VERTEX_SE2 0 1.0 0.0 1.57
FIX 0
VERTEX_SE2 1 0.0 1.0 3.14
VERTEX_XY 2 1.5 2.0
EDGE_PRIOR_SE2 0 0.9 0.4 1.58 10.0 0.0 0.0 10.0 0.0 1.0
EDGE_SE2 0 1 1.0 1.5 1.57 1.0 0.0 0.0 1.0 0.0 1.0
EDGE_SE2_XY 0 2 0.0 -1.0 1.0 0.0 1.0
EDGE_PRIOR_SE2 1 0.0 1.0 3.13 10.0 0.0 0.0 10.0 0.0 1.0