774592836835
                - 2.4496671877678726
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9513150256385576
                - 2.462999811413494
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9513150256385576
                - 2.462999811413494
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.951452591993432
                - 2.4763324350591156
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.951452591993432
                - 2.4763324350591156
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.951590158348306
                - 2.489665058704737
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.951590158348306
                - 2.489665058704737
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95172772470318
                - 2.5029976823503586
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95172772470318
                - 2.5029976823503586
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9518652910580543
                - 2.51633030599598
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9518652910580543
                - 2.51633030599598
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9520028574129284
                - 2.5296629296416016
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9520028574129284
                - 2.5296629296416016
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9521404237678026
                - 2.542995553287223
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9521404237678026
                - 2.542995553287223
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9522779901226768
                - 2.5563281769328445
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9522779901226768
                - 2.5563281769328445
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.952415556477551
                - 2.569660800578466
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.952415556477551
                - 2.569660800578466
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.952553122832425
                - 2.5829934242240875
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.952553122832425
                - 2.5829934242240875
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9526906891872993
                - 2.596326047869709
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9526906891872993
                - 2.596326047869709
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9528282555421734
                - 2.6096586715153305
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9528282555421734
                - 2.6096586715153305
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9529658218970476
                - 2.622991295160952
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9529658218970476
                - 2.622991295160952
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9531033882519218
                - 2.6363239188065735
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9531033882519218
                - 2.6363239188065735
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.953240954606796
                - 2.649656542452195
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.953240954606796
                - 2.649656542452195
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95337852096167
                - 2.6629891660978164
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95337852096167
                - 2.6629891660978164
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9535160873165442
                - 2.676321789743438
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9535160873165442
                - 2.676321789743438
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9536536536714184
                - 2.6896544133890594
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9536536536714184
                - 2.6896544133890594
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9537912200262926
                - 2.702987037034681
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9537912200262926
                - 2.702987037034681
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9539287863811667
                - 2.7163196606803024
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9539287863811667
                - 2.7163196606803024
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.954066352736041
                - 2.729652284325924
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.954066352736041
                - 2.729652284325924
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.954203919090915
                - 2.7429849079715454
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.954203919090915
                - 2.7429849079715454
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9543414854457892
                - 2.756317531617167
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9543414854457892
                - 2.756317531617167
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9544790518006634
                - 2.7696501552627883
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9544790518006634
                - 2.7696501552627883
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9546166181555376
                - 2.78298277890841
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9546166181555376
                - 2.78298277890841
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9547541845104117
                - 2.7963154025540313
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9547541845104117
                - 2.7963154025540313
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.954891750865286
                - 2.809648026199653
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.954891750865286
                - 2.809648026199653
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95502931722016
                - 2.8229806498452743
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95502931722016
                - 2.8229806498452743
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955166883575034
                - 2.836313273490896
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955166883575034
                - 2.836313273490896
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9553044499299084
                - 2.8496458971365173
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9553044499299084
                - 2.8496458971365173
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9554420162847825
                - 2.8629785207821388
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9554420162847825
                - 2.8629785207821388
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9555795826396567
                - 2.8763111444277603
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9555795826396567
                - 2.8763111444277603
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955717148994531
                - 2.8896437680733817
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955717148994531
                - 2.8896437680733817
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955854715349405
                - 2.9029763917190032
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955854715349405
                - 2.9029763917190032
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955992281704279
                - 2.9163090153646247
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.955992281704279
                - 2.9163090153646247
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9561298480591534
                - 2.929641639010246
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9561298480591534
                - 2.929641639010246
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9562674144140275
                - 2.9429742626558677
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9562674144140275
                - 2.9429742626558677
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9564049807689017
                - 2.956306886301489
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9564049807689017
                - 2.956306886301489
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.956542547123776
                - 2.9696395099471107
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.956542547123776
                - 2.9696395099471107
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95668011347865
                - 2.982972133592732
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95668011347865
                - 2.982972133592732
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.956817679833524
                - 2.9963047572383537
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.956817679833524
                - 2.9963047572383537
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9569552461883983
                - 3.009637380883975
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9569552461883983
                - 3.009637380883975
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9570928125432725
                - 3.0229700045295966
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9570928125432725
                - 3.0229700045295966
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9572303788981467
                - 3.036302628175218
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9572303788981467
                - 3.036302628175218
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.957367945253021
                - 3.0496352518208396
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.957367945253021
                - 3.0496352518208396
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.957505511607895
                - 3.062967875466461
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.957505511607895
                - 3.062967875466461
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.957643077962769
                - 3.0763004991120826
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.957643077962769
                - 3.0763004991120826
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9577806443176433
                - 3.089633122757704
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9577806443176433
                - 3.089633122757704
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9579182106725175
                - 3.1029657464033256
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9579182106725175
                - 3.1029657464033256
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9580557770273916
                - 3.116298370048947
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9580557770273916
                - 3.116298370048947
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.958193343382266
                - 3.1296309936945685
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.958193343382266
                - 3.1296309936945685
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95833090973714
                - 3.14296361734019
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95833090973714
                - 3.14296361734019
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.958468476092014
                - 3.1562962409858115
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.958468476092014
                - 3.1562962409858115
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9586060424468883
                - 3.169628864631433
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9586060424468883
                - 3.169628864631433
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9587436088017625
                - 3.1829614882770545
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9587436088017625
                - 3.1829614882770545
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9588811751566366
                - 3.196294111922676
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9588811751566366
                - 3.196294111922676
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.959018741511511
                - 3.2096267355682975
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.959018741511511
                - 3.2096267355682975
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.959156307866385
                - 3.222959359213919
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.959156307866385
                - 3.222959359213919
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.959293874221259
                - 3.2362919828595405
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.959293874221259
                - 3.2362919828595405
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9594314405761333
                - 3.249624606505162
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9594314405761333
                - 3.249624606505162
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9595690069310074
                - 3.2629572301507834
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9595690069310074
                - 3.2629572301507834
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9597065732858816
                - 3.276289853796405
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9597065732858816
                - 3.276289853796405
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9598441396407558
                - 3.2896224774420264
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9598441396407558
                - 3.2896224774420264
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95998170599563
                - 3.302955101087648
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.95998170599563
                - 3.302955101087648
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.960119272350504
                - 3.3162877247332694
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.960119272350504
                - 3.3162877247332694
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9602568387053783
                - 3.329620348378891
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9602568387053783
                - 3.329620348378891
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9603944050602524
                - 3.3429529720245124
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9603944050602524
                - 3.3429529720245124
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9605319714151266
                - 3.356285595670134
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9605319714151266
                - 3.356285595670134
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9606695377700007
                - 3.3696182193157553
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9606695377700007
                - 3.3696182193157553
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.960807104124875
                - 3.382950842961377
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.960807104124875
                - 3.382950842961377
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.960944670479749
                - 3.3962834666069983
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.960944670479749
                - 3.3962834666069983
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9610822368346232
                - 3.40961609025262
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9610822368346232
                - 3.40961609025262
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9612198031894974
                - 3.4229487138982413
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9612198031894974
                - 3.4229487138982413
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9613573695443716
                - 3.436281337543863
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9613573695443716
                - 3.436281337543863
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9614949358992457
                - 3.4496139611894843
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9614949358992457
                - 3.4496139611894843
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.96163250225412
                - 3.4629465848351058
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.96163250225412
                - 3.4629465848351058
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.961770068608994
                - 3.4762792084807272
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.961770068608994
                - 3.4762792084807272
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.961907634963868
                - 3.4896118321263487
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.961907634963868
                - 3.4896118321263487
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9620452013187424
                - 3.5029444557719702
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9620452013187424
                - 3.5029444557719702
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9621827676736165
                - 3.5162770794175917
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9621827676736165
                - 3.5162770794175917
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9623203340284907
                - 3.529609703063213
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9623203340284907
                - 3.529609703063213
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.962457900383365
                - 3.5429423267088347
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.962457900383365
                - 3.5429423267088347
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.962595466738239
                - 3.556274950354456
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.962595466738239
                - 3.556274950354456
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.962733033093113
                - 3.5696075740000777
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.962733033093113
                - 3.5696075740000777
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9628705994479874
                - 3.582940197645699
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9628705994479874
                - 3.582940197645699
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9630081658028615
                - 3.5962728212913206
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9630081658028615
                - 3.5962728212913206
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9631457321577357
                - 3.609605444936942
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.9631457321577357
                - 3.609605444936942
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.96328329851261
                - 3.6229380685825636
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.96328329851261
                - 3.6229380685825636
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.963420864867484
                - 3.636270692228185
            - ~SE2Transform:
                theta: 4.702071320710585
                p:
                - 3.963420864867484
                - 3.636270692228185
  children:
    tilemap:
      ~TileMap:
        H: 8
        W: 7
      ~PlacedObject:
        spatial_relations:
          0:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-6
              transform:
                ~TileCoords:
                  i: 0
                  j: 6
                  orientation: S
          1:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-6
              transform:
                ~TileCoords:
                  i: 1
                  j: 6
                  orientation: S
          2:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-6
              transform:
                ~TileCoords:
                  i: 2
                  j: 6
                  orientation: S
          3:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-6
              transform:
                ~TileCoords:
                  i: 3
                  j: 6
                  orientation: S
          4:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-6
              transform:
                ~TileCoords:
                  i: 4
                  j: 6
                  orientation: S
          5:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-6
              transform:
                ~TileCoords:
                  i: 5
                  j: 6
                  orientation: S
          6:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-6
              transform:
                ~TileCoords:
                  i: 6
                  j: 6
                  orientation: S
          7:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-6
              transform:
                ~TileCoords:
                  i: 7
                  j: 6
                  orientation: S
          8:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-5
              transform:
                ~TileCoords:
                  i: 0
                  j: 5
                  orientation: S
          9:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-5
              transform:
                ~TileCoords:
                  i: 1
                  j: 5
                  orientation: W
          10:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-5
              transform:
                ~TileCoords:
                  i: 2
                  j: 5
                  orientation: W
          11:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-5
              transform:
                ~TileCoords:
                  i: 3
                  j: 5
                  orientation: W
          12:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-5
              transform:
                ~TileCoords:
                  i: 4
                  j: 5
                  orientation: W
          13:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-5
              transform:
                ~TileCoords:
                  i: 5
                  j: 5
                  orientation: W
          14:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-5
              transform:
                ~TileCoords:
                  i: 6
                  j: 5
                  orientation: N
          15:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-5
              transform:
                ~TileCoords:
                  i: 7
                  j: 5
                  orientation: S
          16:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-4
              transform:
                ~TileCoords:
                  i: 0
                  j: 4
                  orientation: S
          17:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-4
              transform:
                ~TileCoords:
                  i: 1
                  j: 4
                  orientation: S
          18:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-4
              transform:
                ~TileCoords:
                  i: 2
                  j: 4
                  orientation: S
          19:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-4
              transform:
                ~TileCoords:
                  i: 3
                  j: 4
                  orientation: S
          20:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-4
              transform:
                ~TileCoords:
                  i: 4
                  j: 4
                  orientation: S
          21:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-4
              transform:
                ~TileCoords:
                  i: 5
                  j: 4
                  orientation: S
          22:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-4
              transform:
                ~TileCoords:
                  i: 6
                  j: 4
                  orientation: N
          23:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-4
              transform:
                ~TileCoords:
                  i: 7
                  j: 4
                  orientation: S
          24:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-3
              transform:
                ~TileCoords:
                  i: 0
                  j: 3
                  orientation: S
          25:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-3
              transform:
                ~TileCoords:
                  i: 1
                  j: 3
                  orientation: S
          26:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-3
              transform:
                ~TileCoords:
                  i: 2
                  j: 3
                  orientation: S
          27:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-3
              transform:
                ~TileCoords:
                  i: 3
                  j: 3
                  orientation: S
          28:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-3
              transform:
                ~TileCoords:
                  i: 4
                  j: 3
                  orientation: S
          29:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-3
              transform:
                ~TileCoords:
                  i: 5
                  j: 3
                  orientation: S
          30:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-3
              transform:
                ~TileCoords:
                  i: 6
                  j: 3
                  orientation: N
          31:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-3
              transform:
                ~TileCoords:
                  i: 7
                  j: 3
                  orientation: S
          32:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-2
              transform:
                ~TileCoords:
                  i: 0
                  j: 2
                  orientation: S
          33:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-2
              transform:
                ~TileCoords:
                  i: 1
                  j: 2
                  orientation: S
          34:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-2
              transform:
                ~TileCoords:
                  i: 2
                  j: 2
                  orientation: S
          35:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-2
              transform:
                ~TileCoords:
                  i: 3
                  j: 2
                  orientation: S
          36:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-2
              transform:
                ~TileCoords:
                  i: 4
                  j: 2
                  orientation: N
          37:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-2
              transform:
                ~TileCoords:
                  i: 5
                  j: 2
                  orientation: E
          38:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-2
              transform:
                ~TileCoords:
                  i: 6
                  j: 2
                  orientation: E
          39:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-2
              transform:
                ~TileCoords:
                  i: 7
                  j: 2
                  orientation: S
          40:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-1
              transform:
                ~TileCoords:
                  i: 0
                  j: 1
                  orientation: S
          41:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-1
              transform:
                ~TileCoords:
                  i: 1
                  j: 1
                  orientation: S
          42:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-1
              transform:
                ~TileCoords:
                  i: 2
                  j: 1
                  orientation: E
          43:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-1
              transform:
                ~TileCoords:
                  i: 3
                  j: 1
                  orientation: E
          44:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-1
              transform:
                ~TileCoords:
                  i: 4
                  j: 1
                  orientation: E
          45:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-1
              transform:
                ~TileCoords:
                  i: 5
                  j: 1
                  orientation: S
          46:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-1
              transform:
                ~TileCoords:
                  i: 6
                  j: 1
                  orientation: S
          47:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-1
              transform:
                ~TileCoords:
                  i: 7
                  j: 1
                  orientation: S
          48:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-0
              transform:
                ~TileCoords:
                  i: 0
                  j: 0
                  orientation: S
          49:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-0
              transform:
                ~TileCoords:
                  i: 1
                  j: 0
                  orientation: S
          50:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-0
              transform:
                ~TileCoords:
                  i: 2
                  j: 0
                  orientation: S
          51:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-0
              transform:
                ~TileCoords:
                  i: 3
                  j: 0
                  orientation: S
          52:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-0
              transform:
                ~TileCoords:
                  i: 4
                  j: 0
                  orientation: S
          53:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-0
              transform:
                ~TileCoords:
                  i: 5
                  j: 0
                  orientation: S
          54:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-0
              transform:
                ~TileCoords:
                  i: 6
                  j: 0
                  orientation: S
          55:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-0
              transform:
                ~TileCoords:
                  i: 7
                  j: 0
                  orientation: S
          56:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - obj0
              transform:
                ~SE2Transform:
                  theta: 10.0
                  p:
                  - 0.5
                  - 6.5
          57:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - obj1
              transform:
                ~SE2Transform:
                  theta: 10.0
                  p:
                  - 0.5
                  - 6.3
          58:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - obj2
              transform:
                ~SE2Transform:
                  theta: 10.0
                  p:
                  - 6.5
                  - 6.3
          59:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - obj3
              transform:
                ~SE2Transform:
                  theta: 90.0
                  p:
                  - 0.0
                  - 4.5
        children:
          tile-2-5:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-7-3:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-3-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-4:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-5:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-1:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-2:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-3:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-6-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-7-2:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-7-1:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-6-5:
            ~PlacedObject: {}
            ~Tile:
              kind: curve_left
              drivable: true
          tile-6-2:
            ~PlacedObject: {}
            ~Tile:
              kind: curve_left
              drivable: true
          tile-7-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-7-5:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-7-4:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-5-5:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-5-4:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-5-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-5-1:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-7-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-5-3:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-6-3:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          obj1:
            ~PlacedObject: {}
            ~GenericObject:
              kind: duckie
          obj0:
            ~PlacedObject: {}
            ~GenericObject:
              kind: duckie
          obj3:
            ~PlacedObject: {}
            ~GenericObject:
              kind: cone
          obj2:
            ~PlacedObject: {}
            ~GenericObject:
              kind: duckie
          tile-6-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-4-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-4-1:
            ~PlacedObject: {}
            ~Tile:
              kind: curve_left
              drivable: true
          tile-4-2:
            ~PlacedObject: {}
            ~Tile:
              kind: curve_right
              drivable: true
          tile-4-3:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-4-4:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-4-5:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-4-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-1-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-3-5:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-1-5:
            ~PlacedObject: {}
            ~Tile:
              kind: curve_left
              drivable: true
          tile-6-4:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-2-2:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-2-3:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-2-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-2-1:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-2-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-5-2:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-2-4:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-5-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-1-1:
            ~PlacedObject: {}
            ~Tile:
              kind: curve_left
              drivable: true
          tile-1-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-1-3:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-1-2:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-3-3:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-3-2:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-3-1:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-3-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-3-4:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-6-1:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-1-4:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
    duckiebot:
      ~Duckiebot: {}
      ~PlacedObject: {}