From d7743a688e5f7d4b643105b5fc1376f662cf528a Mon Sep 17 00:00:00 2001
From: Tyree Mitchell <mitchetm@dukes.jmu.edu>
Date: Sat, 15 Aug 2020 20:59:19 -0400
Subject: [PATCH] Fixed graph bugs, path creation tool bugs fixed, removed
 unused global planner code. Current branch version tested in simulation

---
 EastCampusLiteV6.gml                    | 2228 ++++++++++++-----------
 cart_planning/scripts/global_planner.py |   29 +-
 cart_simulator/scripts/path_creation.py |   18 +-
 3 files changed, 1134 insertions(+), 1141 deletions(-)

diff --git a/EastCampusLiteV6.gml b/EastCampusLiteV6.gml
index e52f7baa..6c1a557e 100644
--- a/EastCampusLiteV6.gml
+++ b/EastCampusLiteV6.gml
@@ -79,10 +79,10 @@ graph [
   ]
   node [
     id 11
-    label "R_Node:578"
+    label "R_Node:471"
     active 0
-      pos 79.19423294067383
-      pos 118.46482467651367
+      pos 71.95603942871094
+      pos 111.93141174316406
   ]
   node [
     id 12
@@ -205,2335 +205,2335 @@ graph [
   ]
   node [
     id 29
+    label "R_Node:294"
+    active 0
+      pos 167.9210685567653
+      pos 124.57857529660488
+  ]
+  node [
+    id 30
     label "R_Node:333"
     active 0
       pos 208.70319707342918
       pos 142.62738718885058
   ]
   node [
-    id 30
+    id 31
     label "R_Node:332"
     active 0
       pos 210.60300266996342
       pos 143.33299661189952
   ]
   node [
-    id 31
+    id 32
     label "R_Node:331"
     active 0
       pos 212.50280826649768
       pos 144.03860603494846
   ]
   node [
-    id 32
+    id 33
     label "R_Node:330"
     active 0
       pos 214.40261386303192
       pos 144.74421545799743
   ]
   node [
-    id 33
+    id 34
     label "R_Node:337"
     active 0
       pos 201.10397468729224
       pos 139.80494949665476
   ]
   node [
-    id 34
+    id 35
     label "R_Node:336"
     active 0
       pos 203.00378028382647
       pos 140.5105589197037
   ]
   node [
-    id 35
+    id 36
     label "R_Node:335"
     active 0
       pos 204.9035858803607
       pos 141.21616834275267
   ]
   node [
-    id 36
+    id 37
     label "R_Node:334"
     active 0
       pos 206.80339147689494
       pos 141.9217777658016
   ]
   node [
-    id 37
+    id 38
     label "R_Node:232"
     active 0
       pos 48.92604217529297
       pos 60.30195007324219
   ]
   node [
-    id 38
+    id 39
     label "R_Node:233"
     active 0
       pos 48.668678283691406
       pos 58.30877685546875
   ]
   node [
-    id 39
+    id 40
     label "R_Node:230"
     active 0
       pos 49.44076995849609
       pos 64.28829650878906
   ]
   node [
-    id 40
+    id 41
     label "R_Node:338"
     active 0
       pos 199.20416909075797
       pos 139.0993400736058
   ]
   node [
-    id 41
+    id 42
     label "R_Node:236"
     active 0
       pos 48.019971575055806
       pos 51.861173902239116
   ]
   node [
-    id 42
+    id 43
     label "R_Node:237"
     active 0
       pos 47.83402878897531
       pos 49.78461020333426
   ]
   node [
-    id 43
+    id 44
     label "R_Node:234"
     active 0
       pos 48.3918571472168
       pos 56.01430130004883
   ]
   node [
-    id 44
+    id 45
     label "R_Node:235"
     active 0
       pos 48.2059143611363
       pos 53.93773760114397
   ]
   node [
-    id 45
-    label "R_Node:295"
+    id 46
+    label "R_Node:625"
     active 0
-      pos 169.82286850949552
-      pos 125.25980977809175
+      pos 3.685072660446167
+      pos -4.6718645095825195
   ]
   node [
-    id 46
+    id 47
+    label "R_Node:624"
+    active 0
+      pos 5.6835916307237415
+      pos -4.346064938439263
+  ]
+  node [
+    id 48
+    label "R_Node:627"
+    active 0
+      pos 13.842723846435547
+      pos -3.0651817321777344
+  ]
+  node [
+    id 49
+    label "R_Node:626"
+    active 0
+      pos 19.54385757446289
+      pos -2.6233439445495605
+  ]
+  node [
+    id 50
+    label "R_Node:621"
+    active 0
+      pos 11.679148541556465
+      pos -3.3686662250094943
+  ]
+  node [
+    id 51
+    label "R_Node:623"
+    active 0
+      pos 7.682110601001316
+      pos -4.020265367296007
+  ]
+  node [
+    id 52
+    label "R_Node:622"
+    active 0
+      pos 9.68062957127889
+      pos -3.694465796152751
+  ]
+  node [
+    id 53
     label "R_Node:197"
     active 0
       pos 51.500187683105466
       pos 64.12092590332031
   ]
   node [
-    id 47
+    id 54
     label "R_Node:196"
     active 0
       pos 51.11942329406738
       pos 61.985361099243164
   ]
   node [
-    id 48
+    id 55
     label "R_Node:195"
     active 0
       pos 50.7386589050293
       pos 59.849796295166016
   ]
   node [
-    id 49
+    id 56
     label "R_Node:194"
     active 0
       pos 50.42509460449219
       pos 56.46589279174805
   ]
   node [
-    id 50
+    id 57
     label "R_Node:193"
     active 0
       pos 50.30574417114258
       pos 54.46487208775112
   ]
   node [
-    id 51
+    id 58
     label "R_Node:192"
     active 0
       pos 50.18639373779297
       pos 52.46385138375419
   ]
   node [
-    id 52
+    id 59
     label "R_Node:191"
     active 0
       pos 50.06704330444336
       pos 50.46283067975726
   ]
   node [
-    id 53
+    id 60
     label "R_Node:190"
     active 0
       pos 49.94769287109375
       pos 48.461809975760325
   ]
   node [
-    id 54
+    id 61
     label "R_Node:199"
     active 0
       pos 52.26171646118164
       pos 68.39205551147461
   ]
   node [
-    id 55
+    id 62
     label "R_Node:198"
     active 0
       pos 51.88095207214356
       pos 66.25649070739746
   ]
   node [
-    id 56
+    id 63
     label "R_Node:346"
     active 0
       pos 184.00572431848406
       pos 133.45446468921418
   ]
   node [
-    id 57
+    id 64
     label "R_Node:289"
     active 0
       pos 158.4120687931142
       pos 121.17240288917054
   ]
   node [
-    id 58
+    id 65
     label "R_Node:288"
     active 0
       pos 156.510268840384
       pos 120.49116840768367
   ]
   node [
-    id 59
+    id 66
     label "R_Node:347"
     active 0
       pos 182.1059187219498
       pos 132.74885526616524
   ]
   node [
-    id 60
+    id 67
     label "R_Node:283"
     active 0
       pos 147.00126907673288
       pos 117.08499600024933
   ]
   node [
-    id 61
+    id 68
     label "R_Node:282"
     active 0
       pos 145.09946912400267
       pos 116.40376151876247
   ]
   node [
-    id 62
+    id 69
     label "R_Node:281"
     active 0
       pos 143.19766917127245
       pos 115.7225270372756
   ]
   node [
-    id 63
+    id 70
     label "R_Node:280"
     active 0
       pos 141.2958692185422
       pos 115.04129255578873
   ]
   node [
-    id 64
+    id 71
     label "R_Node:287"
     active 0
       pos 154.60846888765377
       pos 119.8099339261968
   ]
   node [
-    id 65
+    id 72
     label "R_Node:286"
     active 0
       pos 152.70666893492353
       pos 119.12869944470994
   ]
   node [
-    id 66
+    id 73
     label "R_Node:285"
     active 0
       pos 150.8048689821933
       pos 118.44746496322307
   ]
   node [
-    id 67
+    id 74
     label "R_Node:284"
     active 0
       pos 148.9030690294631
       pos 117.7662304817362
   ]
   node [
-    id 68
+    id 75
     label "R_Node:575"
     active 0
       pos 84.9034194946289
       pos 120.62381235758464
   ]
   node [
-    id 69
+    id 76
     label "R_Node:574"
     active 0
       pos 86.80859375
       pos 121.26056416829427
   ]
   node [
-    id 70
+    id 77
     label "R_Node:577"
     active 0
       pos 81.45442199707031
       pos 119.49200439453125
   ]
   node [
-    id 71
+    id 78
     label "R_Node:576"
     active 0
       pos 82.99824523925781
       pos 119.987060546875
   ]
   node [
-    id 72
+    id 79
     label "R_Node:478"
     active 0
       pos 86.04608154296875
       pos 119.16532135009766
   ]
   node [
-    id 73
+    id 80
     label "R_Node:479"
     active 0
       pos 88.33107452392578
       pos 119.53241577148438
   ]
   node [
-    id 74
+    id 81
     label "R_Node:573"
     active 0
       pos 88.7137680053711
       pos 121.8973159790039
   ]
   node [
-    id 75
+    id 82
     label "R_Node:572"
     active 0
       pos 91.72807312011719
       pos 121.99597930908203
   ]
   node [
-    id 76
+    id 83
     label "R_Node:474"
     active 0
       pos 78.19667510986328
       pos 115.64808349609375
   ]
   node [
-    id 77
+    id 84
     label "R_Node:475"
     active 0
       pos 80.25677795410157
       pos 116.68274993896485
   ]
   node [
-    id 78
+    id 85
     label "R_Node:476"
     active 0
       pos 82.31688079833984
       pos 117.71741638183593
   ]
   node [
-    id 79
+    id 86
     label "R_Node:477"
     active 0
       pos 84.37698364257812
       pos 118.75208282470703
   ]
   node [
-    id 80
+    id 87
     label "R_Node:470"
     active 0
       pos 70.37710507710774
       pos 110.46276982625325
   ]
   node [
-    id 81
-    label "R_Node:471"
+    id 88
+    label "R_Node:578"
     active 0
-      pos 71.95603942871094
-      pos 111.93141174316406
+      pos 79.19423294067383
+      pos 118.46482467651367
   ]
   node [
-    id 82
+    id 89
     label "R_Node:472"
     active 0
       pos 74.07646942138672
       pos 113.57875061035156
   ]
   node [
-    id 83
+    id 90
     label "R_Node:473"
     active 0
       pos 76.136572265625
       pos 114.61341705322266
   ]
   node [
-    id 84
+    id 91
     label "R_Node:348"
     active 0
       pos 180.20611312541556
       pos 132.04324584311627
   ]
   node [
-    id 85
+    id 92
     label "R_Node:349"
     active 0
       pos 178.30630752888132
       pos 131.33763642006733
   ]
   node [
-    id 86
+    id 93
     label "R_Node:372"
     active 0
       pos 134.61077880859375
       pos 115.1086196899414
   ]
   node [
-    id 87
+    id 94
     label "R_Node:371"
     active 0
       pos 136.510584405128
       pos 115.81422911299036
   ]
   node [
-    id 88
+    id 95
     label "R_Node:370"
     active 0
       pos 138.41039000166222
       pos 116.51983853603932
   ]
   node [
-    id 89
+    id 96
     label "R_Node:179"
     active 0
       pos 48.517520904541016
       pos 25.382041931152344
   ]
   node [
-    id 90
+    id 97
     label "R_Node:178"
     active 0
       pos 46.85200675328573
       pos 24.195609410603844
   ]
   node [
-    id 91
+    id 98
     label "R_Node:275"
     active 0
       pos 60.94453048706055
       pos 106.27528381347656
   ]
   node [
-    id 92
+    id 99
     label "R_Node:272"
     active 0
       pos 9.681283950805664
       pos -0.7005032896995544
   ]
   node [
-    id 93
+    id 100
     label "R_Node:273"
     active 0
       pos 5.183620452880859
       pos 0.7034059762954712
   ]
   node [
-    id 94
+    id 101
     label "R_Node:270"
     active 0
       pos 13.53003215789795
       pos 5.624235153198242
   ]
   node [
-    id 95
+    id 102
     label "R_Node:271"
     active 0
       pos 23.766420364379883
       pos 9.130175590515137
   ]
   node [
-    id 96
+    id 103
     label "R_Node:171"
     active 0
       pos 35.193407694498696
       pos 15.890581766764324
   ]
   node [
-    id 97
+    id 104
     label "R_Node:170"
     active 0
       pos 33.52789354324341
       pos 14.70414924621582
   ]
   node [
-    id 98
+    id 105
     label "R_Node:173"
     active 0
       pos 38.52443599700928
       pos 18.263446807861328
   ]
   node [
-    id 99
+    id 106
     label "R_Node:172"
     active 0
       pos 36.85892184575399
       pos 17.077014287312828
   ]
   node [
-    id 100
+    id 107
     label "R_Node:175"
     active 0
       pos 41.85546429951986
       pos 20.636311848958336
   ]
   node [
-    id 101
+    id 108
     label "R_Node:174"
     active 0
       pos 40.18995014826457
       pos 19.449879328409832
   ]
   node [
-    id 102
+    id 109
     label "R_Node:278"
     active 0
       pos 137.49226931308178
       pos 113.678823592815
   ]
   node [
-    id 103
+    id 110
     label "R_Node:279"
     active 0
       pos 139.394069265812
       pos 114.36005807430186
   ]
   node [
-    id 104
+    id 111
     label "R_Node:277"
     active 0
       pos 135.59046936035156
       pos 112.99758911132812
   ]
   node [
-    id 105
+    id 112
     label "R_Node:308"
     active 0
       pos 194.54626789498838
       pos 134.11585803742105
   ]
   node [
-    id 106
+    id 113
     label "R_Node:309"
     active 0
       pos 196.4480678477186
       pos 134.7970925189079
   ]
   node [
-    id 107
+    id 114
     label "R_Node:302"
     active 0
       pos 183.13546817860706
       pos 130.02845114849984
   ]
   node [
-    id 108
+    id 115
     label "R_Node:303"
     active 0
       pos 185.03726813133727
       pos 130.7096856299867
   ]
   node [
-    id 109
+    id 116
     label "R_Node:300"
     active 0
       pos 179.3318682731466
       pos 128.6659821855261
   ]
   node [
-    id 110
+    id 117
     label "R_Node:301"
     active 0
       pos 181.23366822587684
       pos 129.34721666701296
   ]
   node [
-    id 111
+    id 118
     label "R_Node:306"
     active 0
       pos 190.74266798952792
       pos 132.7533890744473
   ]
   node [
-    id 112
+    id 119
     label "R_Node:307"
     active 0
       pos 192.64446794225813
       pos 133.43462355593417
   ]
   node [
-    id 113
+    id 120
     label "R_Node:304"
     active 0
       pos 186.9390680840675
       pos 131.39092011147358
   ]
   node [
-    id 114
+    id 121
     label "R_Node:305"
     active 0
       pos 188.8408680367977
       pos 132.07215459296043
   ]
   node [
-    id 115
+    id 122
     label "R_Node:531"
     active 0
       pos 69.90438461303711
       pos 136.51065826416016
   ]
   node [
-    id 116
+    id 123
     label "R_Node:177"
     active 0
       pos 45.18649260203044
       pos 23.00917689005534
   ]
   node [
-    id 117
+    id 124
     label "R_Node:530"
     active 0
       pos 67.82863807678223
       pos 137.3776741027832
   ]
   node [
-    id 118
+    id 125
     label "R_Node:176"
     active 0
       pos 43.52097845077515
       pos 21.822744369506836
   ]
   node [
-    id 119
+    id 126
     label "R_Node:533"
     active 0
       pos 74.05587768554688
       pos 134.77662658691406
   ]
   node [
-    id 120
+    id 127
     label "R_Node:532"
     active 0
       pos 71.98013114929199
       pos 135.6436424255371
   ]
   node [
-    id 121
+    id 128
     label "R_Node:535"
     active 0
       pos 78.09345245361328
       pos 133.38499755859374
   ]
   node [
-    id 122
+    id 129
     label "R_Node:534"
     active 0
       pos 76.0241470336914
       pos 133.9967498779297
   ]
   node [
-    id 123
+    id 130
     label "R_Node:537"
     active 0
       pos 82.23206329345703
       pos 132.16149291992187
   ]
   node [
-    id 124
+    id 131
     label "R_Node:536"
     active 0
       pos 80.16275787353516
       pos 132.77324523925782
   ]
   node [
-    id 125
+    id 132
     label "R_Node:438"
     active 0
       pos 95.3791446685791
       pos 132.47478485107422
   ]
   node [
-    id 126
+    id 133
     label "R_Node:439"
     active 0
       pos 93.32544326782227
       pos 132.47314453125
   ]
   node [
-    id 127
+    id 134
     label "R_Node:437"
     active 0
       pos 97.43284606933594
       pos 132.47642517089844
   ]
   node [
-    id 128
-    label "R_Node:294"
+    id 135
+    label "R_Node:566"
     active 0
-      pos 167.9210685567653
-      pos 124.57857529660488
+      pos 108.26012929280598
+      pos 120.94359588623047
   ]
   node [
-    id 129
-    label "R_Node:567"
+    id 136
+    label "R_Node:295"
     active 0
-      pos 105.99969736735027
-      pos 121.35093688964844
+      pos 169.82286850949552
+      pos 125.25980977809175
   ]
   node [
-    id 130
+    id 137
     label "R_Node:564"
     active 0
       pos 113.3269271850586
       pos 119.3891372680664
   ]
   node [
-    id 131
+    id 138
     label "R_Node:565"
     active 0
       pos 110.52056121826172
       pos 120.5362548828125
   ]
   node [
-    id 132
+    id 139
     label "R_Node:562"
     active 0
       pos 117.61172231038411
       pos 117.25505828857422
   ]
   node [
-    id 133
+    id 140
     label "R_Node:481"
     active 0
       pos 92.90106048583985
       pos 120.26660461425782
   ]
   node [
-    id 134
+    id 141
     label "R_Node:480"
     active 0
       pos 90.6160675048828
       pos 119.89951019287109
   ]
   node [
-    id 135
+    id 142
     label "R_Node:482"
     active 0
       pos 95.18605346679688
       pos 120.63369903564453
   ]
   node [
-    id 136
+    id 143
     label "R_Node:560"
     active 0
       pos 121.88440704345703
       pos 115.18019104003906
   ]
   node [
-    id 137
+    id 144
     label "R_Node:561"
     active 0
       pos 119.75411987304688
       pos 116.18801879882812
   ]
   node [
-    id 138
+    id 145
     label "R_Node:508"
     active 0
       pos 126.55646006266277
       pos 112.36990865071614
   ]
   node [
-    id 139
+    id 146
     label "R_Node:509"
     active 0
       pos 128.9799041748047
       pos 112.00094604492188
   ]
   node [
-    id 140
+    id 147
     label "R_Node:504"
     active 0
       pos 117.57784525553386
       pos 115.09004211425781
   ]
   node [
-    id 141
+    id 148
     label "R_Node:505"
     active 0
       pos 119.4523696899414
       pos 114.25782012939453
   ]
   node [
-    id 142
+    id 149
     label "R_Node:506"
     active 0
       pos 121.7095718383789
       pos 113.10783386230469
   ]
   node [
-    id 143
+    id 150
     label "R_Node:507"
     active 0
       pos 124.13301595052083
       pos 112.73887125651042
   ]
   node [
-    id 144
+    id 151
     label "R_Node:500"
     active 0
       pos 110.07974751790364
       pos 118.41893005371094
   ]
   node [
-    id 145
+    id 152
     label "R_Node:501"
     active 0
       pos 111.9542719523112
       pos 117.58670806884766
   ]
   node [
-    id 146
+    id 153
     label "R_Node:502"
     active 0
       pos 113.82879638671875
       pos 116.75448608398438
   ]
   node [
-    id 147
+    id 154
     label "R_Node:503"
     active 0
       pos 115.7033208211263
       pos 115.9222640991211
   ]
   node [
-    id 148
+    id 155
     label "R_Node:298"
     active 0
       pos 175.52826836768617
       pos 127.30351322255237
   ]
   node [
-    id 149
+    id 156
     label "R_Node:299"
     active 0
       pos 177.43006832041638
       pos 127.98474770403922
   ]
   node [
-    id 150
+    id 157
     label "R_Node:568"
     active 0
       pos 103.73926544189453
       pos 121.7582778930664
   ]
   node [
-    id 151
+    id 158
     label "R_Node:569"
     active 0
       pos 98.00495910644531
       pos 122.3366470336914
   ]
   node [
-    id 152
+    id 159
     label "R_Node:229"
     active 0
       pos 49.698133850097655
       pos 66.2814697265625
   ]
   node [
-    id 153
+    id 160
     label "R_Node:228"
     active 0
       pos 49.95549774169922
       pos 68.27464294433594
   ]
   node [
-    id 154
+    id 161
     label "R_Node:344"
     active 0
       pos 187.80533551155253
       pos 134.8656835353121
   ]
   node [
-    id 155
+    id 162
     label "R_Node:345"
     active 0
       pos 185.9055299150183
       pos 134.16007411226315
   ]
   node [
-    id 156
+    id 163
     label "R_Node:342"
     active 0
       pos 191.604946704621
       pos 136.27690238141
   ]
   node [
-    id 157
+    id 164
     label "R_Node:343"
     active 0
       pos 189.70514110808676
       pos 135.57129295836103
   ]
   node [
-    id 158
+    id 165
     label "R_Node:340"
     active 0
       pos 195.4045578976895
       pos 137.6881212275079
   ]
   node [
-    id 159
+    id 166
     label "R_Node:341"
     active 0
       pos 193.50475230115526
       pos 136.98251180445894
   ]
   node [
-    id 160
+    id 167
     label "R_Node:221"
     active 0
       pos 53.337608337402344
       pos 85.12073516845703
   ]
   node [
-    id 161
+    id 168
     label "R_Node:220"
     active 0
       pos 54.04327665056501
       pos 87.17374856131417
   ]
   node [
-    id 162
+    id 169
     label "R_Node:223"
     active 0
       pos 52.32830581665039
       pos 80.42354125976563
   ]
   node [
-    id 163
+    id 170
     label "R_Node:222"
     active 0
       pos 52.85615921020508
       pos 82.7434310913086
   ]
   node [
-    id 164
+    id 171
     label "R_Node:225"
     active 0
       pos 51.27259902954101
       pos 75.78376159667968
   ]
   node [
-    id 165
+    id 172
     label "R_Node:224"
     active 0
       pos 51.800452423095706
       pos 78.10365142822266
   ]
   node [
-    id 166
+    id 173
     label "R_Node:227"
     active 0
       pos 50.21689224243164
       pos 71.14398193359375
   ]
   node [
-    id 167
+    id 174
     label "R_Node:226"
     active 0
       pos 50.74474563598633
       pos 73.46387176513672
   ]
   node [
-    id 168
-    label "R_Node:610"
+    id 175
+    label "R_Node:612"
     active 0
-      pos 3.6869330406188965
-      pos -4.7666335105896
+      pos 24.369746017456055
+      pos 6.743616771697998
   ]
   node [
-    id 169
+    id 176
+    label "R_Node:613"
+    active 0
+      pos 23.695245361328126
+      pos 4.622795486450196
+  ]
+  node [
+    id 177
+    label "R_Node:614"
+    active 0
+      pos 23.020744705200194
+      pos 2.501974201202393
+  ]
+  node [
+    id 178
+    label "R_Node:615"
+    active 0
+      pos 22.346244049072265
+      pos 0.38115291595459055
+  ]
+  node [
+    id 179
+    label "R_Node:616"
+    active 0
+      pos 21.671743392944336
+      pos -1.739668369293213
+  ]
+  node [
+    id 180
     label "R_Node:589"
     active 0
       pos 229.1866912841797
       pos 146.33322143554688
   ]
   node [
-    id 170
+    id 181
+    label "R_Node:251"
+    active 0
+      pos 40.4602165222168
+      pos 20.564404169718426
+  ]
+  node [
+    id 182
     label "R_Node:548"
     active 0
       pos 109.86565399169922
       pos 134.80704498291016
   ]
   node [
-    id 171
+    id 183
     label "R_Node:549"
     active 0
       pos 111.69802284240723
       pos 135.69972801208496
   ]
   node [
-    id 172
+    id 184
     label "R_Node:540"
     active 0
       pos 90.82673645019531
       pos 130.15594482421875
   ]
   node [
-    id 173
+    id 185
     label "R_Node:541"
     active 0
       pos 93.16297912597656
       pos 130.05372111002603
   ]
   node [
-    id 174
+    id 186
     label "R_Node:542"
     active 0
       pos 95.49922180175781
       pos 129.95149739583334
   ]
   node [
-    id 175
+    id 187
     label "R_Node:543"
     active 0
       pos 97.83546447753906
       pos 129.84927368164062
   ]
   node [
-    id 176
+    id 188
     label "R_Node:544"
     active 0
       pos 102.53617858886719
       pos 131.23631286621094
   ]
   node [
-    id 177
+    id 189
     label "R_Node:545"
     active 0
       pos 104.3685474395752
       pos 132.12899589538574
   ]
   node [
-    id 178
+    id 190
     label "R_Node:546"
     active 0
       pos 106.2009162902832
       pos 133.02167892456055
   ]
   node [
-    id 179
+    id 191
     label "R_Node:547"
     active 0
       pos 108.03328514099121
       pos 133.91436195373535
   ]
   node [
-    id 180
+    id 192
     label "R_Node:463"
     active 0
       pos 61.36751492818197
       pos 110.5137201944987
   ]
   node [
-    id 181
+    id 193
     label "R_Node:462"
     active 0
       pos 61.439013163248696
       pos 112.68739827473958
   ]
   node [
-    id 182
+    id 194
     label "R_Node:461"
     active 0
       pos 61.51051139831543
       pos 114.86107635498047
   ]
   node [
-    id 183
+    id 195
     label "R_Node:460"
     active 0
       pos 61.582009633382164
       pos 117.03475443522136
   ]
   node [
-    id 184
+    id 196
     label "R_Node:467"
     active 0
       pos 65.64030202229817
       pos 106.05684407552083
   ]
   node [
-    id 185
+    id 197
     label "R_Node:466"
     active 0
       pos 64.06136767069499
       pos 104.58820215861003
   ]
   node [
-    id 186
+    id 198
     label "R_Node:465"
     active 0
       pos 62.4824333190918
       pos 103.11956024169922
   ]
   node [
-    id 187
+    id 199
     label "R_Node:464"
     active 0
       pos 61.296016693115234
       pos 108.34004211425781
   ]
   node [
-    id 188
+    id 200
     label "R_Node:469"
     active 0
       pos 68.79817072550456
       pos 108.99412790934245
   ]
   node [
-    id 189
+    id 201
     label "R_Node:468"
     active 0
       pos 67.21923637390137
       pos 107.52548599243164
   ]
   node [
-    id 190
+    id 202
     label "R_Node:238"
     active 0
       pos 47.64808600289481
       pos 47.708046504429404
   ]
   node [
-    id 191
+    id 203
     label "R_Node:239"
     active 0
       pos 47.46214321681431
       pos 45.631482805524556
   ]
   node [
-    id 192
+    id 204
     label "R_Node:388"
     active 0
       pos 129.69590759277344
       pos 117.93450164794922
   ]
   node [
-    id 193
+    id 205
     label "R_Node:389"
     active 0
       pos 129.51547171852806
       pos 120.10107699307528
   ]
   node [
-    id 194
+    id 206
     label "R_Node:265"
     active 0
       pos 13.253376007080078
       pos -3.6941885948181152
   ]
   node [
-    id 195
+    id 207
     label "R_Node:264"
     active 0
       pos 20.0776309967041
       pos -3.232879638671875
   ]
   node [
-    id 196
+    id 208
     label "R_Node:267"
     active 0
       pos 7.81241512298584
       pos 3.8712637424468994
   ]
   node [
-    id 197
+    id 209
     label "R_Node:261"
     active 0
       pos 19.063213348388672
       pos 9.868268966674805
   ]
   node [
-    id 198
+    id 210
     label "R_Node:263"
     active 0
       pos 22.475341796875
       pos 0.4575856924057007
   ]
   node [
-    id 199
+    id 211
     label "R_Node:262"
     active 0
       pos 22.106464385986328
       pos 6.085541725158691
   ]
   node [
-    id 200
+    id 212
     label "R_Node:269"
     active 0
       pos 8.457951545715332
       pos 2.4873392581939697
   ]
   node [
-    id 201
+    id 213
     label "R_Node:268"
     active 0
       pos 13.345596313476562
       pos 6.823634624481201
   ]
   node [
-    id 202
+    id 214
     label "R_Node:339"
     active 0
       pos 197.30436349422374
       pos 138.39373065055685
   ]
   node [
-    id 203
+    id 215
     label "R_Node:231"
     active 0
       pos 49.183406066894534
       pos 62.29512329101563
   ]
   node [
-    id 204
+    id 216
     label "R_Node:319"
     active 0
       pos 215.46606737502077
       pos 141.6094373337766
   ]
   node [
-    id 205
+    id 217
     label "R_Node:318"
     active 0
       pos 213.56426742229056
       pos 140.92820285228973
   ]
   node [
-    id 206
+    id 218
     label "R_Node:311"
     active 0
       pos 200.25166775317902
       pos 136.15956148188164
   ]
   node [
-    id 207
+    id 219
     label "R_Node:310"
     active 0
       pos 198.3498678004488
       pos 135.47832700039478
   ]
   node [
-    id 208
+    id 220
     label "R_Node:313"
     active 0
       pos 204.05526765863948
       pos 137.52203044485537
   ]
   node [
-    id 209
+    id 221
     label "R_Node:312"
     active 0
       pos 202.15346770590924
       pos 136.84079596336852
   ]
   node [
-    id 210
+    id 222
     label "R_Node:315"
     active 0
       pos 207.8588675640999
       pos 138.88449940782914
   ]
   node [
-    id 211
+    id 223
     label "R_Node:314"
     active 0
       pos 205.95706761136967
       pos 138.20326492634226
   ]
   node [
-    id 212
+    id 224
     label "R_Node:317"
     active 0
       pos 211.66246746956034
       pos 140.24696837080285
   ]
   node [
-    id 213
+    id 225
     label "R_Node:316"
     active 0
       pos 209.76066751683013
       pos 139.565733889316
   ]
   node [
-    id 214
+    id 226
     label "R_Node:201"
     active 0
       pos 53.02324523925781
       pos 72.6631851196289
   ]
   node [
-    id 215
+    id 227
     label "R_Node:200"
     active 0
       pos 52.64248085021973
       pos 70.52762031555176
   ]
   node [
-    id 216
-    label "R_Node:207"
-    active 0
-      pos 56.24825395856585
-      pos 86.84298597063336
-  ]
-  node [
-    id 217
+    id 228
     label "R_Node:391"
     active 0
       pos 129.15459997003728
       pos 124.43422768332742
   ]
   node [
-    id 218
+    id 229
     label "R_Node:528"
     active 0
       pos 63.0605354309082
       pos 137.3009490966797
   ]
   node [
-    id 219
+    id 230
     label "R_Node:392"
     active 0
       pos 128.9741640957919
       pos 126.60080302845348
   ]
   node [
-    id 220
+    id 231
     label "R_Node:584"
     active 0
       pos 67.94364356994629
       pos 110.93163871765137
   ]
   node [
-    id 221
+    id 232
     label "R_Node:585"
     active 0
       pos 66.33842849731445
       pos 109.7099494934082
   ]
   node [
-    id 222
+    id 233
     label "R_Node:586"
     active 0
       pos 64.73321342468262
       pos 108.48826026916504
   ]
   node [
-    id 223
+    id 234
     label "R_Node:587"
     active 0
       pos 63.12799835205078
       pos 107.26657104492188
   ]
   node [
-    id 224
+    id 235
     label "R_Node:580"
     active 0
       pos 75.33075714111328
       pos 116.59120178222656
   ]
   node [
-    id 225
+    id 236
     label "R_Node:581"
     active 0
       pos 73.09071350097656
       pos 115.0128173828125
   ]
   node [
-    id 226
+    id 237
     label "R_Node:582"
     active 0
       pos 70.85066986083984
       pos 113.43443298339844
   ]
   node [
-    id 227
+    id 238
     label "R_Node:583"
     active 0
       pos 69.54885864257812
       pos 112.15332794189453
   ]
   node [
-    id 228
+    id 239
     label "R_Node:422"
     active 0
       pos 101.05796813964844
       pos 132.81764221191406
   ]
   node [
-    id 229
+    id 240
     label "R_Node:421"
     active 0
       pos 102.96003646850586
       pos 133.7566909790039
   ]
   node [
-    id 230
+    id 241
     label "R_Node:420"
     active 0
       pos 104.86210479736329
       pos 134.69573974609375
   ]
   node [
-    id 231
+    id 242
     label "R_Node:399"
     active 0
       pos 127.71111297607422
       pos 141.76683044433594
   ]
   node [
-    id 232
+    id 243
     label "R_Node:398"
     active 0
       pos 127.89154885031961
       pos 139.60025509920987
   ]
   node [
-    id 233
+    id 244
     label "R_Node:520"
     active 0
       pos 64.38857777913411
       pos 118.28527323404948
   ]
   node [
-    id 234
+    id 245
     label "R_Node:253"
     active 0
       pos 37.09257125854492
       pos 18.101320266723633
   ]
   node [
-    id 235
+    id 246
     label "R_Node:526"
     active 0
       pos 63.510460662841794
       pos 132.88221435546876
   ]
   node [
-    id 236
+    id 247
     label "R_Node:527"
     active 0
       pos 63.285498046875
       pos 135.09158172607422
   ]
   node [
-    id 237
+    id 248
     label "R_Node:524"
     active 0
       pos 63.96038589477539
       pos 128.4634796142578
   ]
   node [
-    id 238
+    id 249
     label "R_Node:525"
     active 0
       pos 63.7354232788086
       pos 130.67284698486327
   ]
   node [
-    id 239
-    label "R_Node:513"
+    id 250
+    label "R_Node:567"
     active 0
-      pos 89.8988265991211
-      pos 128.95999145507812
+      pos 105.99969736735027
+      pos 121.35093688964844
   ]
   node [
-    id 240
+    id 251
+    label "R_Node:513"
+    active 0
+      pos 89.8988265991211
+      pos 128.95999145507812
+  ]
+  node [
+    id 252
     label "R_Node:512"
     active 0
       pos 99.23931121826172
       pos 128.9898681640625
   ]
   node [
-    id 241
+    id 253
     label "R_Node:458"
     active 0
       pos 61.725006103515625
       pos 121.38211059570312
   ]
   node [
-    id 242
+    id 254
     label "R_Node:459"
     active 0
       pos 61.65350786844889
       pos 119.20843251546223
   ]
   node [
-    id 243
+    id 255
     label "R_Node:517"
     active 0
       pos 64.3510144551595
       pos 111.53230158487956
   ]
   node [
-    id 244
+    id 256
     label "R_Node:516"
     active 0
       pos 64.33849334716797
       pos 109.28131103515625
   ]
   node [
-    id 245
+    id 257
     label "R_Node:515"
     active 0
       pos 90.18960571289062
       pos 123.43578338623047
   ]
   node [
-    id 246
+    id 258
     label "R_Node:514"
     active 0
       pos 90.04421615600586
       pos 126.1978874206543
   ]
   node [
-    id 247
+    id 259
     label "R_Node:452"
     active 0
       pos 61.14606857299805
       pos 135.52987670898438
   ]
   node [
-    id 248
+    id 260
     label "R_Node:453"
     active 0
       pos 61.28652420043945
       pos 133.4188674926758
   ]
   node [
-    id 249
+    id 261
     label "R_Node:450"
     active 0
       pos 67.5706672668457
       pos 140.12034606933594
   ]
   node [
-    id 250
+    id 262
     label "R_Node:518"
     active 0
       pos 64.36353556315105
       pos 113.78329213460286
   ]
   node [
-    id 251
+    id 263
     label "R_Node:456"
     active 0
       pos 61.70789108276367
       pos 127.08583984375
   ]
   node [
-    id 252
+    id 264
     label "R_Node:457"
     active 0
       pos 61.84834671020508
       pos 124.9748306274414
   ]
   node [
-    id 253
+    id 265
     label "R_Node:454"
     active 0
       pos 61.42697982788086
       pos 131.3078582763672
   ]
   node [
-    id 254
+    id 266
     label "R_Node:455"
     active 0
       pos 61.56743545532227
       pos 129.19684906005858
   ]
   node [
-    id 255
+    id 267
     label "R_Node:511"
     active 0
       pos 99.34874725341797
       pos 126.38595962524414
   ]
   node [
-    id 256
+    id 268
     label "R_Node:510"
     active 0
       pos 99.45818328857422
       pos 123.78205108642578
   ]
   node [
-    id 257
+    id 269
     label "R_Node:519"
     active 0
       pos 64.37605667114258
       pos 116.03428268432617
   ]
   node [
-    id 258
-    label "R_Node:449"
-    active 0
-      pos 69.48426055908203
-      pos 139.09181213378906
-  ]
-  node [
-    id 259
+    id 270
     label "R_Node:355"
     active 0
       pos 166.90747394967588
       pos 127.1039798817736
   ]
   node [
-    id 260
+    id 271
     label "R_Node:354"
     active 0
       pos 168.8072795462101
       pos 127.80958930482255
   ]
   node [
-    id 261
+    id 272
     label "R_Node:357"
     active 0
       pos 163.10786275660737
       pos 125.6927610356757
   ]
   node [
-    id 262
+    id 273
     label "R_Node:451"
     active 0
       pos 65.65707397460938
       pos 141.1488800048828
   ]
   node [
-    id 263
+    id 274
     label "R_Node:351"
     active 0
       pos 174.50669633581282
       pos 129.92641757396942
   ]
   node [
-    id 264
+    id 275
     label "R_Node:350"
     active 0
       pos 176.40650193234708
       pos 130.63202699701836
   ]
   node [
-    id 265
+    id 276
     label "R_Node:353"
     active 0
       pos 170.70708514274435
       pos 128.5151987278715
   ]
   node [
-    id 266
+    id 277
     label "R_Node:352"
     active 0
       pos 172.60689073927858
       pos 129.22080815092045
   ]
   node [
-    id 267
+    id 278
     label "R_Node:214"
     active 0
       pos 58.277286529541016
       pos 99.49182891845703
   ]
   node [
-    id 268
+    id 279
     label "R_Node:215"
     active 0
       pos 57.57161821637835
       pos 97.43881552559989
   ]
   node [
-    id 269
+    id 280
     label "R_Node:216"
     active 0
       pos 56.86594990321568
       pos 95.38580213274274
   ]
   node [
-    id 270
+    id 281
     label "R_Node:217"
     active 0
       pos 56.16028159005301
       pos 93.3327887398856
   ]
   node [
-    id 271
-    label "R_Node:359"
+    id 282
+    label "R_Node:210"
     active 0
-      pos 159.3082515635389
-      pos 124.28154218957779
+      pos 58.41413170950754
+      pos 92.72304861886161
   ]
   node [
-    id 272
+    id 283
     label "R_Node:358"
     active 0
       pos 161.20805716007314
       pos 124.98715161262675
   ]
   node [
-    id 273
+    id 284
     label "R_Node:563"
     active 0
       pos 115.46932474772136
       pos 118.32209777832031
   ]
   node [
-    id 274
-    label "R_Node:607"
-    active 0
-      pos 18.336890538533527
-      pos -3.8362690607706704
-  ]
-  node [
-    id 275
-    label "R_Node:606"
-    active 0
-      pos 20.91107749938965
-      pos -3.4722135066986084
-  ]
-  node [
-    id 276
-    label "R_Node:605"
-    active 0
-      pos 20.91107749938965
-      pos -3.4722135066986084
-  ]
-  node [
-    id 277
-    label "R_Node:604"
-    active 0
-      pos 21.840696334838867
-      pos -1.1339613795280457
-  ]
-  node [
-    id 278
-    label "R_Node:603"
-    active 0
-      pos 22.770315170288086
-      pos 1.204290747642517
-  ]
-  node [
-    id 279
-    label "R_Node:602"
-    active 0
-      pos 22.770315170288086
-      pos 1.204290747642517
-  ]
-  node [
-    id 280
-    label "R_Node:601"
-    active 0
-      pos 23.13083330790202
-      pos 3.2835201422373457
-  ]
-  node [
-    id 281
-    label "R_Node:600"
-    active 0
-      pos 23.49135144551595
-      pos 5.362749536832174
-  ]
-  node [
-    id 282
-    label "R_Node:609"
-    active 0
-      pos 13.188516616821289
-      pos -4.564380168914795
-  ]
-  node [
-    id 283
-    label "R_Node:608"
-    active 0
-      pos 15.76270357767741
-      pos -4.2003246148427325
-  ]
-  node [
-    id 284
+    id 285
     label "R_Node:559"
     active 0
       pos 124.39880752563477
       pos 114.96366500854492
   ]
   node [
-    id 285
+    id 286
     label "R_Node:558"
     active 0
       pos 126.9132080078125
       pos 114.74713897705078
   ]
   node [
-    id 286
+    id 287
     label "R_Node:557"
     active 0
       pos 122.32067108154297
       pos 143.33338928222656
   ]
   node [
-    id 287
+    id 288
     label "R_Node:556"
     active 0
       pos 124.96231079101562
       pos 144.14073181152344
   ]
   node [
-    id 288
+    id 289
     label "R_Node:555"
     active 0
       pos 123.02173614501953
       pos 141.43768310546875
   ]
   node [
-    id 289
+    id 290
     label "R_Node:554"
     active 0
       pos 120.79087829589844
       pos 140.38500213623047
   ]
   node [
-    id 290
+    id 291
     label "R_Node:553"
     active 0
       pos 118.56002044677734
       pos 139.3323211669922
   ]
   node [
-    id 291
+    id 292
     label "R_Node:552"
     active 0
       pos 117.19512939453125
       pos 138.37777709960938
   ]
   node [
-    id 292
+    id 293
     label "R_Node:551"
     active 0
       pos 115.36276054382324
       pos 137.48509407043457
   ]
   node [
-    id 293
+    id 294
     label "R_Node:550"
     active 0
       pos 113.53039169311523
       pos 136.59241104125977
   ]
   node [
-    id 294
+    id 295
     label "R_Node:416"
     active 0
       pos 112.47037811279297
       pos 138.45193481445312
   ]
   node [
-    id 295
+    id 296
     label "R_Node:417"
     active 0
       pos 110.56830978393555
       pos 137.51288604736328
   ]
   node [
-    id 296
+    id 297
     label "R_Node:414"
     active 0
       pos 116.2745147705078
       pos 140.3300323486328
   ]
   node [
-    id 297
+    id 298
     label "R_Node:415"
     active 0
       pos 114.3724464416504
       pos 139.39098358154297
   ]
   node [
-    id 298
+    id 299
     label "R_Node:412"
     active 0
       pos 120.07865142822266
       pos 142.2081298828125
   ]
   node [
-    id 299
+    id 300
     label "R_Node:413"
     active 0
       pos 118.17658309936523
       pos 141.26908111572266
   ]
   node [
-    id 300
+    id 301
     label "R_Node:410"
     active 0
       pos 127.1610995205966
       pos 119.7258134321733
   ]
   node [
-    id 301
+    id 302
     label "R_Node:411"
     active 0
       pos 127.32754516601562
       pos 117.65153503417969
   ]
   node [
-    id 302
+    id 303
     label "R_Node:418"
     active 0
       pos 108.66624145507812
       pos 136.57383728027344
   ]
   node [
-    id 303
+    id 304
     label "R_Node:419"
     active 0
       pos 106.7641731262207
       pos 135.6347885131836
   ]
   node [
-    id 304
+    id 305
     label "R_Node:258"
     active 0
       pos 27.437116622924805
       pos 13.336549758911133
   ]
   node [
-    id 305
+    id 306
     label "R_Node:390"
     active 0
       pos 129.33503584428266
       pos 122.26765233820134
   ]
   node [
-    id 306
+    id 307
     label "R_Node:393"
     active 0
       pos 128.79372822154653
       pos 128.76737837357956
   ]
   node [
-    id 307
+    id 308
     label "R_Node:529"
     active 0
       pos 65.75289154052734
       pos 138.24468994140625
   ]
   node [
-    id 308
+    id 309
     label "R_Node:395"
     active 0
       pos 128.43285647305575
       pos 133.1005290638317
   ]
   node [
-    id 309
+    id 310
     label "R_Node:394"
     active 0
       pos 128.61329234730113
       pos 130.93395371870562
   ]
   node [
-    id 310
+    id 311
     label "R_Node:397"
     active 0
       pos 128.071984724565
       pos 137.4336797540838
   ]
   node [
-    id 311
+    id 312
     label "R_Node:396"
     active 0
       pos 128.25242059881037
       pos 135.26710440895775
   ]
   node [
-    id 312
+    id 313
     label "R_Node:250"
     active 0
       pos 42.37858581542969
       pos 22.35539182027181
   ]
   node [
-    id 313
-    label "R_Node:251"
+    id 314
+    label "R_Node:523"
     active 0
-      pos 40.4602165222168
-      pos 20.564404169718426
+      pos 64.18534851074219
+      pos 126.25411224365234
   ]
   node [
-    id 314
+    id 315
     label "R_Node:252"
     active 0
       pos 38.541847229003906
       pos 18.77341651916504
   ]
   node [
-    id 315
+    id 316
     label "R_Node:521"
     active 0
       pos 64.40109888712566
       pos 120.53626378377278
   ]
   node [
-    id 316
+    id 317
     label "R_Node:254"
     active 0
       pos 35.1614803314209
       pos 17.148366165161132
   ]
   node [
-    id 317
+    id 318
     label "R_Node:255"
     active 0
       pos 33.23038940429687
       pos 16.19541206359863
   ]
   node [
-    id 318
+    id 319
     label "R_Node:256"
     active 0
       pos 31.29929847717285
       pos 15.242457962036132
   ]
   node [
-    id 319
+    id 320
     label "R_Node:257"
     active 0
       pos 29.36820755004883
       pos 14.289503860473634
   ]
   node [
-    id 320
+    id 321
     label "R_Node:328"
     active 0
       pos 218.2022250561004
       pos 146.15543430409534
   ]
   node [
-    id 321
+    id 322
     label "R_Node:329"
     active 0
       pos 216.30241945956615
       pos 145.44982488104637
   ]
   node [
-    id 322
+    id 323
     label "R_Node:324"
     active 0
       pos 224.97506713867188
       pos 145.01560974121094
   ]
   node [
-    id 323
+    id 324
     label "R_Node:325"
     active 0
       pos 223.90164184570312
       pos 148.2722625732422
   ]
   node [
-    id 324
+    id 325
     label "R_Node:326"
     active 0
       pos 222.0018362491689
       pos 147.56665315019325
   ]
   node [
-    id 325
+    id 326
     label "R_Node:327"
     active 0
       pos 220.10203065263465
       pos 146.86104372714428
   ]
   node [
-    id 326
+    id 327
     label "R_Node:320"
     active 0
       pos 217.36786732775101
       pos 142.29067181526347
   ]
   node [
-    id 327
+    id 328
     label "R_Node:321"
     active 0
       pos 219.2696672804812
       pos 142.97190629675032
   ]
   node [
-    id 328
+    id 329
     label "R_Node:322"
     active 0
       pos 221.17146723321144
       pos 143.6531407782372
   ]
   node [
-    id 329
+    id 330
     label "R_Node:323"
     active 0
       pos 223.07326718594166
       pos 144.33437525972408
   ]
   node [
-    id 330
+    id 331
     label "R_Node:180"
     active 0
       pos 48.754188537597656
       pos 28.451602935791016
   ]
   node [
-    id 331
+    id 332
     label "R_Node:181"
     active 0
       pos 48.873538970947266
       pos 30.452623639787948
   ]
   node [
-    id 332
+    id 333
     label "R_Node:182"
     active 0
       pos 48.992889404296875
       pos 32.45364434378488
   ]
   node [
-    id 333
+    id 334
     label "R_Node:183"
     active 0
       pos 49.112239837646484
       pos 34.45466504778181
   ]
   node [
-    id 334
+    id 335
     label "R_Node:184"
     active 0
       pos 49.231590270996094
       pos 36.45568575177874
   ]
   node [
-    id 335
+    id 336
     label "R_Node:185"
     active 0
       pos 49.3509407043457
       pos 38.456706455775674
   ]
   node [
-    id 336
+    id 337
     label "R_Node:186"
     active 0
       pos 49.47029113769531
       pos 40.4577271597726
   ]
   node [
-    id 337
+    id 338
     label "R_Node:187"
     active 0
       pos 49.58964157104492
       pos 42.45874786376953
   ]
   node [
-    id 338
+    id 339
     label "R_Node:188"
     active 0
       pos 49.70899200439453
       pos 44.45976856776646
   ]
   node [
-    id 339
+    id 340
     label "R_Node:189"
     active 0
       pos 49.82834243774414
       pos 46.460789271763396
   ]
   node [
-    id 340
+    id 341
     label "R_Node:356"
     active 0
       pos 165.00766835314164
       pos 126.39837045872466
   ]
   node [
-    id 341
+    id 342
     label "R_Node:218"
     active 0
       pos 55.45461327689035
       pos 91.27977534702846
   ]
   node [
-    id 342
+    id 343
     label "R_Node:219"
     active 0
       pos 54.74894496372768
       pos 89.22676195417132
   ]
   node [
-    id 343
-    label "R_Node:210"
+    id 344
+    label "R_Node:359"
     active 0
-      pos 58.41413170950754
-      pos 92.72304861886161
+      pos 159.3082515635389
+      pos 124.28154218957779
   ]
   node [
-    id 344
+    id 345
     label "R_Node:211"
     active 0
       pos 59.13609095982143
       pos 94.68306950160435
   ]
   node [
-    id 345
-    label "R_Node:566"
+    id 346
+    label "R_Node:449"
     active 0
-      pos 108.26012929280598
-      pos 120.94359588623047
+      pos 69.48426055908203
+      pos 139.09181213378906
   ]
   node [
-    id 346
+    id 347
     label "R_Node:448"
     active 0
       pos 71.39785385131836
       pos 138.0632781982422
   ]
   node [
-    id 347
+    id 348
     label "R_Node:296"
     active 0
       pos 171.72466846222574
       pos 125.94104425957863
   ]
   node [
-    id 348
+    id 349
     label "R_Node:297"
     active 0
       pos 173.62646841495595
       pos 126.62227874106549
   ]
   node [
-    id 349
+    id 350
     label "R_Node:290"
     active 0
       pos 160.31386874584442
       pos 121.85363737065741
   ]
   node [
-    id 350
+    id 351
     label "R_Node:291"
     active 0
       pos 162.21566869857463
       pos 122.53487185214428
   ]
   node [
-    id 351
+    id 352
     label "R_Node:292"
     active 0
       pos 164.11746865130485
       pos 123.21610633363115
   ]
   node [
-    id 352
+    id 353
     label "R_Node:293"
     active 0
       pos 166.01926860403506
       pos 123.89734081511801
   ]
   node [
-    id 353
+    id 354
     label "R_Node:441"
     active 0
       pos 89.2180404663086
       pos 132.46986389160156
   ]
   node [
-    id 354
+    id 355
     label "R_Node:440"
     active 0
       pos 91.27174186706543
       pos 132.47150421142578
   ]
   node [
-    id 355
+    id 356
     label "R_Node:443"
     active 0
       pos 83.50938987731934
       pos 133.47468948364258
   ]
   node [
-    id 356
+    id 357
     label "R_Node:442"
     active 0
       pos 85.80358123779297
       pos 132.85723876953125
   ]
   node [
-    id 357
+    id 358
     label "R_Node:445"
     active 0
       pos 78.92100715637207
       pos 134.70959091186523
   ]
   node [
-    id 358
+    id 359
     label "R_Node:444"
     active 0
       pos 81.2151985168457
       pos 134.0921401977539
   ]
   node [
-    id 359
+    id 360
     label "R_Node:447"
     active 0
       pos 73.31144714355469
       pos 137.0347442626953
   ]
   node [
-    id 360
+    id 361
     label "R_Node:446"
     active 0
       pos 76.62681579589844
       pos 135.32704162597656
   ]
-  node [
-    id 361
-    label "R_Node:599"
-    active 0
-      pos 23.851869583129883
-      pos 7.441978931427002
-  ]
   node [
     id 362
     label "R_Node:593"
@@ -2697,10 +2697,10 @@ graph [
   ]
   node [
     id 385
-    label "R_Node:523"
+    label "R_Node:207"
     active 0
-      pos 64.18534851074219
-      pos 126.25411224365234
+      pos 56.24825395856585
+      pos 86.84298597063336
   ]
   node [
     id 386
@@ -2800,7 +2800,7 @@ graph [
   ]
   edge [
     source 8
-    target 300
+    target 301
     weight 2.080945704544425
   ]
   edge [
@@ -2810,17 +2810,17 @@ graph [
   ]
   edge [
     source 10
-    target 224
+    target 235
     weight 1.8130070136264997
   ]
   edge [
     source 11
-    target 10
-    weight 2.4826503466580028
+    target 89
+    weight 2.6851347633192657
   ]
   edge [
     source 12
-    target 144
+    target 151
     weight 2.050959601572082
   ]
   edge [
@@ -2845,13 +2845,13 @@ graph [
   ]
   edge [
     source 17
-    target 172
-    weight 4.524166590736115
+    target 251
+    weight 4.044790633199692
   ]
   edge [
     source 17
-    target 239
-    weight 4.044790633199692
+    target 184
+    weight 4.524166590736115
   ]
   edge [
     source 18
@@ -2860,7 +2860,7 @@ graph [
   ]
   edge [
     source 19
-    target 312
+    target 313
     weight 2.624457564826847
   ]
   edge [
@@ -2910,132 +2910,132 @@ graph [
   ]
   edge [
     source 29
-    target 36
-    weight 2.0266094745950203
+    target 136
+    weight 2.0201295698472737
   ]
   edge [
     source 30
-    target 29
-    weight 2.02660947459501
+    target 37
+    weight 2.0266094745950203
   ]
   edge [
     source 31
     target 30
-    weight 2.0266094745950367
+    weight 2.02660947459501
   ]
   edge [
     source 32
     target 31
-    weight 2.0266094745950203
+    weight 2.0266094745950367
   ]
   edge [
     source 33
-    target 40
-    weight 2.026609474595047
+    target 32
+    weight 2.0266094745950203
   ]
   edge [
     source 34
-    target 33
-    weight 2.02660947459501
+    target 41
+    weight 2.026609474595047
   ]
   edge [
     source 35
     target 34
-    weight 2.0266094745950203
+    weight 2.02660947459501
   ]
   edge [
     source 36
     target 35
-    weight 2.02660947459501
+    weight 2.0266094745950203
   ]
   edge [
     source 37
-    target 38
-    weight 2.0097202911722882
+    target 36
+    weight 2.02660947459501
   ]
   edge [
     source 38
-    target 43
-    weight 2.31111402055776
+    target 39
+    weight 2.0097202911722882
   ]
   edge [
     source 39
-    target 203
-    weight 2.0097202911722802
+    target 44
+    weight 2.31111402055776
   ]
   edge [
     source 40
-    target 202
-    weight 2.02660947459501
+    target 215
+    weight 2.0097202911722802
   ]
   edge [
     source 41
-    target 42
-    weight 2.084872062095129
+    target 214
+    weight 2.02660947459501
   ]
   edge [
     source 42
-    target 190
-    weight 2.0848720620951293
+    target 43
+    weight 2.084872062095129
   ]
   edge [
     source 43
-    target 44
-    weight 2.084872062095129
+    target 202
+    weight 2.0848720620951293
   ]
   edge [
     source 44
-    target 41
+    target 45
     weight 2.084872062095129
   ]
   edge [
     source 45
-    target 347
-    weight 2.0201295698472785
+    target 42
+    weight 2.084872062095129
   ]
   edge [
     source 46
-    target 55
-    weight 2.1692437743076782
+    target 100
+    weight 5.580248944497181
   ]
   edge [
     source 47
     target 46
-    weight 2.169243774307677
+    weight 2.0249008457493582
   ]
   edge [
     source 48
-    target 47
-    weight 2.169243774307677
+    target 50
+    weight 2.1847564938161788
   ]
   edge [
     source 49
     target 48
-    weight 3.3984004312346316
+    weight 5.718229307698942
   ]
   edge [
     source 50
-    target 49
-    weight 2.004576859031627
+    target 52
+    weight 2.0249008457493582
   ]
   edge [
     source 51
-    target 50
-    weight 2.004576859031627
+    target 47
+    weight 2.0249008457493582
   ]
   edge [
     source 52
     target 51
-    weight 2.004576859031627
+    weight 2.0249008457493582
   ]
   edge [
     source 53
-    target 52
-    weight 2.004576859031634
+    target 62
+    weight 2.1692437743076782
   ]
   edge [
     source 54
-    target 215
+    target 53
     weight 2.169243774307677
   ]
   edge [
@@ -3045,1213 +3045,1223 @@ graph [
   ]
   edge [
     source 56
-    target 59
-    weight 2.0266094745950367
+    target 55
+    weight 3.3984004312346316
   ]
   edge [
     source 57
-    target 349
-    weight 2.0201295698472737
+    target 56
+    weight 2.004576859031627
   ]
   edge [
     source 58
     target 57
-    weight 2.0201295698472737
+    weight 2.004576859031627
   ]
   edge [
     source 59
-    target 84
-    weight 2.0266094745950203
+    target 58
+    weight 2.004576859031627
   ]
   edge [
     source 60
-    target 67
-    weight 2.0201295698472737
+    target 59
+    weight 2.004576859031634
   ]
   edge [
     source 61
-    target 60
-    weight 2.0201295698472737
+    target 227
+    weight 2.169243774307677
   ]
   edge [
     source 62
     target 61
-    weight 2.0201295698472737
+    weight 2.169243774307677
   ]
   edge [
     source 63
-    target 62
-    weight 2.0201295698473003
+    target 66
+    weight 2.0266094745950367
   ]
   edge [
     source 64
-    target 58
+    target 350
     weight 2.0201295698472737
   ]
   edge [
     source 65
     target 64
-    weight 2.0201295698473003
+    weight 2.0201295698472737
   ]
   edge [
     source 66
-    target 65
-    weight 2.0201295698472737
+    target 91
+    weight 2.0266094745950203
   ]
   edge [
     source 67
-    target 66
+    target 74
     weight 2.0201295698472737
   ]
   edge [
     source 68
-    target 71
-    weight 2.008766241196523
+    target 67
+    weight 2.0201295698472737
   ]
   edge [
     source 69
     target 68
-    weight 2.0087662411965184
+    weight 2.0201295698472737
   ]
   edge [
     source 70
-    target 11
-    weight 2.4826503466580028
+    target 69
+    weight 2.0201295698473003
   ]
   edge [
     source 71
-    target 70
-    weight 1.6212559320143511
+    target 65
+    weight 2.0201295698472737
   ]
   edge [
     source 72
-    target 73
-    weight 2.3142928157940905
+    target 71
+    weight 2.0201295698473003
   ]
   edge [
     source 73
-    target 134
-    weight 2.3142928157940883
+    target 72
+    weight 2.0201295698472737
   ]
   edge [
     source 74
-    target 69
-    weight 2.008766241196523
+    target 73
+    weight 2.0201295698472737
   ]
   edge [
     source 75
-    target 74
-    weight 3.0159193917421874
+    target 78
+    weight 2.008766241196523
   ]
   edge [
     source 76
-    target 77
-    weight 2.305332595709828
+    target 75
+    weight 2.0087662411965184
   ]
   edge [
     source 77
-    target 78
-    weight 2.305332595709809
+    target 88
+    weight 2.4826503466580028
   ]
   edge [
     source 78
-    target 79
-    weight 2.305332595709828
+    target 77
+    weight 1.6212559320143511
   ]
   edge [
     source 79
-    target 72
-    weight 1.719492332043214
+    target 80
+    weight 2.3142928157940905
   ]
   edge [
     source 80
-    target 81
-    weight 2.1563725946088415
+    target 141
+    weight 2.3142928157940883
   ]
   edge [
     source 81
-    target 82
-    weight 2.6851347633192657
+    target 76
+    weight 2.008766241196523
   ]
   edge [
     source 82
-    target 83
-    weight 2.305332595709828
+    target 81
+    weight 3.0159193917421874
   ]
   edge [
     source 83
-    target 76
-    weight 2.305332595709809
+    target 84
+    weight 2.305332595709828
   ]
   edge [
     source 84
     target 85
-    weight 2.02660947459501
+    weight 2.305332595709809
   ]
   edge [
     source 85
-    target 264
-    weight 2.0266094745950203
-  ]
-  edge [
-    source 86
-    target 192
-    weight 5.6693533942322825
+    target 86
+    weight 2.305332595709828
   ]
   edge [
     source 86
-    target 285
-    weight 7.706053759144949
+    target 79
+    weight 1.719492332043214
   ]
   edge [
     source 87
-    target 86
-    weight 2.0266094745950154
+    target 11
+    weight 2.1563725946088415
   ]
   edge [
     source 88
-    target 87
-    weight 2.0266094745950154
+    target 10
+    weight 2.4826503466580028
   ]
   edge [
     source 89
-    target 330
-    weight 3.0786711954567356
+    target 90
+    weight 2.305332595709828
   ]
   edge [
     source 90
-    target 89
-    weight 2.0448861860374254
+    target 83
+    weight 2.305332595709809
   ]
   edge [
     source 91
-    target 267
-    weight 7.288995173663438
+    target 92
+    weight 2.02660947459501
   ]
   edge [
     source 92
-    target 194
-    weight 4.660685932840957
+    target 275
+    weight 2.0266094745950203
   ]
   edge [
     source 93
-    target 92
-    weight 4.711681034165182
+    target 204
+    weight 5.6693533942322825
   ]
   edge [
     source 93
-    target 200
-    weight 3.7287614645841507
+    target 286
+    weight 7.706053759144949
   ]
   edge [
     source 94
-    target 95
-    weight 10.820132247981824
+    target 93
+    weight 2.0266094745950154
   ]
   edge [
     source 95
-    target 391
-    weight 5.173343655600031
+    target 94
+    weight 2.0266094745950154
   ]
   edge [
     source 96
-    target 99
-    weight 2.044886186037433
+    target 331
+    weight 3.0786711954567356
   ]
   edge [
     source 97
     target 96
-    weight 2.0448861860374272
+    weight 2.0448861860374254
   ]
   edge [
     source 98
-    target 101
-    weight 2.044886186037433
+    target 278
+    weight 7.288995173663438
   ]
   edge [
     source 99
-    target 98
-    weight 2.0448861860374254
+    target 206
+    weight 4.660685932840957
   ]
   edge [
     source 100
-    target 118
-    weight 2.0448861860374254
+    target 99
+    weight 4.711681034165182
+  ]
+  edge [
+    source 100
+    target 212
+    weight 3.7287614645841507
   ]
   edge [
     source 101
-    target 100
-    weight 2.0448861860374272
+    target 102
+    weight 10.820132247981824
   ]
   edge [
     source 102
-    target 103
-    weight 2.0201295698472737
+    target 391
+    weight 5.173343655600031
   ]
   edge [
     source 103
-    target 63
-    weight 2.0201295698472737
+    target 106
+    weight 2.044886186037433
   ]
   edge [
     source 104
-    target 102
-    weight 2.0201295698472737
+    target 103
+    weight 2.0448861860374272
   ]
   edge [
     source 105
-    target 106
-    weight 2.0201295698472688
+    target 108
+    weight 2.044886186037433
   ]
   edge [
     source 106
-    target 207
-    weight 2.0201295698472785
+    target 105
+    weight 2.0448861860374254
   ]
   edge [
     source 107
-    target 108
-    weight 2.0201295698472688
+    target 125
+    weight 2.0448861860374254
   ]
   edge [
     source 108
-    target 113
-    weight 2.0201295698472785
+    target 107
+    weight 2.0448861860374272
   ]
   edge [
     source 109
     target 110
-    weight 2.0201295698472954
+    weight 2.0201295698472737
   ]
   edge [
     source 110
-    target 107
-    weight 2.0201295698472785
+    target 70
+    weight 2.0201295698472737
   ]
   edge [
     source 111
-    target 112
-    weight 2.0201295698472688
+    target 109
+    weight 2.0201295698472737
   ]
   edge [
     source 112
-    target 105
-    weight 2.020129569847305
+    target 113
+    weight 2.0201295698472688
   ]
   edge [
     source 113
-    target 114
-    weight 2.0201295698472688
+    target 219
+    weight 2.0201295698472785
   ]
   edge [
     source 114
-    target 111
-    weight 2.0201295698472785
+    target 115
+    weight 2.0201295698472688
   ]
   edge [
     source 115
     target 120
-    weight 2.2495422083609298
+    weight 2.0201295698472785
   ]
   edge [
     source 116
-    target 90
-    weight 2.0448861860374272
+    target 117
+    weight 2.0201295698472954
   ]
   edge [
     source 117
-    target 115
-    weight 2.2495422083609298
+    target 114
+    weight 2.0201295698472785
   ]
   edge [
     source 118
-    target 116
-    weight 2.044886186037433
+    target 119
+    weight 2.0201295698472688
   ]
   edge [
     source 119
-    target 122
-    weight 2.117142392013725
+    target 112
+    weight 2.020129569847305
   ]
   edge [
     source 120
-    target 119
-    weight 2.2495422083609298
+    target 121
+    weight 2.0201295698472688
   ]
   edge [
     source 121
-    target 124
-    weight 2.157838228674922
+    target 118
+    weight 2.0201295698472785
   ]
   edge [
     source 122
-    target 121
-    weight 2.15783822867493
+    target 127
+    weight 2.2495422083609298
   ]
   edge [
     source 123
-    target 18
-    weight 2.157838228674922
+    target 97
+    weight 2.0448861860374272
   ]
   edge [
     source 124
-    target 123
-    weight 2.15783822867493
+    target 122
+    weight 2.2495422083609298
   ]
   edge [
     source 125
-    target 126
-    weight 2.053702055829841
+    target 123
+    weight 2.044886186037433
   ]
   edge [
     source 126
-    target 354
-    weight 2.053702055829841
+    target 129
+    weight 2.117142392013725
   ]
   edge [
     source 127
-    target 125
-    weight 2.053702055829841
+    target 126
+    weight 2.2495422083609298
   ]
   edge [
     source 128
-    target 45
-    weight 2.0201295698472737
+    target 131
+    weight 2.157838228674922
   ]
   edge [
     source 129
-    target 150
-    weight 2.2968411313552086
+    target 128
+    weight 2.15783822867493
   ]
   edge [
     source 130
-    target 131
-    weight 3.0317600105642475
+    target 18
+    weight 2.157838228674922
   ]
   edge [
     source 131
-    target 345
-    weight 2.2968411313552086
+    target 130
+    weight 2.15783822867493
   ]
   edge [
     source 132
-    target 273
-    weight 2.393416091944921
+    target 133
+    weight 2.053702055829841
   ]
   edge [
     source 133
-    target 135
-    weight 2.3142928157940883
+    target 355
+    weight 2.053702055829841
   ]
   edge [
     source 134
-    target 133
-    weight 2.3142928157941047
-  ]
-  edge [
-    source 135
-    target 15
-    weight 4.0806922305340105
+    target 132
+    weight 2.053702055829841
   ]
   edge [
     source 135
-    target 256
-    weight 5.306902472231597
+    target 250
+    weight 2.2968411313551944
   ]
   edge [
     source 136
-    target 137
-    weight 2.356658698199613
+    target 348
+    weight 2.0201295698472785
   ]
   edge [
     source 137
-    target 132
-    weight 2.393416091944934
-  ]
-  edge [
-    source 138
-    target 192
-    weight 6.389117780975195
+    target 138
+    weight 3.0317600105642475
   ]
   edge [
     source 138
-    target 139
-    weight 2.451369978022462
+    target 135
+    weight 2.2968411313552086
   ]
   edge [
     source 139
-    target 104
-    weight 6.685272580394912
+    target 284
+    weight 2.393416091944921
   ]
   edge [
     source 140
-    target 141
-    weight 2.050959601572082
+    target 142
+    weight 2.3142928157940883
   ]
   edge [
     source 141
-    target 142
-    weight 2.533264682856116
+    target 140
+    weight 2.3142928157941047
   ]
   edge [
     source 142
-    target 143
-    weight 2.451369978022462
+    target 15
+    weight 4.0806922305340105
+  ]
+  edge [
+    source 142
+    target 268
+    weight 5.306902472231597
   ]
   edge [
     source 143
-    target 138
-    weight 2.451369978022478
+    target 144
+    weight 2.356658698199613
   ]
   edge [
     source 144
-    target 145
-    weight 2.0509596015720954
+    target 139
+    weight 2.393416091944934
+  ]
+  edge [
+    source 145
+    target 204
+    weight 6.389117780975195
   ]
   edge [
     source 145
     target 146
-    weight 2.050959601572082
+    weight 2.451369978022462
   ]
   edge [
     source 146
-    target 147
-    weight 2.050959601572082
+    target 111
+    weight 6.685272580394912
   ]
   edge [
     source 147
-    target 140
-    weight 2.0509596015720954
+    target 148
+    weight 2.050959601572082
   ]
   edge [
     source 148
     target 149
-    weight 2.0201295698472688
+    weight 2.533264682856116
   ]
   edge [
     source 149
-    target 109
-    weight 2.0201295698472785
-  ]
-  edge [
-    source 150
-    target 256
-    weight 4.735327057515424
+    target 150
+    weight 2.451369978022462
   ]
   edge [
     source 150
-    target 151
-    weight 5.763400039178293
+    target 145
+    weight 2.451369978022478
   ]
   edge [
     source 151
-    target 393
-    weight 2.095374593504918
+    target 152
+    weight 2.0509596015720954
   ]
   edge [
     source 152
-    target 39
-    weight 2.009720291172295
+    target 153
+    weight 2.050959601572082
   ]
   edge [
     source 153
-    target 152
-    weight 2.009720291172281
+    target 154
+    weight 2.050959601572082
   ]
   edge [
     source 154
-    target 155
-    weight 2.02660947459501
+    target 147
+    weight 2.0509596015720954
   ]
   edge [
     source 155
-    target 56
-    weight 2.0266094745950203
+    target 156
+    weight 2.0201295698472688
   ]
   edge [
     source 156
-    target 157
-    weight 2.0266094745950203
+    target 116
+    weight 2.0201295698472785
   ]
   edge [
     source 157
-    target 154
-    weight 2.02660947459501
+    target 268
+    weight 4.735327057515424
+  ]
+  edge [
+    source 157
+    target 158
+    weight 5.763400039178293
   ]
   edge [
     source 158
-    target 159
-    weight 2.0266094745950203
+    target 393
+    weight 2.095374593504918
   ]
   edge [
     source 159
-    target 156
-    weight 2.0266094745950367
+    target 40
+    weight 2.009720291172295
   ]
   edge [
     source 160
-    target 163
-    weight 2.425565488150257
+    target 159
+    weight 2.009720291172281
   ]
   edge [
-    source 161
-    target 160
-    weight 2.170905746330924
+    source 161
+    target 162
+    weight 2.02660947459501
   ]
   edge [
     source 162
-    target 165
-    weight 2.3791843214815556
+    target 63
+    weight 2.0266094745950203
   ]
   edge [
     source 163
-    target 162
-    weight 2.3791843214815556
+    target 164
+    weight 2.0266094745950203
   ]
   edge [
     source 164
-    target 167
-    weight 2.3791843214815556
+    target 161
+    weight 2.02660947459501
   ]
   edge [
     source 165
-    target 164
-    weight 2.3791843214815707
+    target 166
+    weight 2.0266094745950203
   ]
   edge [
     source 166
-    target 153
-    weight 2.881220803806643
+    target 163
+    weight 2.0266094745950367
   ]
   edge [
     source 167
-    target 166
-    weight 2.3791843214815556
+    target 170
+    weight 2.425565488150257
   ]
   edge [
     source 168
-    target 93
-    weight 5.67110264394018
+    target 167
+    weight 2.170905746330924
   ]
   edge [
     source 169
-    target 365
-    weight 3.1145503622423827
+    target 172
+    weight 2.3791843214815556
   ]
   edge [
     source 170
-    target 171
-    weight 2.0382489042365974
+    target 169
+    weight 2.3791843214815556
   ]
   edge [
     source 171
-    target 293
-    weight 2.0382489042365974
+    target 174
+    weight 2.3791843214815556
   ]
   edge [
     source 172
-    target 173
-    weight 2.3384780366479583
+    target 171
+    weight 2.3791843214815707
   ]
   edge [
     source 173
-    target 174
-    weight 2.338478036647957
+    target 160
+    weight 2.881220803806643
   ]
   edge [
     source 174
-    target 175
-    weight 2.3384780366479583
-  ]
-  edge [
-    source 175
-    target 240
-    weight 1.6460144334365205
+    target 173
+    weight 2.3791843214815556
   ]
   edge [
     source 175
     target 176
-    weight 4.901080580440689
+    weight 2.225496362404834
   ]
   edge [
     source 176
     target 177
-    weight 2.0382489042365974
+    weight 2.2254963624048347
   ]
   edge [
     source 177
     target 178
-    weight 2.0382489042365974
+    weight 2.225496362404834
   ]
   edge [
     source 178
     target 179
-    weight 2.0382489042365974
+    weight 2.2254963624048347
   ]
   edge [
     source 179
-    target 170
-    weight 2.0382489042365974
+    target 49
+    weight 2.3040791173045876
   ]
   edge [
     source 180
-    target 187
-    weight 2.174853648900859
-  ]
-  edge [
-    source 181
-    target 180
-    weight 2.1748536489008443
+    target 365
+    weight 3.1145503622423827
   ]
   edge [
     source 181
-    target 188
-    weight 8.23392045249578
+    target 315
+    weight 2.624457564826847
   ]
   edge [
     source 182
-    target 181
-    weight 2.174853648900859
+    target 183
+    weight 2.0382489042365974
   ]
   edge [
     source 183
-    target 182
-    weight 2.174853648900859
+    target 294
+    weight 2.0382489042365974
   ]
   edge [
     source 184
-    target 189
-    weight 2.1563725946088415
+    target 185
+    weight 2.3384780366479583
   ]
   edge [
     source 185
-    target 184
-    weight 2.156372594608821
+    target 186
+    weight 2.338478036647957
   ]
   edge [
-    source 185
-    target 244
-    weight 4.70128382122134
+    source 186
+    target 187
+    weight 2.3384780366479583
   ]
   edge [
-    source 186
-    target 185
-    weight 2.1563725946088415
+    source 187
+    target 252
+    weight 1.6460144334365205
   ]
   edge [
     source 187
-    target 91
-    weight 2.094461599956369
+    target 188
+    weight 4.901080580440689
   ]
   edge [
     source 188
-    target 80
-    weight 2.156372594608821
+    target 189
+    weight 2.0382489042365974
   ]
   edge [
     source 189
-    target 188
-    weight 2.1563725946088415
+    target 190
+    weight 2.0382489042365974
   ]
   edge [
     source 190
     target 191
-    weight 2.0848720620951218
+    weight 2.0382489042365974
   ]
   edge [
     source 191
-    target 28
-    weight 2.084872062095129
+    target 182
+    weight 2.0382489042365974
   ]
   edge [
     source 192
-    target 193
-    weight 2.174075856731501
+    target 199
+    weight 2.174853648900859
   ]
   edge [
     source 193
-    target 305
-    weight 2.1740758567315037
+    target 192
+    weight 2.1748536489008443
+  ]
+  edge [
+    source 193
+    target 200
+    weight 8.23392045249578
   ]
   edge [
     source 194
-    target 195
-    weight 6.83982909994315
+    target 193
+    weight 2.174853648900859
   ]
   edge [
     source 195
-    target 198
-    weight 4.400971647391255
+    target 194
+    weight 2.174853648900859
   ]
   edge [
     source 196
-    target 92
-    weight 4.939000353494403
+    target 201
+    weight 2.1563725946088415
   ]
   edge [
     source 197
-    target 201
-    weight 6.477726671879712
+    target 196
+    weight 2.156372594608821
+  ]
+  edge [
+    source 197
+    target 256
+    weight 4.70128382122134
   ]
   edge [
     source 198
-    target 199
-    weight 5.640031883851785
+    target 197
+    weight 2.1563725946088415
   ]
   edge [
     source 199
-    target 95
-    weight 3.467744111707182
+    target 98
+    weight 2.094461599956369
   ]
   edge [
     source 200
-    target 94
-    weight 5.963733527964965
+    target 87
+    weight 2.156372594608821
   ]
   edge [
     source 201
-    target 196
-    weight 6.271569812406168
+    target 200
+    weight 2.1563725946088415
   ]
   edge [
     source 202
-    target 158
-    weight 2.02660947459501
+    target 203
+    weight 2.0848720620951218
   ]
   edge [
     source 203
-    target 37
-    weight 2.0097202911722882
+    target 28
+    weight 2.084872062095129
   ]
   edge [
     source 204
-    target 326
-    weight 2.0201295698472954
+    target 205
+    weight 2.174075856731501
   ]
   edge [
     source 205
-    target 204
-    weight 2.0201295698472785
+    target 306
+    weight 2.1740758567315037
   ]
   edge [
     source 206
-    target 209
-    weight 2.0201295698472785
+    target 207
+    weight 6.83982909994315
   ]
   edge [
     source 207
-    target 206
-    weight 2.0201295698472688
+    target 210
+    weight 4.400971647391255
   ]
   edge [
     source 208
-    target 211
-    weight 2.0201295698472514
+    target 99
+    weight 4.939000353494403
   ]
   edge [
     source 209
-    target 208
-    weight 2.0201295698472954
+    target 213
+    weight 6.477726671879712
   ]
   edge [
     source 210
-    target 213
-    weight 2.0201295698472688
+    target 211
+    weight 5.640031883851785
   ]
   edge [
     source 211
-    target 210
-    weight 2.020129569847305
+    target 102
+    weight 3.467744111707182
   ]
   edge [
     source 212
-    target 205
-    weight 2.0201295698472785
+    target 101
+    weight 5.963733527964965
   ]
   edge [
     source 213
-    target 212
-    weight 2.0201295698472688
+    target 208
+    weight 6.271569812406168
   ]
   edge [
     source 214
-    target 382
-    weight 2.169243774307677
+    target 165
+    weight 2.02660947459501
   ]
   edge [
     source 215
-    target 214
-    weight 2.169243774307677
+    target 38
+    weight 2.0097202911722882
   ]
   edge [
     source 216
-    target 390
-    weight 2.088757290807499
+    target 327
+    weight 2.0201295698472954
   ]
   edge [
     source 217
-    target 219
-    weight 2.174075856731501
+    target 216
+    weight 2.0201295698472785
   ]
   edge [
     source 218
-    target 307
-    weight 2.85296831440672
+    target 221
+    weight 2.0201295698472785
   ]
   edge [
     source 219
-    target 306
-    weight 2.1740758567315153
-  ]
-  edge [
-    source 220
-    target 221
-    weight 2.017235729912668
+    target 218
+    weight 2.0201295698472688
   ]
   edge [
     source 220
-    target 250
-    weight 4.577018740482775
+    target 223
+    weight 2.0201295698472514
   ]
   edge [
     source 221
-    target 222
-    weight 2.017235729912668
+    target 220
+    weight 2.0201295698472954
   ]
   edge [
     source 222
-    target 223
-    weight 2.017235729912668
+    target 225
+    weight 2.0201295698472688
   ]
   edge [
     source 223
-    target 91
-    weight 2.397953772004691
+    target 222
+    weight 2.020129569847305
   ]
   edge [
     source 224
-    target 225
-    weight 2.7402723992389246
+    target 217
+    weight 2.0201295698472785
   ]
   edge [
     source 225
-    target 226
-    weight 2.7402723992389246
+    target 224
+    weight 2.0201295698472688
   ]
   edge [
     source 226
-    target 227
-    weight 1.8264562889263969
+    target 382
+    weight 2.169243774307677
   ]
   edge [
     source 227
-    target 220
-    weight 2.017235729912668
+    target 226
+    weight 2.169243774307677
   ]
   edge [
     source 228
-    target 127
-    weight 3.6411452997300513
+    target 230
+    weight 2.174075856731501
   ]
   edge [
     source 229
-    target 228
-    weight 2.1212440959529935
+    target 308
+    weight 2.85296831440672
   ]
   edge [
     source 230
-    target 229
-    weight 2.1212440959529935
+    target 307
+    weight 2.1740758567315153
   ]
   edge [
     source 231
-    target 287
-    weight 3.6319858416185467
+    target 232
+    weight 2.017235729912668
+  ]
+  edge [
+    source 231
+    target 262
+    weight 4.577018740482775
   ]
   edge [
     source 232
-    target 231
-    weight 2.1740758567315024
+    target 233
+    weight 2.017235729912668
   ]
   edge [
     source 233
-    target 315
-    weight 2.2510253737105965
+    target 234
+    weight 2.017235729912668
   ]
   edge [
     source 234
-    target 316
-    weight 2.153423713184546
+    target 98
+    weight 2.397953772004691
   ]
   edge [
     source 235
     target 236
-    weight 2.2207909304747084
+    weight 2.7402723992389246
   ]
   edge [
     source 236
-    target 218
-    weight 2.2207909304747084
+    target 237
+    weight 2.7402723992389246
   ]
   edge [
     source 237
     target 238
-    weight 2.2207909304747084
+    weight 1.8264562889263969
   ]
   edge [
     source 238
-    target 235
-    weight 2.2207909304747377
+    target 231
+    weight 2.017235729912668
   ]
   edge [
     source 239
-    target 246
-    weight 2.765927840749201
+    target 134
+    weight 3.6411452997300513
   ]
   edge [
     source 240
-    target 176
-    weight 3.9894671648196076
+    target 239
+    weight 2.1212440959529935
   ]
   edge [
     source 241
-    target 242
-    weight 2.174853648900859
+    target 240
+    weight 2.1212440959529935
   ]
   edge [
     source 242
-    target 183
-    weight 2.1748536489008443
+    target 288
+    weight 3.6319858416185467
   ]
   edge [
     source 243
-    target 250
-    weight 2.2510253737105965
+    target 242
+    weight 2.1740758567315024
   ]
   edge [
     source 244
-    target 243
-    weight 2.2510253737106103
-  ]
-  edge [
-    source 245
-    target 133
-    weight 4.1708129992210425
+    target 316
+    weight 2.2510253737105965
   ]
   edge [
     source 245
-    target 74
-    weight 2.131895612368234
+    target 317
+    weight 2.153423713184546
   ]
   edge [
     source 246
-    target 245
-    weight 2.765927840749201
+    target 247
+    weight 2.2207909304747084
   ]
   edge [
     source 247
-    target 248
-    weight 2.115676651716835
+    target 229
+    weight 2.2207909304747084
   ]
   edge [
     source 248
-    target 253
-    weight 2.115676651716835
+    target 249
+    weight 2.2207909304747084
   ]
   edge [
     source 249
-    target 262
-    weight 2.17249196653599
+    target 246
+    weight 2.2207909304747377
   ]
   edge [
     source 250
-    target 257
-    weight 2.2510253737106103
+    target 157
+    weight 2.2968411313552086
   ]
   edge [
     source 251
-    target 252
-    weight 2.115676651716835
+    target 258
+    weight 2.765927840749201
   ]
   edge [
     source 252
-    target 241
-    weight 3.5948365931864052
+    target 188
+    weight 3.9894671648196076
   ]
   edge [
     source 253
     target 254
-    weight 2.1156766517168637
+    weight 2.174853648900859
   ]
   edge [
     source 254
-    target 251
-    weight 2.115676651716835
+    target 195
+    weight 2.1748536489008443
   ]
   edge [
     source 255
-    target 240
-    weight 2.6062071913648546
+    target 262
+    weight 2.2510253737105965
   ]
   edge [
     source 256
     target 255
-    weight 2.6062071913648546
+    weight 2.2510253737106103
   ]
   edge [
     source 257
-    target 233
-    weight 2.2510253737106103
+    target 140
+    weight 4.1708129992210425
+  ]
+  edge [
+    source 257
+    target 81
+    weight 2.131895612368234
   ]
   edge [
     source 258
-    target 249
-    weight 2.17249196653599
+    target 257
+    weight 2.765927840749201
   ]
   edge [
     source 259
-    target 340
-    weight 2.02660947459501
+    target 260
+    weight 2.115676651716835
   ]
   edge [
     source 260
-    target 259
-    weight 2.0266094745950154
+    target 265
+    weight 2.115676651716835
   ]
   edge [
     source 261
-    target 272
-    weight 2.0266094745950154
+    target 273
+    weight 2.17249196653599
   ]
   edge [
     source 262
-    target 247
-    weight 7.205717713918863
+    target 269
+    weight 2.2510253737106103
   ]
   edge [
     source 263
-    target 266
-    weight 2.0266094745950203
+    target 264
+    weight 2.115676651716835
   ]
   edge [
     source 264
-    target 263
-    weight 2.0266094745950367
+    target 253
+    weight 3.5948365931864052
   ]
   edge [
     source 265
-    target 260
-    weight 2.0266094745950154
+    target 266
+    weight 2.1156766517168637
   ]
   edge [
     source 266
-    target 265
-    weight 2.02660947459501
+    target 263
+    weight 2.115676651716835
   ]
   edge [
     source 267
-    target 268
-    weight 2.170905746330924
+    target 252
+    weight 2.6062071913648546
   ]
   edge [
     source 268
-    target 269
-    weight 2.170905746330938
+    target 267
+    weight 2.6062071913648546
   ]
   edge [
     source 269
-    target 270
-    weight 2.170905746330924
+    target 244
+    weight 2.2510253737106103
   ]
   edge [
     source 270
     target 341
-    weight 2.170905746330922
+    weight 2.02660947459501
   ]
   edge [
     source 271
-    target 373
-    weight 2.0266094745950416
+    target 270
+    weight 2.0266094745950154
   ]
   edge [
     source 272
-    target 271
+    target 283
     weight 2.0266094745950154
   ]
   edge [
     source 273
-    target 130
-    weight 2.393416091944934
+    target 259
+    weight 7.205717713918863
   ]
   edge [
     source 274
-    target 283
-    weight 2.599802868659924
+    target 277
+    weight 2.0266094745950203
   ]
   edge [
     source 275
     target 274
-    weight 2.5998028686599275
+    weight 2.0266094745950367
+  ]
+  edge [
+    source 276
+    target 271
+    weight 2.0266094745950154
   ]
   edge [
     source 277
     target 276
-    weight 2.516269895984853
+    weight 2.02660947459501
   ]
   edge [
     source 278
-    target 277
-    weight 2.516269895984853
+    target 279
+    weight 2.170905746330924
+  ]
+  edge [
+    source 279
+    target 280
+    weight 2.170905746330938
   ]
   edge [
     source 280
-    target 279
-    weight 2.1102531134666753
+    target 281
+    weight 2.170905746330924
   ]
   edge [
     source 281
-    target 280
-    weight 2.1102531134666744
+    target 342
+    weight 2.170905746330922
   ]
   edge [
     source 282
-    target 168
-    weight 9.50373594276365
+    target 345
+    weight 2.088757290807486
   ]
   edge [
     source 283
-    target 282
-    weight 2.5998028686599275
+    target 344
+    weight 2.0266094745950154
   ]
   edge [
     source 284
-    target 136
-    weight 2.5237062640272194
+    target 137
+    weight 2.393416091944934
   ]
   edge [
     source 285
-    target 284
+    target 143
     weight 2.5237062640272194
   ]
   edge [
     source 286
-    target 298
-    weight 2.508557522131839
+    target 285
+    weight 2.5237062640272194
   ]
   edge [
     source 287
-    target 286
-    weight 2.7622567430045772
+    target 299
+    weight 2.508557522131839
   ]
   edge [
     source 288
-    target 5
-    weight 2.657873463993669
+    target 287
+    weight 2.7622567430045772
   ]
   edge [
     source 289
-    target 288
-    weight 2.466751703350307
+    target 5
+    weight 2.657873463993669
   ]
   edge [
     source 290
@@ -4261,12 +4271,12 @@ graph [
   edge [
     source 291
     target 290
-    weight 1.665557552616292
+    weight 2.466751703350307
   ]
   edge [
     source 292
     target 291
-    weight 2.0382489042365974
+    weight 1.665557552616292
   ]
   edge [
     source 293
@@ -4275,133 +4285,133 @@ graph [
   ]
   edge [
     source 294
-    target 295
-    weight 2.1212440959529935
+    target 293
+    weight 2.0382489042365974
   ]
   edge [
     source 295
-    target 302
+    target 296
     weight 2.1212440959529935
   ]
   edge [
     source 296
-    target 297
-    weight 2.1212440959529806
+    target 303
+    weight 2.1212440959529935
   ]
   edge [
     source 297
-    target 294
-    weight 2.1212440959529935
+    target 298
+    weight 2.1212440959529806
   ]
   edge [
     source 298
-    target 299
+    target 295
     weight 2.1212440959529935
   ]
   edge [
     source 299
-    target 296
+    target 300
     weight 2.1212440959529935
   ]
   edge [
     source 300
-    target 301
-    weight 2.080945704544425
+    target 297
+    weight 2.1212440959529935
   ]
   edge [
     source 301
-    target 139
-    weight 5.887227379628547
+    target 302
+    weight 2.080945704544425
   ]
   edge [
-    source 301
-    target 284
-    weight 3.9751917489461412
+    source 302
+    target 146
+    weight 5.887227379628547
   ]
   edge [
     source 302
-    target 303
-    weight 2.1212440959529935
+    target 285
+    weight 3.9751917489461412
   ]
   edge [
     source 303
-    target 230
-    weight 2.1212440959529806
+    target 304
+    weight 2.1212440959529935
   ]
   edge [
     source 304
-    target 361
-    weight 6.8992725396657
+    target 241
+    weight 2.1212440959529806
   ]
   edge [
-    source 304
-    target 197
-    weight 9.063731444889704
+    source 305
+    target 175
+    weight 7.271556078665475
   ]
   edge [
     source 305
-    target 217
-    weight 2.1740758567315153
+    target 209
+    weight 9.063731444889704
   ]
   edge [
     source 306
-    target 309
-    weight 2.1740758567315037
+    target 228
+    weight 2.1740758567315153
   ]
   edge [
     source 307
-    target 117
-    weight 2.2495422083609298
+    target 310
+    weight 2.1740758567315037
   ]
   edge [
     source 308
-    target 311
-    weight 2.174075856731501
+    target 124
+    weight 2.2495422083609298
   ]
   edge [
     source 309
-    target 308
+    target 312
     weight 2.174075856731501
   ]
   edge [
     source 310
-    target 232
-    weight 2.1740758567315024
+    target 309
+    weight 2.174075856731501
   ]
   edge [
     source 311
-    target 310
-    weight 2.174075856731501
+    target 243
+    weight 2.1740758567315024
   ]
   edge [
     source 312
-    target 313
-    weight 2.624457564826845
+    target 311
+    weight 2.174075856731501
   ]
   edge [
     source 313
-    target 314
-    weight 2.624457564826847
+    target 181
+    weight 2.624457564826845
   ]
   edge [
     source 314
-    target 234
-    weight 1.597533790282889
+    target 248
+    weight 2.2207909304747084
   ]
   edge [
     source 315
-    target 370
-    weight 2.2510253737106103
+    target 245
+    weight 1.597533790282889
   ]
   edge [
     source 316
-    target 317
-    weight 2.153423713184546
+    target 370
+    weight 2.2510253737106103
   ]
   edge [
     source 317
     target 318
-    weight 2.153423713184542
+    weight 2.153423713184546
   ]
   edge [
     source 318
@@ -4410,63 +4420,63 @@ graph [
   ]
   edge [
     source 319
-    target 304
-    weight 2.153423713184546
+    target 320
+    weight 2.153423713184542
   ]
   edge [
     source 320
-    target 321
-    weight 2.0266094745950203
+    target 305
+    weight 2.153423713184546
   ]
   edge [
     source 321
-    target 32
-    weight 2.02660947459501
+    target 322
+    weight 2.0266094745950203
   ]
   edge [
     source 322
-    target 169
-    weight 4.412921766820168
+    target 33
+    weight 2.02660947459501
   ]
   edge [
     source 323
-    target 324
-    weight 2.02660947459501
+    target 180
+    weight 4.412921766820168
   ]
   edge [
     source 324
     target 325
-    weight 2.0266094745950203
+    weight 2.02660947459501
   ]
   edge [
     source 325
-    target 320
-    weight 2.0266094745950367
+    target 326
+    weight 2.0266094745950203
   ]
   edge [
     source 326
-    target 327
-    weight 2.020129569847242
+    target 321
+    weight 2.0266094745950367
   ]
   edge [
     source 327
     target 328
-    weight 2.020129569847305
+    weight 2.020129569847242
   ]
   edge [
     source 328
     target 329
-    weight 2.0201295698472785
+    weight 2.020129569847305
   ]
   edge [
     source 329
-    target 322
-    weight 2.0201295698472688
+    target 330
+    weight 2.0201295698472785
   ]
   edge [
     source 330
-    target 331
-    weight 2.0045768590316304
+    target 323
+    weight 2.0201295698472688
   ]
   edge [
     source 331
@@ -4476,7 +4486,7 @@ graph [
   edge [
     source 332
     target 333
-    weight 2.004576859031627
+    weight 2.0045768590316304
   ]
   edge [
     source 333
@@ -4486,12 +4496,12 @@ graph [
   edge [
     source 334
     target 335
-    weight 2.004576859031634
+    weight 2.004576859031627
   ]
   edge [
     source 335
     target 336
-    weight 2.004576859031627
+    weight 2.004576859031634
   ]
   edge [
     source 336
@@ -4506,62 +4516,62 @@ graph [
   edge [
     source 338
     target 339
-    weight 2.004576859031634
+    weight 2.004576859031627
   ]
   edge [
     source 339
-    target 53
-    weight 2.004576859031627
+    target 340
+    weight 2.004576859031634
   ]
   edge [
     source 340
-    target 261
-    weight 2.0266094745950416
+    target 60
+    weight 2.004576859031627
   ]
   edge [
     source 341
-    target 342
-    weight 2.170905746330924
+    target 272
+    weight 2.0266094745950416
   ]
   edge [
     source 342
-    target 161
-    weight 2.170905746330938
+    target 343
+    weight 2.170905746330924
   ]
   edge [
     source 343
-    target 344
-    weight 2.088757290807486
+    target 168
+    weight 2.170905746330938
   ]
   edge [
     source 344
-    target 186
-    weight 9.07592326946155
+    target 373
+    weight 2.0266094745950416
   ]
   edge [
     source 345
-    target 129
-    weight 2.2968411313551944
+    target 198
+    weight 9.07592326946155
   ]
   edge [
     source 346
-    target 258
+    target 261
     weight 2.17249196653599
   ]
   edge [
     source 347
-    target 348
-    weight 2.0201295698472688
+    target 346
+    weight 2.17249196653599
   ]
   edge [
     source 348
-    target 148
-    weight 2.0201295698472785
+    target 349
+    weight 2.0201295698472688
   ]
   edge [
     source 349
-    target 350
-    weight 2.0201295698472737
+    target 155
+    weight 2.0201295698472785
   ]
   edge [
     source 350
@@ -4575,58 +4585,58 @@ graph [
   ]
   edge [
     source 352
-    target 128
-    weight 2.0201295698473003
+    target 353
+    weight 2.0201295698472737
   ]
   edge [
     source 353
-    target 356
-    weight 3.4363630656911903
+    target 29
+    weight 2.0201295698473003
   ]
   edge [
     source 354
-    target 353
-    weight 2.053702055829841
+    target 357
+    weight 3.4363630656911903
   ]
   edge [
-    source 354
-    target 239
+    source 355
+    target 251
     weight 3.770360482891123
   ]
   edge [
     source 355
-    target 358
-    weight 2.375828146737143
+    target 354
+    weight 2.053702055829841
   ]
   edge [
     source 356
-    target 355
+    target 359
     weight 2.375828146737143
   ]
   edge [
     source 357
-    target 360
+    target 356
     weight 2.375828146737143
   ]
   edge [
     source 358
-    target 357
+    target 361
     weight 2.375828146737143
   ]
   edge [
     source 359
-    target 346
-    weight 2.17249196653599
+    target 358
+    weight 2.375828146737143
   ]
   edge [
     source 360
-    target 359
-    weight 3.7293320576746427
+    target 347
+    weight 2.17249196653599
   ]
   edge [
     source 361
-    target 281
-    weight 2.1102531134666744
+    target 360
+    weight 3.7293320576746427
   ]
   edge [
     source 362
@@ -4650,7 +4660,7 @@ graph [
   ]
   edge [
     source 366
-    target 323
+    target 324
     weight 6.317368213887609
   ]
   edge [
@@ -4670,7 +4680,7 @@ graph [
   ]
   edge [
     source 370
-    target 385
+    target 314
     weight 3.474364926111206
   ]
   edge [
@@ -4680,7 +4690,7 @@ graph [
   ]
   edge [
     source 372
-    target 88
+    target 95
     weight 2.02660947459501
   ]
   edge [
@@ -4740,17 +4750,17 @@ graph [
   ]
   edge [
     source 384
-    target 97
+    target 104
     weight 2.0448861860374294
   ]
   edge [
     source 385
-    target 237
-    weight 2.2207909304747084
+    target 390
+    weight 2.088757290807499
   ]
   edge [
     source 386
-    target 216
+    target 385
     weight 2.088757290807486
   ]
   edge [
@@ -4765,7 +4775,7 @@ graph [
   ]
   edge [
     source 389
-    target 343
+    target 282
     weight 2.0887572908075014
   ]
   edge [
@@ -4780,7 +4790,7 @@ graph [
   ]
   edge [
     source 392
-    target 75
+    target 82
     weight 2.095374593504918
   ]
   edge [
diff --git a/cart_planning/scripts/global_planner.py b/cart_planning/scripts/global_planner.py
index 9197cdbf..a0a4afcd 100755
--- a/cart_planning/scripts/global_planner.py
+++ b/cart_planning/scripts/global_planner.py
@@ -186,9 +186,8 @@ def calc_nav(self, point):
                 nodelist = self.calc_efficient_destination(destination_point)
             else:
                 nodelist = nx.dijkstra_path(self.global_graph, self.current_cart_node, destination_point)
-                self.total_distance = nx.dijkstra_path_length(self.global_graph, self.current_cart_node, destination_point)
-
-                    # Set all nodes to a state of not being a part of the coming path
+            
+            # Set all nodes to a state of not being a part of the coming path
             for node in self.global_graph:
                 self.global_graph.node[node]['active'] = False
 
@@ -271,9 +270,6 @@ def determine_lane(self, cart_node):
 
         if len(node_angles) < 1:
             return None
-        
-        # Sort nodes by distance
-        # sorted_node_angles = sorted(node_angles.items(), key=lambda x: x[1])
 
         # Finally return the closest node of the proper lane
         return min(node_angles, key=node_angles.get)
@@ -352,13 +348,10 @@ def calc_efficient_destination(self, destination):
             if not inefficient:
                 close_nodes.append(node)
 
-        rospy.logwarn("Here are the closest nodes: " + str(close_nodes))
         min_path = None
         # Out of the most efficient paths, which one has the least driving distance
         for node in close_nodes:
-            rospy.logwarn("Enumeration: " + str(node))
             node_path = nx.dijkstra_path(local_logic_graph, self.current_cart_node, node)
-            rospy.logwarn("Dijkstra path of " + str(node) + ": " + str(node_path))
             if min_path is None:
                 min_path = node_path
 
@@ -448,8 +441,6 @@ def pose_callback(self, msg):
             msg.pose.orientation.w
         )
         self.orientation = euler_from_quaternion(cart_quat)
-        # Also calculate the ETA to the destination, given most recent position
-        # self.eta_calc()
 
     # We've received a clicked point from RViz, calculate a path to it
     def point_callback(self, msg):
@@ -483,22 +474,6 @@ def vel_callback(self, msg):
             self.vel_polls = 0
             self.cur_speed = 0
 
-    def eta_calc(self):
-        # Are we at a new node 
-        can_update = self.prev_cart_node is not self.current_cart_node
-
-        # Calculate distance remaining if the cart is navigating
-        if self.navigating and can_update and self.cur_speed > 0:
-            self.prev_cart_node = self.current_cart_node
-            # Update the remaining distance on the trip
-            self.total_distance = nx.dijkstra_path_length(self.global_graph, self.current_cart_node, self.destination_node)
-
-            # Remaining time in seconds
-            remaining_time = self.total_distance/self.cur_speed
-
-            # The time we should get there
-            arrive_time = time.time() + remaining_time
-
     def output_path_gps(self, path):
         """ Function for converting the list of points along a path to latitude and longitude
 
diff --git a/cart_simulator/scripts/path_creation.py b/cart_simulator/scripts/path_creation.py
index a598a07c..d553fe78 100755
--- a/cart_simulator/scripts/path_creation.py
+++ b/cart_simulator/scripts/path_creation.py
@@ -45,6 +45,7 @@ def __init__(self):
         # Keep track of global stae of graph(e.g. most recently placed node)
         self.global_graph = nx.DiGraph()
         self.last_node = None
+        self.prev_node = None
         self.selected_node = None
         self.node_count = 0
         
@@ -201,18 +202,23 @@ def line_mode(self, x, y):
             step_x = diff_x / num_points
             step_y = diff_y / num_points
 
-            prev_node = None
-            for i in range(0, num_points + 1):
+            start = 0
+
+            # If we are connecting the lines, skip the first selection as it alrady exists
+            if self.point_mode == "Multi-line":
+                start = 1
+
+            for i in range(start, num_points + 1):
                 self.node_count += 1
                 new_x = x1 + (step_x * i)
                 new_y = y1 + (step_y * i)
                 node_name_r = 'R_Node:' + str(self.node_count)
                 self.global_graph.add_node(node_name_r, pos=[new_x, new_y], active=False)
 
-                if prev_node is not None:
-                    self.add_weighted_edge(prev_node, node_name_r)
+                if self.prev_node is not None:
+                    self.add_weighted_edge(self.prev_node, node_name_r)
                 
-                prev_node = node_name_r
+                self.prev_node = node_name_r
             
             # If it is a multi-line continue where we left off
             if self.point_mode == "Multi-line":
@@ -295,10 +301,12 @@ def get_input(self, stdscr):
             elif keyval == l:
                 self.first_selection = None
                 self.second_selection = None
+                self.prev_node = None
                 self.point_mode = "Line"
             elif keyval == m:
                 self.first_selection = None
                 self.second_selection = None
+                self.prev_node = None
                 self.point_mode = "Multi-line"
             elif keyval == t:
                 if self.road_type is "directed":