diff --git a/.gitignore b/.gitignore
index 1679c47..8137c61 100755
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,3 @@
 __pycache__
-*/build/*
+**/build/*
 .vscode
diff --git a/mad_icp/apps/mad_icp.py b/mad_icp/apps/mad_icp.py
index 88b6c8d..b95a315 100755
--- a/mad_icp/apps/mad_icp.py
+++ b/mad_icp/apps/mad_icp.py
@@ -152,7 +152,8 @@ def main(data_path: Annotated[
                         p_th, b_min, b_ratio, num_keyframes, num_cores, realtime)
 
     estimate_file_name = estimate_path / "estimate.txt"
-    estimate_file = open(estimate_file_name, 'w')
+    estimate_file = open(estimate_file_name, 'a')
+    estimate_file.truncate(0)
 
     with InputDataInterface_lut[reader_type](data_path, min_range, max_range, topic=topic, sensor_hz=sensor_hz, apply_correction=apply_correction) as reader:
         t_start = datetime.now()
diff --git a/mad_icp/apps/utils/utils.py b/mad_icp/apps/utils/utils.py
index de091bc..16b94fc 100755
--- a/mad_icp/apps/utils/utils.py
+++ b/mad_icp/apps/utils/utils.py
@@ -31,7 +31,4 @@
 def write_transformed_pose(estimate_file, lidar_to_world, lidar_to_base):
 	base_to_lidar = np.linalg.inv(lidar_to_base)
 	base_to_world = np.dot(lidar_to_base, np.dot(lidar_to_world, base_to_lidar))
-	for row in range(3):
-		for col in range(4):
-			estimate_file.write(str(base_to_world[row, col]) + " ")
-	estimate_file.write("\n")
\ No newline at end of file
+	np.savetxt(estimate_file, base_to_world[:3].reshape(-1, 12))
\ No newline at end of file