PyCRAM Presentation
[1]:
import pycram
pybullet build time: May 20 2022 19:44:17
Unknown attribute "type" in /robot[@name='pr2']/link[@name='base_laser_link']
Unknown attribute "type" in /robot[@name='pr2']/link[@name='wide_stereo_optical_frame']
Unknown attribute "type" in /robot[@name='pr2']/link[@name='narrow_stereo_optical_frame']
Unknown attribute "type" in /robot[@name='pr2']/link[@name='laser_tilt_link']
[WARN] [1706544890.889466]: Failed to import Giskard messages
[WARN] [1706544890.894063]: Could not import RoboKudo messages, RoboKudo interface could not be initialized
Bullet World
The BulletWorld is the internal simulation of PyCRAM. You can simulate different actions and reason about the outcome of different actions.
It is possible to spawn objects and robots into the BulletWorld, these objects can come from URDF, OBJ or STL files.
A BulletWorld can be created by simply creating an object of the BulletWorld class.
[2]:
from pycram.bullet_world import BulletWorld, Object
from pycram.enums import ObjectType
from pycram.pose import Pose
world = BulletWorld()
Unknown tag "material" in /robot[@name='plane']/link[@name='planeLink']/collision[1]
Unknown tag "contact" in /robot[@name='plane']/link[@name='planeLink']
The BulletWorld allows to render images from arbitrary positions. In the following example we render images with the camera at the position [0.3, 0, 1] and pointing towards [1, 0, 1], so we are looking upwards along the x-axis.
The renderer returns 3 different kinds of images which are also shown on the left side of the BulletWorld window. (If these winodws are missing, click the BulletWorld window to focus it, and press “g”) These images are: * An RGB image which shows everything like it is rendered in the BulletWorld window, just from another perspective. * A depth image which consists of distance values from the camera towards the objects in the field of view. * A segmentation mask image which segments the image into the different objects displayed. The segmentation is done by assigning every pixel the unique id of the object that is displayed there.
[3]:
world.get_images_for_target(Pose([1, 0, 1], [0, 0, 0, 1]), Pose([0.3, 0, 1], [0, 0, 0, 1]))
Unknown tag "material" in /robot[@name='plane']/link[@name='planeLink']/collision[1]
Unknown tag "contact" in /robot[@name='plane']/link[@name='planeLink']
[3]:
[array([[[255, 255, 255, 255],
[255, 255, 255, 255],
[255, 255, 255, 255],
...,
[255, 255, 255, 255],
[255, 255, 255, 255],
[255, 255, 255, 255]],
[[255, 255, 255, 255],
[255, 255, 255, 255],
[255, 255, 255, 255],
...,
[255, 255, 255, 255],
[255, 255, 255, 255],
[255, 255, 255, 255]],
[[255, 255, 255, 255],
[255, 255, 255, 255],
[255, 255, 255, 255],
...,
[255, 255, 255, 255],
[255, 255, 255, 255],
[255, 255, 255, 255]],
...,
[[239, 239, 239, 255],
[239, 239, 239, 255],
[239, 239, 239, 255],
...,
[239, 239, 239, 255],
[239, 239, 239, 255],
[239, 239, 239, 255]],
[[239, 239, 239, 255],
[239, 239, 239, 255],
[239, 239, 239, 255],
...,
[239, 239, 239, 255],
[239, 239, 239, 255],
[239, 239, 239, 255]],
[[239, 239, 239, 255],
[239, 239, 239, 255],
[239, 239, 239, 255],
...,
[239, 239, 239, 255],
[239, 239, 239, 255],
[239, 239, 239, 255]]], dtype=uint8),
array([[0.99999994, 0.99999994, 0.99999994, ..., 0.99999994, 0.99999994,
0.99999994],
[0.99999994, 0.99999994, 0.99999994, ..., 0.99999994, 0.99999994,
0.99999994],
[0.99999994, 0.99999994, 0.99999994, ..., 0.99999994, 0.99999994,
0.99999994],
...,
[0.80473447, 0.80473447, 0.80473447, ..., 0.80473447, 0.80473447,
0.80473447],
[0.8031688 , 0.8031688 , 0.8031688 , ..., 0.8031688 , 0.8031688 ,
0.8031688 ],
[0.80160314, 0.80160314, 0.80160314, ..., 0.80160314, 0.80160314,
0.80160314]], dtype=float32),
array([[-1, -1, -1, ..., -1, -1, -1],
[-1, -1, -1, ..., -1, -1, -1],
[-1, -1, -1, ..., -1, -1, -1],
...,
[ 1, 1, 1, ..., 1, 1, 1],
[ 1, 1, 1, ..., 1, 1, 1],
[ 1, 1, 1, ..., 1, 1, 1]], dtype=int32)]
Objects
Everything that is located inside the BulletWorld is an Object. Objects can be created from URDF, OBJ or STL files. Since everything is of type Object a robot might share the same methods as a milk (with some limitations).
Signature: Object: * Name * Type * Filename or Filepath
Optional: * Position * Orientation * World * Color * Ignore Cached Files
If there is only a filename and no path, PyCRAM will check in the resource directory if there is a matching file.
[4]:
milk = Object("Milk", ObjectType.MILK, "milk.stl")
Objects provide methods to change the position and rotation, change the color, attach other objects, set the state of joints if the objects has any or get the position and orientation of a link.
These methods are the same for every Object, however since some Objects may not have joints or more than one link methods related to these will not work.
[5]:
milk.set_position(Pose([1, 0, 0]))
To remove an Object from the BulletWorld just call the ‘remove’ method on the Object.
[6]:
milk.remove()
Since everything inside the BulletWorld is an Object, even a complex environment Object like the kitchen can be spawned in the same way as the milk.
[7]:
kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
Scalar element defined multiple times: limit
Scalar element defined multiple times: limit
Costmaps
Costmaps are a way to get positions with respect to certain criterias. The currently available costmaps are: * Occupancy Costmap * Visibility Costmap * Semantic Costmap * Gaussian Costmap
It is also possible to merge multiple costmaps to combine different criteria.
Visibility Costmaps
Visibility costmaps determine every position, around a target position, from which the target is visible. Visibility Costmaps are able to work with cameras that are movable in height for example, if the robot has a movable torso.
[8]:
import pycram.costmaps as cm
v = cm.VisibilityCostmap(1.27, 1.60, size=300, resolution=0.02, origin=Pose([0, 0, 0.1], [0, 0, 0, 1]))
[9]:
v.visualize()
[10]:
v.close_visualization()
Occupancy Costmap
Is valid for every position where the robot can be placed without colliding with an object.
[11]:
o = cm.OccupancyCostmap(0.2, from_ros=False, size=300, resolution=0.02, origin=Pose([0, 0, 0.1], [0, 0, 0, 1]))
[12]:
s = cm.SemanticCostmap(kitchen, "kitchen_island_surface", size=100, resolution=0.02)
g = cm.GaussianCostmap(200, 15, resolution=0.02)
You can visualize the costmap in the BulletWorld to get an impression what information is actually contained in the costmap. With this you could also check if the costmap was created correctly. Visualization can be done via the ‘visualize’ method of each costmap.
[13]:
o.visualize()
[14]:
o.close_visualization()
It is also possible to combine two costmap, this will result in a new costmap with the same size which contains the information of both previous costmaps. Combination is done by checking for each position in the two costmaps if they are zero, in this case to same position in the new costmap will also be zero in any other case the new position will be the normalized product of the two combined costmaps.
[15]:
ov = o + v
[16]:
ov.visualize()
[17]:
ov.close_visualization()
Bullet World Reasoning
Allows for geometric reasoning in the BulletWorld. At the moment the following types of reasoning are supported: * Stable * Contact * Visible * Occluding * Reachable * Blocking * Supporting
To show the geometric reasoning we first spawn a robot as well as the milk Object again.
[18]:
import pycram.bullet_world_reasoning as btr
milk = Object("Milk", ObjectType.MILK, "milk.stl", pose=Pose([1, 0, 1]))
pr2 = Object("pr2", ObjectType.ROBOT, "pr2.urdf")
Unknown attribute "type" in /robot[@name='pr2']/link[@name='base_laser_link']
Unknown attribute "type" in /robot[@name='pr2']/link[@name='wide_stereo_optical_frame']
Unknown attribute "type" in /robot[@name='pr2']/link[@name='narrow_stereo_optical_frame']
Unknown attribute "type" in /robot[@name='pr2']/link[@name='laser_tilt_link']
Unknown attribute "type" in /robot[@name='pr2']/link[@name='base_laser_link']
Unknown attribute "type" in /robot[@name='pr2']/link[@name='wide_stereo_optical_frame']
Unknown attribute "type" in /robot[@name='pr2']/link[@name='narrow_stereo_optical_frame']
Unknown attribute "type" in /robot[@name='pr2']/link[@name='laser_tilt_link']
We start with testing for visibility
[19]:
milk.set_position(Pose([1,0,1]))
visible = btr.visible(milk, pr2.get_link_pose("wide_stereo_optical_frame"))
print(f"Milk visible: {visible}")
Milk visible: True
[20]:
milk.set_position(Pose([1, 0, 0.05]))
plane = BulletWorld.current_bullet_world.objects[0]
contact = btr.contact(milk, plane)
print(f"Milk is in contact with the floor: {contact}")
Milk is in contact with the floor: True
[21]:
milk.set_position(Pose([0.6, -0.5, 0.7]))
reachable = btr.reachable(milk, pr2, "r_gripper_tool_frame")
print(f"Milk is reachable for the PR2: {reachable}")
Milk is reachable for the PR2: True
Designators
Designators are symbolic descriptions of Actions, Motions, Objects or Locations. In PyCRAM the different types of designators are represented by a class which takes a description, the description then tells the designator what to do.
For example, let’s look at a Motion Designator to move the robot to a specific location.
Motion Designators
When using a Motion Designator you need to specify which Process Module needs to be used, either the Process Module for the real or the simulated robot. A Process Module is the interface between a real or simulated robot, and PyCRAM designators. By exchanging the Process Module, one can quickly change the robot the plan is executed on, allowing PyCRAM plans to be re-used across multiple robot platforms. This can be done either with a decorator which can be added to a function and then every designator executed within this function, will be executed on the specified robot. The other possibility is a “with” scope which wraps a code piece.
These two ways can also be combined, you could write a function which should be executed on the real robot and the function contains a “with” scope which executes something on the simulated robot for reasoning purposes.
[22]:
from pycram.designators.motion_designator import *
from pycram.process_module import simulated_robot, with_simulated_robot
description = MoveMotion(target=Pose([1, 0, 0], [0, 0, 0, 1]))
with simulated_robot:
description.perform()
[23]:
from pycram.process_module import with_simulated_robot
@with_simulated_robot
def move():
MoveMotion(target=Pose([0, 0, 0], [0, 0, 0, 1])).perform()
move()
Other implemented Motion Designator descriptions are: * Accessing * Move TCP * Looking * Move Gripper * Detecting * Move Arm Joint * World State Detecting
Object Designators
An Object Designator represents objects. These objects could either be from the BulletWorld or the real world. Object Designators are used, for example, by the PickUpAction to know which object should be picked up.
[24]:
from pycram.designators.object_designator import *
milk_desig = BelieveObject(names=["Milk"])
milk_desig.resolve()
[24]:
BelieveObject.Object(name='Milk', type=<ObjectType.MILK: 1>, bullet_world_object=Object(world=<pycram.bullet_world.BulletWorld object at 0x7f1c91495e20>,
local_transformer=<pycram.local_transformer.LocalTransformer object at 0x7f1c91793ee0>,
name=Milk,
type=ObjectType.MILK,
color=[1, 1, 1, 1],
id=4,
path=/home/dprueser/workspace/ros/src/pycram/src/pycram/../../resources/cached/milk.urdf,
joints: ...,
links: ...,
attachments: ...,
cids: ...,
original_pose=header:
seq: 0
stamp:
secs: 1706544910
nsecs: 372853994
frame_id: "map"
pose:
position:
x: 1.0
y: 0.0
z: 1.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0,
tf_frame=Milk_4,
urdf_object: ...,
_current_pose=header:
seq: 0
stamp:
secs: 1706544913
nsecs: 335583925
frame_id: "map"
pose:
position:
x: 0.6
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0,
_current_link_poses: ...,
_current_link_transforms: ...,
_current_joint_states={},
base_origin_shift=[ 4.15300950e-04 -6.29518181e-05 8.96554102e-02],
link_to_geometry: ...), _pose=<bound method Object.get_pose of Object(world=<pycram.bullet_world.BulletWorld object at 0x7f1c91495e20>,
local_transformer=<pycram.local_transformer.LocalTransformer object at 0x7f1c91793ee0>,
name=Milk,
type=ObjectType.MILK,
color=[1, 1, 1, 1],
id=4,
path=/home/dprueser/workspace/ros/src/pycram/src/pycram/../../resources/cached/milk.urdf,
joints: ...,
links: ...,
attachments: ...,
cids: ...,
original_pose=header:
seq: 0
stamp:
secs: 1706544910
nsecs: 372853994
frame_id: "map"
pose:
position:
x: 1.0
y: 0.0
z: 1.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0,
tf_frame=Milk_4,
urdf_object: ...,
_current_pose=header:
seq: 0
stamp:
secs: 1706544913
nsecs: 335583925
frame_id: "map"
pose:
position:
x: 0.6
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0,
_current_link_poses: ...,
_current_link_transforms: ...,
_current_joint_states={},
base_origin_shift=[ 4.15300950e-04 -6.29518181e-05 8.96554102e-02],
link_to_geometry: ...)>)
Location Designator
Location Designator can create a position in cartisian space from a symbolic desctiption
[25]:
from pycram.designators.object_designator import *
milk_desig = BelieveObject(names=["Milk"])
milk_desig.resolve()
[25]:
BelieveObject.Object(name='Milk', type=<ObjectType.MILK: 1>, bullet_world_object=Object(world=<pycram.bullet_world.BulletWorld object at 0x7f1c91495e20>,
local_transformer=<pycram.local_transformer.LocalTransformer object at 0x7f1c91793ee0>,
name=Milk,
type=ObjectType.MILK,
color=[1, 1, 1, 1],
id=4,
path=/home/dprueser/workspace/ros/src/pycram/src/pycram/../../resources/cached/milk.urdf,
joints: ...,
links: ...,
attachments: ...,
cids: ...,
original_pose=header:
seq: 0
stamp:
secs: 1706544910
nsecs: 372853994
frame_id: "map"
pose:
position:
x: 1.0
y: 0.0
z: 1.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0,
tf_frame=Milk_4,
urdf_object: ...,
_current_pose=header:
seq: 0
stamp:
secs: 1706544913
nsecs: 335583925
frame_id: "map"
pose:
position:
x: 0.6
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0,
_current_link_poses: ...,
_current_link_transforms: ...,
_current_joint_states={},
base_origin_shift=[ 4.15300950e-04 -6.29518181e-05 8.96554102e-02],
link_to_geometry: ...), _pose=<bound method Object.get_pose of Object(world=<pycram.bullet_world.BulletWorld object at 0x7f1c91495e20>,
local_transformer=<pycram.local_transformer.LocalTransformer object at 0x7f1c91793ee0>,
name=Milk,
type=ObjectType.MILK,
color=[1, 1, 1, 1],
id=4,
path=/home/dprueser/workspace/ros/src/pycram/src/pycram/../../resources/cached/milk.urdf,
joints: ...,
links: ...,
attachments: ...,
cids: ...,
original_pose=header:
seq: 0
stamp:
secs: 1706544910
nsecs: 372853994
frame_id: "map"
pose:
position:
x: 1.0
y: 0.0
z: 1.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0,
tf_frame=Milk_4,
urdf_object: ...,
_current_pose=header:
seq: 0
stamp:
secs: 1706544913
nsecs: 335583925
frame_id: "map"
pose:
position:
x: 0.6
y: -0.5
z: 0.7
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0,
_current_link_poses: ...,
_current_link_transforms: ...,
_current_joint_states={},
base_origin_shift=[ 4.15300950e-04 -6.29518181e-05 8.96554102e-02],
link_to_geometry: ...)>)
Location Designators
Location Designators can create a position in cartesian space from a symbolic description.
[26]:
from pycram.designators.location_designator import *
from pycram.designators.object_designator import *
robot_desig = BelieveObject(types=[ObjectType.ROBOT]).resolve()
milk_desig = BelieveObject(names=["Milk"]).resolve()
location_desig = CostmapLocation(target=milk_desig, visible_for=robot_desig)
print(f"Resolved: {location_desig.resolve()}")
print()
for pose in location_desig:
print(pose)
Resolved: CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544915
nsecs: 201824188
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -1.26
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.443467406158451
w: 0.8962904996010476, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544915
nsecs: 927674055
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -1.26
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.443467406158451
w: 0.8962904996010476, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544915
nsecs: 938544273
frame_id: "map"
pose:
position:
x: -0.18000000000000005
y: -0.36
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.08868143268496492
w: -0.9960600401064899, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544915
nsecs: 949182987
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.33999999999999997
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.1341778331057823
w: -0.9909572690600926, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544915
nsecs: 959582567
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.38
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.1018321670517163
w: -0.9948015931599383, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544915
nsecs: 969888687
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.36
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.1181477706660459
w: -0.9929960243055576, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544915
nsecs: 979798555
frame_id: "map"
pose:
position:
x: 0.7
y: 0.5
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7414525335518785
w: -0.6710053207609464, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544915
nsecs: 994071245
frame_id: "map"
pose:
position:
x: 0.7
y: 0.48
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7421299374143975
w: -0.6702560376403205, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 9548187
frame_id: "map"
pose:
position:
x: -0.18000000000000005
y: -0.38
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.07625058147116927
w: -0.997088686539622, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 24910449
frame_id: "map"
pose:
position:
x: -0.18000000000000005
y: -0.4
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.0637115975084186
w: -0.9979683523754275, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 40581226
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.4
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.08526395561915938
w: -0.9963583983046332, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 71025371
frame_id: "map"
pose:
position:
x: -0.18000000000000005
y: -0.46
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.025615781497071395
w: -0.9996718620318842, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 103567123
frame_id: "map"
pose:
position:
x: 0.7
y: 0.44000000000000006
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7435677691352427
w: -0.6686605810897175, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 120177507
frame_id: "map"
pose:
position:
x: 0.7
y: 0.42000000000000004
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7443316400531483
w: -0.6678101598626592, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 135888099
frame_id: "map"
pose:
position:
x: 0.7
y: 0.4
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7451280178851306
w: -0.6669214623646299, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 147926568
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.42
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.0684794522339555
w: -0.9976525269961167, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 158867120
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.44
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.051517987991811
w: -0.9986720667532839, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 171792984
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.46
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.03442144373073932
w: -0.9994074065222308, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 183446645
frame_id: "map"
pose:
position:
x: -0.18000000000000005
y: -0.42
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.051081118766858044
w: -0.9986945074974259, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 195348024
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.5
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 1.2246467991473532e-16
w: -1.0, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 225474596
frame_id: "map"
pose:
position:
x: -0.18000000000000005
y: -0.5
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 1.2246467991473532e-16
w: -1.0, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 235300779
frame_id: "map"
pose:
position:
x: -0.18000000000000005
y: -0.52
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.012817353286048666
w: 0.9999178543534167, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 246283054
frame_id: "map"
pose:
position:
x: -0.18000000000000005
y: -0.54
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.025615781497071274
w: 0.9996718620318842, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 255914211
frame_id: "map"
pose:
position:
x: -0.18000000000000005
y: -0.56
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.03837651950358723
w: 0.9992633500488202, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 265790700
frame_id: "map"
pose:
position:
x: -0.18000000000000005
y: -0.58
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.051081118766857926
w: 0.9986945074974259, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 276698589
frame_id: "map"
pose:
position:
x: -0.18000000000000005
y: -0.6
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.06371159750841848
w: 0.9979683523754275, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 289893150
frame_id: "map"
pose:
position:
x: -0.18000000000000005
y: -0.62
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.07625058147116914
w: 0.997088686539622, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 303444147
frame_id: "map"
pose:
position:
x: 0.42
y: 0.48
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6400579972438699
w: -0.7683265973296552, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 314954519
frame_id: "map"
pose:
position:
x: 0.42
y: 0.45999999999999996
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6386358371363977
w: -0.7695091081495349, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 332621335
frame_id: "map"
pose:
position:
x: 0.42
y: 0.44000000000000006
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.637152936590636
w: -0.7707373971684058, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 348136901
frame_id: "map"
pose:
position:
x: 0.42
y: 0.42000000000000004
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6356053782081866
w: -0.7720141211097294, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 359711885
frame_id: "map"
pose:
position:
x: 0.42
y: 0.4
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6339889056055383
w: -0.7733421413379021, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 370139122
frame_id: "map"
pose:
position:
x: 0.42
y: 0.38
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6322988865446836
w: -0.7747245433535415, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 395307302
frame_id: "map"
pose:
position:
x: 0.42
y: 0.21999999999999997
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6154122094026357
w: -0.7882054380161091, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 405689239
frame_id: "map"
pose:
position:
x: 0.42
y: 0.20000000000000007
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6127638044913316
w: -0.7902661070204827, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 416645288
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.48
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.017233697316775633
w: -0.9998514888106103, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 437982320
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.52
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.01723369731677551
w: 0.9998514888106103, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 448891639
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.3745654411331824
w: 0.9272004801059501, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 469527959
frame_id: "map"
pose:
position:
x: 0.7
y: 0.21999999999999997
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7541778209662121
w: -0.6566702478129005, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 480023622
frame_id: "map"
pose:
position:
x: 0.7
y: 0.20000000000000007
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7554539549957066
w: -0.6552017413601289, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 490493774
frame_id: "map"
pose:
position:
x: 0.7
y: 0.18000000000000005
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7568004989740795
w: -0.6536459322542933, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 501381158
frame_id: "map"
pose:
position:
x: 0.7
y: 0.16000000000000003
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7582233771877503
w: -0.6519948698310459, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 511650800
frame_id: "map"
pose:
position:
x: 0.7
y: 0.14
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7597291886829179
w: -0.6502396172667391, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 521751880
frame_id: "map"
pose:
position:
x: 0.7
y: 0.12
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7613253045921371
w: -0.6483700953835624, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 532479286
frame_id: "map"
pose:
position:
x: 0.7
y: 0.09999999999999998
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7630199824727258
w: -0.6463748961301956, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 561986207
frame_id: "map"
pose:
position:
x: 0.7
y: 0.040000000000000036
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7687942703292956
w: -0.6394961844365031, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 571810960
frame_id: "map"
pose:
position:
x: 0.7
y: -0.03999999999999998
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7785979849482799
w: -0.6275230496439776, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 581784725
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.54
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.034421443730739416
w: 0.9994074065222308, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 601855516
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.58
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.06847945223395538
w: 0.9976525269961167, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 611686706
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.6
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.08526395561915948
w: 0.9963583983046332, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 622118949
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.62
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.10183216705171617
w: 0.9948015931599383, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 632574319
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.64
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.118147770666046
w: 0.9929960243055576, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 643788337
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.66
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.13417783310578218
w: 0.9909572690600926, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 654880285
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.6799999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.1498930671991917
w: 0.9887022142210559, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 675857067
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.72
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.18028099412059023
w: 0.98361514992343, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 696542024
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.76
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.20915386140954798
w: 0.9778827446363269, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 728210210
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.8400000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2620133869693895
w: 0.9650642388197943, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 769653797
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.30826764220152825
w: 0.9512996692796181, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 779698371
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.318832815984807
w: 0.947810970315916, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 790320158
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.32901544105897695
w: 0.9443245414288284, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 800973892
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.3388256770636711
w: 0.9408491699323249, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 811413764
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.34827434473373386
w: 0.9373926502807073, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 832077503
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.36613250713959444
w: 0.9305627261048418, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 853376865
frame_id: "map"
pose:
position:
x: 0.78
y: 0.09999999999999998
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.8022929282893952
w: -0.5969305296404493, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 865315675
frame_id: "map"
pose:
position:
x: 0.5
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.636848728643575
w: 0.7709887786635173, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 875989675
frame_id: "map"
pose:
position:
x: 0.5
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6394961844365034
w: 0.7687942703292954, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 896036386
frame_id: "map"
pose:
position:
x: 0.5
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6275230496439778
w: 0.7785979849482799, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 906243562
frame_id: "map"
pose:
position:
x: 0.5
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6238505014869475
w: 0.7815436979430415, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 916708469
frame_id: "map"
pose:
position:
x: 0.5
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6198304093435398
w: 0.7847357922594203, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 927308559
frame_id: "map"
pose:
position:
x: 0.5
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6419537995511603
w: 0.7667433203111904, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 937535762
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -1.26
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.4586899104028806
w: 0.8885964022516619, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 947962045
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -1.1
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.4068385849311433
w: 0.9135000633887361, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 958276748
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -1.08
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.39911243533693425
w: 0.9169019925594128, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 969069242
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.39106548646982875
w: 0.9203628552327153, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 980567216
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.3826834323650898
w: 0.9238795325112867, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544916
nsecs: 992730140
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.3739517258340434
w: 0.9274481693042154, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 3598690
frame_id: "map"
pose:
position:
x: 0.33999999999999997
y: 0.07999999999999996
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5435734062236173
w: -0.8393616336517022, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 14332056
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.36485567419311876
w: 0.9310640885616225, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 24833202
frame_id: "map"
pose:
position:
x: 0.64
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7398679249122764
w: 0.6727521487784355, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 44901132
frame_id: "map"
pose:
position:
x: 0.58
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6908662457673519
w: -0.7229825934691131, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 55425643
frame_id: "map"
pose:
position:
x: 0.64
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7370989134318549
w: 0.6757848709593749, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 66057682
frame_id: "map"
pose:
position:
x: 0.33999999999999997
y: -0.03999999999999998
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5039557239143624
w: -0.8637294879381802, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 78454971
frame_id: "map"
pose:
position:
x: 0.33999999999999997
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.49561612558176465
w: -0.8685416835496846, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 98734617
frame_id: "map"
pose:
position:
x: 0.58
y: 0.0
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6928318560989847
w: -0.7210991742988171, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 108744382
frame_id: "map"
pose:
position:
x: 0.58
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6933854908702646
w: -0.7205668331602574, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 119309425
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.3553805575128866
w: 0.9347217015464174, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 129229784
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.4
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.10682611122099109
w: -0.9942777187292293, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 139137268
frame_id: "map"
pose:
position:
x: 0.33999999999999997
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.4866443184625216
w: 0.8736001987798239, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 149181365
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.42
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.0859890841337593
w: -0.9962960791902362, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 159062862
frame_id: "map"
pose:
position:
x: 0.33999999999999997
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5039557239143623
w: 0.8637294879381803, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 197809934
frame_id: "map"
pose:
position:
x: 0.58
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6908662457673519
w: 0.7229825934691132, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 207918167
frame_id: "map"
pose:
position:
x: 0.58
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6915789093529722
w: 0.7223009152272711, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 227355718
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.44
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.06480582077938048
w: -0.9978978933704143, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 237487077
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.46
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.043355575214250826
w: -0.9990597049715505, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 247480630
frame_id: "map"
pose:
position:
x: 0.58
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6938978092954753
w: 0.7200734894821085, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 257900953
frame_id: "map"
pose:
position:
x: 0.58
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6943732675901296
w: 0.7196150118335541, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 278165102
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.5
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 1.2246467991473532e-16
w: -1.0, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 288398027
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.52
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.02172373868536963
w: 0.9997640117435364, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 298751831
frame_id: "map"
pose:
position:
x: 0.33999999999999997
y: -1.12
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5537478323882296
w: 0.8326844168863359, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 308977603
frame_id: "map"
pose:
position:
x: 0.74
y: 0.0
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7967527613758144
w: -0.6043054171857262, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 319071054
frame_id: "map"
pose:
position:
x: 0.74
y: -0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.8000000000000002
w: -0.5999999999999999, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 329062938
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.54
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.04335557521425048
w: 0.9990597049715505, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 339415788
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.56
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.06480582077938013
w: 0.9978978933704143, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 349754333
frame_id: "map"
pose:
position:
x: 0.74
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8112421851755609
w: 0.584710284663765, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 359853982
frame_id: "map"
pose:
position:
x: 0.74
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8072185755038553
w: 0.5902526335066423, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 371557712
frame_id: "map"
pose:
position:
x: 0.74
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8034804340438839
w: 0.5953311617147653, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 381916522
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.58
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.08598908413375941
w: 0.9962960791902362, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 391955852
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.6
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.10682611122099096
w: 0.9942777187292293, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 401677608
frame_id: "map"
pose:
position:
x: 0.45999999999999996
y: 0.0
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6043054171857263
w: -0.7967527613758143, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 411783218
frame_id: "map"
pose:
position:
x: 0.45999999999999996
y: -0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6
w: -0.8, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 421791553
frame_id: "map"
pose:
position:
x: 0.64
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7384225572267273
w: -0.6743382882342812, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 432043552
frame_id: "map"
pose:
position:
x: 0.74
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7937170381968226
w: 0.6082871552778866, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 442192077
frame_id: "map"
pose:
position:
x: 0.74
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.790873617837808
w: 0.6119795099577574, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 452643394
frame_id: "map"
pose:
position:
x: 0.64
y: 0.0
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7347602405829027
w: -0.6783269041240771, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 474348306
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.62
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.12724528989938316
w: 0.9918712800552408, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 484361648
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.64
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.1471837619629651
w: 0.9891091649633165, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 504082441
frame_id: "map"
pose:
position:
x: 0.64
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7327590618734483
w: 0.680488175681506, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 514279603
frame_id: "map"
pose:
position:
x: 0.64
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7318630507095947
w: 0.6814517407755631, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 524206399
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.33523500300737585
w: 0.9421345406886665, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 534056901
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.74
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.23813352749512762
w: 0.9712324248513985, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 544548749
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.76
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2543984682342504
w: 0.9670994878294927, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 554365396
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.78
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2700013373907261
w: 0.9628599471404028, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 564265251
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.8
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.28494683992052433
w: 0.9585433210968125, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 574109077
frame_id: "map"
pose:
position:
x: 0.13999999999999996
y: -0.8200000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2992447144182441
w: 0.9541763992536934, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 593857049
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.9
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.31340294084074444
w: 0.9496202381333145, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 604115009
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.88
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.3018224483858295
w: 0.9533641537473408, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 626145839
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.8400000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.27727888479854484
w: 0.9607894774844672, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 636278867
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.8200000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.26429951415565045
w: 0.9644406497120946, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 657084703
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.8
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2508413082792208
w: 0.9680282217274292, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 667837142
frame_id: "map"
pose:
position:
x: 0.5
y: -0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6308905395898716
w: -0.7758718496349771, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 689748287
frame_id: "map"
pose:
position:
x: 0.5
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6368487286435749
w: -0.7709887786635174, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 709959506
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.45999999999999996
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6308905395898716
w: -0.7758718496349771, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 720077991
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.44000000000000006
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6292425428779993
w: -0.7772089952081288, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 729877233
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.8400000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.323044113557137
w: 0.9463839076696536, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 740610361
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.8200000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.30924417189076625
w: 0.9509826718461247, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 760720729
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.78
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.27958765375807687
w: 0.9601201715754407, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 780767917
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.4
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6257273935913882
w: -0.7800418122827314, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 791338205
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.38
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6238505014869477
w: -0.7815436979430415, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 803500652
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.7
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2116996959579716
w: 0.9773347628787704, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 816298246
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.6799999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.19294175778498965
w: 0.9812102109654376, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 826271057
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.66
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.17350299206578976
w: 0.9848333421164307, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 836186170
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.64
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.15341808887275654
w: 0.988161368404286, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 846061468
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.78
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.23690237287865074
w: 0.9715334609391818, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 866801500
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.58
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.08980559531591699
w: 0.9959593139531121, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 879305124
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.56
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.06771200763417459
w: 0.9977049082880918, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 889095067
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.54
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0453144211719414
w: 0.9989727740203193, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 899603128
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.52
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.022709687246860417
w: 0.9997421017968333, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 909643411
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.5
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 1.2246467991473532e-16
w: -1.0, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 919872760
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.48
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.022709687246860538
w: -0.9997421017968333, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 930837392
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.46
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.045314421171941524
w: -0.9989727740203193, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 940669298
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.44
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.06771200763417472
w: -0.9977049082880918, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 950444221
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.42
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.08980559531591711
w: -0.9959593139531121, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 960928440
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.4
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.11150592856108661
w: -0.9937637686571844, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 971531629
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.38
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.1327331510254085
w: -0.9911518100769762, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 981504678
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.36
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.15341808887275665
w: -0.9881613684042859, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544917
nsecs: 991544485
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.33999999999999997
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.17350299206579006
w: -0.9848333421164306, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 1651048
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.76
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.22248407835269934
w: 0.9749363234999248, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 11669158
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.74
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.20759148751784465
w: 0.978215607271796, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 21538734
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.72
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.19223376424350164
w: 0.9813491630835448, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 41085720
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.6799999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.1601822430069672
w: 0.9870874576374967, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 50888299
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.24
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6079025311911547
w: -0.7940116577049655, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 60572385
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.21999999999999997
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6051264893449574
w: -0.7961293436955124, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 79907894
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.18000000000000005
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5990966850218961
w: -0.8006766900539662, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 92547893
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.16000000000000003
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.595815661390807
w: -0.8031212222581565, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 102537870
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.14
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5923364782216495
w: -0.805690695346529, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 112884759
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.12
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5886413254594184
w: -0.8083943282590367, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 123359680
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.09999999999999998
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5847102846637651
w: -0.8112421851755608, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 144013881
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.06000000000000005
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5760484367663208
w: -0.8174155604703632, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 153965234
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.040000000000000036
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5712642314097769
w: -0.8207662139195283, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 164059638
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5661364326251805
w: -0.8243115549684078, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 194094181
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -0.03999999999999998
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5483036971357891
w: -0.8362792928843958, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 203748703
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.541385747733913
w: -0.840774328907937, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 213503837
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.66
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.14353028825236291
w: 0.9896459247398505, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 224017381
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.64
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.12649723679630143
w: 0.9919669596730026, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 233902931
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.62
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.10911677189150902
w: 0.9940289382568178, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 263562440
frame_id: "map"
pose:
position:
x: 0.31999999999999995
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.4812091581666131
w: -0.8766058099833582, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 273334980
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.56
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.05530038574178813
w: 0.9984697628555457, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 294827461
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.52
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.01850900096213863
w: 0.9998286937687794, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 304959297
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.5
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 1.2246467991473532e-16
w: -1.0, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 314709424
frame_id: "map"
pose:
position:
x: 0.36
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.532573437384568
w: 0.8463837981627399, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 325293064
frame_id: "map"
pose:
position:
x: 0.36
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5257311121191336
w: 0.85065080835204, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 335991859
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.48
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.018509000962138755
w: -0.9998286937687794, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 346140861
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.46
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.036961098084952626
w: -0.9993167051682638, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 356065750
frame_id: "map"
pose:
position:
x: 0.36
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5019268181932334
w: 0.8649100931185952, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 377432346
frame_id: "map"
pose:
position:
x: 0.31999999999999995
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.49806072645607874
w: 0.8671421525690256, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 397984027
frame_id: "map"
pose:
position:
x: -0.020000000000000018
y: -0.72
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.16966474960750313
w: 0.9855018380199112, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 408214569
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.42
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.07347291217220556
w: -0.9972972130598458, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 418574810
frame_id: "map"
pose:
position:
x: 0.36
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5104644303570166
w: -0.8598988692516618, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 428881645
frame_id: "map"
pose:
position:
x: 0.36
y: -0.03999999999999998
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5183792016009997
w: -0.8551508658403557, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 438925266
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.4
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.09142755332923423
w: -0.9958117304451831, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 449546337
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.38
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.10911677189150912
w: -0.9940289382568177, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 459606885
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.36
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.12649723679630132
w: -0.9919669596730026, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 469818115
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.33999999999999997
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.14353028825236303
w: -0.9896459247398504, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 480182886
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: -0.32
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.16018224300696732
w: -0.9870874576374967, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 490321397
frame_id: "map"
pose:
position:
x: 0.05999999999999994
y: 0.33999999999999997
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.47918806782228074
w: -0.8777122510576854, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 501243829
frame_id: "map"
pose:
position:
x: 0.76
y: -1.46
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7630199824727257
w: 0.6463748961301957, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 511368751
frame_id: "map"
pose:
position:
x: 0.76
y: -1.44
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.764133282892573
w: 0.6450583895864149, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 531534433
frame_id: "map"
pose:
position:
x: 0.76
y: -1.3
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7733421413379024
w: 0.6339889056055382, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 542391061
frame_id: "map"
pose:
position:
x: 0.76
y: -1.28
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7749013304032105
w: 0.6320822162815011, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 552552223
frame_id: "map"
pose:
position:
x: 0.76
y: -1.26
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7765341206443674
w: 0.6300752014443031, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 562627077
frame_id: "map"
pose:
position:
x: 0.76
y: -1.24
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7782457171509326
w: 0.6279598743042668, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 572496891
frame_id: "map"
pose:
position:
x: 0.76
y: -1.22
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7800418122827314
w: 0.6257273935913882, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 582713603
frame_id: "map"
pose:
position:
x: 0.76
y: -1.2000000000000002
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7819286417257463
w: 0.6233679485255313, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 593607664
frame_id: "map"
pose:
position:
x: 0.76
y: -1.1800000000000002
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.783913048024316
w: 0.6208706251202633, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 604231595
frame_id: "map"
pose:
position:
x: 0.76
y: -1.1600000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7860025526744504
w: 0.6182232502820061, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 615185499
frame_id: "map"
pose:
position:
x: 0.76
y: -1.1400000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7882054380161092
w: 0.6154122094026356, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 626099348
frame_id: "map"
pose:
position:
x: 0.76
y: -1.12
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7905308403287533
w: 0.6124222321969667, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 635951280
frame_id: "map"
pose:
position:
x: 0.76
y: -1.1
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7929888557099438
w: 0.6092361403592484, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 656157970
frame_id: "map"
pose:
position:
x: 0.76
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7983486481160277
w: 0.602195513144453, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 666541576
frame_id: "map"
pose:
position:
x: 0.76
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8012765844860855
w: 0.5982941042282742, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 696901559
frame_id: "map"
pose:
position:
x: 0.72
y: -0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7882054380161092
w: -0.6154122094026356, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 706899642
frame_id: "map"
pose:
position:
x: 0.76
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8043897838851272
w: 0.5941019067308558, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 717074871
frame_id: "map"
pose:
position:
x: 0.72
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7947066772690753
w: -0.6069936549124264, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 727422475
frame_id: "map"
pose:
position:
x: 0.76
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8077053073689017
w: 0.5895864113496071, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 737593412
frame_id: "map"
pose:
position:
x: 0.42
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.584710284663765
w: 0.8112421851755609, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 748543024
frame_id: "map"
pose:
position:
x: 0.18
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.4310817166804798
w: 0.9023128911546209, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 759326457
frame_id: "map"
pose:
position:
x: 0.5599999999999999
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6794495938313833
w: -0.7337221881900318, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 780078649
frame_id: "map"
pose:
position:
x: 0.42
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5800385487693184
w: 0.8145890264063119, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 790158510
frame_id: "map"
pose:
position:
x: 0.42
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5750132745107971
w: 0.818144079081656, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 812283277
frame_id: "map"
pose:
position:
x: 0.76
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8112421851755609
w: 0.584710284663765, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 822262287
frame_id: "map"
pose:
position:
x: 0.42
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5637378164623551
w: 0.8259537967043049, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 832731246
frame_id: "map"
pose:
position:
x: 0.45999999999999996
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5847102846637648
w: 0.8112421851755609, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 842995643
frame_id: "map"
pose:
position:
x: 0.45999999999999996
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5902526335066423
w: 0.8072185755038553, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 853036403
frame_id: "map"
pose:
position:
x: 0.18
y: -0.88
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.35948867915153393
w: 0.9331494465314146, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 863647460
frame_id: "map"
pose:
position:
x: 0.18
y: -0.86
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.3469462477349362
w: 0.9378850149046248, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 873960256
frame_id: "map"
pose:
position:
x: 0.18
y: -0.8400000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.333732774306416
w: 0.9426677226646422, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 884471654
frame_id: "map"
pose:
position:
x: 0.18
y: -0.8200000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.3198189174888669
w: 0.9474786857846721, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 895127058
frame_id: "map"
pose:
position:
x: 0.45999999999999996
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5953311617147652
w: 0.8034804340438839, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 906480073
frame_id: "map"
pose:
position:
x: 0.42
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5573899686393252
w: 0.8302508192469624, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 917049169
frame_id: "map"
pose:
position:
x: 0.42
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5504910087462066
w: 0.8348410922382677, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 927591085
frame_id: "map"
pose:
position:
x: 0.18
y: -0.74
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2566679351570243
w: 0.9664996487646695, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 947772502
frame_id: "map"
pose:
position:
x: 0.18
y: -0.7
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2203854364245398
w: 0.9754128661300122, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 957824230
frame_id: "map"
pose:
position:
x: 0.18
y: -0.6799999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.20106587226819733
w: 0.9795777228015289, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 968458414
frame_id: "map"
pose:
position:
x: 0.18
y: -0.66
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.1809865534660407
w: 0.9834855705420817, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 979157924
frame_id: "map"
pose:
position:
x: 0.18
y: -0.64
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.1601822430069672
w: 0.9870874576374967, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544918
nsecs: 989204168
frame_id: "map"
pose:
position:
x: 0.18
y: -0.62
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.13870121188940068
w: 0.9903342737785114, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 20420312
frame_id: "map"
pose:
position:
x: 0.18
y: -0.56
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.07088902009067935
w: 0.9974842088126424, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 31285047
frame_id: "map"
pose:
position:
x: 0.18
y: -0.54
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.04745802042883704
w: 0.9988732333469429, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 41488409
frame_id: "map"
pose:
position:
x: 0.18
y: -0.52
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.023789307215243066
w: 0.9997169943850204, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 51862955
frame_id: "map"
pose:
position:
x: 0.18
y: -0.5
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 1.2246467991473532e-16
w: -1.0, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 62264919
frame_id: "map"
pose:
position:
x: 0.18
y: -0.48
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.02378930721524297
w: -0.9997169943850204, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 82359075
frame_id: "map"
pose:
position:
x: 0.18
y: -0.44
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.07088902009067946
w: -0.9974842088126424, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 103036642
frame_id: "map"
pose:
position:
x: 0.18
y: -0.4
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.11660571451398305
w: -0.9931782857788845, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 113466262
frame_id: "map"
pose:
position:
x: 0.18
y: -0.38
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.13870121188940082
w: -0.9903342737785114, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 133843421
frame_id: "map"
pose:
position:
x: 0.18
y: -0.33999999999999997
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.1809865534660408
w: -0.9834855705420817, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 144020557
frame_id: "map"
pose:
position:
x: 0.18
y: -0.32
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.20106587226819744
w: -0.9795777228015289, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 163890361
frame_id: "map"
pose:
position:
x: 0.45999999999999996
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6082871552778866
w: 0.7937170381968226, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 173745393
frame_id: "map"
pose:
position:
x: 0.45999999999999996
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6119795099577574
w: 0.790873617837808, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 183910846
frame_id: "map"
pose:
position:
x: 0.76
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8150216638044884
w: 0.5794304855022417, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 194156885
frame_id: "map"
pose:
position:
x: 0.12
y: -0.33999999999999997
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.16018224300696732
w: -0.9870874576374967, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 204169988
frame_id: "map"
pose:
position:
x: 0.76
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8190674767950149
w: 0.5736971923032635, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 214705228
frame_id: "map"
pose:
position:
x: 0.76
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8234061353888457
w: 0.5674524968700076, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 235476016
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5413857477339129
w: 0.8407743289079371, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 245808124
frame_id: "map"
pose:
position:
x: 0.5599999999999999
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6727521487784355
w: 0.7398679249122764, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 255650997
frame_id: "map"
pose:
position:
x: 0.5599999999999999
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6743382882342814
w: 0.7384225572267273, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 265812635
frame_id: "map"
pose:
position:
x: 0.5599999999999999
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6757848709593749
w: 0.7370989134318549, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 275789737
frame_id: "map"
pose:
position:
x: 0.5599999999999999
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6771094889847062
w: 0.7358822867326472, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 286756038
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5483036971357889
w: 0.8362792928843958, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 298326969
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.554700196225229
w: 0.8320502943378437, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 308969020
frame_id: "map"
pose:
position:
x: 0.5599999999999999
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6804881756815059
w: 0.7327590618734483, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 319038152
frame_id: "map"
pose:
position:
x: 0.5599999999999999
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6814517407755631
w: 0.7318630507095948, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 329315423
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5606288093051838
w: 0.8280672304692729, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 339347362
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5661364326251803
w: 0.8243115549684079, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 349482059
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5712642314097768
w: 0.8207662139195284, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 359558582
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5760484367663208
w: 0.8174155604703632, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 369482517
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.08
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5805210231682381
w: 0.8142452589114058, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 379415988
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.1
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.584710284663765
w: 0.8112421851755609, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 389329671
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.12
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5886413254594183
w: 0.8083943282590367, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 399363040
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.1400000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5923364782216495
w: 0.805690695346529, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 409301280
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.1600000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5958156613908069
w: 0.8031212222581566, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 419255733
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.1800000000000002
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5990966850218961
w: 0.8006766900539662, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 429352521
frame_id: "map"
pose:
position:
x: 0.3
y: 0.06000000000000005
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5137015609692951
w: -0.8579689424785198, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 439219951
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.2000000000000002
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.602195513144453
w: 0.7983486481160277, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 449213981
frame_id: "map"
pose:
position:
x: 0.12
y: -0.7
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.19611613513818393
w: 0.9805806756909202, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 459560871
frame_id: "map"
pose:
position:
x: 0.12
y: -0.72
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2132313029385177
w: 0.9770017458772231, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 469874858
frame_id: "map"
pose:
position:
x: 0.12
y: -0.74
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2297529205473612
w: 0.9732489894677302, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 479789495
frame_id: "map"
pose:
position:
x: 0.72
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7983486481160277
w: 0.602195513144453, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 489479780
frame_id: "map"
pose:
position:
x: 0.3
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.4672596576628944
w: -0.8841201345522873, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 499516248
frame_id: "map"
pose:
position:
x: 0.72
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7947066772690754
w: 0.6069936549124263, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 509546995
frame_id: "map"
pose:
position:
x: 0.72
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7913349155531438
w: 0.6113829008293401, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 519337415
frame_id: "map"
pose:
position:
x: 0.72
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7882054380161092
w: 0.6154122094026356, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 539964437
frame_id: "map"
pose:
position:
x: 0.72
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7825789118992277
w: 0.6225514008101024, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 550527572
frame_id: "map"
pose:
position:
x: 0.72
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7800418122827314
w: 0.6257273935913882, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 560472249
frame_id: "map"
pose:
position:
x: 0.72
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.77766608796156
w: 0.6286775450376476, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 580207109
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.22
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6051264893449573
w: 0.7961293436955124, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 590407609
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.24
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6079025311911546
w: 0.7940116577049655, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 621572971
frame_id: "map"
pose:
position:
x: 0.3
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.47630463962314995
w: 0.8792803251941108, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 631641149
frame_id: "map"
pose:
position:
x: 0.3
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.4847685323929452
w: 0.8746424812468178, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 641553401
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.28
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6130353373714668
w: 0.790055488642318, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 653319358
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.42
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6275230496439778
w: 0.7785979849482799, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 663541078
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.44
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6292425428779992
w: 0.7772089952081289, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 683467149
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.48
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6324713384826219
w: 0.7745837630611687, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 693924903
frame_id: "map"
pose:
position:
x: 0.3
y: -1.1
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5257311121191336
w: 0.85065080835204, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 704140663
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.5
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6339889056055381
w: 0.7733421413379024, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 713812112
frame_id: "map"
pose:
position:
x: 0.6599999999999999
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7438189039121905
w: 0.6683812072334675, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 723740100
frame_id: "map"
pose:
position:
x: 0.6599999999999999
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7451280178851304
w: 0.6669214623646302, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 733844518
frame_id: "map"
pose:
position:
x: 0.39999999999999997
y: -1.52
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6354469054448959
w: 0.7721445657132514, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 744749307
frame_id: "map"
pose:
position:
x: 0.76
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.819067476795015
w: -0.5736971923032633, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 774046421
frame_id: "map"
pose:
position:
x: 0.6599999999999999
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7533635260394922
w: 0.6576042865077321, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 783934116
frame_id: "map"
pose:
position:
x: 0.6599999999999999
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7554539549957063
w: 0.655201741360129, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 794060468
frame_id: "map"
pose:
position:
x: 0.76
y: -0.03999999999999998
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.8150216638044883
w: -0.5794304855022419, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 804785490
frame_id: "map"
pose:
position:
x: 0.76
y: -0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.8112421851755609
w: -0.5847102846637648, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 825284957
frame_id: "map"
pose:
position:
x: 0.42
y: -0.03999999999999998
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5637378164623552
w: -0.8259537967043047, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 845585823
frame_id: "map"
pose:
position:
x: 0.42
y: 0.0
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5750132745107973
w: -0.8181440790816558, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 856135606
frame_id: "map"
pose:
position:
x: 0.76
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.8043897838851272
w: -0.5941019067308557, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 876502752
frame_id: "map"
pose:
position:
x: 0.76
y: 0.06000000000000005
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7983486481160278
w: -0.6021955131444529, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 886613845
frame_id: "map"
pose:
position:
x: 0.76
y: 0.07999999999999996
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7955906604925091
w: -0.6058345491444782, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 896639585
frame_id: "map"
pose:
position:
x: 0.76
y: 0.09999999999999998
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7929888557099438
w: -0.6092361403592484, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 907559156
frame_id: "map"
pose:
position:
x: 0.6
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7071067811865475
w: 0.7071067811865476, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 927424430
frame_id: "map"
pose:
position:
x: 0.76
y: 0.12
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7905308403287534
w: -0.6124222321969663, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 937479496
frame_id: "map"
pose:
position:
x: 0.76
y: 0.14
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7882054380161092
w: -0.6154122094026356, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 957934379
frame_id: "map"
pose:
position:
x: 0.6
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7071067811865475
w: 0.7071067811865476, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 977858066
frame_id: "map"
pose:
position:
x: 0.6
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7071067811865475
w: 0.7071067811865476, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 987823247
frame_id: "map"
pose:
position:
x: 0.76
y: 0.16000000000000003
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7860025526744504
w: -0.618223250282006, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544919
nsecs: 997573375
frame_id: "map"
pose:
position:
x: 0.76
y: 0.18000000000000005
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.783913048024316
w: -0.6208706251202633, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 7592201
frame_id: "map"
pose:
position:
x: 0.76
y: 0.20000000000000007
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7819286417257465
w: -0.623367948525531, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 27238607
frame_id: "map"
pose:
position:
x: 0.76
y: 0.24
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7782457171509329
w: -0.6279598743042666, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 37187337
frame_id: "map"
pose:
position:
x: 0.76
y: 0.26
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7765341206443676
w: -0.6300752014443028, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 57217121
frame_id: "map"
pose:
position:
x: 0.76
y: 0.4
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7664963583466964
w: -0.6422486532809958, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 67085981
frame_id: "map"
pose:
position:
x: 0.76
y: 0.42000000000000004
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7652911781639873
w: -0.6436842491659838, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 77337503
frame_id: "map"
pose:
position:
x: 0.52
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6552017413601289
w: 0.7554539549957063, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 87342262
frame_id: "map"
pose:
position:
x: 0.52
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6532424277825721
w: 0.7571488166435519, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 97246408
frame_id: "map"
pose:
position:
x: 0.76
y: 0.44000000000000006
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.764133282892573
w: -0.6450583895864149, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 107070446
frame_id: "map"
pose:
position:
x: 0.76
y: 0.45999999999999996
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7630199824727258
w: -0.6463748961301956, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 117566823
frame_id: "map"
pose:
position:
x: 0.52
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6463748961301958
w: 0.7630199824727257, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 127794265
frame_id: "map"
pose:
position:
x: 0.52
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6436842491659837
w: 0.7652911781639874, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 137711286
frame_id: "map"
pose:
position:
x: 0.52
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6407474392457675
w: 0.767751730118527, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 150225162
frame_id: "map"
pose:
position:
x: 0.52
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6375295648477821
w: 0.7704258912737796, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 160764455
frame_id: "map"
pose:
position:
x: 0.76
y: 0.48
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7619487840078729
w: -0.647637283167765, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 170743227
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -1.4
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.4998611817921905
w: 0.8661055356810247, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 180782556
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -1.38
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.4956161255817646
w: 0.8685416835496848, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 201177597
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -1.3399999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.4866443184625216
w: 0.8736001987798239, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 213806390
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -1.32
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.48190142905041683
w: 0.8762254348506247, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 223469972
frame_id: "map"
pose:
position:
x: 0.8
y: 0.09999999999999998
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.8112421851755609
w: -0.5847102846637648, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 243908166
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -1.28
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.4718579255320242
w: 0.8816745987679439, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 263970375
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -1.1
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.4153730020007066
w: 0.9096511799634632, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 273994445
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -1.08
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.4077100588947825
w: 0.9131114432948549, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 284109830
frame_id: "map"
pose:
position:
x: 0.6599999999999999
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7533635260394923
w: -0.657604286507732, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 294022321
frame_id: "map"
pose:
position:
x: 0.8
y: -0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.8320502943378438
w: -0.5547001962252289, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 326006412
frame_id: "map"
pose:
position:
x: 0.6599999999999999
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7465333575886381
w: -0.6653479886551357, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 337008714
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.39971796346469235
w: 0.9166381781726305, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 347310543
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.39138108854039505
w: 0.9202286908877246, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 358036518
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.3826834323650898
w: 0.9238795325112867, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 370610475
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.3736087091451055
w: 0.9275864016095363, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 381522893
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.3641404642253537
w: 0.9313440407893014, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 391707181
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.3542622175095866
w: 0.9351461282843395, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 402300357
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.34395763883862607
w: 0.9389851663815341, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 412396192
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.33321075897716623
w: 0.9428523691977768, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 422230243
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.9
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.32200621957921877
w: 0.9467375531541463, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 432636737
frame_id: "map"
pose:
position:
x: 0.62
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7205668331602575
w: -0.6933854908702645, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 442850828
frame_id: "map"
pose:
position:
x: 0.62
y: 0.0
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7210991742988173
w: -0.6928318560989846, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 473550319
frame_id: "map"
pose:
position:
x: 0.09999999999999998
y: -0.33999999999999997
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.15423335048016681
w: -0.9880344496016634, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 483459949
frame_id: "map"
pose:
position:
x: 0.09999999999999998
y: -0.36
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.13608082209815303
w: -0.9906977388977382, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 493614435
frame_id: "map"
pose:
position:
x: 0.09999999999999998
y: -0.38
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.11750042131729284
w: -0.993072832671531, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 504096269
frame_id: "map"
pose:
position:
x: 0.27999999999999997
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.44382247843994094
w: 0.8961147290561785, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 513952732
frame_id: "map"
pose:
position:
x: 0.27999999999999997
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.453777645066917
w: 0.8911149470396753, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 523840188
frame_id: "map"
pose:
position:
x: 0.27999999999999997
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.46310663556107695
w: 0.8863025691598214, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 533734798
frame_id: "map"
pose:
position:
x: 0.09999999999999998
y: -0.4
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.09853761796664212
w: -0.9951333266680702, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 544054985
frame_id: "map"
pose:
position:
x: 0.6
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7071067811865476
w: -0.7071067811865475, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 553883552
frame_id: "map"
pose:
position:
x: 0.62
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7229825934691132
w: -0.6908662457673518, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 563676357
frame_id: "map"
pose:
position:
x: 0.8
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8455570886676865
w: 0.5338850155265888, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 573505640
frame_id: "map"
pose:
position:
x: 0.6
y: 0.0
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7071067811865476
w: -0.7071067811865475, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 583408832
frame_id: "map"
pose:
position:
x: 0.6
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7071067811865476
w: -0.7071067811865475, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 593615531
frame_id: "map"
pose:
position:
x: 0.7
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7709887786635176
w: -0.6368487286435748, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 612910509
frame_id: "map"
pose:
position:
x: 0.7
y: -0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7758718496349772
w: -0.6308905395898715, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 622579574
frame_id: "map"
pose:
position:
x: 0.8
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8407743289079371
w: 0.5413857477339129, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 632315635
frame_id: "map"
pose:
position:
x: 0.7
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7815436979430416
w: -0.6238505014869474, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 642050027
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.8400000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2855086566344833
w: 0.9583761302259008, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 651688337
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.8200000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2723432423390162
w: 0.9622001654293517, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 661351203
frame_id: "map"
pose:
position:
x: 0.8
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8280672304692729
w: 0.5606288093051838, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 671063661
frame_id: "map"
pose:
position:
x: 0.8
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8243115549684079
w: 0.5661364326251804, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 680626392
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.8
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2586642746412806
w: 0.9659672836200511, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 690305233
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.78
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.24446768710590863
w: 0.9696574394914359, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 699806213
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.76
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2297529205473612
w: 0.9732489894677302, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 719159364
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.72
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.198787259314375
w: 0.9800426651601856, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 728794574
frame_id: "map"
pose:
position:
x: 0.8
y: -1.1400000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.805690695346529
w: 0.5923364782216496, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 739019632
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.7
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.18255737974256264
w: 0.9831952009146149, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 758497953
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.66
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.14869598393710892
w: 0.9888829578676007, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 768382310
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.64
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.13111872764660712
w: 0.9913666724579432, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 778136730
frame_id: "map"
pose:
position:
x: 0.020000000000000018
y: -0.8200000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.24942164698879468
w: 0.968394982439189, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 797852516
frame_id: "map"
pose:
position:
x: 0.54
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6653479886551358
w: -0.746533357588638, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 807753801
frame_id: "map"
pose:
position:
x: 0.54
y: 0.0
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6636470369788332
w: -0.7480458611002506, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 817374706
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.6
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.09485133899780393
w: 0.9954914482256106, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 827094316
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.58
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.07625058147116914
w: 0.997088686539622, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 837395668
frame_id: "map"
pose:
position:
x: 0.54
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6576042865077321
w: -0.7533635260394922, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 848101377
frame_id: "map"
pose:
position:
x: 0.09999999999999998
y: -0.42
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.07924445748219482
w: -0.9968552131369695, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 897163629
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.48
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.01922011145500681
w: -0.9998152765964606, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 907011747
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.46
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.03837651950358736
w: -0.9992633500488202, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 916730880
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.44
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.057406724906011355
w: -0.9983508741597643, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 926568746
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.42
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.07625058147116927
w: -0.997088686539622, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 937285184
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.4
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.09485133899780428
w: -0.9954914482256106, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 947034358
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.38
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.11315653826752582
w: -0.9935771725675414, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 957026481
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.36
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.13111872764660726
w: -0.9913666724579432, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 967617511
frame_id: "map"
pose:
position:
x: 0.21999999999999997
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.4056394187149922
w: 0.9140331842906817, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 977944612
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: -0.33999999999999997
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.14869598393710906
w: -0.9888829578676007, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 988276481
frame_id: "map"
pose:
position:
x: 0.78
y: -1.46
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.769509108149535
w: 0.6386358371363977, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544920
nsecs: 998299598
frame_id: "map"
pose:
position:
x: 0.78
y: -1.44
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7707373971684058
w: 0.6371529365906361, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 8562088
frame_id: "map"
pose:
position:
x: 0.78
y: -1.42
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7720141211097296
w: 0.6356053782081865, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 18221139
frame_id: "map"
pose:
position:
x: 0.7
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7847357922594201
w: 0.6198304093435398, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 28006315
frame_id: "map"
pose:
position:
x: 0.7
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7815436979430415
w: 0.6238505014869475, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 37898063
frame_id: "map"
pose:
position:
x: 0.7
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7785979849482798
w: 0.6275230496439778, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 57746171
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: 0.30000000000000004
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.476975706616483
w: -0.8789164779987384, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 67290544
frame_id: "map"
pose:
position:
x: 0.7
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7709887786635173
w: 0.636848728643575, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 77006340
frame_id: "map"
pose:
position:
x: 0.7
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7687942703292954
w: 0.6394961844365034, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 86667060
frame_id: "map"
pose:
position:
x: 0.7
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7667433203111904
w: 0.6419537995511603, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 96265316
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: 0.32000000000000006
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.48190142905041666
w: -0.8762254348506247, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 105965852
frame_id: "map"
pose:
position:
x: 0.78
y: -1.28
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7825789118992277
w: 0.6225514008101024, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 115576744
frame_id: "map"
pose:
position:
x: 0.78
y: -1.26
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7843680207272645
w: 0.6202957424167875, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 125284671
frame_id: "map"
pose:
position:
x: 0.78
y: -1.24
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.78624155930207
w: 0.6179192588245245, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 135140895
frame_id: "map"
pose:
position:
x: 0.38
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5524309953122208
w: 0.8335586334615874, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 144938230
frame_id: "map"
pose:
position:
x: 0.38
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5464711272034338
w: 0.8374779442665988, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 154725313
frame_id: "map"
pose:
position:
x: 0.38
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5400672594718117
w: 0.8416218600099494, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 183697938
frame_id: "map"
pose:
position:
x: 0.38
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5257311121191336
w: 0.85065080835204, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 194594383
frame_id: "map"
pose:
position:
x: 0.38
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5176837863645347
w: 0.8555720293086252, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 204714298
frame_id: "map"
pose:
position:
x: 0.52
y: 0.0
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6488487878132037
w: -0.7609173743274208, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 214483737
frame_id: "map"
pose:
position:
x: 0.52
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6511308684688737
w: -0.7589654749242356, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 244819402
frame_id: "map"
pose:
position:
x: 0.48
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6225514008101024
w: 0.7825789118992277, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 255036592
frame_id: "map"
pose:
position:
x: 0.78
y: -1.2000000000000002
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7902661070204828
w: 0.6127638044913315, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 265106439
frame_id: "map"
pose:
position:
x: 0.54
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6552017413601289
w: 0.7554539549957063, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 275486230
frame_id: "map"
pose:
position:
x: 0.54
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.657604286507732
w: 0.7533635260394923, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 285556316
frame_id: "map"
pose:
position:
x: 0.54
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6597957320005307
w: 0.7514450026674501, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 295557022
frame_id: "map"
pose:
position:
x: 0.54
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6618025632357402
w: 0.7496781758158658, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 305361986
frame_id: "map"
pose:
position:
x: 0.09999999999999998
y: -0.62
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.11750042131729249
w: 0.9930728326715311, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 314964056
frame_id: "map"
pose:
position:
x: 0.09999999999999998
y: -0.64
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.1360808220981529
w: 0.9906977388977382, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 324617624
frame_id: "map"
pose:
position:
x: 0.54
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6669214623646302
w: 0.7451280178851305, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 334374666
frame_id: "map"
pose:
position:
x: 0.54
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6683812072334675
w: 0.7438189039121905, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 344164848
frame_id: "map"
pose:
position:
x: 0.09999999999999998
y: -0.66
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.15423335048016673
w: 0.9880344496016635, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 353968620
frame_id: "map"
pose:
position:
x: 0.09999999999999998
y: -0.6799999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.1719194406273956
w: 0.9851110119851283, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 363894939
frame_id: "map"
pose:
position:
x: 0.09999999999999998
y: -0.7
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.18910752115495127
w: 0.9819563867314218, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 373680114
frame_id: "map"
pose:
position:
x: 0.09999999999999998
y: -0.72
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.205772893716877
w: 0.9785997732532861, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 383259534
frame_id: "map"
pose:
position:
x: 0.09999999999999998
y: -0.74
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.22189743411284238
w: 0.9750700122217567, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 393896102
frame_id: "map"
pose:
position:
x: 0.48
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6154122094026356
w: 0.7882054380161092, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 403790950
frame_id: "map"
pose:
position:
x: 0.48
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.61138290082934
w: 0.791334915553144, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 413312673
frame_id: "map"
pose:
position:
x: 0.48
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6069936549124263
w: 0.7947066772690754, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 422859430
frame_id: "map"
pose:
position:
x: 0.62
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7237282464487099
w: 0.6900850855454531, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 432488441
frame_id: "map"
pose:
position:
x: 0.62
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7229825934691132
w: 0.6908662457673519, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 442560195
frame_id: "map"
pose:
position:
x: 0.62
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7223009152272711
w: 0.6915789093529722, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 452620267
frame_id: "map"
pose:
position:
x: 0.62
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7216753233664641
w: 0.6922317008371615, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 462723493
frame_id: "map"
pose:
position:
x: 0.78
y: -1.1800000000000002
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7924306153589356
w: 0.6099620642645399, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 472694635
frame_id: "map"
pose:
position:
x: 0.78
y: -1.1600000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7947066772690754
w: 0.6069936549124263, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 482583999
frame_id: "map"
pose:
position:
x: 0.43999999999999995
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5982941042282742
w: 0.8012765844860855, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 492875099
frame_id: "map"
pose:
position:
x: 0.25999999999999995
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.4305820312855818
w: 0.9025514469181146, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 503608465
frame_id: "map"
pose:
position:
x: 0.25999999999999995
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.44076779540038685
w: 0.8976211620376843, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 545543432
frame_id: "map"
pose:
position:
x: 0.43999999999999995
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5794304855022417
w: 0.8150216638044885, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 556905508
frame_id: "map"
pose:
position:
x: 0.43999999999999995
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.5736971923032635
w: 0.8190674767950149, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 579474687
frame_id: "map"
pose:
position:
x: 0.62
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7196150118335541
w: 0.6943732675901296, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 590476512
frame_id: "map"
pose:
position:
x: 0.78
y: -1.1400000000000001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7971027464882692
w: 0.6038436979391754, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 600560188
frame_id: "map"
pose:
position:
x: 0.78
y: -1.12
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7996280994512247
w: 0.6004955475005809, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 611992359
frame_id: "map"
pose:
position:
x: 0.78
y: -1.1
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8022929282893952
w: 0.5969305296404492, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 623099565
frame_id: "map"
pose:
position:
x: 0.78
y: -1.08
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8051084445192626
w: 0.5931276359804638, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 633123397
frame_id: "map"
pose:
position:
x: 0.78
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8080869942070349
w: 0.5890631628216448, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 655219793
frame_id: "map"
pose:
position:
x: 0.78
y: -1.02
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8145890264063119
w: 0.5800385487693183, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 665919780
frame_id: "map"
pose:
position:
x: 0.78
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.818144079081656
w: 0.575013274510797, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 676297664
frame_id: "map"
pose:
position:
x: 0.78
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8219256175556252
w: 0.5695948377626013, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 686551332
frame_id: "map"
pose:
position:
x: 0.48
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6225514008101027
w: -0.7825789118992276, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 697294473
frame_id: "map"
pose:
position:
x: 0.48
y: 0.0
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6191231894884393
w: -0.7852938788999072, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 707584142
frame_id: "map"
pose:
position:
x: 0.48
y: -0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6154122094026357
w: -0.7882054380161091, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 717669010
frame_id: "map"
pose:
position:
x: 0.78
y: -0.96
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8259537967043049
w: 0.563737816462355, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 729904651
frame_id: "map"
pose:
position:
x: 0.48
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6069936549124266
w: -0.7947066772690753, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 755266666
frame_id: "map"
pose:
position:
x: 0.78
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.8348410922382677
w: 0.5504910087462066, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 765379905
frame_id: "map"
pose:
position:
x: 0.38
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5257311121191337
w: -0.8506508083520399, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 775438785
frame_id: "map"
pose:
position:
x: 0.0
y: -0.78
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2165835404696473
w: 0.9762640882454054, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 785464763
frame_id: "map"
pose:
position:
x: 0.6799999999999999
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7589654749242356
w: -0.6511308684688735, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 797777175
frame_id: "map"
pose:
position:
x: 0.6799999999999999
y: 0.0
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.7609173743274209
w: -0.6488487878132035, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 810024023
frame_id: "map"
pose:
position:
x: 0.38
y: -0.03999999999999998
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5331718778667884
w: -0.8460069436192604, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 821498632
frame_id: "map"
pose:
position:
x: 0.38
y: -0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5400672594718116
w: -0.8416218600099494, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 832209587
frame_id: "map"
pose:
position:
x: 0.6799999999999999
y: -0.06
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.767751730118527
w: -0.6407474392457674, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 842942476
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: 0.33999999999999997
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.4866443184625217
w: -0.8736001987798239, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 854440927
frame_id: "map"
pose:
position:
x: 0.07999999999999996
y: 0.36
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.49121312130825956
w: -0.8710394190015727, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 864692211
frame_id: "map"
pose:
position:
x: 0.38
y: 0.48
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6248846524332634
w: -0.780717087781073, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 874951601
frame_id: "map"
pose:
position:
x: 0.38
y: 0.45999999999999996
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6231467899582747
w: -0.7821049022763493, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 885563135
frame_id: "map"
pose:
position:
x: 0.38
y: 0.44000000000000006
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6213354700248949
w: -0.7835446596646187, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 897155761
frame_id: "map"
pose:
position:
x: 0.38
y: 0.42000000000000004
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6194460375118611
w: -0.7850392388988298, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 907792329
frame_id: "map"
pose:
position:
x: 0.38
y: 0.4
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6174734445800121
w: -0.7865917271612352, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 917936801
frame_id: "map"
pose:
position:
x: 0.38
y: 0.38
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.6154122094026357
w: -0.7882054380161091, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 928446054
frame_id: "map"
pose:
position:
x: 0.48
y: -0.9199999999999999
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.6021955131444529
w: 0.7983486481160278, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 961369752
frame_id: "map"
pose:
position:
x: 0.38
y: 0.24
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5979254685648697
w: -0.8015517039102849, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 973284721
frame_id: "map"
pose:
position:
x: 0.38
y: 0.21999999999999997
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5948871592163426
w: -0.8038092235098512, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 987850427
frame_id: "map"
pose:
position:
x: 0.38
y: 0.20000000000000007
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5916812500238643
w: -0.8061720029684716, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544921
nsecs: 998610258
frame_id: "map"
pose:
position:
x: 0.38
y: 0.18000000000000005
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5882940228258898
w: -0.8086471064112771, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544922
nsecs: 8282661
frame_id: "map"
pose:
position:
x: 0.38
y: 0.16000000000000003
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5847102846637651
w: -0.8112421851755608, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544922
nsecs: 27345895
frame_id: "map"
pose:
position:
x: 0.6799999999999999
y: -1.06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7554539549957063
w: 0.655201741360129, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544922
nsecs: 37099599
frame_id: "map"
pose:
position:
x: 0.6799999999999999
y: -1.04
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7571488166435519
w: 0.6532424277825721, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544922
nsecs: 67073106
frame_id: "map"
pose:
position:
x: 0.6799999999999999
y: -0.98
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7630199824727256
w: 0.6463748961301958, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544922
nsecs: 86748838
frame_id: "map"
pose:
position:
x: 0.6799999999999999
y: -0.94
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.7677517301185269
w: 0.6407474392457675, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544922
nsecs: 105825424
frame_id: "map"
pose:
position:
x: 0.43999999999999995
y: -0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5847102846637651
w: -0.8112421851755608, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544922
nsecs: 115547418
frame_id: "map"
pose:
position:
x: 0.43999999999999995
y: 0.0
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.5895864113496071
w: -0.8077053073689017, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544922
nsecs: 134811162
frame_id: "map"
pose:
position:
x: 0.78
y: 0.020000000000000018
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.814589026406312
w: -0.5800385487693182, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544922
nsecs: 144512414
frame_id: "map"
pose:
position:
x: 0.78
y: 0.040000000000000036
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.8112421851755609
w: -0.5847102846637648, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544922
nsecs: 154634714
frame_id: "map"
pose:
position:
x: 0.78
y: 0.06000000000000005
z: 0.0
orientation:
x: -0.0
y: 0.0
z: 0.8080869942070349
w: -0.5890631628216447, reachable_arms=None)
CostmapLocation.Location(pose=header:
seq: 0
stamp:
secs: 1706544922
nsecs: 164654016
frame_id: "map"
pose:
position:
x: 0.15999999999999998
y: -0.62
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.13273315102540856
w: 0.9911518100769761, reachable_arms=None)
Action Designator
Action Designators are used to describe high-level actions. Action Designators are usually composed of other Designators to describe the high-level action in detail.
[27]:
from pycram.designators.action_designator import *
from pycram.enums import Arms
with simulated_robot:
ParkArmsAction([Arms.BOTH]).resolve().perform()
Making a simple plan
To get familiar with the PyCRAM Framework we will write a simple pick and place plan. This plan will let the robot grasp a cereal box from the kitchen counter and place it on the kitchen island. This is a simple pick and place plan.
[28]:
from pycram.designators.object_designator import *
cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl", pose=Pose([1.4, 1, 0.95]))
[29]:
cereal_desig = ObjectDesignatorDescription(names=["cereal"])
kitchen_desig = ObjectDesignatorDescription(names=["kitchen"])
robot_desig = ObjectDesignatorDescription(names=["pr2"]).resolve()
with simulated_robot:
ParkArmsAction([Arms.BOTH]).resolve().perform()
MoveTorsoAction([0.3]).resolve().perform()
pickup_pose = CostmapLocation(target=cereal_desig.resolve(), reachable_for=robot_desig).resolve()
pickup_arm = pickup_pose.reachable_arms[0]
NavigateAction(target_locations=[pickup_pose.pose]).resolve().perform()
PickUpAction(object_designator_description=cereal_desig, arms=[pickup_arm], grasps=["front"]).resolve().perform()
ParkArmsAction([Arms.BOTH]).resolve().perform()
place_island = SemanticCostmapLocation("kitchen_island_surface", kitchen_desig.resolve(), cereal_desig.resolve()).resolve()
place_stand = CostmapLocation(place_island.pose, reachable_for=robot_desig, reachable_arm=pickup_arm).resolve()
NavigateAction(target_locations=[place_stand.pose]).resolve().perform()
PlaceAction(cereal_desig, target_locations=[place_island.pose], arms=[pickup_arm]).resolve().perform()
ParkArmsAction([Arms.BOTH]).resolve().perform()
Task Trees
Task trees are a hierarchical representation of all Actions involved in a plan. The Task tree can later be used to inspect and restructure the execution order of Actions in the plan.
[30]:
import pycram.task
import anytree
tt = pycram.task.task_tree
print(anytree.RenderTree(tt))
no_operation()
├── perform(MoveMotion)
├── perform(MoveMotion)
├── perform(ParkArmsActionPerformable)
├── perform(ParkArmsActionPerformable)
├── perform(MoveTorsoActionPerformable)
├── perform(NavigateActionPerformable)
│ └── perform(MoveMotion)
├── perform(PickUpActionPerformable)
│ ├── perform(MoveTCPMotion)
│ ├── perform(MoveGripperMotion)
│ ├── perform(MoveTCPMotion)
│ ├── perform(MoveGripperMotion)
│ └── perform(MoveTCPMotion)
├── perform(ParkArmsActionPerformable)
├── perform(NavigateActionPerformable)
│ └── perform(MoveMotion)
├── perform(PlaceActionPerformable)
│ ├── perform(MoveTCPMotion)
│ ├── perform(MoveGripperMotion)
│ └── perform(MoveTCPMotion)
└── perform(ParkArmsActionPerformable)
[31]:
from anytree.dotexport import RenderTreeGraph, DotExporter
RenderTreeGraph(tt).to_picture("tree.png")
ORM
[32]:
import sqlalchemy.orm
import pycram.orm.base
import pycram.orm.action_designator
# set description of what we are doing
pycram.orm.base.ProcessMetaData().description = "Tutorial for getting familiar with the ORM."
engine = sqlalchemy.create_engine("sqlite+pysqlite:///:memory:", echo=False)
session = sqlalchemy.orm.Session(bind=engine)
pycram.orm.base.Base.metadata.create_all(engine)
session.commit()
tt.insert(session)
Inserting TaskTree into database: 100%|██████████| 22/22 [00:00<00:00, 119.33it/s]
[32]:
TaskTreeNode(id=1, code_id=1, code=Code(id=1, function='no_operation', designator_id=None, designator=None, process_metadata_id=1), start_time=datetime.datetime(2024, 1, 29, 17, 14, 50, 893086), end_time=None, status=<TaskStatus.RUNNING: 1>, reason=None, parent_id=None, parent=None, process_metadata_id=1)
[33]:
from sqlalchemy import select
navigations = session.scalars(select(pycram.orm.action_designator.NavigateAction)).all()
print(*navigations, sep="\n")
NavigateAction(id=6, process_metadata_id=1, dtype='NavigateAction', robot_state_id=4, robot_state=RobotState(id=4, torso_height=0.3, type=<ObjectType.ROBOT: 6>, pose_id=6, process_metadata_id=1), pose_id=7)
NavigateAction(id=15, process_metadata_id=1, dtype='NavigateAction', robot_state_id=7, robot_state=RobotState(id=7, torso_height=0.3, type=<ObjectType.ROBOT: 6>, pose_id=15, process_metadata_id=1), pose_id=16)
[34]:
navigations = (session.scalars(select(pycram.orm.action_designator.NavigateAction, pycram.orm.base.Position, pycram.orm.base.Quaternion).
join(pycram.orm.action_designator.NavigateAction.pose).
join(pycram.orm.base.Pose.position).
join(pycram.orm.base.Pose.orientation)).all())
print(*navigations, sep="\n")
NavigateAction(id=6, process_metadata_id=1, dtype='NavigateAction', robot_state_id=4, robot_state=RobotState(id=4, torso_height=0.3, type=<ObjectType.ROBOT: 6>, pose_id=6, process_metadata_id=1), pose_id=7)
NavigateAction(id=15, process_metadata_id=1, dtype='NavigateAction', robot_state_id=7, robot_state=RobotState(id=7, torso_height=0.3, type=<ObjectType.ROBOT: 6>, pose_id=15, process_metadata_id=1), pose_id=16)
The world can also be closed with the ‘exit’ method
[35]:
world.exit()