x,y,headinng,sonar_ang,read,expected
0.0,-0.0,0.0,90.0,27.0,Infinity
0.0,-0.0,0.0,89.0,28.0,Infinity
0.0,-0.0,0.0,88.0,29.0,Infinity
0.0,-0.0,0.0,87.0,79.0,Infinity
0.0,-0.0,0.0,86.0,79.0,Infinity
0.0,-0.0,0.0,85.0,29.0,Infinity
0.0,-0.0,0.0,84.0,30.0,Infinity
0.0,-0.0,0.0,83.0,30.0,Infinity
0.0,-0.0,0.0,82.0,89.0,Infinity
0.0,-0.0,0.0,81.0,90.0,Infinity
0.0,-0.0,0.0,80.0,91.0,Infinity
0.0,-0.0,0.0,79.0,91.0,Infinity
0.0,-0.0,0.0,78.0,91.0,Infinity
0.0,-0.0,0.0,77.0,87.0,Infinity
0.0,-0.0,0.0,76.0,92.0,Infinity
0.0,-0.0,0.0,75.0,85.0,Infinity
0.0,-0.0,0.0,74.0,85.0,Infinity
0.0,-0.0,0.0,73.0,84.0,Infinity
0.0,-0.0,0.0,72.0,84.0,Infinity
0.0,-0.0,0.0,71.0,84.0,Infinity
0.0,-0.0,0.0,70.0,84.0,Infinity
0.0,-0.0,0.0,69.0,84.0,Infinity
0.0,-0.0,0.0,68.0,83.0,Infinity
0.0,-0.0,0.0,67.0,83.0,Infinity
0.0,-0.0,0.0,66.0,83.0,Infinity
0.0,-0.0,0.0,65.0,82.0,Infinity
0.0,-0.0,0.0,64.0,83.0,Infinity
0.0,-0.0,0.0,63.0,83.0,Infinity
0.0,-0.0,0.0,62.0,83.0,Infinity
0.0,-0.0,0.0,61.0,82.0,Infinity
0.0,-0.0,0.0,60.0,83.0,Infinity
0.0,-0.0,0.0,59.0,83.0,Infinity
0.0,-0.0,0.0,58.0,84.0,Infinity
0.0,-0.0,0.0,57.0,84.0,Infinity
0.0,-0.0,0.0,56.0,84.0,Infinity
0.0,-0.0,0.0,55.0,84.0,Infinity
0.0,-0.0,0.0,54.0,86.0,Infinity
0.0,-0.0,0.0,53.0,94.0,Infinity
0.0,-0.0,0.0,52.0,37.0,Infinity
0.0,-0.0,0.0,51.0,36.0,Infinity
0.0,-0.0,0.0,50.0,36.0,Infinity
0.0,-0.0,0.0,49.0,34.0,Infinity
0.0,-0.0,0.0,48.0,33.0,Infinity
0.0,-0.0,0.0,47.0,33.0,Infinity
0.0,-0.0,0.0,46.0,33.0,Infinity
0.0,-0.0,0.0,45.0,32.0,Infinity
0.0,-0.0,0.0,44.0,34.0,Infinity
0.0,-0.0,0.0,43.0,33.0,Infinity
0.0,-0.0,0.0,42.0,98.0,Infinity
0.0,-0.0,0.0,41.0,99.0,Infinity
0.0,-0.0,0.0,40.0,31.0,Infinity
0.0,-0.0,0.0,39.0,31.0,Infinity
0.0,-0.0,0.0,38.0,30.0,Infinity
0.0,-0.0,0.0,37.0,30.0,Infinity
0.0,-0.0,0.0,36.0,29.0,Infinity
0.0,-0.0,0.0,35.0,29.0,Infinity
0.0,-0.0,0.0,34.0,29.0,Infinity
0.0,-0.0,0.0,33.0,29.0,Infinity
0.0,-0.0,0.0,32.0,28.0,Infinity
0.0,-0.0,0.0,31.0,28.0,Infinity
0.0,-0.0,0.0,30.0,28.0,Infinity
0.0,-0.0,0.0,29.0,28.0,Infinity
0.0,-0.0,0.0,28.0,28.0,Infinity
0.0,-0.0,0.0,27.0,29.0,Infinity
0.0,-0.0,0.0,26.0,29.0,Infinity
0.0,-0.0,0.0,25.0,29.0,Infinity
0.0,-0.0,0.0,24.0,29.0,Infinity
0.0,-0.0,0.0,23.0,29.0,Infinity
0.0,-0.0,0.0,22.0,29.0,Infinity
0.0,-0.0,0.0,21.0,29.0,Infinity
0.0,-0.0,0.0,20.0,28.0,Infinity
0.0,-0.0,0.0,19.0,27.0,Infinity
0.0,-0.0,0.0,18.0,27.0,Infinity
0.0,-0.0,0.0,17.0,27.0,Infinity
0.0,-0.0,0.0,16.0,27.0,Infinity
0.0,-0.0,0.0,15.0,27.0,Infinity
0.0,-0.0,0.0,14.0,26.0,Infinity
0.0,-0.0,0.0,13.0,26.0,Infinity
0.0,-0.0,0.0,12.0,26.0,Infinity
0.0,-0.0,0.0,11.0,26.0,Infinity
0.0,-0.0,0.0,10.0,26.0,Infinity
0.0,-0.0,0.0,9.0,26.0,Infinity
0.0,-0.0,0.0,8.0,26.0,Infinity
0.0,-0.0,0.0,7.0,27.0,Infinity
0.0,-0.0,0.0,6.0,27.0,Infinity
0.0,-0.0,0.0,5.0,27.0,Infinity
0.0,-0.0,0.0,4.0,27.0,Infinity
0.0,-0.0,0.0,3.0,27.0,Infinity
0.0,-0.0,0.0,2.0,27.0,Infinity
0.0,-0.0,0.0,1.0,27.0,59.38700485229492
0.0,-0.0,0.0,0.0,27.0,57.61711502075195
0.0,-0.0,0.0,-1.0,27.0,55.96622085571289
0.0,-0.0,0.0,-2.0,27.0,54.42341613769531
0.0,-0.0,0.0,-3.0,27.0,52.979087829589844
0.0,-0.0,0.0,-4.0,27.0,51.6247673034668
0.0,-0.0,0.0,-5.0,27.0,50.35291290283203
0.0,-0.0,0.0,-6.0,27.0,49.15683364868164
0.0,-0.0,0.0,-7.0,27.0,48.030548095703125
0.0,-0.0,0.0,-8.0,27.0,46.968711853027344
0.0,-0.0,0.0,-9.0,27.0,45.96649932861328
0.0,-0.0,0.0,-10.0,27.0,45.019596099853516
0.0,-0.0,0.0,-11.0,27.0,44.124088287353516
0.0,-0.0,0.0,-12.0,27.0,43.276432037353516
0.0,-0.0,0.0,-13.0,27.0,42.47342300415039
0.0,-0.0,0.0,-14.0,27.0,41.71215057373047
0.0,-0.0,0.0,-15.0,27.0,40.989952087402344
0.0,-0.0,0.0,-16.0,27.0,40.30440139770508
0.0,-0.0,0.0,-17.0,27.0,39.653289794921875
0.0,-0.0,0.0,-18.0,27.0,39.37942123413086
0.0,-0.0,0.0,-19.0,27.0,39.37942123413086
0.0,-0.0,0.0,-20.0,27.0,39.37942123413086
0.0,-0.0,0.0,-21.0,27.0,39.37942123413086
0.0,-0.0,0.0,-22.0,27.0,39.37942123413086
0.0,-0.0,0.0,-23.0,27.0,39.37942123413086
0.0,-0.0,0.0,-24.0,27.0,39.37942123413086
0.0,-0.0,0.0,-25.0,27.0,39.37942123413086
0.0,-0.0,0.0,-26.0,27.0,39.37942123413086
0.0,-0.0,0.0,-27.0,27.0,39.37942123413086
0.0,-0.0,0.0,-28.0,27.0,39.37942123413086
0.0,-0.0,0.0,-29.0,27.0,39.37942123413086
0.0,-0.0,0.0,-30.0,27.0,39.37942123413086
0.0,-0.0,0.0,-31.0,27.0,39.37942123413086
0.0,-0.0,0.0,-32.0,27.0,39.37942123413086
0.0,-0.0,0.0,-33.0,28.0,40.093597412109375
0.0,-0.0,0.0,-34.0,28.0,40.84682083129883
0.0,-0.0,0.0,-35.0,28.0,41.641815185546875
0.0,-0.0,0.0,-36.0,28.0,42.48157501220703
0.0,-0.0,0.0,-37.0,28.0,43.36937713623047
0.0,-0.0,0.0,-38.0,28.0,44.30885696411133
0.0,-0.0,0.0,-39.0,28.0,45.30405807495117
0.0,-0.0,0.0,-40.0,28.0,46.35943603515625
0.0,-0.0,0.0,-41.0,28.0,47.47996139526367
0.0,-0.0,0.0,-42.0,28.0,48.67118835449219
0.0,-0.0,0.0,-43.0,28.0,47.415889739990234
0.0,-0.0,0.0,-44.0,29.0,43.62605667114258
0.0,-0.0,0.0,-45.0,29.0,42.71345520019531
0.0,-0.0,0.0,-46.0,29.0,42.71345520019531
0.0,-0.0,0.0,-47.0,29.0,42.71345520019531
0.0,-0.0,0.0,-48.0,29.0,42.71345520019531
0.0,-0.0,0.0,-49.0,30.0,42.71345520019531
0.0,-0.0,0.0,-50.0,31.0,42.71345520019531
0.0,-0.0,0.0,-51.0,30.0,42.71345520019531
0.0,-0.0,0.0,-52.0,31.0,42.71345520019531
0.0,-0.0,0.0,-53.0,31.0,42.71345520019531
0.0,-0.0,0.0,-54.0,30.0,42.71345520019531
0.0,-0.0,0.0,-55.0,30.0,42.71345520019531
0.0,-0.0,0.0,-56.0,31.0,42.71345520019531
0.0,-0.0,0.0,-57.0,31.0,42.71345520019531
0.0,-0.0,0.0,-58.0,53.0,42.71345520019531
0.0,-0.0,0.0,-59.0,41.0,42.71345520019531
0.0,-0.0,0.0,-60.0,42.0,42.76785659790039
0.0,-0.0,0.0,-61.0,42.0,42.83545684814453
0.0,-0.0,0.0,-62.0,42.0,42.91636657714844
0.0,-0.0,0.0,-63.0,43.0,43.01070785522461
0.0,-0.0,0.0,-64.0,42.0,43.11863327026367
0.0,-0.0,0.0,-65.0,43.0,43.240299224853516
0.0,-0.0,0.0,-66.0,42.0,43.375911712646484
0.0,-0.0,0.0,-67.0,42.0,43.52566909790039
0.0,-0.0,0.0,-68.0,44.0,43.6898193359375
0.0,-0.0,0.0,-69.0,44.0,43.86863327026367
0.0,-0.0,0.0,-70.0,45.0,44.062381744384766
0.0,-0.0,0.0,-71.0,45.0,44.27140808105469
0.0,-0.0,0.0,-72.0,46.0,44.49604034423828
0.0,-0.0,0.0,-73.0,46.0,44.73666000366211
0.0,-0.0,0.0,-74.0,45.0,44.993675231933594
0.0,-0.0,0.0,-75.0,44.0,45.26752853393555
0.0,-0.0,0.0,-76.0,42.0,45.55869674682617
0.0,-0.0,0.0,-77.0,40.0,45.86770248413086
0.0,-0.0,0.0,-78.0,39.0,46.195091247558594
0.0,-0.0,0.0,-79.0,40.0,46.54146957397461
0.0,-0.0,0.0,-80.0,40.0,46.90747833251953
0.0,-0.0,0.0,-81.0,41.0,47.29380798339844
0.0,-0.0,0.0,-82.0,41.0,47.701210021972656
0.0,-0.0,0.0,-83.0,41.0,48.130470275878906
0.0,-0.0,0.0,-84.0,42.0,48.58246994018555
0.0,-0.0,0.0,-85.0,42.0,49.0581169128418
0.0,-0.0,0.0,-86.0,42.0,49.558414459228516
0.0,-0.0,0.0,-87.0,42.0,50.084442138671875
0.0,-0.0,0.0,-88.0,43.0,50.6373405456543
0.0,-0.0,0.0,-89.0,43.0,Infinity