diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00232.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00232.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..94ffb99e7ba63208248dc2f7c8dc9747b13c4d9c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00232.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00233.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00233.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4889dd76b803419c4388f39026d8c0bd367829d1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00233.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00235.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00235.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..74b6318e97790f338054d0802509b613ead93865
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00235.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00236.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00236.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cf026db0e88fe55cdc82add7fc480533f24f9430
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00236.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00237.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00237.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2ad769fa4d682e0d00e62c47c0dcb360c098da91
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00237.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00238.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00238.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e5c0bca5abc39e361c0c71b14aa4cc72e6180929
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00238.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00239.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00239.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..30bc091c78fb55cd72540107987287c702f88054
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00239.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00240.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00240.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..835a1e2c72e9a5d56148e31078d731a10ecd24c1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00240.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00242.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00242.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..eefa863965f1ab374b8691625739f87930d1affc
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00242.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00243.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00243.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c7fef8f58c79ee7b4fadd3c30e8d8f1916db1c87
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00243.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00244.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00244.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..deb36d26846e507abc814997a0e5d87f07839c63
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00244.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00245.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00245.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7836b318c24b8fd02fe0ee8c898ddfb76ec99dea
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00245.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00246.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00246.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1595c3866f9beb0af01320dc0553da9d1efe1566
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00246.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00247.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00247.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..251f7c60a7573d01137946a07ecd7f43e5d14143
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00247.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00248.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00248.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..244f97ce759574a04a9c0b5c1771b4b0f2167d74
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00248.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00249.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00249.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..df1096cf150d0fa36c6aeedd0081481f1595f917
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00249.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00250.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00250.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f27ad9793a0872f8e0deb2e848134d2b505d4f36
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00250.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00252.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00252.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d9dc45526b5b6f48ae13543f85feff8d0cde2ebb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00252.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00253.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00253.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a34c2fed740d834c6236e32260b89e8b77b2bd17
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00253.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00254.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00254.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..032c19e55e43b78fe581f213c066de7b9defcb9c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00254.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00255.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00255.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1355ba1139268177c726dff72b94c6597e7ac7f8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00255.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00256.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00256.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1b91b03b8742e4779a9d71ecba1faad718cc30fd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00256.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00257.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00257.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3128687e0dfef0feab53ce1e1e1564336fee87a8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00257.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00258.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00258.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7d7e2ed6ea8a41a1bec485a386c4178f4b32645a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00258.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00259.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00259.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..af2dbf2adca66f055f9cef617825a14ca1791ee7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00259.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00260.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00260.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8ee8bdd74fe1d06523e18c4a8a3f9cf6a0088c07
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00260.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00262.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00262.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f71bc2bfef78c1b054300ee734f805fdad569179
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00262.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00263.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00263.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..28aadead1edb4a5931990c857c39dc73f4fb7800
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00263.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00264.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00264.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..72bb320e4396ecf6c952f2c9bb78936c73ff6ab1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00264.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00265.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00265.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8e803aefc72e7d770a7fa3e10bf7657c082954f8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00265.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00266.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00266.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7cc9eb997e5c254572363d1a7e8cb60b41ee8677
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00266.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00267.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00267.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b22adfe8dde119e35701230803e7619ce7039c13
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00267.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00268.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00268.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bce82ea23678acda14b3da2a0d1f4afd2ebb22a3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00268.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00269.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00269.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ceae2cd4224bfb56b965fe3363c60a67a94b0515
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00269.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00270.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00270.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b4408f98ad3fd2e9f60ae08f37649ecb830060b1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00270.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00272.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00272.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..49ebbb6ba84e5a53fcd638dea91cfe9aeda13565
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00272.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00273.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00273.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..586475bb65fd4baee88cd8bcf9f2038b0a43aea0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00273.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00274.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00274.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ec2333d8d8d8744f642a7556436f67b99008815a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00274.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00275.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00275.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c7ea921e87c0cfd940d97ba466c8c1c43105f030
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00275.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00276.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00276.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ab3405b9b9fdf40b669c8875c19f338c71a71a24
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00276.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00277.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00277.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8629ba8c55eec0f45d17463a10bd4e7b2af432ef
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00277.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00278.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00278.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cbb9ee217108ea1421ddbcec3fdfd2ca9b04323a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00278.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00279.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00279.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b5f25ea8e0d251ad02ebd35d8f2517e2bccb13eb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00279.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00280.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00280.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5e95fb6dbc07d250212161fdbe2ac733c5c9144a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00280.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00282.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00282.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1bfc45fe5f063827c5f3f26b3f3bff7a4ae5eb6e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00282.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00283.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00283.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8524696c229128bf907e4992e8327ac33264eb3a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00283.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00284.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00284.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5c7ff04851bede92012f81324c98dd15fc0d0343
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00284.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00285.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00285.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0197eaed8d6828ee10049e27b96354743c6f74b7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00285.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00286.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00286.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..93f02208889fa272874d65a4305abf29fae29596
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00286.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00287.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00287.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4e903f74623c311bf49d14b5183ac9c8445125b2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00287.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00288.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00288.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8abdd3546266b0b2ba77fa5075d8bd4d032ab485
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00288.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00289.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00289.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9a5e73f759257863dec01852596a0a17248f03c6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00289.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00290.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00290.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..13e9d224db220ff1eb4b1c4f75b67319dd065e89
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00290.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00292.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00292.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..767a7b66f23e00940fbf2e2a74f350e02b904213
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00292.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00293.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00293.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d4c27354eca342abc95a4ee4c0dc2ea7b209a583
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00293.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00294.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00294.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..14aaf3bd2785798742fc0e8255155c5aba811da7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00294.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00295.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00295.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..776b2a66c130690a183bc5d079e2e61df86fbf04
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00295.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00296.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00296.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cae0bc830b6d446110d91dba4bced58854256a80
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00296.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00297.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00297.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0ef8f1c5e9c19ecf901962deccbb3c96d6b9daad
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00297.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00298.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00298.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1ff50e9aa243c5dae2778915f9f29488c618710a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00298.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00299.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00299.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..aed6319bfa133c040a8d15c999f7cc1acc60a534
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00299.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00300.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00300.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b5c8af941f850b25b3601377463e2bce90a5bf34
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00300.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00302.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00302.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a5eccf45e46f0a88dcaf88f509a130e6ba363b85
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00302.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00303.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00303.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c574e905e7c5f8c4f5bb3d06d341c7fb4911e80d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00303.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00304.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00304.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6fde765e9239f6a13bc11fc684bb35af0c7c4ba3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00304.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00305.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00305.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bee038430bedd728858800f26c17d4d1eefd6471
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00305.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00306.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00306.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2c81e35d10a4b1e2f06c1ff9dd8cd4118f8eb63e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00306.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00307.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00307.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ae1cb942dd22e61104646e45a3a5f0a81a8c29e5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00307.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00308.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00308.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bdbd088f24bcf95302ba28751f5b092191dbffd6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00308.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00309.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00309.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..963e0eebd22ca5f2302d91aaa4c5e447af18d6f8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00309.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00310.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00310.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b7ed31de4c1a2164e787614d3dd795defa732a37
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00310.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00312.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00312.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1b3ed8a6407645040d65b3419ffb2942c15caea1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00312.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00313.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00313.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b8f2fffc8f5f67760d2f9a627f2ed74b05ca2de1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00313.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00314.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00314.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..70d241a66bbf84479337c9190f9b38a12699c2c8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00314.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00315.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00315.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9b8f05eb943c72a0d72ea9858e9ec6effacf54ee
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00315.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00316.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00316.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5b7ddec12367473d2b00eb446f54ab3f6b451111
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00316.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00317.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00317.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..addb5939a7060b49534078fdfab7bf61288fa6a6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00317.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00318.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00318.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7353d069af5146baf66a8c7aa6f8ba71081ad2e2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00318.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00319.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00319.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..76cbaf8327b791068526db690348b44fbe47c9ed
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00319.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00320.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00320.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f1899642691733c8fd907736c13c5e766b3d6354
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00320.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00322.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00322.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..807a23fd0b8d2e2465d3d2881bee0f809b52c8db
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00322.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00323.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00323.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cd0620e6897b20a172015240bf879c6449ba5d5a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00323.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00324.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00324.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..aa7b768aff01480194a70787b78e8db36ceeaf95
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00324.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00325.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00325.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..807eabc8481991cd355c50c72670ad996cd9d052
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00325.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00326.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00326.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..787a015daf1c35a260acc979b878d8ead87eb1c2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00326.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00327.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00327.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..892b0aa2412c21d26af663ba93ba03da18b8a5e7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00327.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00328.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00328.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0d3a57ab365bd93e1534931dd265a25de1c077f5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00328.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00329.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00329.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1fbc72a686262b395daee81239ece68f7f53b926
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00329.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00330.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00330.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..94d3b013dc3ace3fd7f899d33e90b829ed1fe3c5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00330.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00332.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00332.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e672f12396737594923bdc4e8e9a6321fb4b24db
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00332.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00333.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00333.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5d27dccbeaf7b702b3bc3b843a0ba2968592787f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00333.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00334.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00334.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..be6cc307adafde64f1608dba9c925514fe397c51
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00334.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00335.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00335.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6cd728551658c0887ea546adf7059c318a06c0ff
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00335.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00336.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00336.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fdde1c612bc926ff02eb67c8f87bd25917a1ac6c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00336.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00337.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00337.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..931f49e54f6c606bf833613ad5e5a28123fede1e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00337.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00338.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00338.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..85b54c4d54b6884da16301a89dccf5ca902c3057
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00338.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00339.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00339.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b201467c5b5cdd79e1fbc65e737bc3b9ba7a5171
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00339.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00340.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00340.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9cada01dabc9a7fa24454567b59c01e0ea15d373
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00340.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00342.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00342.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c20101bfcfae9d2048df8924dd162a20adad25c4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00342.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00343.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00343.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ef286a61087ea45b0804a796e02e49f83e8e6560
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00343.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00344.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00344.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fdcdd6c74f99fb5234a13eed1d8653cf9f6959d0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00344.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00345.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00345.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ac10461d39df1b872291e42576c7e1bfc5f1ea3d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00345.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00346.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00346.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7ac83614325038e9336bfcf92ae2fecf10176cb7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00346.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00347.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00347.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..18a8974404bfcb3692bf1a17ae1df10d5fc23f16
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00347.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00348.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00348.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..76e9e3958916d85e2e3fd2bf43c6e450b154bf12
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00348.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00349.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00349.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..053126f4f5971f5eb0ce89190726f02e2ef2cd55
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00349.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00350.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00350.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b6c0bc1f87f9dcaacfba12e63a47ebd222562342
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00350.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00352.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00352.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..06f75b46a4194830feef29359dc9575a296b3ae4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00352.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00353.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00353.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..45b092f47cf5cb4d2e99bf37e4f5e4cc7402a13f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00353.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00354.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00354.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a653e795c33bfd9329688da11802cfacc7eea34d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00354.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00355.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00355.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0891bd5d43d07c8b3c15af0ba2985b0b9259688c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00355.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00356.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00356.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..210c04f95b151e5fde76b2b1fd3c1245c7bc4768
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00356.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00357.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00357.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..91a8c9ff514b5995469a859d93a21970d8487ab6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00357.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00358.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00358.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f098ddb10119276f761b1763dcdf1a8b79a3248d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00358.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00359.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00359.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f66e1323638235f611093f69f5e474a13a3264f3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00359.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00360.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00360.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6bfbd984134c7d710f13b662d723dd41a85320f2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00360.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00362.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00362.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..71f69318156853450e78c93d1de34db821ddb899
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00362.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00363.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00363.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6afe4a9bab97e45276a17b656f919e5aa17e01bd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00363.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00364.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00364.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c8cc8360d4d59a05711a7712006bf82f10c1dbd0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00364.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00365.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00365.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5e7c198d079b66f206da3913ab8837af7a2cfa5c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00365.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00366.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00366.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..efdf8d2fdce8a83480a57a9b715a0a66e49d2656
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00366.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00367.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00367.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..67e5a714a3df6fca2f42cc97799d92902e6acd0e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00367.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00368.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00368.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..de47d80e0bad865b7cff4bc6568993868c85c5dd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00368.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00369.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00369.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6c4a05d560e46131e442d247b3caca265ba5f3fa
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00369.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00370.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00370.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7f7e5207d48520e35f853dbfc35fc29dd6f5bb3d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00370.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00372.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00372.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9b4d9187b48a5d1e1f230d7a7a431532a8237042
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00372.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00373.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00373.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3743e2a2a34b83e9c05ddd3a96a706bc098feba1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00373.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00374.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00374.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d425a66e92bba45408c595dc35837aa7bcf012c3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00374.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00375.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00375.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..27d30c25b25bad65ca0ec7cd6f24f18bbfdd42e1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00375.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00376.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00376.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..855bf8e5a8b9ce76daa577287d4b15e0adf93e23
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00376.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00377.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00377.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d2056d36c28d189c437e771bc4bb9a74a58a5bb7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00377.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00378.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00378.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..36ae83fe980140a10ba1eeb200d0c23ffe3342eb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00378.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00379.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00379.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e93c97ef9e4a836f26ad380d040b5cd3adb11c10
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00379.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00380.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00380.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fb737c29b56407638efa41bf3194247a4a58199a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00380.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00382.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00382.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..603acf5ff299045618376470ce76d4296c56080b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00382.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00383.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00383.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6c719b4639e558f5ff7d0f75ccfab271c7d42f00
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00383.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00384.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00384.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5c34723c7d15dec63ff70da90077716f8eb10eb3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00384.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00385.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00385.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..49de3bf60ff192c9f85f091bc12041a29993783e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00385.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00386.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00386.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2a577190e803fc8310a95b54f2787e409a563a34
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00386.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00387.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00387.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..78a8d6ac1b201561fc45f23f1649a9880a874214
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00387.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00388.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00388.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d7ba3c16485b5ec1f6b3cb49b821ea2ca363a09b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00388.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00389.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00389.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b0d53175c385645fb295e8f3995f403f343259cc
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00389.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00390.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00390.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3500316badfa228bb8c6f0b13604269796e4454b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00390.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00392.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00392.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..99dd7086fa6e7148be2cab390be05035c9ad3aec
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00392.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00393.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00393.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a211f894632c4d912cb51ad5fd75d9131c4d620c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00393.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00394.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00394.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c9e13f7586f86172c8acd4ab415e395ae3bb1922
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00394.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00395.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00395.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bcc416f61044f699be49f3435fe71fe4e96a17bc
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00395.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00396.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00396.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..feaf6f7476043625919442043f6d2d48b650ff6e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00396.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00397.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00397.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f9d01a0e3a12dde9c0c8b5ab711b079d60a600ca
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00397.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00398.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00398.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e73d10b2b95b87125893b7edb6cb246bcbd7b141
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00398.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00399.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00399.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3305b7c3643894d24ba1806f50ebd7ff49bb834d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00399.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00400.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00400.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3de558e168ab530ec10f18a2b61c9997daf30447
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00400.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00402.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00402.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..63e76f3ea916fc50ebe1ce0b378432c8100b927e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00402.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00403.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00403.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4e4aca68149fb7d865bc0c84c91f0e6b47361449
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00403.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00404.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00404.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..230fe754a577775739e5618b3e3240de807ba46c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00404.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00405.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00405.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cb8cb4fe13558d9f6f49e98f41b0f231b6b2236c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00405.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00406.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00406.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..803ab19f40a7a3c682a9a510a6513c7164ba7e64
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00406.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00407.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00407.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..343261ae430cf9363a29c5a3fa14e30c1049c35e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00407.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00408.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00408.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..df9256bf8b5676d81ff6356d113eb216c786998c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00408.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00409.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00409.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..abb773472738fe9e5be827156f82d237c87edbcc
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00409.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00410.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00410.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c4318e9a1fc004bb8ae433b2606497de780dc7fd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00410.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00412.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00412.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f33aab705fab6de45d7cc6cf4aa996e2af3c093c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00412.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00413.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00413.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9d73c083406ec89ad3eccb4383814ef53fe30fec
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00413.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00414.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00414.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2db1350920163a74057c52c246e6fec26251c445
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00414.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00415.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00415.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..540f29efc9e8a593fbe28b49ab0c0b0b9b60e11f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00415.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00416.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00416.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0e11de4828f8302c73f60537da8dbbabd590151a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00416.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00417.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00417.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b37651d1a3607460ad7ed7ebdde6e8f89509028a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00417.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00418.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00418.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..857deec3a8c06d8d138dbea69281c8d1fd250b2d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00418.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00419.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00419.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..15cdefa53de90800513c83353751fc03f734a0b7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00419.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00420.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00420.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0a0b06552c9ed6fc6542dc557d61576840c42fce
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00420.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00422.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00422.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..896fd731d1fa56d3fedfe382117bb952bf07269d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00422.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00423.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00423.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e7ef7daf86eba5b9e0f7868588810825a6ab67e7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00423.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00424.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00424.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b550fd91a7ecc19f7a8c65fd101c98b9f89bc2da
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00424.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00425.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00425.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cb0e47cc94858082c2329fd030e63ac5318f7764
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00425.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00426.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00426.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..65c3451b890281c6f749d9b1fcc574f64e5b194e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00426.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00427.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00427.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..53fde2a50a567fcfbc0a7a8752a815b9ccc89e04
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00427.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00428.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00428.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..65da8a5412525d32643ec02779bd3fb195aedea2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00428.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00429.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00429.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5de87ec3745a0cde769ce0d676fe4d5f1d59331e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00429.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00430.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00430.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3f9776fe5dcadb633fd9496357f5090108547da6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00430.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00432.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00432.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..20e69935e4489f32f6cd14d277005a4b14681cf6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00432.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00433.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00433.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1a34ad142b27983c0d33e861b85670f0486e802e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00433.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00434.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00434.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..51f2fa78f7babe624aaec5dd3f9fb796e23a16b3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00434.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00435.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00435.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..558f487db6b2cb180200c425d537d72ccbd061f0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00435.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00436.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00436.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f2e19d749f187dcc2f23adc334aece41fcb564f9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00436.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00437.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00437.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cb4f1b49f778cd05ea7f9cf368e544ad7fcd2edd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00437.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00438.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00438.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d9899cb49a194ae6b3e7fe4f95c28970fc3f7b39
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00438.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00439.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00439.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f430e65073508c9d57a9c7f85b9e77534ccf3ea1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00439.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00440.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00440.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1714c0a2417b31b2dee1758556bfe25273aec22b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00440.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00442.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00442.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..43b496e4f3df465d6a64926b5f2a874e3444c5b1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00442.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00443.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00443.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c0ba3812c6ddf3025aa3a57ae0c3bd2a428a2be0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00443.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00444.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00444.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..24d64e3a4a0e15d0b79023b3ee4361b525b1e7c3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00444.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00445.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00445.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f4df41f5e1d3be03e4c90afd1416360457664dba
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00445.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00446.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00446.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..268ced6d0ba471f011f94c513756d2024004531a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00446.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00447.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00447.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b8daf081639a529c86eeecc83bdd69c38e8e7a6b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00447.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00448.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00448.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4c8fd40c3fc498f7c1db0ed7ea29a0f57a547330
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00448.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00449.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00449.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f136fddbd96da7c7ee74b18fa584edf260ce746d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00449.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00450.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00450.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2bcf40782089d371060709db45318b619a87b9d3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00450.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00452.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00452.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d66cd107c14b44a04b0cf30adf34436a8a89198a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00452.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00453.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00453.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1cda8f756b7f7b41c4ac4e662e261f5aa17bd831
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00453.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00454.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00454.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e173a9b25889c3df59525f85fa47527730cab5c1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00454.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00455.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00455.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..193954b7050f347443e97035bff8a9b47e01bed5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00455.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00456.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00456.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..84efd5490808ed1977bc7c3d12899c8791cbc716
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00456.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00457.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00457.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e8d1c63cc3c9a6c7dc6294856c61ba1a99eb2c60
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00457.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00458.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00458.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4d00bf2574611e76f0ac981afdb28a23c8c15f49
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00458.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00459.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00459.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..970ff2c93b6a90e58741f4324e26f9d4ebc1308b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00459.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00460.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00460.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..35c8f10d5d2a2b6eeebf37bacc5b9b866149183b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00460.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00462.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00462.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2d252a92950aa40fac0436ea0ba6c2b6f9347021
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00462.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00463.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00463.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5350cc8c5c79eeedef0ab357c65aab4d1130f34f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00463.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00464.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00464.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..489cea77cf09a8ccf3c827c121b92cb20f2f3658
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00464.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00465.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00465.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..57bbf72b39b1daa17f97dfb3d86f5c63eff55e73
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00465.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00466.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00466.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0b9ab46f72177bb3a731e5a17f23ddf17c36fb0a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00466.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00468.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00468.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cf56d564b0382ecb49e3c9a16a6033b842057025
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00468.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00469.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00469.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ccd72bb8b836ebc388c253eebba757d7776b6d68
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00469.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00470.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00470.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3b628570ba702b9cf9e6ae9da818fd3ecc5e69ce
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00470.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00472.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00472.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cf0c21955bad0cf38304d321ae6b8e63d8a6fcdf
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00472.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00473.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00473.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2be0fcafa8433ae01a01f0475a65aae7f554094b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00473.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00474.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00474.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3d0aacbae294ca812b8a151b119e43fcd660ed9f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00474.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00475.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00475.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6e5e14076871ab833357f2a0074a14b3831d8e9e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00475.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00476.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00476.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3769af9640c4bc487038562b5cbbdbe065c3fc3b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00476.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00477.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00477.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fea5e160f6a47a9af194ddec00383154c9c755e1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00477.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00478.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00478.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3d2fc3b8d1f43d4e265fa624f526f6dd208c24c9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00478.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00479.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00479.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2642d7927e446cfb85de43acaa5821507e88b0c9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00479.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00480.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00480.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..82cdadd0f807bfd1b7971ecff7cdda4ebdbcf035
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00480.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00482.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00482.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..14fffcc918d2744809cc493831e518f5e82fd4ba
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00482.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00483.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00483.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0dd82607b74fbc5dad2686e47aadaf433519ab44
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00483.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00485.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00485.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..82edbf84490795afe069307ea16349b96ef1ee7d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00485.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00486.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00486.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..54a53cba0f850c7fc201942a47bddc562df57377
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00486.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00487.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00487.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c5e5b48f11c4421af3495750b5cebb9dc6147fbe
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00487.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00488.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00488.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d3da342a57d4ee68ba806dd6dcbdb9c24084fe2c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00488.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00489.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00489.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f398dbfd3b474e9d49b7e2f12a4381313d75c747
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00489.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00490.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00490.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2efc4cc65438abec075f3740e1cdc2bb7d5e57c0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00490.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00492.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00492.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8dae84aee37f6dcf35ce7c2b500ad9a2b1a6f731
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00492.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00493.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00493.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2390193512f12fef59647c0968d76d0ad2d28457
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00493.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00494.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00494.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cb884fe532a647dc47866bd9fa2a9ff10cb1dc66
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00494.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00495.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00495.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0c832c59514dd6b4a526d01ab0a40aeba1fda9b9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00495.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00496.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00496.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..378772be4102c88c423737fb11edebd967aae9f7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00496.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00497.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00497.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..aa29a45b2544d5ea66ea0758ede11d5f992d6204
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00497.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00498.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00498.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..94d68755e10bc808a99f0eec99a7120bdf3fc859
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00498.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00499.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00499.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e76fab8a2d9cece1b1b1524a3ab79ba98dc75a7c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00499.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00502.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00502.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7720849e8aa1f25c909d7b59473fa247bc267be0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00502.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00503.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00503.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..10208c7c67b5eb375c830909862357e845204edf
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00503.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00504.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00504.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..023973115060a48fb1f9f616e2acecd9888d0f1d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00504.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00505.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00505.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d98b2d119583f5edbd529ab9b62a8728d560092d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00505.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00506.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00506.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..511d87c46d3d39b4f701533e05b359223032f6b0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00506.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00507.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00507.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..54d4168b4c94ad80265df551bab0d24756bb9e4c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00507.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00508.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00508.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a086394e5da1f2f7052df9046d7f61b44c892fd5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00508.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00509.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00509.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d0287d0f0102fa225b917b8a4a1c6e8e5f4669aa
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00509.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00510.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00510.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9537cebea079eba7bd64f4eb7350cf75f537dd5b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00510.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00512.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00512.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..679780a11e5dc11236c477c0d43d82007c29440e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00512.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00513.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00513.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..92e60ca8102531ab7ab907508541e2e936715864
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00513.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00514.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00514.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9c58058319672b38d3795f94a278e07124be3c63
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00514.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00515.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00515.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b5d567c5549ad8d2d2b3b91a8c0c07498985ff3e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00515.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00516.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00516.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5712b9afecccb64345ee86a4b533ae680ca69bed
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00516.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00518.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00518.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..de66a41fe45293cbe5426e84bb3ed2d494b4b4e8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00518.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00519.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00519.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..94bf8b7984282873535a6f56b1a102b9be86fc3f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00519.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00520.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00520.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..177aa34c78838df5685283203a3d94f0fcaaf8dd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00520.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00522.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00522.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..48832dc647258419c1922a5eb1232b569fcd3ff5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00522.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00523.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00523.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f025c802d4051af2a683179cc4d80a4beb79d12a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00523.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00524.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00524.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9ac6bb3bfab009fe85a72e4615aff8ce943af9e6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00524.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00525.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00525.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4e2efe55ac1c9eec987c613662baea1de62cba78
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00525.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00526.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00526.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1cacc8af275f8fbb2d7a612b1d51d54c18260b13
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00526.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00527.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00527.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b2f7c7fa1864993e669ff02023b13778d2adc2c9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00527.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00528.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00528.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5c9a8cb4d876e6ff817c3cbecf351b88ec446dac
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00528.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00529.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00529.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8c66ce340a6ceee2f4715db75fd3ec12b618a2e3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00529.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00530.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00530.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d1065401e3a7c384954034ee41c097202bf98b1f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00530.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00532.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00532.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8575b5453a1f9df1811ee9964d052092fa5ab412
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00532.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00533.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00533.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..930fbea5fb445eb80797916b392354263ba11668
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00533.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00535.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00535.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1c21589d4147128499bfd9b7970531780accb62b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00535.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00536.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00536.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bf683bd55b4054b8441ad3270b2a2f9a3b5ab1e9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00536.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00537.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00537.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..beae9596cef0e7dd4db25234f663a8d85dcded86
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00537.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00538.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00538.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..064e3c8d3b41236150af7766d5d4a6c16eacf387
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00538.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00539.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00539.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..59d9ebd761f598b4799c8c32ef24e59efe5440d7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00539.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00540.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00540.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bb5109e8c9d0c7130fdf014c6716d8fc3099af87
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00540.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00542.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00542.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..18ac3f7b205091a631a596b83361ef420a05adf0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00542.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00543.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00543.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..658608493fa78bf2734ab68e97ec39e9827eaeb4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00543.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00544.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00544.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..95642f08677e8e93accfe53731eddae366885c9d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00544.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00545.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00545.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d876d8de59ed13ea45ac22049f6feadc3777ad16
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00545.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00546.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00546.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ce129b4d4b0e5f7c982cc8ed768c348b61b0c854
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00546.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00547.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00547.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..75641d6f7f89f3bf0ffed23af08805a54656ec0b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00547.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00548.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00548.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5e19bcaffbeb4794013209317362f30cdd24db7a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00548.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00549.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00549.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cbd832406e0bf023278ed8f53ffdb7c9450600e6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00549.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00552.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00552.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..21e60be2c4a3c3fd6637d06519f611cf16b3a811
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00552.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00553.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00553.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..155ba13d2a74ce0dac6ad493a50062ff02c8b303
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00553.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00554.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00554.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bd1c6be87d7ffd7f9fda1f946f2c755a5430a821
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00554.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00555.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00555.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..360f1334767b0949b9a15ca8378e03775069b174
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00555.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00556.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00556.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..61cdbd27be3b30b4e061bdecc4e4b1ffab8820b7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00556.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00557.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00557.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e7be74d82ba7dfebfcc7536293bc004db484710f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00557.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00558.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00558.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ed2d31b9bf0ce41b98dde176dfa0b48dac83c80c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00558.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00559.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00559.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..af03561aec1158b96a609ced32e510b4857b2de0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00559.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00560.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00560.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..066592c82c04a52ccc7d5301a5f3fae804705071
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00560.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00562.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00562.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..49225bd728f5cbde7a8ce184da81167c40ae2d8a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00562.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00563.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00563.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f441868e5975efc4d89ffd1d754089f51d09c439
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00563.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00564.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00564.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..166dcc4ae892c6938e21230971222817be0607d4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00564.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00565.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00565.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6cb1fc61fc96364fe16359478f50d69d46444704
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00565.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00566.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00566.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..da3a15fb9c2ed9f7536cfc7c044602acd1fcaf9e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00566.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00568.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00568.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..606c4914da56d2fc4f1ff3350966f65d12534375
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00568.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00569.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00569.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d4be6b57da5e872dba67b62dd31f118a614b63ff
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00569.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00570.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00570.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..36110f2d539ed39e775d05355a99d2a27d5918ac
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00570.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00572.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00572.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a2d9b8683053998d04001cb26b04b05a926e1b45
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00572.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00573.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00573.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..63fe36ae473e6fc6be79bd60d563281f565136ed
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00573.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00574.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00574.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bca1d1662123b5388696f25618e602344092f881
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00574.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00575.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00575.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a0e72c21429fbb2e86c21022aac8ab67053f4b6f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00575.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00576.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00576.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7fb9cf68b99b8bc2bc95906518b39cbabce6fa7e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00576.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00577.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00577.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f94ef3f3d42e8867b46d9114ef1e0894a534f210
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00577.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00578.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00578.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ad95d4e8605b92c6b58a118a5369f50a6e0a5827
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00578.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00579.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00579.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b024c360f45d39519cce68e08c39181f372c20b8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00579.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00580.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00580.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..76d4c59a95d06c38cd823e28c66863684be72e01
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00580.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00582.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00582.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cd8e3895001cebb18b9622b3ffba9785a529be1d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00582.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00583.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00583.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9b14f11e8b361b3dc960aa944173cfadfcd668fe
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00583.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00585.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00585.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..85bb094be1aa8cb6167656469bdc4236a7b5a98e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00585.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00586.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00586.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c32d5af6d4b2141cd6eaf86eec423529b1fd2383
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00586.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00587.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00587.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f35eec94286e35f28edb391bbcf0670bb327e6e4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00587.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00588.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00588.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0d46e2f5e829704e48d171866cb3c130482aade4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00588.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00589.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00589.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c3d6e17fa05c0dc8b97accd0ce0104333141e8a5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00589.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00590.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00590.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4f77ee777f8a9906b8e7aa9f9f8bffede13f1cae
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00590.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00592.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00592.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b57cee3f849c45c6b15e03004b5f93c0c2cfec73
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00592.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00593.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00593.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..32fbe891ddad6adcee121269a9e9ecccf70902ff
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00593.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00594.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00594.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d4842ace75bd05ab23cc567aecfd96babe801a7d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00594.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00595.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00595.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c3fcc23aceae68254d445e3f6b95ae4bdd42d9ea
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00595.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00596.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00596.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b4f60b31ed52cd15aff1dd8ab79a24ae5c8b4de9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00596.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00597.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00597.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d47a30e5464ad415a58b00fe3df471add6b347a5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00597.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00598.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00598.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..adf57271a0389d7f7a70a92d2b372ec3a58abd6d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00598.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00599.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00599.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ff09b16af1e1d428b4c3d7094ed766ff8d5222aa
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00599.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00602.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00602.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7519c9b90eae873bab801579ad3e15effa814bc9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00602.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00603.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00603.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0da56f2c19ebf1a89ef78ca8eac61b196162d536
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00603.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00604.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00604.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..70907ffe26d917099b11f6293a1bb37494cfe1a0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00604.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00605.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00605.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..aa4d54b6b3a162976c437c1c4f19ede03da4c162
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00605.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00606.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00606.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..437af5dac578dff56af64e27733a2660cb96c670
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00606.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00607.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00607.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e7b011274c781e85b04a1ec2286be88fcaf6346d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00607.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00608.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00608.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..67ed5f17e8e1f198402b15f5f84eea4f462bec85
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00608.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00609.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00609.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..75cd0524a664c32ae5c52ba2ea0101a279f44271
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00609.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00610.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00610.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8081497283c46a6eebbefd86096499b76281bfc5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00610.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00612.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00612.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9db5f7ed6df7141cb6bf0ff4265a4daa0cf6cb20
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00612.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00613.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00613.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6cf96c2b798da55afe85053e1da9b7feddbaf25c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00613.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00614.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00614.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..854f0a980ae11486123c8573d797f51c88ccc1b4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00614.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00615.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00615.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ff2141bc60ee920705c35f98a6d4374c61f85fe2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00615.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00616.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00616.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..54a3bffa2370d279178a790231896b51dbeaa3c4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00616.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00618.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00618.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e1c7e454327344d2c789dda6a6ab5ef3c0c36df6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00618.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00619.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00619.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..de8cea0ee969efb0c7cb2fc225b06fdc17008ce1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00619.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00620.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00620.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f104facc0bc225576fb92a991c51714a2202d466
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00620.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00622.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00622.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d346f8786ffeefe44a3ccd40675611260032041d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00622.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00623.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00623.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..afef39ff3e0454bc20f73bf51cb04d2dbaa22b77
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00623.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00624.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00624.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2907161a270c5570a102d0a70b2d4d8c3ab51642
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00624.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00625.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00625.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9fc7d57bf6e72da3b0c96f7d48b0088932a790cd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00625.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00626.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00626.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..34a9c7ed3861281ab4795fb7ccd282fe13eadfaf
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00626.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00627.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00627.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..504df9d7435de4446f1f2f463bef02290c62debe
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00627.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00628.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00628.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a75e428966f5aae8dadc66fd797b337852a72d10
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00628.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00629.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00629.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2d4b1a1384a7f941d3bf4db3a449718978c5896a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00629.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00630.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00630.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..efa428a5e3533806a071278972d7b9eaf63e600d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00630.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00632.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00632.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7d9796cbbcb764b462fba88d6644c7203cdfbb8a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00632.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00633.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00633.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0439a51affce4629cb8fa83aa62df81f03995037
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00633.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00635.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00635.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9e6d194df8b1e7dca0fe929243659eeb1b0c71a8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00635.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00636.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00636.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ba9e61c285c90fc40b3a2d09283901572cbb8210
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00636.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00637.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00637.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..657d13400f944dd28bebd519f21149b94af4970b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00637.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00638.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00638.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4299ed20497b4e09e3b2aed95bba2ea021dad40a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00638.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00639.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00639.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a9b2134cd69507d91aa549b20e2aac276b6b39bb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00639.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00640.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00640.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..be9795d14a95c18c60a5e78a61611f4b8b101bf9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00640.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00642.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00642.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a2150ca3b7029f53c7f92fa17533b9523c3ac162
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00642.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00643.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00643.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..df7d6de9c00f67de816e2df6012bc5d607d8559c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00643.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00644.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00644.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..26073193f7a20f825dc954c07e5f31fe6c777e30
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00644.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00645.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00645.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7a3c71ef2934a94b6b4f78986c57823b47d74384
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00645.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00646.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00646.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0f1562d1a884706f564d27dc3df253cf36fd16b0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00646.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00647.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00647.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2b565b0c7800c0e85d0150c9ab342d1b64d7d6d2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00647.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00648.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00648.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d18ad68e87f7788864a900411fafa8d6fc2a71a0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00648.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00649.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00649.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7bfc3d923bc4df4cacaeed0e4123677d38616022
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00649.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00652.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00652.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9c757dac02dbefca15d65ffb50bb2e2cc0265cdc
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00652.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00653.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00653.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..34aa8d2e3349b09394b8dba5ebd65abe54933de7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00653.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00654.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00654.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0af96ff3faff545dbf4071dbbab2cc85e59cff43
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00654.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00655.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00655.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..21955c6daba089fa58420683dfdfc0932b96b96e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00655.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00656.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00656.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5e8bbeee71d8f7a34215b2e93309ce985bfcc913
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00656.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00657.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00657.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c2748925ee8dd5c7f15ff2639f70eb1796405f2a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00657.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00658.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00658.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2b039c54156e82005afa1a22d706d0a389793742
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00658.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00659.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00659.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..20682cace7a60fdbae67830d16a0d70a41345e0f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00659.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00660.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00660.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bf073ec25032e204688eedd5da32257b1232b8fb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00660.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00662.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00662.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ce96f6f24ca2593cd040fb3e35092ee1efe077dd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00662.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00663.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00663.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4a575e6c62f6f4c45856dfbc568a0b6aeec155ee
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00663.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00664.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00664.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e3f37ddde06dd049d1d78bc0d800b1b0ba88501a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00664.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00665.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00665.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0c8208077e1d6c9ff5629f5f1b4cf347dc9e1c66
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00665.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00666.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00666.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9746fe1bd7ba7b4062de837b2c15900464215bcb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00666.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00668.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00668.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..27a9ac6fb20b70d01ba84f845994a6300012c5bd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00668.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00669.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00669.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ac31450deb041a87617551b01836c6b180037527
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00669.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00670.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00670.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..00550904dcd30d54f5006ffaf22553843fad0ed9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00670.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00672.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00672.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..48d4c635615501bd3f9c672221996405b3f001ef
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00672.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00673.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00673.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b21b8736478b033027ee287364ba13853ecbc47d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00673.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00674.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00674.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ed16b21307915cbe6c5d13a7934c95023a3743c4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00674.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00675.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00675.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d8ef0ce47dfbb20eaaa53796be92b6c2f10c08aa
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00675.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00676.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00676.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..addfc9ae8fce47829e420c1472a2b681f70159e5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00676.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00677.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00677.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0429d46a3184cd7cbb8a47e51188fa74e75314f1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00677.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00678.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00678.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8f66ed1fad2a3422065da6c752b0462a04cd23ad
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00678.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00679.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00679.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..07eb74ab10e8f6164f432e3f480b8ad641e5c05a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00679.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00680.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00680.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e7f58dd0cc342a9417f73e17e8c465e8efe5b536
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00680.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00682.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00682.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a5e4bc1acd83ab528024a8cc4038269cad708c94
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00682.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00683.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00683.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fd7273baafdd3bb0b438f47450dc11bcc5a7f774
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00683.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00685.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00685.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4c8bf481bc346236d459c6fcac7efef8c85e407d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00685.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00686.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00686.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..95bbdb306e23376b915cd6a25b1ef14bdb8c2ae4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00686.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00687.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00687.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..29a9c15727405af2a13596595a98e712b71c1184
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00687.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00688.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00688.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ceeb8dd3bfcf88fd9975c7fd886d812259cbf148
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00688.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00689.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00689.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..da57e553cd58c84bdeb75e02ebbff16b4683fc23
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00689.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00690.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00690.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..439bd4c5777391b424115d189e7a00c7363cbd80
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00690.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00692.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00692.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bc112b865ef464b090d1ac5c085d6042e08a7255
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00692.pcd differ