start_position -4.242640687119286 -4.242640687119285 0.0
goal_position -3.1819805153394642 -3.181980515339464 0.2
start_yaw 0.7853981633974484
goal_yaw 0.7853981633974484
a_star_iteration_limit 60
step_planner_status test
plan_then_snap_status test