#!/usr/bin/env python3

ROUTE_1 = [
    {
        "pose": {
            "position": {
                "x": 5.85356,
                "y": -2.12017,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": 0.0,
                "y": 0.0,
                "z": 0.9999998007132457,
                "w": 0.0006313267529582298
            },
        },
        "twist": {
            "linear": {
                "x": 0,
                "y": 0,
                "z": 0
            },
            "angular": {
                "x": 0,
                "y": 0,
                "z": 0
            }
        }
    },
    {
        "pose": {
            "position": {
                "x": 1.0962898910217094,
                "y": -2.6097517486137645,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": 0.00038986038300606416,
                "y": 0.005250564811611969,
                "z": 0.9998849345375537,
                "w": 0.014226639198094847
            }
        },
        "twist": {
            "linear": {
                "x": 0,
                "y": 0,
                "z": 0
            },
            "angular": {
                "x": 0,
                "y": 0,
                "z": -0
            }
        }
    },
    {
        "pose": {
            "position": {
                "x": -0.8633349908160081,
                "y": -2.7296555152390765,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": 0.022189419989666087,
                "y": -0.007291469816670539,
                "z": 0.9983193481516458,
                "w": 0.05303718709083059
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        },
        "twist": {
            "linear": {
                "x": 0,
                "y": 0,
                "z": 0
            },
            "angular": {
                "x": 0,
                "y": 0,
                "z": 0
            }
        }
    },
    {
        "pose": {
            "position": {
                "x": -6.0162200016269445,
                "y": -2.59141335010101,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": 4.734341337432083e-05,
                "y": -7.542731639534793e-05,
                "z": 0.9998782031635346,
                "w": -0.015606758400858947
            }
        },
        "twist": {
            "linear": {
                "x": 0,
                "y": 0,
                "z": 0
            },
            "angular": {
                "x": 0,
                "y": 0,
                "z": 0
            }
        }
    }
]

ROUTE_2 = [
    {
        "pose": {
            "position": {
                "x": 6.015996,
                "y": -3.611922,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": -0.007794354784084288,
                "y": 0.010211500647675339,
                "z": -0.9994446027963322,
                "w": 0.03074832075584615
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        },
        "twist": {
            "linear": {
                "x": -0.011148692046437937,
                "y": 0.001458284640969748,
                "z": -0.021495917428846233
            },
            "angular": {
                "x": -0.018905292293103896,
                "y": -0.05471621279008223,
                "z": 0.005243311077841144
            }
        }
    },
    {
        "pose": {
            "position": {
                "x": 1.507432,
                "y": -4.110009,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": -0.00949383912566247,
                "y": 0.004321705837653248,
                "z": -0.9999404802682084,
                "w": 0.0031977802134916565
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        },
        "twist": {
            "linear": {
                "x": 0.01633725008373622,
                "y": -0.011920185181258463,
                "z": -9.758996669210584e-05
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            "angular": {
                "x": 0.050838639855386496,
                "y": 0.0699139809052851,
                "z": -0.00043290891733889486
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        }
    },
    {
        "pose": {
            "position": {
                "x": -3.555160,
                "y": -4.042938,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": 1.42785814434905e-06,
                "y": 7.516915429353163e-05,
                "z": -0.999960068252169,
                "w": -0.008936232353576377
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        },
        "twist": {
            "linear": {
                "x": -9.589345048452423e-05,
                "y": -0.0031349034711383285,
                "z": 0.006028868037503092
            },
            "angular": {
                "x": 0.01691028078292361,
                "y": -0.00027434253800639677,
                "z": 0.00012416457150446502
            }
        }
    }
]

ROUTE_3 = [
    {
        "pose": {
            "position": {
                "x": -4.179912,
                "y": -5.589171,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": -7.63147548650528e-05,
                "y": 5.041877729459455e-05,
                "z": -0.0006383995573292124,
                "w": 0.9999997920399837
            }
        },
        "twist": {
            "linear": {
                "x": 0.005790055907457409,
                "y": -0.0004972479358198601,
                "z": -0.00023992404282394806
            },
            "angular": {
                "x": 1.448448641731649e-05,
                "y": 0.038634235671052085,
                "z": -0.001814945218093473
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        }
    },
    {
        "pose": {
            "position": {
                "x": -0.006295857138910229,
                "y": -5.511678361091161,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": -0.0010085629855394636,
                "y": 0.0008572048934128715,
                "z": -0.015401880439983561,
                "w": 0.9998805079005129
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        },
        "twist": {
            "linear": {
                "x": 0.0050031190140287785,
                "y": 0.00012897906419201714,
                "z": -0.0002796251442547319
            },
            "angular": {
                "x": -0.0009264713969996323,
                "y": 0.03811599090785412,
                "z": -0.0008263323974661677
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        }
    },
    {
        "pose": {
            "position": {
                "x": 5.473851958032382,
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                "z": 0.0155396019466488
            },
            "orientation": {
                "x": 0.01842018946621938,
                "y": -0.0027814891883784043,
                "z": 0.05556502300954026,
                "w": 0.9982812670564708
            }
        },
        "twist": {
            "linear": {
                "x": 0.011014180297378452,
                "y": 0.00996585221696835,
                "z": -0.0002118997817359191
            },
            "angular": {
                "x": -0.042410260183259246,
                "y": 0.04527675026281159,
                "z": 0.0017532739970668352
            }
        }
    }
]

a58d93424ec81c0cf4f19ec8a8b6966c791c84bc
<mask token>

ROUTE_1 = [{'pose': {'position': {'x': 5.85356, 'y': -2.12017, 'z': 
    0.0155396019466488}, 'orientation': {'x': 0.0, 'y': 0.0, 'z': 
    0.9999998007132457, 'w': 0.0006313267529582298}}, 'twist': {'linear': {
    'x': 0, 'y': 0, 'z': 0}, 'angular': {'x': 0, 'y': 0, 'z': 0}}}, {'pose':
    {'position': {'x': 1.0962898910217094, 'y': -2.6097517486137645, 'z': 
    0.0155396019466488}, 'orientation': {'x': 0.00038986038300606416, 'y': 
    0.005250564811611969, 'z': 0.9998849345375537, 'w': 
    0.014226639198094847}}, 'twist': {'linear': {'x': 0, 'y': 0, 'z': 0},
    'angular': {'x': 0, 'y': 0, 'z': -0}}}, {'pose': {'position': {'x': -
    0.8633349908160081, 'y': -2.7296555152390765, 'z': 0.0155396019466488},
    'orientation': {'x': 0.022189419989666087, 'y': -0.007291469816670539,
    'z': 0.9983193481516458, 'w': 0.05303718709083059}}, 'twist': {'linear':
    {'x': 0, 'y': 0, 'z': 0}, 'angular': {'x': 0, 'y': 0, 'z': 0}}}, {
    'pose': {'position': {'x': -6.0162200016269445, 'y': -2.59141335010101,
    'z': 0.0155396019466488}, 'orientation': {'x': 4.734341337432083e-05,
    'y': -7.542731639534793e-05, 'z': 0.9998782031635346, 'w': -
    0.015606758400858947}}, 'twist': {'linear': {'x': 0, 'y': 0, 'z': 0},
    'angular': {'x': 0, 'y': 0, 'z': 0}}}]
ROUTE_2 = [{'pose': {'position': {'x': 6.015996, 'y': -3.611922, 'z': 
    0.0155396019466488}, 'orientation': {'x': -0.007794354784084288, 'y': 
    0.010211500647675339, 'z': -0.9994446027963322, 'w': 
    0.03074832075584615}}, 'twist': {'linear': {'x': -0.011148692046437937,
    'y': 0.001458284640969748, 'z': -0.021495917428846233}, 'angular': {'x':
    -0.018905292293103896, 'y': -0.05471621279008223, 'z': 
    0.005243311077841144}}}, {'pose': {'position': {'x': 1.507432, 'y': -
    4.110009, 'z': 0.0155396019466488}, 'orientation': {'x': -
    0.00949383912566247, 'y': 0.004321705837653248, 'z': -
    0.9999404802682084, 'w': 0.0031977802134916565}}, 'twist': {'linear': {
    'x': 0.01633725008373622, 'y': -0.011920185181258463, 'z': -
    9.758996669210584e-05}, 'angular': {'x': 0.050838639855386496, 'y': 
    0.0699139809052851, 'z': -0.00043290891733889486}}}, {'pose': {
    'position': {'x': -3.55516, 'y': -4.042938, 'z': 0.0155396019466488},
    'orientation': {'x': 1.42785814434905e-06, 'y': 7.516915429353163e-05,
    'z': -0.999960068252169, 'w': -0.008936232353576377}}, 'twist': {
    'linear': {'x': -9.589345048452423e-05, 'y': -0.0031349034711383285,
    'z': 0.006028868037503092}, 'angular': {'x': 0.01691028078292361, 'y': 
    -0.00027434253800639677, 'z': 0.00012416457150446502}}}]
ROUTE_3 = [{'pose': {'position': {'x': -4.179912, 'y': -5.589171, 'z': 
    0.0155396019466488}, 'orientation': {'x': -7.63147548650528e-05, 'y': 
    5.041877729459455e-05, 'z': -0.0006383995573292124, 'w': 
    0.9999997920399837}}, 'twist': {'linear': {'x': 0.005790055907457409,
    'y': -0.0004972479358198601, 'z': -0.00023992404282394806}, 'angular':
    {'x': 1.448448641731649e-05, 'y': 0.038634235671052085, 'z': -
    0.001814945218093473}}}, {'pose': {'position': {'x': -
    0.006295857138910229, 'y': -5.511678361091161, 'z': 0.0155396019466488},
    'orientation': {'x': -0.0010085629855394636, 'y': 0.0008572048934128715,
    'z': -0.015401880439983561, 'w': 0.9998805079005129}}, 'twist': {
    'linear': {'x': 0.0050031190140287785, 'y': 0.00012897906419201714, 'z':
    -0.0002796251442547319}, 'angular': {'x': -0.0009264713969996323, 'y': 
    0.03811599090785412, 'z': -0.0008263323974661677}}}, {'pose': {
    'position': {'x': 5.473851958032382, 'y': -5.25207970427838, 'z': 
    0.0155396019466488}, 'orientation': {'x': 0.01842018946621938, 'y': -
    0.0027814891883784043, 'z': 0.05556502300954026, 'w': 
    0.9982812670564708}}, 'twist': {'linear': {'x': 0.011014180297378452,
    'y': 0.00996585221696835, 'z': -0.0002118997817359191}, 'angular': {'x':
    -0.042410260183259246, 'y': 0.04527675026281159, 'z': 
    0.0017532739970668352}}}]

#!/usr/bin/env python3

ROUTE_1 = [
    {
        "pose": {
            "position": {
                "x": 5.85356,
                "y": -2.12017,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": 0.0,
                "y": 0.0,
                "z": 0.9999998007132457,
                "w": 0.0006313267529582298
            },
        },
        "twist": {
            "linear": {
                "x": 0,
                "y": 0,
                "z": 0
            },
            "angular": {
                "x": 0,
                "y": 0,
                "z": 0
            }
        }
    },
    {
        "pose": {
            "position": {
                "x": 1.0962898910217094,
                "y": -2.6097517486137645,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": 0.00038986038300606416,
                "y": 0.005250564811611969,
                "z": 0.9998849345375537,
                "w": 0.014226639198094847
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        },
        "twist": {
            "linear": {
                "x": 0,
                "y": 0,
                "z": 0
            },
            "angular": {
                "x": 0,
                "y": 0,
                "z": -0
            }
        }
    },
    {
        "pose": {
            "position": {
                "x": -0.8633349908160081,
                "y": -2.7296555152390765,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": 0.022189419989666087,
                "y": -0.007291469816670539,
                "z": 0.9983193481516458,
                "w": 0.05303718709083059
            }
        },
        "twist": {
            "linear": {
                "x": 0,
                "y": 0,
                "z": 0
            },
            "angular": {
                "x": 0,
                "y": 0,
                "z": 0
            }
        }
    },
    {
        "pose": {
            "position": {
                "x": -6.0162200016269445,
                "y": -2.59141335010101,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": 4.734341337432083e-05,
                "y": -7.542731639534793e-05,
                "z": 0.9998782031635346,
                "w": -0.015606758400858947
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        },
        "twist": {
            "linear": {
                "x": 0,
                "y": 0,
                "z": 0
            },
            "angular": {
                "x": 0,
                "y": 0,
                "z": 0
            }
        }
    }
]

ROUTE_2 = [
    {
        "pose": {
            "position": {
                "x": 6.015996,
                "y": -3.611922,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": -0.007794354784084288,
                "y": 0.010211500647675339,
                "z": -0.9994446027963322,
                "w": 0.03074832075584615
            }
        },
        "twist": {
            "linear": {
                "x": -0.011148692046437937,
                "y": 0.001458284640969748,
                "z": -0.021495917428846233
            },
            "angular": {
                "x": -0.018905292293103896,
                "y": -0.05471621279008223,
                "z": 0.005243311077841144
            }
        }
    },
    {
        "pose": {
            "position": {
                "x": 1.507432,
                "y": -4.110009,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": -0.00949383912566247,
                "y": 0.004321705837653248,
                "z": -0.9999404802682084,
                "w": 0.0031977802134916565
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        },
        "twist": {
            "linear": {
                "x": 0.01633725008373622,
                "y": -0.011920185181258463,
                "z": -9.758996669210584e-05
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            "angular": {
                "x": 0.050838639855386496,
                "y": 0.0699139809052851,
                "z": -0.00043290891733889486
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        }
    },
    {
        "pose": {
            "position": {
                "x": -3.555160,
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                "z": 0.0155396019466488
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            "orientation": {
                "x": 1.42785814434905e-06,
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                "z": -0.999960068252169,
                "w": -0.008936232353576377
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        },
        "twist": {
            "linear": {
                "x": -9.589345048452423e-05,
                "y": -0.0031349034711383285,
                "z": 0.006028868037503092
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            "angular": {
                "x": 0.01691028078292361,
                "y": -0.00027434253800639677,
                "z": 0.00012416457150446502
            }
        }
    }
]

ROUTE_3 = [
    {
        "pose": {
            "position": {
                "x": -4.179912,
                "y": -5.589171,
                "z": 0.0155396019466488
            },
            "orientation": {
                "x": -7.63147548650528e-05,
                "y": 5.041877729459455e-05,
                "z": -0.0006383995573292124,
                "w": 0.9999997920399837
            }
        },
        "twist": {
            "linear": {
                "x": 0.005790055907457409,
                "y": -0.0004972479358198601,
                "z": -0.00023992404282394806
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            "angular": {
                "x": 1.448448641731649e-05,
                "y": 0.038634235671052085,
                "z": -0.001814945218093473
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        }
    },
    {
        "pose": {
            "position": {
                "x": -0.006295857138910229,
                "y": -5.511678361091161,
                "z": 0.0155396019466488
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            "orientation": {
                "x": -0.0010085629855394636,
                "y": 0.0008572048934128715,
                "z": -0.015401880439983561,
                "w": 0.9998805079005129
            }
        },
        "twist": {
            "linear": {
                "x": 0.0050031190140287785,
                "y": 0.00012897906419201714,
                "z": -0.0002796251442547319
            },
            "angular": {
                "x": -0.0009264713969996323,
                "y": 0.03811599090785412,
                "z": -0.0008263323974661677
            }
        }
    },
    {
        "pose": {
            "position": {
                "x": 5.473851958032382,
                "y": -5.25207970427838,
                "z": 0.0155396019466488
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            "orientation": {
                "x": 0.01842018946621938,
                "y": -0.0027814891883784043,
                "z": 0.05556502300954026,
                "w": 0.9982812670564708
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        },
        "twist": {
            "linear": {
                "x": 0.011014180297378452,
                "y": 0.00996585221696835,
                "z": -0.0002118997817359191
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            "angular": {
                "x": -0.042410260183259246,
                "y": 0.04527675026281159,
                "z": 0.0017532739970668352
            }
        }
    }
]
