diff --git a/waypoints_A0_circlev6.txt b/waypoints_A0_circlev6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b53d1971a002800a318a2527695691c9b32dbcc2
--- /dev/null
+++ b/waypoints_A0_circlev6.txt
@@ -0,0 +1,10 @@
+	0	1.70917	0.479173	-0.7	0.0166169	1	0	0.2	0
+	1	1.06535	0.685009	-0.7	0	1	0	0.2	0
+	2	0.549035	1.49192	-0.7	0	1	0	0.2	0
+	3	0.686046	2.54501	-0.7	-0.00386592	1	0	0.2	0
+	4	1.66	2.89715	-0.7	0	1	0	0.2	0
+	5	2.43282	2.89177	-0.7	0	1	0	0.2	0
+	6	2.73	1.83	-0.7	0	1	1	0.3	0
+	7	2.72167	1.07	-0.7	0	1	0	0.2	0
+	8	2.01283	0.620645	-0.7	0	1	0	0.2	0
+	9	1.7569	0.651101	0	0	1	0	0.2	2000
diff --git a/waypoints_A0_circlev7.txt b/waypoints_A0_circlev7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8616ff01a07c99e51315d7be24791f0bf6247ca3
--- /dev/null
+++ b/waypoints_A0_circlev7.txt
@@ -0,0 +1,10 @@
+	0	1.70917	0.479173	-0.7	1.5708	1	0	0.2	0
+	1	1.06535	0.685009	-0.7	1.5708	1	0	0.2	0
+	2	0.549035	1.49192	-0.7	1.5708	1	0	0.2	0
+	3	0.686046	2.54501	-0.7	1.5708	1	0	0.2	0
+	4	1.66	2.85	-0.7	1.5708	1	0	0.2	0
+	5	2.43282	2.74	-0.7	1.5708	1	0	0.2	0
+	6	2.73	1.53	-0.7	1.5708	1	0	0.2	0
+	7	2.72167	1.07	-0.7	1.5708	1	0	0.2	0
+	8	2.01283	0.620645	-0.7	1.5708	1	0	0.2	0
+	9	1.7569	0.651101	0	1.5708	0	1	0.2	2000