diff --git a/ros_ws/src/autonomous/wallfollowing2/playground/wallfollowing.ipynb b/ros_ws/src/autonomous/wallfollowing2/playground/wallfollowing.ipynb
index 69a0e4ac..28ad81e8 100644
--- a/ros_ws/src/autonomous/wallfollowing2/playground/wallfollowing.ipynb
+++ b/ros_ws/src/autonomous/wallfollowing2/playground/wallfollowing.ipynb
@@ -30,13 +30,15 @@
    "outputs": [],
    "source": [
     "# some imports\n",
+    "import time\n",
     "import math\n",
     "import numpy as np\n",
     "import pandas as pd\n",
     "from math import atan2\n",
     "from collections import namedtuple\n",
     "from circle_fit import hyper_fit\n",
-    "import plotly.graph_objects as go"
+    "import plotly.graph_objects as go\n",
+    "from IPython.display import clear_output"
    ]
   },
   {
@@ -54,7 +56,25 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 22,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# convert dataframe to the original format\n",
+    "def get_data_row():\n",
+    "    row = data.loc[selecetdDatapoint]\n",
+    "    row.ranges = []\n",
+    "    row.intensities = []\n",
+    "    for i in range(lastField+1):\n",
+    "        row.ranges.append(row[\"ranges%s\" % i])\n",
+    "        row.intensities.append(row[\"intensities%s\" % i])\n",
+    "\n",
+    "    return row"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 25,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -72,32 +92,13 @@
     "delta_time = 0\n",
     "# laser_scan csv file to import\n",
     "data = pd.read_csv(\"samples/first_test/bagfile-_scan.csv\")\n",
-    "# data point to select form csv file\n",
-    "selecetdDatapoint = 42\n",
     "# last fieldnumber of data row\n",
     "lastField = 1080"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# convert dataframe to the original format\n",
-    "row = data.loc[selecetdDatapoint]\n",
-    "row.ranges = []\n",
-    "row.intensities = []\n",
-    "for i in range(lastField+1):\n",
-    "    row.ranges.append(row[\"ranges%s\" % i])\n",
-    "    row.intensities.append(row[\"intensities%s\" % i])\n",
-    "\n",
-    "scan_message = row"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 12,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -137,7 +138,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 5,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -171,7 +172,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 6,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -186,7 +187,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 20,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -219,28 +220,53 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 25,
+   "execution_count": 35,
    "metadata": {},
    "outputs": [],
    "source": [
+    "def getIndexFromCoordinates(index, coordinates):\n",
+    "    return [i[index] for i in coordinates]\n",
+    "\n",
+    "def show_circle_in_plot(figure, name, circle, wall):\n",
+    "    start_angle = circle.get_angle(Point(wall[0, 0], wall[0, 1]))\n",
+    "    end_angle = circle.get_angle(Point(wall[-1, 0], wall[-1, 1]))\n",
+    "    points = circle.create_array(start_angle, end_angle)\n",
+    "    figure.add_trace(go.Scatter(x=getIndexFromCoordinates(0, points), y=getIndexFromCoordinates(1, points),\n",
+    "                                mode='lines',\n",
+    "                                name=name))\n",
+    "\n",
     "def plot(points, right_wall, left_wall, right_circle, left_circle, barrier):\n",
     "    fig = go.Figure()\n",
     "\n",
-    "    fig.add_trace(go.Scatter(x=[i[0] for i in points], y=[i[1] for i in points],\n",
+    "    fig.add_trace(go.Scatter(x=getIndexFromCoordinates(0, points), y=getIndexFromCoordinates(1, points),\n",
+    "                                mode='markers',\n",
+    "                                name='scan points'))\n",
+    "                                \n",
+    "    fig.add_trace(go.Scatter(x=getIndexFromCoordinates(0, right_wall), y=getIndexFromCoordinates(1, right_wall),\n",
+    "                                mode='markers',\n",
+    "                                name='right wall'))\n",
+    "    fig.add_trace(go.Scatter(x=getIndexFromCoordinates(0, left_wall), y=getIndexFromCoordinates(1, left_wall),\n",
     "                                mode='markers',\n",
-    "                                name='markers'))\n",
-    "    #fig.add_trace(go.Scatter(x=random_x, y=random_y2,\n",
-    "    #                            mode='lines',\n",
-    "    #                            name='lines'))\n",
+    "                                name='left wall'))\n",
+    "                                \n",
+    "    show_circle_in_plot(fig, 'left_circle', left_circle, left_wall)\n",
+    "    show_circle_in_plot(fig, 'right_circle', right_circle, right_wall)\n",
     "\n",
+    "    clear_output()\n",
+    "    print(\"selecetdDatapoint: %s\" % selecetdDatapoint)\n",
     "    fig.show()"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 26,
+   "execution_count": 37,
    "metadata": {},
    "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": "selecetdDatapoint: 2542\n"
+    },
     {
      "data": {
       "application/vnd.plotly.v1+json": {
@@ -250,1771 +276,2447 @@
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         }
        ],
@@ -2833,9 +3535,56 @@
    ],
    "source": [
     "# lastly start the wallfollowing\n",
-    "handle_scan(scan_message, delta_time)"
+    "selecetdDatapoint = 2542\n",
+    "iterations = 1\n",
+    "skipFrames = 100\n",
+    "delayPerFrame = 1\n",
+    "\n",
+    "for i in range(0, iterations, 1):\n",
+    "    scan_message = get_data_row()\n",
+    "    handle_scan(scan_message, delta_time)\n",
+    "    selecetdDatapoint = selecetdDatapoint+skipFrames\n",
+    "    time.sleep(delayPerFrame)"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# interesting dataPoints:\n",
+    "2542"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
   {
    "cell_type": "code",
    "execution_count": null,