diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00234.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00234.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..aafd03397276d80c082b190511387eb6ca56e99c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00234.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00467.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00467.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..68cda88bec4f7314e0b95a528c1a7b1e37e9413b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00467.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00484.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00484.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8bed44afc8cbaebb0ad7594c7cd7e32e2e3095bc
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00484.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00500.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00500.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..76818aaec4d8f79539bf19dbfd16c8621fd7a55f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00500.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00517.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00517.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fcd4a702ca37d872a68bf85e0e90ea9d814313d6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00517.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00534.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00534.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b17e6e70382ad62e7d6ded64e5b090898ee27045
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00534.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00550.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00550.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f5376ef14fc68507ff9473880a00843ae4c3c1f4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00550.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00567.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00567.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..94038bb42f55b2e79c4414d688671739bfef1ea1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00567.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00584.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00584.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b08f91fc2dc3e9f9201f0ec4bffeed7595ce5db3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00584.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00600.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00600.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..21cce99663d6f45b0592641a5cc7b13f508afe38
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00600.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00617.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00617.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ea3afadc88c9e3ba80b7bbb299e5cd6b0bf4a5db
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00617.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00634.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00634.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6722be8a17de04f45166d255f6869bf46c673263
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00634.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00650.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00650.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1781d99571709c846e344db59c1ca5ffd8dc9b50
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00650.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00667.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00667.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bae0ada36d9c0a17c454a46fe8f31b26a2b0c11e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00667.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00684.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00684.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1a138696ad76e4dba6f61b5747b9559e473c39cd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00684.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00693.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00693.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0698aacc34b500ef4e84db9732cf36086eae5ab3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00693.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00694.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00694.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fd74dc23045fc4c8a10e96344e1df381349c049b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00694.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00695.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00695.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d43321741a2312a524e27c0a6f02dc7790f7ad3c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00695.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00696.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00696.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..edcbfadcf8a851075305491fdf086fc42ad4fd23
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00696.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00697.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00697.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..afd15dc81e11f2c637953459799429dc81bb4182
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00697.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00698.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00698.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ee716e5ea6aaf42428dd97bef729801ce2b7d602
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00698.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00699.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00699.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..775831fd1f238f4ab2b8ab29a148cc1c0cfad665
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00699.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00700.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00700.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c1683e53f53fbd853788e1b2f15b740eac3cbe11
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00700.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00702.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00702.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2c9d60542c72beb3139f28905b708deb023f9fb9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00702.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00703.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00703.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cdfb87ed6f0712cecfc00cccf30ca472fb17f132
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00703.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00704.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00704.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..23602a39e3f38dda23bc88f2e9a40e5271b283f3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00704.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00705.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00705.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9c1d8099d77dbad4dedeba2535043dd6f810e022
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00705.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00706.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00706.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ac817a69845ad6e43e53083e81e4f235e0bb8d00
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00706.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00707.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00707.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4bd59c9a89ab74dcfc19b919653fe0e9e733fa79
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00707.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00708.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00708.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5ece55a278b4361bac55e66a6d6aec4a384b1d10
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00708.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00709.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00709.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9a449710a784f989c3e8ceaa93b5c2445c8b30ec
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00709.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00710.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00710.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3a81d68521667c21d4fbe92c457d13ba96f1ce39
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00710.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00712.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00712.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..58d6007883a60843e9b74fc25710d20f7e5e3785
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00712.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00713.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00713.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8a0eaf22d1a0f4121db1d95ea28a833410a19737
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00713.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00714.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00714.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7be62b7fc8c7c59d8f9a7a6d9549dca56e313e8d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00714.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00715.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00715.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..50b7a9c7e7032093af6cdcfbf7808a89401ab32a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00715.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00716.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00716.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e60b7f2f2cab854a3b45ad024559e1e55322f169
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00716.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00717.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00717.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d66674505ca5189578e549fc810c8ae275e9bbb7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00717.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00718.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00718.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b22836493a79ad2fdb92c2da711eeaa7eee29f2f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00718.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00719.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00719.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6ca4f456b04c93c5a712818e6b499190ba45ae6b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00719.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00720.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00720.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..23b8692d1ff76e05894f2a24b458c3cf4404ac82
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00720.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00722.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00722.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f1a74ef6ee069968ad884eab1902f673a003620d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00722.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00723.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00723.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..167e5217f1386b1e4e7a99ed9309f504163933b2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00723.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00724.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00724.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8f3ca19b6e984764092db790525577ee8fb74ed0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00724.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00725.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00725.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..822964f5c02fbbffc549c2661422158e61462db8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00725.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00726.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00726.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7b5814b42403730f49994f3b5bf9a8a3a4e3add9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00726.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00727.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00727.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3ec74779f6da422028ce44b7ae73c87de9dfe772
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00727.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00728.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00728.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5424f21f349145547b4179ab48c2ba0d11da43e7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00728.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00729.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00729.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..965408e31c4aa2f28da180c515c80213435afbbb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00729.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00730.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00730.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..295bbeefae296cd1cc03bf7266b098214c89f567
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00730.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00732.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00732.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..51d279dbb59f1706e190706e04878446db26b2b7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00732.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00733.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00733.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b7da12f7d5c1a0995fca85df23c0e6c171438782
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00733.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00734.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00734.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9e1a2312f88bca95d0277319a2a1b59a085b135a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00734.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00735.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00735.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d2ee0af8ae79a9c919b19d356fbf438d0484f384
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00735.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00736.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00736.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..faeee8b2d416d57d9e1ac82733903876d8617b01
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00736.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00737.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00737.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4fab0f49cda925958a87a281bfd1b4d4dce3ca09
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00737.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00738.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00738.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cf78916a92c402761f01019ae17c7458111ba889
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00738.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00739.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00739.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c073e69120778f892e3c279bd0289dbe3fd9f618
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00739.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00740.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00740.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6984a4c639517694f9076a2030b3e5b7a528aa63
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00740.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00742.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00742.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ede18277addda9c36a25fee300c75aad7d6f464b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00742.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00743.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00743.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9cb28a9db0a14eed2ad00fe84e822f39dec1c638
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00743.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00744.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00744.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..142eaba97c28db6421cfe9057402922a10c2b800
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00744.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00745.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00745.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8cd09aa16157d58ef9e35aa06e143b3d0f8924f4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00745.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00746.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00746.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..da94914ea23140a56e3dc32bcfba615802085538
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00746.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00747.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00747.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2ce168f58c3dd4321c7ec972e19cb1338355e7b6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00747.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00748.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00748.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7b2cc1969b2e39dd08eefee806bf85691a4dba5f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00748.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00749.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00749.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fef372e7805a9536f7c6b7df3d31991a0d1ccdbf
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00749.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00750.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00750.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..236eaf0669e1dff27898ca8fd67fe2b63c5c3497
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00750.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00752.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00752.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a39dcba264ae9a66b1ca72eebabe67a792138185
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00752.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00753.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00753.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b43cd1f625e290adefe5484e210c4464612848d0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00753.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00754.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00754.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ecc2972832cc330cd8f0203a60bf57e8bf98abad
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00754.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00755.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00755.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..253881eb471fba6259784717787cff9a6f77b956
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00755.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00756.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00756.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7b81f18b12d2602b876195b8c4854d7243dd41d0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00756.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00757.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00757.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1ad42419a923864e84466a29515ab024cd06ab48
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00757.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00758.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00758.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2a51a9f7b7badf3b41ec6601412a6855dadb52fc
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00758.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00759.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00759.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e138eec40584cc064a8da3a765203bf2ef83fb84
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00759.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00760.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00760.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3b304fe4a9d3fdc98840e7602079d935eb305a53
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00760.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00762.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00762.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..24eef84ec1b57eb75dc2bf0a4c8516bc93b8659f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00762.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00763.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00763.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e4ac9b43d5b109d0966672f4d2fb00748e39240d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00763.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00764.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00764.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..62b43b4c79448b1b44d4b708ece345379cae236f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00764.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00765.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00765.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c93e32b74601d1ac9ad36858af446eca9118671d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00765.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00766.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00766.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b8eace6f2eec87e9af77f5c9bbd656aa8c137b2c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00766.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00767.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00767.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..853e559cdff9baf0ea3c620c44303223ef481417
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00767.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00768.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00768.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6f42fc4ca289b83e96e0495327a7264b6dbe7d3f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00768.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00769.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00769.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3870391bc6cf86056deaa62d5359c41dff89b4d9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00769.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00770.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00770.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..59f1199e3bc50fcae5efaab476e5e3f353c7deae
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00770.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00772.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00772.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fdc6bf6163d401170508a85e37673c23363304be
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00772.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00773.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00773.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bb637f0d54e21842de205e097beffb88e1de1ff1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00773.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00774.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00774.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ea124cab48b64c2868ba0faeb4be6860000cdc91
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00774.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00775.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00775.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6f2db70678e7d9240465c8f7c82bf43e339d041c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00775.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00776.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00776.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..97a6ad5d7d4c174fd0a2495975e7453c6582b973
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00776.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00777.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00777.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d264a32b4f896cc70ce80ee4fc098c60525c8832
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00777.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00778.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00778.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..94c28e01ed8a4f307b5e7e2ac73161af742c7805
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00778.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00779.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00779.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f957ed4d738c28ea0a2012d19f252a1d30990809
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00779.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00780.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00780.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a710327f139bec65f27452e294717c61a4ae9d64
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00780.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00782.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00782.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3b8400289930d57ad8a74da4a936bd42a8a7e082
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00782.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00783.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00783.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0215f6d84ba22bf99ec7c4931c1922f271725075
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00783.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00784.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00784.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5c8fd7de1e9e4a4b0848cd806c96c9e6032c9fa6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00784.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00785.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00785.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..77cf5e307557d46334d340fb56630f06c132341d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00785.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00786.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00786.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9a3f1c850830ef3dcc05fb8f391a9c0eeefab085
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00786.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00787.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00787.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..af1e6b3f031c6217e2782b93098092feed579788
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00787.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00788.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00788.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0b0ba8cfb35c9a5c40e3f9bc55c660cc4f3016ee
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00788.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00789.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00789.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2caec575aea0827ff09348724141bed3153a3f09
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00789.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00790.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00790.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bf0859af36804603bed6933388e58d6c658d87f7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00790.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00792.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00792.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fe3300a9e44d68a74190433efb2ce32278db6e16
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00792.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00793.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00793.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..64082700e4a2186af44b8792f5cd8e35254b46ed
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00793.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00794.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00794.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..50bc3ebbdb5534ad591a6f96945da7ebbf3d56fa
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00794.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00795.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00795.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8e1f78d0d81648c222e7970743af901214d7c116
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00795.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00796.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00796.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f1e7c7d0c445aff46d6df78ed075d1421c0ba85e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00796.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00797.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00797.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9509104b234ae71875290a7994687860c3fceb11
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00797.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00798.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00798.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2ef64a4623f9a171f22f975d8b66665f1eafab67
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00798.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00799.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00799.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..163e1bbab6fbd3af0b58ab32454e6d53af7d70e4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00799.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00800.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00800.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0d1b55953d97efd045e130ce91e1ed35efcfe6d6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00800.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00802.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00802.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f1c0f18c5d6fe7a456196c55aa564117137ca12e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00802.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00803.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00803.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6bc7b678a5c88314f67a26643ea07568aff9bcde
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00803.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00804.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00804.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9295f139587b3876f3ae999fe58f17179a83141b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00804.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00805.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00805.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6934a141cec63d5bbe691f8d65dda8f29e665cba
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00805.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00806.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00806.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e3de92c6151e7f8960df94fc75c11743667865d5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00806.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00807.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00807.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..220a737888c6f377ab413dd369c587fc1b9b9eea
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00807.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00808.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00808.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f43dcf7d0bede1e42bfe113bd672dd396e962753
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00808.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00809.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00809.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e37ba82796c0d7e2690d1286c2938ed4a5b04369
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00809.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00810.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00810.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7fab0d8f46612a06210c67a55048ed58778eeada
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00810.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00812.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00812.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b66d95c5743c9de1f279971dfb9e957b73a8844e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00812.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00813.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00813.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5ad9498780284c3ab655f9d65188fd936c57f8c1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00813.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00814.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00814.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..14045d184b6c9e19ba71164d0a104a971c7360a2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00814.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00815.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00815.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0c038cb032df26a114249028c7fb507b124e9154
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00815.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00816.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00816.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..80008ec3752087ef14817ddd86b5a0c0cacb6167
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00816.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00817.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00817.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..033cba8131e11ab5a2f3ebcb98dfe9a6a79ad414
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00817.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00818.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00818.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3ff7733877899c624aa7d0187ed276ab06fc02b8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00818.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00819.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00819.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8f4331ae1870da9278121c9d410b220177bc9d5f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00819.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00820.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00820.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..794376990672f0573559729bc0bb6ac1042c9f48
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00820.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00822.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00822.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..82c4b7aaaafd68c6d7331358f17eee24b00a074e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00822.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00823.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00823.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7adfafb017581cc2f762a3783d8706cbb9e53ccb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00823.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00824.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00824.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..30a65947952030ea94704ecb7ffbc016608df967
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00824.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00825.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00825.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e2510434e49d904dc27ac281d080ee84f22d5f78
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00825.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00826.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00826.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..33f82577ad40de977a1bb0b6a71db2621a0d9fe2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00826.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00827.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00827.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..797e3c329a19af8a49149f891bde05aa6e6ce756
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00827.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00828.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00828.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8429e98e6ab75bd922f51901477bae12d98d21c2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00828.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00829.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00829.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ce2571917d4b050ae7131ef710cd8cc5bda78c75
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00829.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00830.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00830.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cd3a6828d4157245cdbabab268ce728f02385c7f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00830.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00832.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00832.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4b03c1ce90af5f1e767c48d7b4bff355c7df1ac0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00832.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00833.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00833.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ca9f5e23428ae50494e5a833355a11c5bf77e44b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00833.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00834.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00834.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c023efa1fb4afd9fcbbb5144e33e9bec01a3c711
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00834.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00835.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00835.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..43979a395715e5fefdb842a2642849a7ace4e099
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00835.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00836.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00836.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0c498ddf97103a7f7d668462282032b17ff14324
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00836.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00837.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00837.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a78c02a112f5392c3ca00faad9af213af56c28c7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00837.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00838.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00838.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..111f943088183db8fc6ce2b4562171636f382093
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00838.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00839.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00839.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c6199505a4df2f08b7c0d2233bab30c0fb56840b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00839.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00840.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00840.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..755fd7d73b2a4014b5d87f04aa2f4857d4e2fd69
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00840.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00842.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00842.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..dfd867e5a26a9722b4f0e7629c0bfb53a4d7a1cb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00842.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00843.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00843.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3e2f950efe7b6e9390d317b419f5a901424ca8b7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00843.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00844.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00844.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..077fe9c1594db3aafae7c7fe6cfb382b6e9bdb24
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00844.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00845.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00845.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0d24aaed59fc5a60113fb9817065629f8efc4e4c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00845.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00846.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00846.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8a3f0204480710dae6624bb21ecade0cca7f71d6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00846.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00847.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00847.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..01f2e4dead5b22bfd11ebd39178c6982f7d2235a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00847.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00848.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00848.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a4ba9c410714b3a7c59cad32b79f954713363277
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00848.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00849.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00849.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..58c016cf56b3095483b587eef1a910ccd70ea400
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00849.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00850.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00850.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0b8975c1c99a6b7d72847bcc276ee49bab30b7e0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00850.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00852.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00852.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a5ccfbf882a471cec7494a8d74f7f532ffe52aba
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00852.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00853.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00853.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5eee6d6d117587531fec8bd21e48741e54f5a171
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00853.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00854.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00854.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b826e4e5d6e0a3daafb7f92b594c573ad80535fd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00854.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00855.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00855.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c6bec60bfb797afb31fc4a7474ca12ed44fb819f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00855.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00856.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00856.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ed50e4040814acd406b5c3b4b96184c65fb974d0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00856.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00857.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00857.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..537ed471bfbfb7eefa95874cb5227221687b8fd8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00857.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00858.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00858.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fc878eda547b58d729e4fc093ac40229604299fa
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00858.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00859.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00859.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6bfeed92496d5a42ca27eb6267c4074f14e37fc3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00859.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00860.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00860.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2a4c027fb05991315af622498a7bc85fdf5b5cad
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00860.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00862.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00862.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d48616f169dc1b07b7d3756b72654f321f380c5c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00862.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00863.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00863.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c7e23fd73cacc9370c3eebe4d69a7411b353f227
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00863.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00864.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00864.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..565986909d81ba73a60027c35ccbd77288cf3b28
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00864.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00865.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00865.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c93de3624fc53c2eb62015575f4fad107f7a0c12
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00865.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00866.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00866.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f56753e0eb8578af528f8af6472ee310b1e12fbd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00866.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00867.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00867.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2a665709891856b0742466dc2bb2d7c35d7e0cfa
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00867.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00868.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00868.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..45d2e7c5201d3867ea2b523d7ed25714d3fff323
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00868.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00869.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00869.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e5766004e9f39b5f073df06b5a58b5282e8db413
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00869.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00870.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00870.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bca01681c3519b9638fd9981d037bbf0d69f024a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00870.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00872.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00872.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..df133a297c922df37d99b32c128b87741d5cced8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00872.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00873.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00873.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9823a612f30dd1d067193daad33ef55723b8706c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00873.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00874.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00874.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..648345963d3a3bf841ed15270cace8f2d9c99958
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00874.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00875.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00875.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..38e9eb8133521e39fe7bfad613ab3be3cde06365
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00875.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00876.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00876.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..928c8d6f522dd36f00978f71fe3d9cc78bc62532
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00876.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00877.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00877.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..750a6b2ad0a0a778da45cfd4a16a46528f4da8fe
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00877.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00878.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00878.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..86bf6e9394184e56b84fe6686c7d097ae605e8d8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00878.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00879.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00879.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9c2b462a1f9ff1700579653d8aa0686d8b3141dc
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00879.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00880.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00880.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9270a07a5a9992c7864e837d7aa1a33c309a766e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00880.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00882.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00882.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d8a980736c25054f776d289a11b757aab9fb5356
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00882.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00883.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00883.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d136fe64d67273bc184b5a756d480ae3eb0c0203
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00883.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00884.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00884.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..20bb1fb5c62d139c034a4351891ff2c51275fa41
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00884.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00885.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00885.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e83e130d6397c123d544f2a4f9e2278288bd0445
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00885.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00886.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00886.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..12d35637ede527b5a37d88c1d475c35a74cadf40
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00886.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00887.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00887.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..62268539f77122d20d93a8fb63c194bb9e097927
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00887.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00888.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00888.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0542bd0344af1ad4acf3d9a7febcf7f794508765
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00888.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00889.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00889.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e78a36641be873e2954a68730c1b9ee532ad6fd3
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00889.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00890.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00890.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8dde3b2471682d9e85b56605845b11d519530339
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00890.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00892.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00892.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8986f65dc32c3bf1ce19edaff4d3bb413d310bf7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00892.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00893.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00893.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b3f2f8b3ce4d699c90edd1205e717e47e9229895
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00893.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00894.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00894.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9acce1e2c4413e390e8463608c44df96f67f2c3d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00894.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00895.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00895.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0e249e4fb4ab2c98ff0977391726f9510b8e28da
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00895.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00896.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00896.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8fc6beaa5df616ef04fe854cdb79c49cfbda9501
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00896.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00897.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00897.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0fec668110007b83ff10dcf8a306a3d925a3e4c0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00897.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00898.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00898.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5e05b54630a63f5c7708a854f140a378ebb24671
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00898.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00899.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00899.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..46e2d81a19449e78eb6ba424fb37893dd775c54a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00899.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00900.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00900.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ec6ef335af2023edcc36a0f5e7ce720a9b9da0c5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00900.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00902.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00902.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fc83ca9d7b3413dbe87ec444e60c4f662e980dce
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00902.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00903.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00903.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..60f397a05a538a4f3704c07d523a9dd02c9a15a0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00903.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00904.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00904.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..55418f2a8ecaeab94c0c5948802b0ab79ee231eb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00904.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00905.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00905.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..55cd120605eabcc0f6eba1bf778faadbe3840e66
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00905.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00906.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00906.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9b735fcefdc53bb8b0df44b43a0024bf6c6f530a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00906.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00907.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00907.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2d2ccc45775052dbccb8323623b89749fd52a2c2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00907.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00908.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00908.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..46757dc850f0a2a0ce8ca9dc52952dbb050054ab
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00908.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00909.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00909.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0be25c4911384cb047bebf4d020932e0b90b3046
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00909.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00910.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00910.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..be77ec561dd2432c10e929693b6705ef10a9adf6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00910.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00912.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00912.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..52a4e702346b01ed7857cf0508bf2ca506057213
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00912.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00913.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00913.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ebb3222ddb7f34e2cb6633082c054692a32ddd9a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00913.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00914.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00914.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fc2719bd60922269a1779e7a0bac8fd19818bb1f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00914.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00915.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00915.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..04da8f8dd1d33c70b9f38b3604d04a7c4b8b8ebd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00915.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00916.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00916.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f33c7edef893c93a4bd1b29507b42df315a37795
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00916.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00917.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00917.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..09dd041cf3b53fd76e7f8df3391a79fe20f8ea67
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00917.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00918.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00918.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4dee0d4695790f930d5635c39f343ee97e5243aa
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00918.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00919.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00919.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a44ee58a8192a101e1655f4064650e241d0e76c8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00919.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00920.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00920.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..db45da1cfa1e39b253bb06863375efe1ca2abd71
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00920.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00922.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00922.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ff355a86361e7e5bbf26ceb8394fa79c451c2483
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00922.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00923.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00923.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f3388723c4db2f11a417fe04d9ab8c45c2d49a6d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00923.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00924.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00924.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..febbcb25137cd38f94e5bd8ec2c8de756b9b104e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00924.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00925.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00925.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..94bc9ec4d92082ecb3dcf449d7e949e54452dc3e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00925.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00926.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00926.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ce5fb6fa86c1dbff4277c983c89e5f219d5ddf15
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00926.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00927.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00927.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8f29b8554858afd045849f6b6f1b85832a3e15bb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00927.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00928.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00928.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6ef6990a8392a7c1ccb53fd7b1777c36a1ec552c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00928.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00929.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00929.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0730fef82bff57c25a88778d3cd70c6881641232
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00929.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00930.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00930.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0e84ac8f7e1ae68e070b5a0aecaf31172e801be0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00930.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00932.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00932.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4cb7edeecd03ccc5db81184d91baeca961dda29b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00932.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00933.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00933.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c0648a37dc87c31b4eec1821eeafecb8109ca5f2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00933.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00934.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00934.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fc3bcde42f49bb4b0b1ca6334e45a5ef8da702bc
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00934.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00935.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00935.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f8ece79271021b8397f08be32b6edcae09793a03
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00935.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00936.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00936.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ad708c20d5afd6e1f2ad88fe26d43904fd97bee4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00936.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00937.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00937.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5ea57e9337f085772184ef5fccaf82ff8bc53afa
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00937.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00938.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00938.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bbdbb99909af2d3c1a4b0930c755a97f5fbdfc88
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00938.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00939.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00939.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0b94bd4e6000657d128ebd557c5b2e575392b5f2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00939.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00940.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00940.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ed4a0d5a73e5a083528490f8036fd6a2448be277
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00940.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00942.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00942.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0869736e2645bd8f4da638e12f8b6664a76f1c8f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00942.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00943.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00943.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b9760f2cf1470a080c85ee661b2ad15250d07093
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00943.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00944.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00944.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3894e44ff3b84cf9a26bf6e9502eafc1bcab3070
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00944.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00945.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00945.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..42b353a51bae6e30928a34939de4010626ead0e2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00945.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00946.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00946.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..189f9ca992f71e5bcd4d378f7bda0c8b160d732e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00946.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00947.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00947.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fc2bc8190680992a4aa768d2c6000e465a3d4f98
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00947.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00948.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00948.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1ba55434ba86760fb6032d74a8ab42d5a6ca343f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00948.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00949.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00949.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4dd88e0f254397a8fbd513769f09e492496ba720
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00949.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00952.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00952.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bd889908091312f997aacdc89b019f1bb12166df
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00952.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00953.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00953.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..426a5c7e29da0b9aca68926b47d66edc05d61e83
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00953.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00954.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00954.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..55bdf638580dc1c0261b31c93fe160d27b87fe62
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00954.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00955.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00955.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..53f032407afe8439b1f1f8f01b047a4af95713ce
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00955.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00956.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00956.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ed51b57bdb796ed81f8e360c824ccd12fa1f7abe
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00956.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00957.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00957.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..23c0ca919d426ceebd89f4bce3b137e607bdfe8e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00957.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00958.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00958.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c177b9b4aefb7f9c2885b124989476e0d4de0a5f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00958.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00959.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00959.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ca39d148a9590f5d755eb97d06607421fc8e294a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00959.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00960.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00960.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c37887f233216ee02e6d989cbeeb1e2380d738d4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00960.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00962.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00962.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..27b322505f80b441af9fedf36dc1f4ca979b7327
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00962.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00963.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00963.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..309d2aae4aca659f883c72c31830f89647ef5f19
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00963.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00964.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00964.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..46f1dd497c412e460991993215d3aa64eb81bee1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00964.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00965.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00965.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..51ed3371d3c21777a6126abe6eac488371044d8d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00965.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00966.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00966.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f3ec1176e4cb3deca53f8dddded10ee5352af7f5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00966.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00968.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00968.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c161a201730d6aa70c3657e2db32ecaa8a98b120
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00968.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00969.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00969.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d5016c028a50a8bc19cbe88be6812043b8b70477
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00969.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00970.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00970.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b3fdb1238d598f8d0009fffa76e1a610727dbc1a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00970.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00972.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00972.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bc31641d9d42fefe4d4ef92cb66b2eea26bb849c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00972.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00973.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00973.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4f76aa95a9c38883063be202f242fd36bba39410
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00973.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00974.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00974.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4bf7697452bd571faabb083876a8caa8c5cedcfe
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00974.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00975.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00975.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f6d0596a0a8fda2acf8cb53b1657f1e428cd4161
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00975.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00976.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00976.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5d400d43b2edd89ae8e567d30f3e8e541e23fcc1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00976.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00977.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00977.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a2685e00cfb3050a6a396f31c7cca3f9874dbcd9
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00977.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00978.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00978.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b67daa4d8c10c35ba5ba6c9e118aabec25771d34
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00978.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00979.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00979.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..527a8da443af3f089fcc017f5ee46a5c5f197ff6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00979.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00980.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00980.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a05ff116067a43dbfbe166259a24dd3593a70ba2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00980.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00982.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00982.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b9e786cfa0d5f5c10e36a633ac354c1a2026e8cb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00982.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00983.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00983.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9b2dc91bedf84885252ae8720a7e5192bbb95dda
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00983.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00985.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00985.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..be723b78939a62689d4ea7ed5b8635a4f4236eaa
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00985.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00986.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00986.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bcc155ec998c86f2fc7be4d549949e76284e0423
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00986.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00987.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00987.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7c0fad2e9e9ef6f9f6dd864f41fa37c676e7cd2f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00987.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00988.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00988.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f56823d4ade37b65f10374d445a7b6bc1f77183f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00988.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00989.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00989.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..14e22e67b5ab2199b10fa78c52129bb4efc3520c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00989.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00990.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00990.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9e5106a40fa350e9c636ec721bf30f6def541258
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00990.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00992.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00992.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4422da7737c2c3007ba2b7f45b308853d3c48c58
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00992.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00993.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00993.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0a18e96729ba34ee112f3303f037dff48362ebae
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00993.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00994.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00994.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4034380462997f4fe20d8e08bb6a3135028e97a7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00994.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00995.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00995.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..44ea599eeb346733009df686bc6810ff9d84c366
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00995.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00996.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00996.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b98ad8ef26b6e9896e3f913edec7a1b19eb00883
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00996.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00997.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00997.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ea0aa490ef893738d53d44f708827fd2a29d7af8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00997.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00998.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00998.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1ec78fb60b3813eb9dc712599054fb8d4c6af9bd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00998.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00999.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00999.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ba1d0d2409c49847b3b64b9e3ad455f0716767c5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_00999.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01002.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01002.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2a35267eac4eb579554e5564faec936e754949ed
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01002.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01003.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01003.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bbc583a367c41807282a2b2f02de3ce2037af101
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01003.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01004.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01004.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d978cc2da8081cd1d2d37076605958a347d2ea66
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01004.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01005.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01005.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..72898749b20af83ca94f6ab23b8f1e8d056b1db7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01005.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01006.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01006.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5188b0721915ca82f875c2d7d7f69fa904249bf5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01006.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01007.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01007.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..196ee69ce2a2b642a88346e875bfa491c849b1d1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01007.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01008.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01008.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..71d3a38297b9ca76ef0133ce7c74e63a7c6ebe9a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01008.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01009.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01009.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1b22cb9b89b692785b1e26fc6b9f4d7192a8f01a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01009.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01010.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01010.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5e8e3127a4862035a6a6e0abb87992438d75106b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01010.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01012.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01012.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e713c7cbdabb0a0219c250d3096b64d6ca92a8b8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01012.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01013.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01013.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..35dcaee32c00deaf2ac759607357d586170d84ad
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01013.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01014.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01014.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a9c0837fecbb26f12cb87e01eeb1bb541137096c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01014.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01015.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01015.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..36b619fc6fa9ac76945c407cfe109c971b0d2fab
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01015.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01016.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01016.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ce421b8e295c12ed98c226d090354c6694c11389
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01016.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01018.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01018.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..caabe912bf0b7f2d3092b45f88653218257047a2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01018.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01019.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01019.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c0bea9bab7b4f80edc616dfd2b0dd354e2f45ab4
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01019.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01020.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01020.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e1a2edceee57e4f29b644eea062a5614559a886d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01020.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01022.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01022.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c9fbd348160e7f0aab08595cf7ca34773ca54d50
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01022.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01023.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01023.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4ceeab6ac3d2e91ff63178b0e03fec5ca1b1d6f1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01023.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01024.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01024.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9242d586737d6a70d525edc9d8c0df599fb14c1a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01024.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01025.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01025.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f21d305e5bdb74341a97ddb6e7c4f58812b2e682
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01025.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01026.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01026.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..850f17eb7202187502070b54052fadee53a44336
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01026.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01027.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01027.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4f94f5fb185deb5c7ce75d2c6cc4f22629c384cf
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01027.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01028.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01028.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1dd54eb3be768c78970c0fe77ef7a9045ee4edbb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01028.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01029.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01029.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d04f8c6e85640a83ca4f8e63cb69fc0ebf6d6c60
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01029.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01030.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01030.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0eeaef6bd65600ad601621e0e1c0c178742b7cdd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01030.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01032.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01032.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3617ac8a8f09cd53946690a66d56fb840f38ab80
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01032.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01033.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01033.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fba14c33335ec51616cbc3f68804bbc6d62ef89a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01033.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01035.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01035.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..37de936b38a526ff18a2702ede801267d8b86a04
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01035.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01036.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01036.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..52ea8952574df12d9351a486f8704386b5ce4166
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01036.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01037.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01037.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1bf57858038e4fe4cfa48574a8a15b0e26acdf7e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01037.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01038.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01038.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b14ef841708765c47a4fe7637da62b45b8073f08
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01038.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01039.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01039.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d6ac2d895d4147e6d4d9dc74d98898055a7637d6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01039.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01040.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01040.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bb6ffe5ca188ad6d0cb8e458641bb254e4af08ba
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01040.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01042.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01042.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bd10d11378603ee9f104fc8f6d2923a333dbc6a8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01042.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01043.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01043.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f9f3f385bd48b7f53df469bd445b673922d252f7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01043.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01044.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01044.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9e473bcad15014dce1c84f22d14dba7eddbb49fd
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01044.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01045.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01045.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..23df102d6c5c87059d375cd9e28ea3a4dc7b7d79
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01045.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01046.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01046.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d1b77ba62a765c9f17bccc1e722b2abb6b73f8de
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01046.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01047.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01047.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b63b149ec61e6f0aca12c01d3efee61e939cc954
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01047.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01048.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01048.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..46b1ff722def1d42ba134f7c3fcc5a12474537c8
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01048.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01049.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01049.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..970577575e6f02540b5a9657d3ce2caac6e5f1e1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01049.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01052.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01052.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b6dec938335f308f2a37acef2da3eb7612c2b5d7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01052.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01053.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01053.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..660427a631fba0985710e65d4d00261fc222964d
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01053.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01054.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01054.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..18587834d7c834676f4338ee009593f2da81fd9e
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01054.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01055.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01055.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..495bfa075fb1cc6952d69806901d0bbea60d0e46
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01055.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01056.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01056.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0efefb1e865d0f18f75bd0d2fb7d9af32c501ca0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01056.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01057.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01057.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6d1ec6cf705e761f01d320790d5cf416672b1b87
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01057.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01058.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01058.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bac741e6553931a64dada601b65a9653b755632c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01058.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01059.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01059.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cfcbe5b2d60074744b6c84e62ccf3955aa2e2e22
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01059.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01060.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01060.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..924620601b9dcd886b5d5d2adf20dab5b6a90356
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01060.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01062.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01062.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d9cd56b51cb853ccd341120c058dbebba8a61482
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01062.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01063.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01063.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4c4f9b34b944557c4d89b63286312fecefd7d957
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01063.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01064.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01064.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..16b2413fe6357cc8f0fa1ac6383fccb93a68bb19
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01064.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01065.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01065.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9761e7d46ff44be060e3d87c1fdc6411c953ac02
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01065.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01066.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01066.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ad5523d55a8f04824c0c8068b09f8069b70253d6
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01066.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01068.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01068.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7a49ecfc82c2475cb8a2acb194bc77ca7871896a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01068.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01069.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01069.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a4ba924d02fcd05ce5ec5fc3942216fd8f0e4103
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01069.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01070.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01070.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..86142d2bfb378bb01df7412e13966f4e95e5eb68
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01070.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01072.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01072.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8ff45659e818a5c9f96a54b8143488bb1de86797
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01072.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01073.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01073.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..62649cad199b2b4c04aa000bc97ff21ee95adc19
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01073.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01074.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01074.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..11f95ec44aa627892faf612afae8310a239fe2a1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01074.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01075.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01075.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..620aaf0b0d8a8c2e5339e9b1ad4cc44df1862e57
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01075.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01076.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01076.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ce4591477797d136d051276a83b791314f6361ba
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01076.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01077.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01077.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..38f21acc07aa15dc54a1ca537ff8cd281b3731c0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01077.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01078.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01078.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..67ce8d122184b43226bca609d44f35aa33010208
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01078.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01079.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01079.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..384d6c06d3e78daa358a1bd6c17a24bdd45835bc
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01079.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01080.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01080.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c4d5680a3d561d7bb3e1e3be5106e66acef7819b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01080.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01082.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01082.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3fa3722842fc63bd185290d3a3e2df833f6b64fe
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01082.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01083.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01083.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0c95a6757aa44a8d6bdbf0c4838d2131416e9683
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01083.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01085.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01085.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..eb22219f72d24495846ad180b456fb9e39f0efff
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01085.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01086.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01086.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7483fc359ca3b0a35988dadf0f8bdd5c16d41f2f
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01086.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01087.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01087.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4d64db2532182b70739a09bcd30ba24cbd6ddd1a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01087.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01088.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01088.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1bd438c822b1773ac4a9a34d6257352b2e2000fb
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01088.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01089.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01089.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5efdf8afb23c80e9a53e1b46153016a5237d738b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01089.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01090.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01090.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..09f3a89806cbc6daf16a0756aa0a04b090900bea
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01090.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01092.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01092.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..227d25e7127b6c05e69c7091ce9ee91406937897
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01092.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01093.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01093.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..93a25ff99d11ec1d209b2fb94e824eee1e47db70
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01093.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01094.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01094.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b9d08a3a8fd50aa7b7545e76f75fb329a0e16866
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01094.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01095.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01095.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..690d513d03b8522684b8a36959c580a4498b9f1a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01095.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01096.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01096.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..531aa6a4a4387c4d4d7d80341cce611d85ffdd19
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01096.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01097.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01097.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..acc9e8e6927b30d9331c67cfbfa0311fe271f9f0
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01097.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01098.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01098.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..955f4e11e99442932e4140c6e6a52082f1ade694
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01098.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01099.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01099.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1521eb064c8e1b6ee584b3dc3b114f15d3eea212
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01099.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01102.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01102.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e5bd65575ac296ef6e6a9632d894883f81a369ba
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01102.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01103.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01103.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..45cf7a89cb5d3b8f56ad583c9fb2fdc4bdd7f118
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01103.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01104.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01104.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ba148899b2449a513e3732f9a9a2abd2f5b2d3ab
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01104.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01105.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01105.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f302a63b233b88905a1224f14121d40e30a5d126
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01105.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01106.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01106.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3e9d752b0d8d4856f775220dcee067daacefeabe
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01106.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01107.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01107.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..91aec754cdb31d2aede70f975cba749a26a409b1
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01107.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01108.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01108.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..26cb75e607bc6ad1a0af21e65036494d4c059fa2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01108.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01109.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01109.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..362e298a27bd05185fe88427c4d65a225acd8d60
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01109.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01110.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01110.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..854c5cf32b3d89360fa15be3f74c7a0bf8557525
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01110.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01112.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01112.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6c47f43a1dcff37ab246de90c86a40114035c16b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01112.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01113.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01113.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cfc2d5cf4970a987abc363c029688abf632270ee
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01113.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01114.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01114.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..41ba286410752de9f6cdc4e4439b2722bf9e9fac
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01114.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01115.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01115.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ee46b0fc8bc81d5c67812af7df77246867d15ca2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01115.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01116.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01116.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..519c0bef947e81848851c0d1a73b67ebe7f1ce56
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01116.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01118.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01118.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2381e1a0f6cf7ef62012120c64dcad8d226f2811
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01118.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01119.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01119.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ab6adefb4f3a8c602da757b372a6e30573a8d8da
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01119.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01120.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01120.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6068115291f6dd35837fb241c1a5a3020c867395
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01120.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01122.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01122.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ab7074fb94b28478800fac996c5a87c8cb265b6c
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01122.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01123.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01123.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6df7bcf3be1d9214b0b9b60b4675077237688fc7
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01123.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01124.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01124.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..297f23f584639130725cec0e2e5ab2a347a9de1b
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01124.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01125.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01125.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f13cef93fd2ccf252a4901b6e965243824be62b5
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01125.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01126.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01126.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a5257686f5bed1e88b98b97035ba927f8c6daee2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01126.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01127.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01127.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ab049d09f72ab476d4ee51c0ad5a0aae9b2e56af
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01127.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01128.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01128.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1aa2f8344f0a3aaeb1565d1e9e644848e3b283f2
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01128.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01129.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01129.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b62b02614d263f327a2f6e51de834e023a8c7730
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01129.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01130.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01130.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5e8388fda83c5108429c3b30f13bd74a0a78fd80
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01130.pcd differ
diff --git a/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01132.pcd b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01132.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fffcf8e0dab54fc51244852c6004788ff430ab1a
Binary files /dev/null and b/sweeps/MAP1/RADAR_FRONT_RIGHT/RADAR_FRONT_RIGHT_01132.pcd differ