diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..1efa6ed --- /dev/null +++ b/.gitignore @@ -0,0 +1,189 @@ +# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* +log/* +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json +.history + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ +*/build/ +.gradle/buildOutputCleanup/buildOutputCleanup.lock +src/main/java/team3176/BuildConstants.java +build_*.gradle + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +.classpath +.project +.settings/ +bin/ +*/bin/ +imgui.ini +Code_2022.code-workspace +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json +.history +## WHO THE FUCK IS OVERWRITING THIS .githubignore. When I find you, we gonna have a talk. + +# WPILib specific +BuildConstants.java +**/BuildConstants.java +src/main/java/team3176/robot/BuildConstants.java +src/main/java/team3176/robot/util/BuildConstants.java +simgui-ds.json +simgui-window.json +simgui.json +ctre_sim/* +#.wpilib + +# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode + +*.swp + +.vscode/settings.json diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..a253cc4 --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "currentLanguage": "java", + "enableCppIntellisense": false, + "projectYear": "2025", + "teamNumber": 3176 +} \ No newline at end of file diff --git a/README.md b/README.md index 318e2e6..17281e6 100644 --- a/README.md +++ b/README.md @@ -1 +1 @@ -Robot Code for 2025 FRC game ReefScape +Robot Code for 2025 FRC game ReefScape diff --git a/README.md~ b/README.md~ deleted file mode 100644 index 8b13789..0000000 --- a/README.md~ +++ /dev/null @@ -1 +0,0 @@ - diff --git a/build.gradle b/build.gradle index eb8ba4b..a1f7488 100644 --- a/build.gradle +++ b/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3" + id "edu.wpi.first.GradleRIO" version "2025.2.1" id "com.peterabeles.gversion" version "1.10" id "com.diffplug.spotless" version "6.12.0" id "io.freefair.lombok" version "8.4" @@ -61,9 +61,9 @@ repositories { mavenLocal() } -configurations.all { - exclude group: "edu.wpi.first.wpilibj" -} +//configurations.all { +// exclude group: "edu.wpi.first.wpilibj" +//} //task(checkAkitInstall, dependsOn: "classes", type: JavaExec) { // mainClass = "org.littletonrobotics.junction.CheckInstall" @@ -73,6 +73,13 @@ configurations.all { // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. // Also defines JUnit 5. + +task(replayWatch, type: JavaExec) { + mainClass = "org.littletonrobotics.junction.ReplayWatch" + classpath = sourceSets.main.runtimeClasspath +} + + dependencies { annotationProcessor wpi.java.deps.wpilibAnnotations() implementation wpi.java.deps.wpilib() @@ -94,7 +101,7 @@ dependencies { implementation 'gov.nist.math:jama:1.0.3' def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) - annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version" + annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' diff --git a/networktables.json b/networktables.json index fe51488..60b0742 100644 --- a/networktables.json +++ b/networktables.json @@ -1 +1 @@ -[] +[] diff --git a/src/main/choreo_test.chor b/src/main/choreo_test.chor index 93e4101..3c5eee3 100644 --- a/src/main/choreo_test.chor +++ b/src/main/choreo_test.chor @@ -1,6784 +1,6784 @@ -{ - "version": "v0.3.1", - "robotConfiguration": { - "mass": 74.08797700309194, - "rotationalInertia": 6, - "motorMaxTorque": 0.7684210526315789, - "motorMaxVelocity": 4864, - "gearing": 4.71, - "wheelbase": 0.47497974351093847, - "trackWidth": 0.47497974351093847, - "bumperLength": 0.7619995885202222, - "bumperWidth": 0.7619995885202222, - "wheelRadius": 0.03809997942601111 - }, - "paths": { - "North3Note": { - "waypoints": [ - { - "x": 0.6933403611183167, - "y": 6.652110576629639, - "heading": 1.0445278830522644, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 22 - }, - { - "x": 7.720338821411133, - "y": 7.310452938079834, - "heading": 0.1899884683112146, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "x": 5.880190372467041, - "y": 7.069122314453125, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "x": 7.70564079284668, - "y": 5.839958667755127, - "heading": -0.13953873523509996, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "x": 5.910356521606445, - "y": 6.782541751861572, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 1.527046799659729, - "y": 6.424683570861816, - "heading": 0, - "angularVelocity": 0, - "velocityX": 0, - "velocityY": 0, - "timestamp": 0 - }, - { - "x": 1.5803778722762798, - "y": 6.431613307648725, - "heading": -7.238976046606308e-20, - "angularVelocity": -7.704500795241715e-19, - "velocityX": 0.5675202526066888, - "velocityY": 0.07374248780027282, - "timestamp": 0.09397210473418934 - }, - { - "x": 1.68704001649222, - "y": 6.445472781090374, - "heading": -7.766412640921261e-19, - "angularVelocity": -7.494484321596982e-18, - "velocityX": 1.135040494389377, - "velocityY": 0.1474849741940998, - "timestamp": 0.18794420946837867 - }, - { - "x": 1.8470332308835264, - "y": 6.466261991001732, - "heading": 5.341232520337701e-18, - "angularVelocity": 6.510278815728929e-17, - "velocityX": 1.7025607210184963, - "velocityY": 0.22122745861890658, - "timestamp": 0.281916314202568 - }, - { - "x": 2.060357513314171, - "y": 6.4939809371052455, - "heading": 1.0374456143775375e-17, - "angularVelocity": 5.356041194946413e-17, - "velocityX": 2.2700809249173326, - "velocityY": 0.2949699400901919, - "timestamp": 0.37588841893675734 - }, - { - "x": 2.3270128602241256, - "y": 6.528629618938332, - "heading": 1.5622472868888807e-17, - "angularVelocity": 5.584612294643159e-17, - "velocityX": 2.83760109093256, - "velocityY": 0.36871241663896615, - "timestamp": 0.46986052367094666 - }, - { - "x": 2.646999264493404, - "y": 6.570208035575839, - "heading": 1.828783002953645e-17, - "angularVelocity": 2.83627951640822e-17, - "velocityX": 3.4051211811813413, - "velocityY": 0.44245488334281696, - "timestamp": 0.563832628405136 - }, - { - "x": 3.020316704762692, - "y": 6.618716184242384, - "heading": 2.4259927284441674e-17, - "angularVelocity": 6.355118340467644e-17, - "velocityX": 3.9726410441377396, - "velocityY": 0.516197320512797, - "timestamp": 0.6578047331393254 - }, - { - "x": 3.4232251231318087, - "y": 6.671069327570229, - "heading": 1.2251203345153583e-17, - "angularVelocity": -1.2779030516969416e-16, - "velocityX": 4.287532129976935, - "velocityY": 0.5571136612926704, - "timestamp": 0.7517768378735148 - }, - { - "x": 3.826133541501536, - "y": 6.72342247089821, - "heading": -3.0725420146816944e-17, - "angularVelocity": -4.57333839797614e-16, - "velocityX": 4.287532129983888, - "velocityY": 0.5571136612941865, - "timestamp": 0.8457489426077042 - }, - { - "x": 4.229041959871261, - "y": 6.775775614226211, - "heading": -3.609315802714011e-17, - "angularVelocity": -5.712054546204108e-17, - "velocityX": 4.287532129983866, - "velocityY": 0.5571136612943784, - "timestamp": 0.9397210473418935 - }, - { - "x": 4.631950378240786, - "y": 6.8281287575557545, - "heading": -1.1924499875293168e-16, - "angularVelocity": -8.848566386893959e-16, - "velocityX": 4.28753212998173, - "velocityY": 0.5571136613108173, - "timestamp": 1.0336931520760828 - }, - { - "x": 5.034858796597671, - "y": 6.8804819009825735, - "heading": -2.1295278854430073e-16, - "angularVelocity": -9.971871592067265e-16, - "velocityX": 4.287532129847148, - "velocityY": 0.5571136623465057, - "timestamp": 1.127665256810272 - }, - { - "x": 5.437767215061566, - "y": 6.932835043626118, - "heading": -2.6699372248080257e-16, - "angularVelocity": -5.75074210471511e-16, - "velocityX": 4.287532130981454, - "velocityY": 0.557113654045475, - "timestamp": 1.2216373615444613 - }, - { - "x": 5.840675581043441, - "y": 6.985188591149217, - "heading": -3.5238377372764894e-16, - "angularVelocity": -9.086744571589023e-16, - "velocityX": 4.287531572521534, - "velocityY": 0.5571179623462049, - "timestamp": 1.3156094662786506 - }, - { - "x": 6.2391489941190015, - "y": 7.064529363238017, - "heading": -2.7972321354431857e-16, - "angularVelocity": 7.732141403951283e-16, - "velocityX": 4.240337217115807, - "velocityY": 0.8443013202155537, - "timestamp": 1.4095815710128399 - }, - { - "x": 6.583885426153462, - "y": 7.141736757688093, - "heading": -2.25728641853031e-16, - "angularVelocity": 5.74581096050356e-16, - "velocityX": 3.6684975079247897, - "velocityY": 0.8215990763489747, - "timestamp": 1.5035536757470291 - }, - { - "x": 6.875123486119249, - "y": 7.213453599944083, - "heading": -1.755249032552149e-16, - "angularVelocity": 5.3424129243203e-16, - "velocityX": 3.0991969455886323, - "velocityY": 0.7631716077921338, - "timestamp": 1.5975257804812184 - }, - { - "x": 7.112927337691344, - "y": 7.279086965742181, - "heading": -1.3031574273926836e-16, - "angularVelocity": 4.810917183158117e-16, - "velocityX": 2.5305791781660814, - "velocityY": 0.6984345618843045, - "timestamp": 1.6914978852154077 - }, - { - "x": 7.297325668269741, - "y": 7.338389913207113, - "heading": -9.321690493625898e-17, - "angularVelocity": 3.9478604538397664e-16, - "velocityX": 1.9622666864433715, - "velocityY": 0.6310696949237226, - "timestamp": 1.785469989949597 - }, - { - "x": 7.4283346967199675, - "y": 7.3912270589200295, - "heading": -5.778917139368449e-17, - "angularVelocity": 3.770030216563795e-16, - "velocityX": 1.3941267870617549, - "velocityY": 0.5622641512944202, - "timestamp": 1.8794420946837862 - }, - { - "x": 7.50596484417342, - "y": 7.437512912371683, - "heading": -2.877604697913188e-17, - "angularVelocity": 3.0874215564557075e-16, - "velocityX": 0.8260977836895133, - "velocityY": 0.49254886418904925, - "timestamp": 1.9734141994179755 - }, - { - "x": 7.530223369598389, - "y": 7.477188587188721, - "heading": 0, - "angularVelocity": 3.0621931871228367e-16, - "velocityX": 0.25814602630766825, - "velocityY": 0.42220694034401873, - "timestamp": 2.0673863041521647 - }, - { - "x": 7.500103329393163, - "y": 7.510531194938532, - "heading": 1.779046728903491e-17, - "angularVelocity": 1.8703842501578197e-16, - "velocityX": -0.31666471019917375, - "velocityY": 0.3505449246412241, - "timestamp": 2.1625028082142728 - }, - { - "x": 7.415463776975628, - "y": 7.535915868379189, - "heading": 2.4375199309402564e-17, - "angularVelocity": 6.922836439091234e-17, - "velocityX": -0.8898513800734154, - "velocityY": 0.2668797985169528, - "timestamp": 2.257619312276381 - }, - { - "x": 7.276591240327495, - "y": 7.5515799895791, - "heading": 3.036787917564806e-17, - "angularVelocity": 6.300375885015102e-17, - "velocityX": -1.460025660199517, - "velocityY": 0.16468352526083074, - "timestamp": 2.352735816338489 - }, - { - "x": 7.084125232551265, - "y": 7.55445954230526, - "heading": 3.032865591238689e-17, - "angularVelocity": -4.1256799084456108e-19, - "velocityX": -2.023476468844192, - "velocityY": 0.030273954607956743, - "timestamp": 2.447852320400597 - }, - { - "x": 6.840054992354522, - "y": 7.538033455103224, - "heading": 1.9251688156136728e-17, - "angularVelocity": -1.1645684985322104e-16, - "velocityX": -2.566013570378538, - "velocityY": -0.1726943958053017, - "timestamp": 2.542968824462705 - }, - { - "x": 6.556978957286809, - "y": 7.4826940016714385, - "heading": 1.168333713259459e-17, - "angularVelocity": -7.956942087581419e-17, - "velocityX": -2.9760979743487863, - "velocityY": -0.5818070583102407, - "timestamp": 2.638085328524813 - }, - { - "x": 6.309433732631585, - "y": 7.385244419108981, - "heading": 1.7429590751971742e-18, - "angularVelocity": -1.0450697704099872e-16, - "velocityX": -2.6025475504932367, - "velocityY": -1.0245286401220972, - "timestamp": 2.733201832586921 - }, - { - "x": 6.113965558529466, - "y": 7.269803584420074, - "heading": 5.511711951137295e-19, - "angularVelocity": -1.2529970637265847e-17, - "velocityX": -2.0550395121449547, - "velocityY": -1.2136782761902432, - "timestamp": 2.828318336649029 - }, - { - "x": 5.972598051076002, - "y": 7.143930917175248, - "heading": 3.9507181654559564e-19, - "angularVelocity": -1.6412388481640138e-18, - "velocityX": -1.486256342672709, - "velocityY": -1.3233525399690549, - "timestamp": 2.923434840711137 - }, - { - "x": 5.885876308034012, - "y": 7.011019350436582, - "heading": -1.2473375757596908e-19, - "angularVelocity": -5.46489063548754e-18, - "velocityX": -0.9117423300801472, - "velocityY": -1.3973554647335724, - "timestamp": 3.018551344773245 - }, - { - "x": 5.8540120124816895, - "y": 6.8729729652404785, - "heading": 0, - "angularVelocity": 1.3113676254288102e-18, - "velocityX": -0.3350028038363674, - "velocityY": -1.4513399809659164, - "timestamp": 3.113667848835353 - }, - { - "x": 5.876847778987881, - "y": 6.731488948754559, - "heading": -6.062838132168256e-20, - "angularVelocity": -6.395243271042044e-19, - "velocityX": 0.24087875528506464, - "velocityY": -1.4924173346526775, - "timestamp": 3.2084697606069428 - }, - { - "x": 5.954325811159231, - "y": 6.586848059484525, - "heading": 7.478073155132048e-19, - "angularVelocity": 8.527632110701656e-18, - "velocityX": 0.8172623391613877, - "velocityY": -1.5257170089433227, - "timestamp": 3.3032716723785325 - }, - { - "x": 6.086499328065735, - "y": 6.440170804019068, - "heading": 1.4363797703536666e-18, - "angularVelocity": 7.263274930401322e-18, - "velocityX": 1.3942072943118622, - "velocityY": -1.5471972318351441, - "timestamp": 3.398073584150122 - }, - { - "x": 6.273406060259042, - "y": 6.293360751925273, - "heading": 2.311285716611774e-18, - "angularVelocity": 9.22878498013423e-18, - "velocityX": 1.9715502430360803, - "velocityY": -1.5485980119022507, - "timestamp": 3.492875495921712 - }, - { - "x": 6.514914861463926, - "y": 6.1503396100077445, - "heading": -6.2949945446815836e-18, - "angularVelocity": -9.078179443488146e-17, - "velocityX": 2.5475098201304753, - "velocityY": -1.5086314109602783, - "timestamp": 3.5876774076933016 - }, - { - "x": 6.808786265563555, - "y": 6.023252627813635, - "heading": -8.361768144777607e-18, - "angularVelocity": -2.1801082921246504e-17, - "velocityX": 3.099846813302867, - "velocityY": -1.3405529468673267, - "timestamp": 3.6824793194648913 - }, - { - "x": 7.087207051909614, - "y": 5.948672912588583, - "heading": -4.419183708326357e-18, - "angularVelocity": 4.158764914156809e-17, - "velocityX": 2.936868900035097, - "velocityY": -0.7866899921229229, - "timestamp": 3.777281231236481 - }, - { - "x": 7.31638283607853, - "y": 5.897981907722374, - "heading": -1.1654088636534015e-18, - "angularVelocity": 3.4321857421642983e-17, - "velocityX": 2.417417327202346, - "velocityY": -0.5347044581556282, - "timestamp": 3.8720831430080707 - }, - { - "x": 7.493445610240801, - "y": 5.864023394695471, - "heading": 3.540512884513429e-18, - "angularVelocity": 4.963960527569517e-17, - "velocityX": 1.8677131173093207, - "velocityY": -0.3582049390356209, - "timestamp": 3.9668850547796604 - }, - { - "x": 7.6175649999735855, - "y": 5.843947989360528, - "heading": 1.3700368118154038e-18, - "angularVelocity": -2.28948415454817e-17, - "velocityX": 1.3092498601850082, - "velocityY": -0.211761608594753, - "timestamp": 4.06168696655125 - }, - { - "x": 7.688366440099985, - "y": 5.836239441706774, - "heading": 2.2068386463659204e-19, - "angularVelocity": -1.2123711772300208e-17, - "velocityX": 0.7468355732777747, - "velocityY": -0.0813121540414055, - "timestamp": 4.156488878322839 - }, - { - "x": 7.70564079284668, - "y": 5.839958667755127, - "heading": 0, - "angularVelocity": -2.327848859137068e-18, - "velocityX": 0.1822152362033504, - "velocityY": 0.0392315511284381, - "timestamp": 4.251290790094428 - }, - { - "x": 7.666755003045207, - "y": 5.85516685330475, - "heading": 6.870828582257685e-19, - "angularVelocity": 7.054828772599489e-18, - "velocityX": -0.39926835330188015, - "velocityY": 0.1561533720162553, - "timestamp": 4.348683407061851 - }, - { - "x": 7.571237005587491, - "y": 5.8817623602715665, - "heading": 2.2883038209312854e-18, - "angularVelocity": 1.644082969308034e-17, - "velocityX": -0.9807519340878659, - "velocityY": 0.2730751857199539, - "timestamp": 4.446076024029274 - }, - { - "x": 7.419086801662762, - "y": 5.919745187677906, - "heading": 3.101214925430452e-18, - "angularVelocity": 8.346688736165507e-18, - "velocityX": -1.5622355026631383, - "velocityY": 0.3899969893849836, - "timestamp": 4.543468640996697 - }, - { - "x": 7.210304393055825, - "y": 5.969115334062128, - "heading": 4.8294974273863036e-18, - "angularVelocity": 1.7745451453583443e-17, - "velocityX": -2.1437190529124375, - "velocityY": 0.5069187780419899, - "timestamp": 4.64086125796412 - }, - { - "x": 6.944889782743743, - "y": 6.029872797000189, - "heading": 1.1027082338991211e-17, - "angularVelocity": 6.363492534943682e-17, - "velocityX": -2.725202572593995, - "velocityY": 0.6238405418090931, - "timestamp": 4.7382538749315435 - }, - { - "x": 6.622842976687566, - "y": 6.10201757167907, - "heading": 1.8144210010315694e-17, - "angularVelocity": 7.307651508437439e-17, - "velocityX": -3.3066860310689554, - "velocityY": 0.7407622561564634, - "timestamp": 4.835646491898967 - }, - { - "x": 6.244163992803297, - "y": 6.185549643827075, - "heading": 2.6195414899111268e-17, - "angularVelocity": 8.266733840029285e-17, - "velocityX": -3.8881693055870428, - "velocityY": 0.8576838239632234, - "timestamp": 4.93303910886639 - }, - { - "x": 5.904370819071749, - "y": 6.2538736316180685, - "heading": 2.3122125773435226e-17, - "angularVelocity": -3.1555675659560407e-17, - "velocityX": -3.48890074331621, - "velocityY": 0.7015314909925873, - "timestamp": 5.030431725833813 - }, - { - "x": 5.6212098149661305, - "y": 6.310810281162716, - "heading": 1.980566671869573e-17, - "angularVelocity": -3.4052407882747414e-17, - "velocityX": -2.9074175530194926, - "velocityY": 0.5846095044853901, - "timestamp": 5.127824342801236 - }, - { - "x": 5.394681002455137, - "y": 6.356359598333385, - "heading": 1.6213849271933517e-17, - "angularVelocity": -3.6879655779404135e-17, - "velocityX": -2.325934137151687, - "velocityY": 0.46768757827677154, - "timestamp": 5.225216959768659 - }, - { - "x": 5.224784388861421, - "y": 6.390521585086604, - "heading": 1.1716654425896829e-17, - "angularVelocity": -4.6175799547016584e-17, - "velocityX": -1.7444506460961258, - "velocityY": 0.3507656721581154, - "timestamp": 5.322609576736082 - }, - { - "x": 5.111519977846271, - "y": 6.413296242400476, - "heading": 6.31238056070833e-18, - "angularVelocity": -5.54894105440847e-17, - "velocityX": -1.162967117447121, - "velocityY": 0.2338437760828003, - "timestamp": 5.420002193703505 - }, - { - "x": 5.054887771606445, - "y": 6.424683570861816, - "heading": 0, - "angularVelocity": -6.481362807675258e-17, - "velocityX": -0.58148356624218, - "velocityY": 0.11692188603299503, - "timestamp": 5.517394810670928 - }, - { - "x": 5.054887771606445, - "y": 6.424683570861816, - "heading": 0, - "angularVelocity": 0, - "velocityX": 1.6558987478358535e-31, - "velocityY": -3.8185471679149395e-31, - "timestamp": 5.614787427638351 - } - ], - "trajectoryWaypoints": [], - "constraints": [ - { - "scope": [ - "first" - ], - "type": "StopPoint" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint" - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": true - }, - "loopPath": { - "waypoints": [ - { - "x": 1.2541749477386475, - "y": 5.604986667633057, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "x": 3.0300064086914062, - "y": 5.583330154418945, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "x": 1.2541749477386475, - "y": 5.561673641204834, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 1.2541749477386477, - "y": 5.604986667633057, - "heading": 7.866524923690053e-33, - "angularVelocity": 1.2831956883407897e-32, - "velocityX": 5.4428847049570976e-21, - "velocityY": 6.7744613347840735e-22, - "timestamp": 0 - }, - { - "x": 1.3034786342794933, - "y": 5.604984852143914, - "heading": 6.770179987744432e-22, - "angularVelocity": 6.905010344402558e-21, - "velocityX": 0.5028558562941375, - "velocityY": -0.000018516452040998658, - "timestamp": 0.09804735477119748 - }, - { - "x": 1.4020860063452631, - "y": 5.604981039642406, - "heading": 2.1174416388235206e-21, - "angularVelocity": 1.4691101496458947e-20, - "velocityX": 1.0057117022267377, - "velocityY": -0.00003888428726429579, - "timestamp": 0.19609470954239497 - }, - { - "x": 1.5499970624106292, - "y": 5.60497495780927, - "heading": 6.7303121457013634e-21, - "angularVelocity": 4.704737337023409e-20, - "velocityX": 1.5085675326022834, - "velocityY": -0.00006202954837740684, - "timestamp": 0.29414206431359247 - }, - { - "x": 1.7472117999295202, - "y": 5.6049661526872505, - "heading": 1.2447718118569106e-20, - "angularVelocity": 5.831269989541438e-20, - "velocityX": 2.0114233370100574, - "velocityY": -0.00008980478912080037, - "timestamp": 0.39218941908478994 - }, - { - "x": 1.9937302137953143, - "y": 5.604953716017382, - "heading": 1.6972015412374082e-20, - "angularVelocity": 4.614400159758598e-20, - "velocityX": 2.514279089334612, - "velocityY": -0.0001268435022699963, - "timestamp": 0.4902367738559874 - }, - { - "x": 2.289552288572065, - "y": 5.604934920264204, - "heading": 2.6162263283806833e-20, - "angularVelocity": 9.373274674572235e-20, - "velocityX": 3.017134684225582, - "velocityY": -0.0001917007676846815, - "timestamp": 0.5882841286271849 - }, - { - "x": 2.536220493621631, - "y": 5.601339738762721, - "heading": 1.6478715367224322e-20, - "angularVelocity": -9.876398951722278e-20, - "velocityX": 2.5158068325778777, - "velocityY": -0.03666780720267226, - "timestamp": 0.6863314833983825 - }, - { - "x": 2.7335850374661526, - "y": 5.597740030880163, - "heading": 1.0984255449736642e-20, - "angularVelocity": -5.603883890163484e-20, - "velocityX": 2.0129512346874656, - "velocityY": -0.036713972457059985, - "timestamp": 0.78437883816958 - }, - { - "x": 2.881645904840353, - "y": 5.5941385117780875, - "heading": 7.470100120478928e-21, - "angularVelocity": -3.5841408861826487e-20, - "velocityX": 1.5100954811041447, - "velocityY": -0.03673244536255617, - "timestamp": 0.8824261929407775 - }, - { - "x": 2.980403090683931, - "y": 5.590536087428902, - "heading": 4.600149736655284e-21, - "angularVelocity": -2.9271063878775503e-20, - "velocityX": 1.0072396759100455, - "velocityY": -0.03674167811658048, - "timestamp": 0.980473547711975 - }, - { - "x": 3.0298565924720235, - "y": 5.586933210992084, - "heading": 2.1096566940203663e-21, - "angularVelocity": -2.5400920292710638e-20, - "velocityX": 0.5043838449644774, - "velocityY": -0.03674628902763381, - "timestamp": 1.0785209024831726 - }, - { - "x": 3.0300064086914062, - "y": 5.583330154418945, - "heading": 9.314541542403617e-33, - "angularVelocity": -2.151671199851494e-20, - "velocityX": 0.0015279985852996618, - "velocityY": -0.036748126265591534, - "timestamp": 1.17656825725437 - }, - { - "x": 2.9808026628295825, - "y": 5.5797252743022625, - "heading": -1.881560336573548e-21, - "angularVelocity": -1.9180608440235076e-20, - "velocityX": -0.5015825244790882, - "velocityY": -0.03674811414659432, - "timestamp": 1.2746652671390815 - }, - { - "x": 2.882245280022854, - "y": 5.57612057746786, - "heading": -3.645326848999846e-21, - "angularVelocity": -1.7979819299132985e-20, - "velocityX": -1.0046930372552438, - "velocityY": -0.03674624576874157, - "timestamp": 1.3727622770237928 - }, - { - "x": 2.7343342617865396, - "y": 5.572516337089734, - "heading": -5.336952867008863e-21, - "angularVelocity": -1.7244419773331064e-20, - "velocityX": -1.5078035345842509, - "velocityY": -0.03674159265773245, - "timestamp": 1.4708592869085042 - }, - { - "x": 2.5370696106500454, - "y": 5.568913008548219, - "heading": -6.786337969000901e-21, - "angularVelocity": -1.477501814296612e-20, - "velocityX": -2.0109140061285244, - "velocityY": -0.036732297403860824, - "timestamp": 1.5689562967932156 - }, - { - "x": 2.290451331686718, - "y": 5.5653115029452165, - "heading": -8.801693594315238e-21, - "angularVelocity": -2.0544516351608002e-20, - "velocityX": -2.514024425955135, - "velocityY": -0.036713714385750676, - "timestamp": 1.667053306677927 - }, - { - "x": 1.9944794402331503, - "y": 5.561714556342404, - "heading": -1.571317447728586e-20, - "angularVelocity": -7.045557135490912e-20, - "velocityX": -3.0171346894406788, - "velocityY": -0.036667239980500047, - "timestamp": 1.7651503165626383 - }, - { - "x": 1.747711294963774, - "y": 5.561697557028532, - "heading": -8.53170785637743e-21, - "angularVelocity": 7.320780343440057e-20, - "velocityX": -2.5155521616753718, - "velocityY": -0.0001732908463936188, - "timestamp": 1.8632473264473497 - }, - { - "x": 1.550296762077375, - "y": 5.5616869181016915, - "heading": -3.82353008314657e-21, - "angularVelocity": 4.799512009950944e-20, - "velocityX": -2.012441899283276, - "velocityY": -0.00010845312056685896, - "timestamp": 1.961344336332061 - }, - { - "x": 1.4022358569404827, - "y": 5.5616799159742625, - "heading": -1.5717254748580432e-21, - "angularVelocity": 2.2954875071296284e-20, - "velocityX": -1.5093314802449216, - "velocityY": -0.00007137962143080107, - "timestamp": 2.0594413462167727 - }, - { - "x": 1.3035285846470228, - "y": 5.561675641863372, - "heading": -2.490804565078234e-22, - "angularVelocity": 1.3483030918647887e-20, - "velocityX": -1.0062210092791382, - "velocityY": -0.00004357024638633891, - "timestamp": 2.157538356101484 - }, - { - "x": 1.2541749477386477, - "y": 5.561673641204834, - "heading": -4.0141515265073783e-32, - "angularVelocity": 2.5391238358261822e-21, - "velocityX": -0.5031105124037735, - "velocityY": -0.000020394694400561694, - "timestamp": 2.2556353659861954 - }, - { - "x": 1.2541749477386477, - "y": 5.561673641204834, - "heading": -1.9221361979359865e-32, - "angularVelocity": 1.7317462658979315e-32, - "velocityX": 1.5215136549872227e-21, - "velocityY": 3.9124748150960787e-22, - "timestamp": 2.353732375870907 - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 1.2541749477386475, - "y": 5.604986667633057, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "timestamp": 1.17656825725437, - "isStopPoint": false, - "x": 3.0300064086914062, - "y": 5.583330154418945, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "timestamp": 2.353732375870907, - "isStopPoint": true, - "x": 1.2541749477386475, - "y": 5.561673641204834, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "constraints": [ - { - "scope": [ - "first" - ], - "type": "StopPoint" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint" - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": true - }, - "Source4NoteFar": { - "waypoints": [ - { - "x": 0.6885567903518677, - "y": 4.453176975250244, - "heading": -1.0863186564678593, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "x": 3.7100203037261963, - "y": 2.2926273345947266, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 22 - }, - { - "x": 7.939531326293945, - "y": 0.8503056764602661, - "heading": -0.49642193244286464, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 20 - }, - { - "x": 3.863532304763794, - "y": 2.288334846496582, - "heading": -0.6254844943742653, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "x": 6.234120845794678, - "y": 1.6881886720657349, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 15 - }, - { - "x": 8.134439468383789, - "y": 2.3900814056396484, - "heading": 0.4216725296119854, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "x": 5.631840705871582, - "y": 1.6077326536178589, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 15 - }, - { - "x": 3.9220190048217773, - "y": 2.3468215465545654, - "heading": -0.5404196941509068, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 6.053758144378662, - "y": 1.916719675064087, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 19 - }, - { - "x": 8.013365745544434, - "y": 3.783747434616089, - "heading": 0.706908432995524, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "x": 4.996804237365723, - "y": 3.968907356262207, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 13 - }, - { - "x": 3.9951274394989014, - "y": 3.1802568435668945, - "heading": -0.43662724907911504, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 0.6885567903518677, - "y": 4.453176975250244, - "heading": -1.0863186564678593, - "angularVelocity": 3.394120175036044e-27, - "velocityX": -2.1149346198916325e-25, - "velocityY": -3.6854833776665248e-25, - "timestamp": 0 - }, - { - "x": 0.701309503097222, - "y": 4.443900931648444, - "heading": -1.0829185789751592, - "angularVelocity": 0.06123493124721272, - "velocityX": 0.2296746147268097, - "velocityY": -0.16706027830890885, - "timestamp": 0.055525129586146055 - }, - { - "x": 0.7268154815552788, - "y": 4.425347913055752, - "heading": -1.0761583023507493, - "angularVelocity": 0.12175165865973384, - "velocityX": 0.45935918832003475, - "velocityY": -0.334137330808164, - "timestamp": 0.11105025917229211 - }, - { - "x": 0.7650753560299537, - "y": 4.3975168405520435, - "heading": -1.0660842521869078, - "angularVelocity": 0.18143226749631602, - "velocityX": 0.6890551136006906, - "velocityY": -0.5012338145114863, - "timestamp": 0.16657538875843816 - }, - { - "x": 0.8160898545753549, - "y": 4.3604064485110285, - "heading": -1.052751348041684, - "angularVelocity": 0.24012378259357745, - "velocityX": 0.9187641510363933, - "velocityY": -0.6683530919714367, - "timestamp": 0.22210051834458422 - }, - { - "x": 0.8798598296859603, - "y": 4.314015230291449, - "heading": -1.0362257436703786, - "angularVelocity": 0.2976238775934092, - "velocityX": 1.1484885417812079, - "velocityY": -0.8354995038346342, - "timestamp": 0.2776256479307303 - }, - { - "x": 0.9563862935427256, - "y": 4.258341360780349, - "heading": -1.0165888098402591, - "angularVelocity": 0.35365849618870837, - "velocityX": 1.3782311617667844, - "velocityY": -1.0026787857329247, - "timestamp": 0.3331507775168764 - }, - { - "x": 1.0456704648547377, - "y": 4.193382582363671, - "heading": -0.9939431496875328, - "angularVelocity": 0.4078452463148618, - "velocityX": 1.6079957305365589, - "velocityY": -1.169898726952011, - "timestamp": 0.38867590710302247 - }, - { - "x": 1.1477138307776387, - "y": 4.119136030759216, - "heading": -0.9684221265669595, - "angularVelocity": 0.45963014063709734, - "velocityX": 1.8377870827763283, - "velocityY": -1.3371702535023144, - "timestamp": 0.44420103668916855 - }, - { - "x": 1.2625182253193026, - "y": 4.035597957054578, - "heading": -0.9402059046034171, - "angularVelocity": 0.5081703036778226, - "velocityX": 2.0676114652474116, - "velocityY": -1.504509297452977, - "timestamp": 0.49972616627531463 - }, - { - "x": 1.3900859107662955, - "y": 3.9427632601540505, - "heading": -0.9095507354987135, - "angularVelocity": 0.5520954085688863, - "velocityX": 2.2974765911905615, - "velocityY": -1.671940211440602, - "timestamp": 0.5552512958614607 - }, - { - "x": 1.5304195680842245, - "y": 3.840624652337327, - "heading": -0.8768488312128728, - "angularVelocity": 0.588956829629805, - "velocityX": 2.527390000958115, - "velocityY": -1.8395023762755498, - "timestamp": 0.6107764254476068 - }, - { - "x": 1.6835216202036696, - "y": 3.729171108221817, - "heading": -0.8427733340930771, - "angularVelocity": 0.6136950489584778, - "velocityX": 2.7573470473744757, - "velocityY": -2.007263106745065, - "timestamp": 0.6663015550337529 - }, - { - "x": 1.8493882506818127, - "y": 3.608385664410105, - "heading": -0.808746208075466, - "angularVelocity": 0.612823892014852, - "velocityX": 2.9872353601769563, - "velocityY": -2.1753293456851024, - "timestamp": 0.721826684619899 - }, - { - "x": 2.027907239187379, - "y": 3.4782789596731347, - "heading": -0.7798687850274081, - "angularVelocity": 0.5200784449004344, - "velocityX": 3.2151026001406824, - "velocityY": -2.3432039818135415, - "timestamp": 0.777351814206045 - }, - { - "x": 2.212973382556378, - "y": 3.343779104303734, - "heading": -0.7798687767385638, - "angularVelocity": 1.4928095213230132e-7, - "velocityX": 3.333015964994242, - "velocityY": -2.4223240246693583, - "timestamp": 0.8328769437921911 - }, - { - "x": 2.3980395462614625, - "y": 3.209279276915848, - "heading": -0.7798687684499269, - "angularVelocity": 1.4927721668634784e-7, - "velocityX": 3.333016331244363, - "velocityY": -2.4223235207260925, - "timestamp": 0.8884020733783372 - }, - { - "x": 2.583105709967169, - "y": 3.074779449528818, - "heading": -0.7798687601612903, - "angularVelocity": 1.4927721505001108e-7, - "velocityX": 3.333016331255567, - "velocityY": -2.4223235207106772, - "timestamp": 0.9439272029644833 - }, - { - "x": 2.768171873672875, - "y": 2.940279622141788, - "heading": -0.7798687518726534, - "angularVelocity": 1.4927721772237764e-7, - "velocityX": 3.3330163312555676, - "velocityY": -2.422323520710677, - "timestamp": 0.9994523325506294 - }, - { - "x": 2.953238037378582, - "y": 2.8057797947547582, - "heading": -0.7798687435840165, - "angularVelocity": 1.4927721820085747e-7, - "velocityX": 3.333016331255571, - "velocityY": -2.4223235207106706, - "timestamp": 1.0549774621367753 - }, - { - "x": 3.138304201089101, - "y": 2.671279967374351, - "heading": -0.7798687352953797, - "angularVelocity": 1.4927721680994496e-7, - "velocityX": 3.333016331342246, - "velocityY": -2.4223235205914095, - "timestamp": 1.1105025917229214 - }, - { - "x": 3.323370522018546, - "y": 2.536780356320906, - "heading": -0.7798687270067427, - "angularVelocity": 1.4927722007479915e-7, - "velocityX": 3.3330191628336134, - "velocityY": -2.4223196245723564, - "timestamp": 1.1660277213090675 - }, - { - "x": 3.51247438849094, - "y": 2.408019274510783, - "heading": -0.779868718696711, - "angularVelocity": 1.49662535873164e-7, - "velocityX": 3.405734806597866, - "velocityY": -2.31896949669164, - "timestamp": 1.2215528508952136 - }, - { - "x": 3.710020303726196, - "y": 2.2926273345947266, - "heading": -0.779868710229491, - "angularVelocity": 1.5249347506293226e-7, - "velocityX": 3.5577749517678714, - "velocityY": -2.0781930771908943, - "timestamp": 1.2770779804813597 - }, - { - "x": 3.9581046340644135, - "y": 2.17413656564851, - "heading": -0.7798687023875752, - "angularVelocity": 1.1752432896230884e-7, - "velocityX": 3.7179619396532617, - "velocityY": -1.775783938234554, - "timestamp": 1.3438038734208 - }, - { - "x": 4.2151657327976855, - "y": 2.076640468884465, - "heading": -0.7798686946986859, - "angularVelocity": 1.1523096829074136e-7, - "velocityX": 3.8524939481376075, - "velocityY": -1.4611433803146185, - "timestamp": 1.4105297663602403 - }, - { - "x": 4.473273733448251, - "y": 1.981950673388302, - "heading": -0.779868687019788, - "angularVelocity": 1.1508123071029428e-7, - "velocityX": 3.8681835383577634, - "velocityY": -1.4190862246250013, - "timestamp": 1.4772556592996806 - }, - { - "x": 4.731381751981754, - "y": 1.8872609266379454, - "heading": -0.7798686793408901, - "angularVelocity": 1.1508123135598442e-7, - "velocityX": 3.8681838063637195, - "velocityY": -1.4190854940869202, - "timestamp": 1.543981552239121 - }, - { - "x": 4.989489770515562, - "y": 1.7925711798884192, - "heading": -0.7798686716619923, - "angularVelocity": 1.1508123122518e-7, - "velocityX": 3.868183806368286, - "velocityY": -1.4190854940744717, - "timestamp": 1.6107074451785612 - }, - { - "x": 5.247597789049369, - "y": 1.6978814331388932, - "heading": -0.7798686639830944, - "angularVelocity": 1.1508123020194597e-7, - "velocityX": 3.8681838063682856, - "velocityY": -1.419085494074472, - "timestamp": 1.6774333381180015 - }, - { - "x": 5.505705807583176, - "y": 1.6031916863893672, - "heading": -0.7798686563041966, - "angularVelocity": 1.1508122981029888e-7, - "velocityX": 3.868183806368286, - "velocityY": -1.419085494074472, - "timestamp": 1.7441592310574419 - }, - { - "x": 5.763813826116984, - "y": 1.5085019396398411, - "heading": -0.7798686486252987, - "angularVelocity": 1.150812311539268e-7, - "velocityX": 3.868183806368287, - "velocityY": -1.4190854940744704, - "timestamp": 1.8108851239968822 - }, - { - "x": 6.021921844652431, - "y": 1.413812192894788, - "heading": -0.7798686409464007, - "angularVelocity": 1.1508123149232243e-7, - "velocityX": 3.8681838063928784, - "velocityY": -1.419085494007436, - "timestamp": 1.8776110169363225 - }, - { - "x": 6.280029959502567, - "y": 1.319122708687512, - "heading": -0.7798686332674524, - "angularVelocity": 1.1508198682436301e-7, - "velocityX": 3.8681852498308413, - "velocityY": -1.4190815594362318, - "timestamp": 1.9443369098757628 - }, - { - "x": 6.535640541521234, - "y": 1.2363573105352137, - "heading": -0.7601601921076507, - "angularVelocity": 0.29536421757126274, - "velocityX": 3.830755509718786, - "velocityY": -1.240379026885639, - "timestamp": 2.011062802815203 - }, - { - "x": 6.770261917470024, - "y": 1.1616480507635125, - "heading": -0.7286485121958914, - "angularVelocity": 0.47225564954760224, - "velocityX": 3.5161968707069784, - "velocityY": -1.119644211273522, - "timestamp": 2.0777886957546436 - }, - { - "x": 6.98350443701307, - "y": 1.094927347846598, - "heading": -0.6949548329623987, - "angularVelocity": 0.5049565880530491, - "velocityX": 3.1957986644941965, - "velocityY": -0.9999222187625046, - "timestamp": 2.144514588694084 - }, - { - "x": 7.175340032760939, - "y": 1.036153040315015, - "heading": -0.6617196405184319, - "angularVelocity": 0.49808539054142775, - "velocityX": 2.874979821131458, - "velocityY": -0.8808320869519976, - "timestamp": 2.2112404816335247 - }, - { - "x": 7.345767051248528, - "y": 0.9853010621719508, - "heading": -0.630183689398933, - "angularVelocity": 0.47261939451481727, - "velocityX": 2.554136197806548, - "velocityY": -0.7621026246770035, - "timestamp": 2.2779663745729652 - }, - { - "x": 7.494787941521159, - "y": 0.9423562064943364, - "heading": -0.6010692809022818, - "angularVelocity": 0.43632849579210764, - "velocityX": 2.233329277554675, - "velocityY": -0.6436010637818008, - "timestamp": 2.344692267512406 - }, - { - "x": 7.6224056734264645, - "y": 0.9073080528508631, - "heading": -0.5748497275005627, - "angularVelocity": 0.3929442117097724, - "velocityX": 1.912566865476494, - "velocityY": -0.5252556706177386, - "timestamp": 2.4114181604518463 - }, - { - "x": 7.728622996709226, - "y": 0.8801490267496294, - "heading": -0.5518594737395791, - "angularVelocity": 0.3445477122629041, - "velocityX": 1.5918456629596907, - "velocityY": -0.4070237939847864, - "timestamp": 2.478144053391287 - }, - { - "x": 7.813442307646716, - "y": 0.8608733761969334, - "heading": -0.5323475063047407, - "angularVelocity": 0.29241972756433915, - "velocityX": 1.2711603726977772, - "velocityY": -0.28887812067483865, - "timestamp": 2.5448699463307274 - }, - { - "x": 7.876865663404102, - "y": 0.849476585375473, - "heading": -0.5165064137632613, - "angularVelocity": 0.23740547849777704, - "velocityX": 0.9505059125240666, - "velocityY": -0.17080012450045454, - "timestamp": 2.611595839270168 - }, - { - "x": 7.91889482908089, - "y": 0.8459550160486062, - "heading": -0.5044895665966007, - "angularVelocity": 0.18009271419667666, - "velocityX": 0.629877905342268, - "velocityY": -0.05277665343591268, - "timestamp": 2.6783217322096085 - }, - { - "x": 7.939531326293945, - "y": 0.8503056764602661, - "heading": -0.49642193244286464, - "angularVelocity": 0.12090709915352006, - "velocityX": 0.3092727021545489, - "velocityY": 0.06520198112011014, - "timestamp": 2.745047625149049 - }, - { - "x": 7.927180666475836, - "y": 0.8713586733936556, - "heading": -0.4930143763837493, - "angularVelocity": 0.036942190406947725, - "velocityX": -0.1338966751351047, - "velocityY": 0.22824094684214172, - "timestamp": 2.8372878529638696 - }, - { - "x": 7.87394900492315, - "y": 0.9074500624880938, - "heading": -0.49722150955455136, - "angularVelocity": -0.04561061123188263, - "velocityX": -0.5770981144967761, - "velocityY": 0.3912760186032336, - "timestamp": 2.9295280807786903 - }, - { - "x": 7.779832586973778, - "y": 0.9585793720111768, - "heading": -0.5088748847639726, - "angularVelocity": -0.1263372336071879, - "velocityX": -1.0203402591146986, - "velocityY": 0.5543059761921793, - "timestamp": 3.021768308593511 - }, - { - "x": 7.644826495037085, - "y": 1.0247459321009753, - "heading": -0.5277488943045168, - "angularVelocity": -0.20461798488220692, - "velocityX": -1.463635716595666, - "velocityY": 0.7173286716359051, - "timestamp": 3.1140085364083316 - }, - { - "x": 7.468924023316461, - "y": 1.1059487096578826, - "heading": -0.5535264419169841, - "angularVelocity": -0.2794610141707124, - "velocityX": -1.9070038733399683, - "velocityY": 0.8803401669814643, - "timestamp": 3.2062487642231523 - }, - { - "x": 7.252115520954535, - "y": 1.2021859450131016, - "heading": -0.5857297212655913, - "angularVelocity": -0.34912402225694766, - "velocityX": -2.350476657507682, - "velocityY": 1.04333258530565, - "timestamp": 3.298488992037973 - }, - { - "x": 6.994386027654477, - "y": 1.31345417318691, - "heading": -0.6235562220957586, - "angularVelocity": -0.4100868105628156, - "velocityX": -2.794111630095605, - "velocityY": 1.2062874388947544, - "timestamp": 3.3907292198527936 - }, - { - "x": 6.695710018451316, - "y": 1.439744501943248, - "heading": -0.6653719919030509, - "angularVelocity": -0.45333550011650886, - "velocityX": -3.238023325384417, - "velocityY": 1.369145889468917, - "timestamp": 3.4829694476676143 - }, - { - "x": 6.356050726739891, - "y": 1.5810125125479777, - "heading": -0.7059823103401129, - "angularVelocity": -0.44026689221312976, - "velocityX": -3.6823336168826186, - "velocityY": 1.5315227851381312, - "timestamp": 3.575209675482435 - }, - { - "x": 5.999398683183485, - "y": 1.7123177539849823, - "heading": -0.7059823175120675, - "angularVelocity": -7.775300131162323e-8, - "velocityX": -3.8665564039197022, - "velocityY": 1.4235138458310193, - "timestamp": 3.6674499032972556 - }, - { - "x": 5.642746522149845, - "y": 1.8436226763292314, - "heading": -0.7059823246840017, - "angularVelocity": -7.77527794510748e-8, - "velocityX": -3.866557677520564, - "velocityY": 1.4235103864645033, - "timestamp": 3.7596901311120763 - }, - { - "x": 5.28156245438674, - "y": 1.9537093318962377, - "heading": -0.7138474612609973, - "angularVelocity": -0.08526796565144627, - "velocityX": -3.915689242314218, - "velocityY": 1.1934777067985334, - "timestamp": 3.851930358926897 - }, - { - "x": 4.961235013550277, - "y": 2.048482673838497, - "heading": -0.723491200847142, - "angularVelocity": -0.10455025767613332, - "velocityX": -3.472752056505604, - "velocityY": 1.0274621408408044, - "timestamp": 3.9441705867417176 - }, - { - "x": 4.681796334872038, - "y": 2.1280729865083585, - "heading": -0.7292938799639851, - "angularVelocity": -0.06290833462046955, - "velocityX": -3.0294664843980423, - "velocityY": 0.8628590210081168, - "timestamp": 4.036410814556538 - }, - { - "x": 4.443240110455446, - "y": 2.1925269170063846, - "heading": -0.7294953062364742, - "angularVelocity": -0.002183713952804096, - "velocityX": -2.586249297817354, - "velocityY": 0.698761614373095, - "timestamp": 4.1286510423713585 - }, - { - "x": 4.245560384054017, - "y": 2.24186822032086, - "heading": -0.7232342713321199, - "angularVelocity": 0.06787748743339812, - "velocityX": -2.143096684434545, - "velocityY": 0.5349217416671156, - "timestamp": 4.220891270186179 - }, - { - "x": 4.0887527147976686, - "y": 2.2761112730627358, - "heading": -0.7099988392979812, - "angularVelocity": 0.1434887179670669, - "velocityX": -1.699992215664861, - "velocityY": 0.3712377294928318, - "timestamp": 4.313131498001 - }, - { - "x": 3.972813772950256, - "y": 2.2952657190650956, - "heading": -0.6894483842110904, - "angularVelocity": 0.22279276161532663, - "velocityX": -1.256923845419907, - "velocityY": 0.20765826858986366, - "timestamp": 4.4053717258158205 - }, - { - "x": 3.8977409855221326, - "y": 2.2993384931570473, - "heading": -0.6613385952715591, - "angularVelocity": 0.3047454413920573, - "velocityX": -0.8138833696165418, - "velocityY": 0.044153989950329355, - "timestamp": 4.497611953630641 - }, - { - "x": 3.863532304763794, - "y": 2.288334846496582, - "heading": -0.6254844943742653, - "angularVelocity": 0.3887035163147435, - "velocityX": -0.37086509399147366, - "velocityY": -0.11929335953675119, - "timestamp": 4.589852181445462 - }, - { - "x": 3.8588969628219925, - "y": 2.2742859384660616, - "heading": -0.5980545373887644, - "angularVelocity": 0.4457546351730898, - "velocityX": -0.07532732031852572, - "velocityY": -0.22830388968656506, - "timestamp": 4.651388180896931 - }, - { - "x": 3.87252307186548, - "y": 2.2537298660333667, - "heading": -0.5672227548547781, - "angularVelocity": 0.5010365121038134, - "velocityX": 0.22143313125569966, - "velocityY": -0.33404954199056636, - "timestamp": 4.7129241803484 - }, - { - "x": 3.904495293557158, - "y": 2.226901435332701, - "heading": -0.5331165435350333, - "angularVelocity": 0.5542481088105673, - "velocityX": 0.5195693898966114, - "velocityY": -0.4359794419496553, - "timestamp": 4.77446017979987 - }, - { - "x": 3.954909336055298, - "y": 2.1940785550728865, - "heading": -0.495886840771047, - "angularVelocity": 0.6050068755826099, - "velocityX": 0.8192609683360987, - "velocityY": -0.5333931447022372, - "timestamp": 4.835996179251339 - }, - { - "x": 4.02387381433517, - "y": 2.1555950274998867, - "heading": -0.45571503088966375, - "angularVelocity": 0.6528180291126203, - "velocityX": 1.120717610742014, - "velocityY": -0.6253823439294258, - "timestamp": 4.897532178702808 - }, - { - "x": 4.111512236956564, - "y": 2.1118588104756206, - "heading": -0.412822729802436, - "angularVelocity": 0.6970277799916975, - "velocityX": 1.4241813475461795, - "velocityY": -0.7107419626581243, - "timestamp": 4.959068178154277 - }, - { - "x": 4.217964742540069, - "y": 2.063378913974966, - "heading": -0.36748611131765924, - "angularVelocity": 0.7367495269258114, - "velocityX": 1.7299224280489682, - "velocityY": -0.7878298383515892, - "timestamp": 5.020604177605747 - }, - { - "x": 4.3433885040310445, - "y": 2.010806456684427, - "heading": -0.32005768718105704, - "angularVelocity": 0.7707427287990534, - "velocityX": 2.0382176711031144, - "velocityY": -0.854336612050985, - "timestamp": 5.082140177057216 - }, - { - "x": 4.487953805149203, - "y": 1.954999944894153, - "heading": -0.2710008539723626, - "angularVelocity": 0.7972054349646767, - "velocityX": 2.3492801353161026, - "velocityY": -0.9068921003596625, - "timestamp": 5.143676176508685 - }, - { - "x": 4.651827347820778, - "y": 1.8971338065315515, - "heading": -0.22094730911564786, - "angularVelocity": 0.8134026472778757, - "velocityX": 2.66305161421512, - "velocityY": -0.9403623712691659, - "timestamp": 5.205212175960154 - }, - { - "x": 4.835117881418664, - "y": 1.8388867617728581, - "heading": -0.17079707648624934, - "angularVelocity": 0.8149738864475594, - "velocityX": 2.978590341129327, - "velocityY": -0.9465523478598972, - "timestamp": 5.266748175411624 - }, - { - "x": 5.037706705982249, - "y": 1.7827750767858257, - "heading": -0.12189771533901265, - "angularVelocity": 0.7946464115822435, - "velocityX": 3.2922001165083703, - "velocityY": -0.9118513632217131, - "timestamp": 5.328284174863093 - }, - { - "x": 5.258723241665742, - "y": 1.7326877167097992, - "heading": -0.07633456189791264, - "angularVelocity": 0.7404308672524917, - "velocityX": 3.5916624033676507, - "velocityY": -0.8139521665773647, - "timestamp": 5.389820174314562 - }, - { - "x": 5.49513452171728, - "y": 1.6942432648547043, - "heading": -0.03706015615864722, - "angularVelocity": 0.6382346283371836, - "velocityX": 3.8418370085625435, - "velocityY": -0.6247473381075812, - "timestamp": 5.451356173766031 - }, - { - "x": 5.7400281736184455, - "y": 1.6729770610154633, - "heading": -0.007145484204979612, - "angularVelocity": 0.4861328688950628, - "velocityX": 3.9796810661099893, - "velocityY": -0.34558963905368534, - "timestamp": 5.512892173217501 - }, - { - "x": 5.9874771608430795, - "y": 1.6708818345855783, - "heading": 0.017579240823119676, - "angularVelocity": 0.40179285700232625, - "velocityX": 4.021206926520915, - "velocityY": -0.03404879174079811, - "timestamp": 5.57442817266897 - }, - { - "x": 6.234120845794678, - "y": 1.6881886720657349, - "heading": 0.04311790612474964, - "angularVelocity": 0.41501991564744656, - "velocityX": 4.008120241000007, - "velocityY": 0.28124736145393664, - "timestamp": 5.635964172120439 - }, - { - "x": 6.467272536529507, - "y": 1.7222668368059177, - "heading": 0.07140808783124676, - "angularVelocity": 0.4798746133284011, - "velocityX": 3.9548553840693117, - "velocityY": 0.5780537678158916, - "timestamp": 5.694917450582654 - }, - { - "x": 6.692584478408081, - "y": 1.7722919010776508, - "heading": 0.10380607474487556, - "angularVelocity": 0.5495536085307539, - "velocityX": 3.8218729773100346, - "velocityY": 0.8485544074329195, - "timestamp": 5.753870729044869 - }, - { - "x": 6.904741537320341, - "y": 1.8343117738412145, - "heading": 0.13881865410428046, - "angularVelocity": 0.5939038552681234, - "velocityX": 3.598732156146937, - "velocityY": 1.0520173666561004, - "timestamp": 5.812824007507084 - }, - { - "x": 7.100383513043178, - "y": 1.9030310585915293, - "heading": 0.17471896196074413, - "angularVelocity": 0.6089620254024232, - "velocityX": 3.318593652908188, - "velocityY": 1.1656567122786685, - "timestamp": 5.871777285969299 - }, - { - "x": 7.278323373731877, - "y": 1.973830348179141, - "heading": 0.21010738421181074, - "angularVelocity": 0.6002791222840638, - "velocityX": 3.0183200210442145, - "velocityY": 1.2009389712395522, - "timestamp": 5.930730564431514 - }, - { - "x": 7.4384871771356265, - "y": 2.0434113203538615, - "heading": 0.24403115598521166, - "angularVelocity": 0.5754348639854446, - "velocityX": 2.716792137461926, - "velocityY": 1.1802731585032522, - "timestamp": 5.9896838428937285 - }, - { - "x": 7.581181613697001, - "y": 2.1095234080577914, - "heading": 0.27585930904768985, - "angularVelocity": 0.5398877533651957, - "velocityX": 2.4204665165963752, - "velocityY": 1.1214319106324677, - "timestamp": 6.048637121355943 - }, - { - "x": 7.706797630897918, - "y": 2.1706045807896808, - "heading": 0.3051630458824759, - "angularVelocity": 0.49706712839672884, - "velocityX": 2.1307723756436663, - "velocityY": 1.0360945875306653, - "timestamp": 6.107590399818158 - }, - { - "x": 7.815712043569113, - "y": 2.2255333978794116, - "heading": 0.33163957385897364, - "angularVelocity": 0.4491103576787036, - "velocityX": 1.847469988306098, - "velocityY": 0.9317347316813903, - "timestamp": 6.166543678280373 - }, - { - "x": 7.908260582203949, - "y": 2.273476340322031, - "heading": 0.35506686665379467, - "angularVelocity": 0.3973874465664564, - "velocityX": 1.5698624580167049, - "velocityY": 0.8132362388182927, - "timestamp": 6.225496956742588 - }, - { - "x": 7.984734808626996, - "y": 2.3137943937734238, - "heading": 0.37527661607304347, - "angularVelocity": 0.34280959340033684, - "velocityX": 1.2972005699744291, - "velocityY": 0.6838984107937889, - "timestamp": 6.284450235204803 - }, - { - "x": 8.045386300065186, - "y": 2.3459844705884807, - "heading": 0.3921375822600176, - "angularVelocity": 0.2860055730027077, - "velocityX": 1.0288060820411038, - "velocityY": 0.5460269158005876, - "timestamp": 6.343403513667018 - }, - { - "x": 8.090432430021092, - "y": 2.369641472578161, - "heading": 0.40554498361648383, - "angularVelocity": 0.2274241858331832, - "velocityX": 0.76409881063319, - "velocityY": 0.40128390832145205, - "timestamp": 6.402356792129233 - }, - { - "x": 8.120061893982145, - "y": 2.3844329106489335, - "heading": 0.41541350240022923, - "angularVelocity": 0.1673955892049397, - "velocityX": 0.5025923024797195, - "velocityY": 0.25090102631447014, - "timestamp": 6.4613100705914475 - }, - { - "x": 8.134439468383789, - "y": 2.3900814056396484, - "heading": 0.4216725296119854, - "angularVelocity": 0.10616928142118104, - "velocityX": 0.24388082862701033, - "velocityY": 0.09581307669488197, - "timestamp": 6.520263349053662 - }, - { - "x": 8.132176285564572, - "y": 2.3851078879497147, - "heading": 0.42413738865593775, - "angularVelocity": 0.03838472583689847, - "velocityX": -0.03524406486753986, - "velocityY": -0.07745153356394213, - "timestamp": 6.58447792894739 - }, - { - "x": 8.111834551335587, - "y": 2.369262184782309, - "heading": 0.42223170348479205, - "angularVelocity": -0.029676830001840532, - "velocityX": -0.3167775022845199, - "velocityY": -0.24676176646533576, - "timestamp": 6.648692508841117 - }, - { - "x": 8.073236234054438, - "y": 2.3428469037837596, - "heading": 0.41593590278547166, - "angularVelocity": -0.09804316573805726, - "velocityX": -0.6010833886171775, - "velocityY": -0.41135955482797815, - "timestamp": 6.712907088734845 - }, - { - "x": 8.016174669315534, - "y": 2.3062284127277977, - "heading": 0.4052283935995224, - "angularVelocity": -0.16674576402539432, - "velocityX": -0.8886076157990642, - "velocityY": -0.5702519757438951, - "timestamp": 6.777121668628572 - }, - { - "x": 7.940407873057922, - "y": 2.259858654551234, - "heading": 0.3900854339256775, - "angularVelocity": -0.23581809145066257, - "velocityX": -1.1799002093138764, - "velocityY": -0.7221063853926085, - "timestamp": 6.8413362485223 - }, - { - "x": 7.845650198886334, - "y": 2.2043077633338255, - "heading": 0.37048131278322016, - "angularVelocity": -0.30529081051221507, - "velocityX": -1.4756411134108256, - "velocityY": -0.865082218233669, - "timestamp": 6.905550828416027 - }, - { - "x": 7.731562513102335, - "y": 2.140314722394816, - "heading": 0.34638932376904424, - "angularVelocity": -0.3751794227112801, - "velocityX": -1.776663274490152, - "velocityY": -0.9965500209596554, - "timestamp": 6.969765408309755 - }, - { - "x": 7.597742640115569, - "y": 2.0688695295905424, - "heading": 0.3177847679181409, - "angularVelocity": -0.44545266664117245, - "velocityX": -2.083948430531411, - "velocityY": -1.1126007975527197, - "timestamp": 7.033979988203482 - }, - { - "x": 7.443723347321437, - "y": 1.991352898659247, - "heading": 0.28465327704940796, - "angularVelocity": -0.5159496632005437, - "velocityX": -2.398509700585578, - "velocityY": -1.2071500126541717, - "timestamp": 7.09819456809721 - }, - { - "x": 7.2690042706160805, - "y": 1.909784448765435, - "heading": 0.24701367157934487, - "angularVelocity": -0.5861535734151859, - "velocityX": -2.7208630344465448, - "velocityY": -1.270248127898756, - "timestamp": 7.162409147990937 - }, - { - "x": 7.0732110345953325, - "y": 1.8272697519579237, - "heading": 0.20498160985555938, - "angularVelocity": -0.654556360772695, - "velocityX": -3.0490464368805132, - "velocityY": -1.2849838299038974, - "timestamp": 7.226623727884665 - }, - { - "x": 6.856687516382241, - "y": 1.7487095931314518, - "heading": 0.158939232751959, - "angularVelocity": -0.7170081495479512, - "velocityX": -3.3718747139891065, - "velocityY": -1.223400650700919, - "timestamp": 7.290838307778392 - }, - { - "x": 6.622137169577345, - "y": 1.6811594344762097, - "heading": 0.10987454919796363, - "angularVelocity": -0.7640738853262871, - "velocityX": -3.652602682958729, - "velocityY": -1.0519442588744687, - "timestamp": 7.3550528876721195 - }, - { - "x": 6.376228451811506, - "y": 1.6314432842511626, - "heading": 0.0595492132865963, - "angularVelocity": -0.783705756459888, - "velocityX": -3.829484179026162, - "velocityY": -0.7742190372860123, - "timestamp": 7.419267467565847 - }, - { - "x": 6.126649542350112, - "y": 1.602554470841584, - "heading": 0.00931766555509535, - "angularVelocity": -0.7822452130751675, - "velocityX": -3.886639293980256, - "velocityY": -0.4498793491663203, - "timestamp": 7.4834820474595745 - }, - { - "x": 5.877150893660191, - "y": 1.594782132459995, - "heading": -0.04431021757632018, - "angularVelocity": -0.8351356221619418, - "velocityX": -3.8853894100503816, - "velocityY": -0.12103697313681898, - "timestamp": 7.547696627353302 - }, - { - "x": 5.631840705871582, - "y": 1.6077326536178589, - "heading": -0.09946026915631453, - "angularVelocity": -0.8588400277828766, - "velocityX": -3.8201633989444104, - "velocityY": 0.20167571257643785, - "timestamp": 7.611911207247029 - }, - { - "x": 5.408191557035955, - "y": 1.6373943243488176, - "heading": -0.15130862691248864, - "angularVelocity": -0.8625486017123365, - "velocityX": -3.720624315807819, - "velocityY": 0.4934511664526841, - "timestamp": 7.672021858001369 - }, - { - "x": 5.193948054538076, - "y": 1.6830215447877035, - "heading": -0.20249256634286344, - "angularVelocity": -0.8514953471316359, - "velocityX": -3.5641521063122457, - "velocityY": 0.7590538426435499, - "timestamp": 7.732132508755708 - }, - { - "x": 4.992708519368323, - "y": 1.7418388706856198, - "heading": -0.2519810867857048, - "angularVelocity": -0.8232903790227013, - "velocityX": -3.347818275868942, - "velocityY": 0.9784842645988236, - "timestamp": 7.792243159510047 - }, - { - "x": 4.807476467472973, - "y": 1.8099478214565607, - "heading": -0.29877876502879425, - "angularVelocity": -0.778525563370499, - "velocityX": -3.0815179934144843, - "velocityY": 1.133059614498085, - "timestamp": 7.852353810264386 - }, - { - "x": 4.640051176081192, - "y": 1.8830509886189777, - "heading": -0.34211563798950406, - "angularVelocity": -0.7209516519430013, - "velocityX": -2.785284958501204, - "velocityY": 1.2161433330870974, - "timestamp": 7.912464461018725 - }, - { - "x": 4.491074408686971, - "y": 1.9572734446033506, - "heading": -0.38149861118808165, - "angularVelocity": -0.6551746271975682, - "velocityX": -2.4783755544929993, - "velocityY": 1.2347638072944158, - "timestamp": 7.9725751117730645 - }, - { - "x": 4.360467804854574, - "y": 2.0295250421816173, - "heading": -0.41665596351126605, - "angularVelocity": -0.5848772535646916, - "velocityX": -2.1727697536691237, - "velocityY": 1.2019766326194772, - "timestamp": 8.032685762527404 - }, - { - "x": 4.247824136670683, - "y": 2.0974690843884547, - "heading": -0.44745848671344385, - "angularVelocity": -0.5124303732471919, - "velocityX": -1.8739385910866808, - "velocityY": 1.1303161977818494, - "timestamp": 8.092796413281743 - }, - { - "x": 4.152630521964107, - "y": 2.1593575088225836, - "heading": -0.4738576897252565, - "angularVelocity": -0.4391767961338674, - "velocityX": -1.5836397295982356, - "velocityY": 1.0295750196925144, - "timestamp": 8.152907064036082 - }, - { - "x": 4.0743710372510344, - "y": 2.213869973094629, - "heading": -0.495847468032445, - "angularVelocity": -0.36582166440114666, - "velocityX": -1.3019237644407449, - "velocityY": 0.90686864287707, - "timestamp": 8.213017714790421 - }, - { - "x": 4.012566881536003, - "y": 2.259991535127209, - "heading": -0.5134428122609265, - "angularVelocity": -0.29271591652517925, - "velocityX": -1.0281731263834195, - "velocityY": 0.7672777029327102, - "timestamp": 8.27312836554476 - }, - { - "x": 3.9667882785861663, - "y": 2.296926593546496, - "heading": -0.5266685380504919, - "angularVelocity": -0.22002300130830899, - "velocityX": -0.7615722401163919, - "velocityY": 0.6144511489358724, - "timestamp": 8.3332390162991 - }, - { - "x": 3.9366546232582045, - "y": 2.3240395045135216, - "heading": -0.5355534491643124, - "angularVelocity": -0.14780926511894657, - "velocityX": -0.5013030960372105, - "velocityY": 0.4510500323450303, - "timestamp": 8.393349667053439 - }, - { - "x": 3.9218302529315436, - "y": 2.340813447733847, - "heading": -0.5401273706627876, - "angularVelocity": -0.07609169824442547, - "velocityX": -0.24661803092508605, - "velocityY": 0.2790511000933509, - "timestamp": 8.453460317807778 - }, - { - "x": 3.922019004821778, - "y": 2.3468215465545654, - "heading": -0.5404196941509068, - "angularVelocity": -0.00486308972621038, - "velocityX": 0.0031400739779980803, - "velocityY": 0.09995065342533552, - "timestamp": 8.513570968562117 - }, - { - "x": 3.9374653525267678, - "y": 2.343996586754968, - "heading": -0.5363170167809265, - "angularVelocity": 0.0699891910700783, - "velocityX": 0.26350533648336844, - "velocityY": -0.048192103192425555, - "timestamp": 8.572189696786488 - }, - { - "x": 3.9683552537421263, - "y": 2.3328180917591665, - "heading": -0.52776434309664, - "angularVelocity": 0.14590343297026154, - "velocityX": 0.5269630056988549, - "velocityY": -0.19069835416787767, - "timestamp": 8.630808425010859 - }, - { - "x": 4.014893571544688, - "y": 2.3136810117650746, - "heading": -0.5146908632348776, - "angularVelocity": 0.22302564824883497, - "velocityX": 0.7939155149260704, - "velocityY": -0.32646699397575807, - "timestamp": 8.68942715323523 - }, - { - "x": 4.077312296102222, - "y": 2.287064622569289, - "heading": -0.4970157041294251, - "angularVelocity": 0.30152750905476433, - "velocityX": 1.0648256359063084, - "velocityY": -0.4540594789758664, - "timestamp": 8.7480458814596 - }, - { - "x": 4.155873833381881, - "y": 2.253560682274067, - "heading": -0.47464638279152427, - "angularVelocity": 0.3816070736348903, - "velocityX": 1.3402122437551975, - "velocityY": -0.5715569291606204, - "timestamp": 8.80666460968397 - }, - { - "x": 4.250872712284989, - "y": 2.2139144425815496, - "heading": -0.4474776048037691, - "angularVelocity": 0.46348289720246916, - "velocityX": 1.6206233362738318, - "velocityY": -0.6763408366822088, - "timestamp": 8.865283337908341 - }, - { - "x": 4.362632375743991, - "y": 2.1690856862971724, - "heading": -0.4153914647840616, - "angularVelocity": 0.5473701151770817, - "velocityX": 1.9065521693208372, - "velocityY": -0.7647514308531158, - "timestamp": 8.923902066132712 - }, - { - "x": 4.4914888946742755, - "y": 2.120340950697993, - "heading": -0.3782617628527304, - "angularVelocity": 0.6334102266636167, - "velocityX": 2.1982141686368726, - "velocityY": -0.8315556661789609, - "timestamp": 8.982520794357082 - }, - { - "x": 4.637741905018974, - "y": 2.069392283286928, - "heading": -0.3359690811718077, - "angularVelocity": 0.7214875341382799, - "velocityX": 2.4949877756627052, - "velocityY": -0.869153408038005, - "timestamp": 9.041139522581453 - }, - { - "x": 4.801527199967717, - "y": 2.018594113204702, - "heading": -0.28844131507798226, - "angularVelocity": 0.8107949034975191, - "velocityX": 2.794077932258038, - "velocityY": -0.8665860147594886, - "timestamp": 9.099758250805824 - }, - { - "x": 4.982520910343412, - "y": 1.9711637668084108, - "heading": -0.23574369114733976, - "angularVelocity": 0.89898954697441, - "velocityX": 3.0876430768494463, - "velocityY": -0.8091329824616064, - "timestamp": 9.158376979030194 - }, - { - "x": 5.17938468342917, - "y": 1.9312172935307006, - "heading": -0.1782266556555277, - "angularVelocity": 0.9812057892429679, - "velocityX": 3.3583767346885973, - "velocityY": -0.6814626398036162, - "timestamp": 9.216995707254565 - }, - { - "x": 5.389185993172574, - "y": 1.9031572532827392, - "heading": -0.11666625659371352, - "angularVelocity": 1.0501831228099072, - "velocityX": 3.5790832742116896, - "velocityY": -0.47868729155225614, - "timestamp": 9.275614435478936 - }, - { - "x": 5.607648109126699, - "y": 1.8904140574345172, - "heading": -0.052238343106668465, - "angularVelocity": 1.099101182141647, - "velocityX": 3.726831382590488, - "velocityY": -0.21739120302040635, - "timestamp": 9.334233163703306 - }, - { - "x": 5.8303718087359035, - "y": 1.8947620924297608, - "heading": 0.013795227099602759, - "angularVelocity": 1.1264927132762073, - "velocityX": 3.7995314186398494, - "velocityY": 0.07417484355172438, - "timestamp": 9.392851891927677 - }, - { - "x": 6.053758144378662, - "y": 1.916719675064087, - "heading": 0.08038234053778825, - "angularVelocity": 1.135935825549055, - "velocityX": 3.810835588034616, - "velocityY": 0.37458306072900377, - "timestamp": 9.451470620152048 - }, - { - "x": 6.264479674099062, - "y": 1.9534587833223342, - "heading": 0.14352280822320104, - "angularVelocity": 1.1321628825027237, - "velocityX": 3.778418235390223, - "velocityY": 0.6587638044348276, - "timestamp": 9.507240393796133 - }, - { - "x": 6.471410323168012, - "y": 2.005691126005294, - "heading": 0.2060499040900196, - "angularVelocity": 1.1211645983334413, - "velocityX": 3.7104444853864718, - "velocityY": 0.9365708208948176, - "timestamp": 9.563010167440218 - }, - { - "x": 6.67221720068237, - "y": 2.0726457450879647, - "heading": 0.26723641438299095, - "angularVelocity": 1.0971267461735486, - "velocityX": 3.6006399953472306, - "velocityY": 1.2005538969902354, - "timestamp": 9.618779941084304 - }, - { - "x": 6.864483989652029, - "y": 2.1530541266402397, - "heading": 0.32631078239943323, - "angularVelocity": 1.059254218843449, - "velocityX": 3.4475088637919846, - "velocityY": 1.4417914274751908, - "timestamp": 9.67454971472839 - }, - { - "x": 7.04594464974176, - "y": 2.2451559533202436, - "heading": 0.3825309232468606, - "angularVelocity": 1.0080754712438957, - "velocityX": 3.2537456803713387, - "velocityY": 1.651464954256111, - "timestamp": 9.730319488372475 - }, - { - "x": 7.214709569426035, - "y": 2.346842107517073, - "heading": 0.4352629915349554, - "angularVelocity": 0.9455313307280512, - "velocityX": 3.0261001373487018, - "velocityY": 1.8233201885626171, - "timestamp": 9.78608926201656 - }, - { - "x": 7.3693846071392155, - "y": 2.4558832400596216, - "heading": 0.4840246615609249, - "angularVelocity": 0.8743386755908128, - "velocityX": 2.7734564371785453, - "velocityY": 1.9552012751285666, - "timestamp": 9.841859035660645 - }, - { - "x": 7.509056975127237, - "y": 2.570141200020485, - "heading": 0.5284810080472253, - "angularVelocity": 0.7971405222121561, - "velocityX": 2.504445667636898, - "velocityY": 2.0487434768884056, - "timestamp": 9.89762880930473 - }, - { - "x": 7.633199119801413, - "y": 2.6876980533080026, - "heading": 0.5684145092479561, - "angularVelocity": 0.7160420168742332, - "velocityX": 2.22597540858659, - "velocityY": 2.1078954710798543, - "timestamp": 9.953398582948816 - }, - { - "x": 7.741554690257944, - "y": 2.8069018359636293, - "heading": 0.603691839683821, - "angularVelocity": 0.6325528710408487, - "velocityX": 1.9429085573852172, - "velocityY": 2.1374263309076094, - "timestamp": 10.009168356592902 - }, - { - "x": 7.8340426189154515, - "y": 2.926359352059011, - "heading": 0.634236867715058, - "angularVelocity": 0.5476986194380259, - "velocityX": 1.6583880947366105, - "velocityY": 2.141975989677505, - "timestamp": 10.064938130236987 - }, - { - "x": 7.9106883703790265, - "y": 3.044905211891904, - "heading": 0.6600110520724907, - "angularVelocity": 0.4621532897357523, - "velocityX": 1.3743242343552553, - "velocityY": 2.125629208922992, - "timestamp": 10.120707903881073 - }, - { - "x": 7.971578677351933, - "y": 3.1615649052675256, - "heading": 0.6809999057835043, - "angularVelocity": 0.37634819615660037, - "velocityX": 1.0918155659282187, - "velocityY": 2.091808622357435, - "timestamp": 10.176477677525158 - }, - { - "x": 8.016833117191899, - "y": 3.2755201745089106, - "heading": 0.6972038977263983, - "angularVelocity": 0.29055150996856166, - "velocityX": 0.8114510223543884, - "velocityY": 2.043315971992817, - "timestamp": 10.232247451169243 - }, - { - "x": 8.046586768246696, - "y": 3.3860795222420745, - "heading": 0.7086324373644792, - "angularVelocity": 0.2049235435491652, - "velocityX": 0.5335085497151109, - "velocityY": 1.9824241790676127, - "timestamp": 10.288017224813329 - }, - { - "x": 8.060979854260694, - "y": 3.4926541817887737, - "heading": 0.715299943712957, - "angularVelocity": 0.11955412247194647, - "velocityX": 0.2580804093961653, - "velocityY": 1.910975293298518, - "timestamp": 10.343786998457414 - }, - { - "x": 8.060151705157804, - "y": 3.594738929349592, - "heading": 0.7172233049609025, - "angularVelocity": 0.034487521147568596, - "velocityX": -0.014849425571926141, - "velocityY": 1.8304673103446223, - "timestamp": 10.3995567721015 - }, - { - "x": 8.04423735574141, - "y": 3.6918968779622365, - "heading": 0.7144202648047442, - "angularVelocity": -0.05026092044136668, - "velocityX": -0.2853579703937069, - "velocityY": 1.7421255684610018, - "timestamp": 10.455326545745585 - }, - { - "x": 8.013365745544434, - "y": 3.783747434616089, - "heading": 0.706908432995524, - "angularVelocity": -0.13469360405081665, - "velocityX": -0.5535545185102473, - "velocityY": 1.6469594666105056, - "timestamp": 10.51109631938967 - }, - { - "x": 7.966240008450173, - "y": 3.8718311568256762, - "heading": 0.6943083666247631, - "angularVelocity": -0.22078504296141274, - "velocityX": -0.8257621494033686, - "velocityY": 1.5434496787551952, - "timestamp": 10.568165703265294 - }, - { - "x": 7.903637633551601, - "y": 3.953847701206782, - "heading": 0.6768953931750158, - "angularVelocity": -0.30511935239562316, - "velocityX": -1.0969520020578343, - "velocityY": 1.437137372287953, - "timestamp": 10.625235087140917 - }, - { - "x": 7.8256280875512765, - "y": 4.029612355077064, - "heading": 0.6547868801961407, - "angularVelocity": -0.38739708539798207, - "velocityX": -1.3669246223218023, - "velocityY": 1.3275884322739986, - "timestamp": 10.68230447101654 - }, - { - "x": 7.732295732907965, - "y": 4.098909485083783, - "heading": 0.6281225750310581, - "angularVelocity": -0.4672260913696688, - "velocityX": -1.6354189988579395, - "velocityY": 1.2142610503338351, - "timestamp": 10.739373854892163 - }, - { - "x": 7.623744896157086, - "y": 4.16148422694545, - "heading": 0.5970717835083564, - "angularVelocity": -0.5440884308541606, - "velocityX": -1.902085310531024, - "velocityY": 1.0964678013353422, - "timestamp": 10.796443238767786 - }, - { - "x": 7.500107414312447, - "y": 4.217031008030893, - "heading": 0.5618432556119679, - "angularVelocity": -0.6172929424499382, - "velocityX": -2.166441504153836, - "velocityY": 0.9733201466919875, - "timestamp": 10.853512622643409 - }, - { - "x": 7.361554289078083, - "y": 4.265177319785923, - "heading": 0.5226990910090863, - "angularVelocity": -0.6859048047231799, - "velocityX": -2.427801315260849, - "velocityY": 0.8436451996741265, - "timestamp": 10.910582006519032 - }, - { - "x": 7.208314472207239, - "y": 4.305460180951621, - "heading": 0.4799749331776388, - "angularVelocity": -0.748635344032456, - "velocityX": -2.6851493123670993, - "velocityY": 0.7058576495847575, - "timestamp": 10.967651390394655 - }, - { - "x": 7.04070672092061, - "y": 4.337291084304275, - "heading": 0.4341107031105424, - "angularVelocity": -0.8036573544766614, - "velocityX": -2.9369118764609987, - "velocityY": 0.5577579639203134, - "timestamp": 11.024720774270278 - }, - { - "x": 6.859196980023488, - "y": 4.359902561866159, - "heading": 0.38570049610139884, - "angularVelocity": -0.8482693122226175, - "velocityX": -3.1805099086526467, - "velocityY": 0.39621029747164144, - "timestamp": 11.081790158145902 - }, - { - "x": 6.664509345661969, - "y": 4.372266184440463, - "heading": 0.33558027930717554, - "angularVelocity": -0.8782330102503829, - "velocityX": -3.411419944287813, - "velocityY": 0.21664194940757758, - "timestamp": 11.138859542021525 - }, - { - "x": 6.457857876304668, - "y": 4.372974056751145, - "heading": 0.28499344198952337, - "angularVelocity": -0.8864093824440242, - "velocityX": -3.621056603794368, - "velocityY": 0.012403713911223541, - "timestamp": 11.195928925897148 - }, - { - "x": 6.241459304464819, - "y": 4.360126451607489, - "heading": 0.23589645193749556, - "angularVelocity": -0.8603034888028499, - "velocityX": -3.791850500987835, - "velocityY": -0.22512254857450334, - "timestamp": 11.25299830977277 - }, - { - "x": 6.019579657099656, - "y": 4.331576905992715, - "heading": 0.19136436588478378, - "angularVelocity": -0.7803148208111865, - "velocityX": -3.8878928121727503, - "velocityY": -0.5002602740025169, - "timestamp": 11.310067693648394 - }, - { - "x": 5.798551620924673, - "y": 4.286498911567636, - "heading": 0.15351127427729616, - "angularVelocity": -0.6632819392265463, - "velocityX": -3.872970429410807, - "velocityY": -0.789880516728909, - "timestamp": 11.367137077524017 - }, - { - "x": 5.582334432989124, - "y": 4.225425033971107, - "heading": 0.1155118535473049, - "angularVelocity": -0.665845995688459, - "velocityX": -3.788672196054744, - "velocityY": -1.0701688619879504, - "timestamp": 11.42420646139964 - }, - { - "x": 5.374024465313053, - "y": 4.149876189702931, - "heading": 0.0697446592710017, - "angularVelocity": -0.8019570419061819, - "velocityX": -3.650117690600284, - "velocityY": -1.3238069020129641, - "timestamp": 11.481275845275263 - }, - { - "x": 5.177992197827677, - "y": 4.063196905648788, - "heading": 0.017847542723990653, - "angularVelocity": -0.9093687897545091, - "velocityX": -3.43498131875068, - "velocityY": -1.5188403688228005, - "timestamp": 11.538345229150886 - }, - { - "x": 4.996804237365723, - "y": 3.968907356262207, - "heading": -0.036582580096447645, - "angularVelocity": -0.9537534685684189, - "velocityX": -3.174871501273511, - "velocityY": -1.6521914726129727, - "timestamp": 11.59541461302651 - }, - { - "x": 4.831701648512126, - "y": 3.869632531276603, - "heading": -0.09108789522014621, - "angularVelocity": -0.956247053450245, - "velocityX": -2.8965774025882935, - "velocityY": -1.74168810250575, - "timestamp": 11.652413811013094 - }, - { - "x": 4.683239484058957, - "y": 3.7696816729003366, - "heading": -0.14402851520145338, - "angularVelocity": -0.9287958752291116, - "velocityX": -2.604636024670233, - "velocityY": -1.7535485043103856, - "timestamp": 11.709413008999679 - }, - { - "x": 4.551166900503627, - "y": 3.672576162220203, - "heading": -0.19413777607531787, - "angularVelocity": -0.8791222095029895, - "velocityX": -2.317095471876902, - "velocityY": -1.7036294212944654, - "timestamp": 11.766412206986264 - }, - { - "x": 4.434814024677728, - "y": 3.580852424602329, - "heading": -0.240569995174145, - "angularVelocity": -0.8146117969897673, - "velocityX": -2.0413072452928884, - "velocityY": -1.6092110215210784, - "timestamp": 11.823411404972848 - }, - { - "x": 4.333433551144432, - "y": 3.4962968449308427, - "heading": -0.2827665728058861, - "angularVelocity": -0.7403012519873094, - "velocityX": -1.7786298248820436, - "velocityY": -1.4834520950871575, - "timestamp": 11.880410602959433 - }, - { - "x": 4.246331382415327, - "y": 3.420184326553122, - "heading": -0.32034046484185646, - "angularVelocity": -0.6592003635702718, - "velocityX": -1.5281297247306171, - "velocityY": -1.3353261285471856, - "timestamp": 11.937409800946018 - }, - { - "x": 4.172901382527213, - "y": 3.353448110684795, - "heading": -0.353008344600164, - "angularVelocity": -0.5731287616712845, - "velocityX": -1.2882637384721891, - "velocityY": -1.170827278728279, - "timestamp": 11.994408998932602 - }, - { - "x": 4.112625106867851, - "y": 3.296790361986866, - "heading": -0.38055433946809814, - "angularVelocity": -0.4832698676640572, - "velocityX": -1.0574933997062392, - "velocityY": -0.9940095773148284, - "timestamp": 12.051408196919187 - }, - { - "x": 4.065061021100414, - "y": 3.2507532442668188, - "heading": -0.4028098814387128, - "angularVelocity": -0.3904535985901558, - "velocityX": -0.8344693863698196, - "velocityY": -0.8076800963214009, - "timestamp": 12.108407394905772 - }, - { - "x": 4.029832043193561, - "y": 3.2157652112178092, - "heading": -0.41964145091513144, - "angularVelocity": -0.29529484748855805, - "velocityX": -0.6180609403512081, - "velocityY": -0.6138337781041129, - "timestamp": 12.165406592892356 - }, - { - "x": 4.006614252366996, - "y": 3.1921718341567256, - "heading": -0.43094241785407744, - "angularVelocity": -0.19826536755141405, - "velocityX": -0.40733539500027605, - "velocityY": -0.413924719899331, - "timestamp": 12.222405790878941 - }, - { - "x": 3.995127439498902, - "y": 3.1802568435668945, - "heading": -0.43662724907911504, - "angularVelocity": -0.09973528445743389, - "velocityX": -0.201525868325339, - "velocityY": -0.20903786387722884, - "timestamp": 12.279404988865526 - }, - { - "x": 3.995127439498902, - "y": 3.1802568435668945, - "heading": -0.43662724907911504, - "angularVelocity": 3.139708268480762e-27, - "velocityX": 2.985814455257795e-29, - "velocityY": -2.388166631545772e-27, - "timestamp": 12.33640418685211 - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 0.6885567903518677, - "y": 4.453176975250244, - "heading": -1.0863186564678593, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "timestamp": 1.2770779804813597, - "isStopPoint": false, - "x": 3.7100203037261963, - "y": 2.2926273345947266, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 22 - }, - { - "timestamp": 2.745047625149049, - "isStopPoint": false, - "x": 7.939531326293945, - "y": 0.8503056764602661, - "heading": -0.49642193244286464, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 20 - }, - { - "timestamp": 4.589852181445462, - "isStopPoint": false, - "x": 3.863532304763794, - "y": 2.288334846496582, - "heading": -0.6254844943742653, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "timestamp": 5.635964172120439, - "isStopPoint": false, - "x": 6.234120845794678, - "y": 1.6881886720657349, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 15 - }, - { - "timestamp": 6.520263349053662, - "isStopPoint": false, - "x": 8.134439468383789, - "y": 2.3900814056396484, - "heading": 0.4216725296119854, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "timestamp": 7.611911207247029, - "isStopPoint": false, - "x": 5.631840705871582, - "y": 1.6077326536178589, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 15 - }, - { - "timestamp": 8.513570968562117, - "isStopPoint": false, - "x": 3.9220190048217773, - "y": 2.3468215465545654, - "heading": -0.5404196941509068, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 9.451470620152048, - "isStopPoint": false, - "x": 6.053758144378662, - "y": 1.916719675064087, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 19 - }, - { - "timestamp": 10.51109631938967, - "isStopPoint": false, - "x": 8.013365745544434, - "y": 3.783747434616089, - "heading": 0.706908432995524, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "timestamp": 11.59541461302651, - "isStopPoint": false, - "x": 4.996804237365723, - "y": 3.968907356262207, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 13 - }, - { - "timestamp": 12.33640418685211, - "isStopPoint": true, - "x": 3.9951274394989014, - "y": 3.1802568435668945, - "heading": -0.43662724907911504, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "constraints": [ - { - "scope": [ - "first" - ], - "type": "StopPoint" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint" - }, - { - "scope": [ - 7, - 7 - ], - "type": "MaxVelocity", - "velocity": 0.1 - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": false - }, - "Amp4NoteFar": { - "waypoints": [ - { - "x": 0.7328706979751587, - "y": 6.609785556793213, - "heading": 1.0789872785859569, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "x": 2.90181040763855, - "y": 6.258988857269287, - "heading": -0.023825563731718707, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 21 - }, - { - "x": 7.866925239562988, - "y": 7.4445061683654785, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "x": 3.9527645111083984, - "y": 6.335220813751221, - "heading": 0.14189719500937054, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 5.74778413772583, - "y": 6.263060569763184, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 14 - }, - { - "x": 7.907664775848389, - "y": 5.819249629974365, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 5.836546421051025, - "y": 6.233473300933838, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 13 - }, - { - "x": 4.031714916229248, - "y": 5.745280742645264, - "heading": 0.15991281260240592, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "x": 4.667843818664551, - "y": 4.369466304779053, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 16 - }, - { - "x": 7.774521827697754, - "y": 4.029211044311523, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 5.899813652038574, - "y": 4.563681602478027, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 13 - }, - { - "x": 4.199653625488281, - "y": 4.76887321472168, - "heading": -0.1853481020355219, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 0.7328706979751587, - "y": 6.609785556793213, - "heading": 1.0789872785859569, - "angularVelocity": 1.0130524956425154e-21, - "velocityX": 6.391561318798467e-22, - "velocityY": 3.1627763991179065e-21, - "timestamp": 0 - }, - { - "x": 0.7442922596904098, - "y": 6.607484693492832, - "heading": 1.0680322161337672, - "angularVelocity": -0.22455214188308412, - "velocityX": 0.23411424243381077, - "velocityY": -0.04716210286663648, - "timestamp": 0.04878627458335965 - }, - { - "x": 0.7671593544585043, - "y": 6.60289224668038, - "heading": 1.0463644335259636, - "angularVelocity": -0.44413685596715274, - "velocityX": 0.4687198389994303, - "velocityY": -0.09413399263774451, - "timestamp": 0.0975725491667193 - }, - { - "x": 0.8015018910283972, - "y": 6.59601954471661, - "heading": 1.0142955583551334, - "angularVelocity": -0.6573339621584579, - "velocityX": 0.7039384921923673, - "velocityY": -0.14087367855945515, - "timestamp": 0.14635882375007894 - }, - { - "x": 0.8473557442136884, - "y": 6.586881998575734, - "heading": 0.9722044979930776, - "angularVelocity": -0.862764388580973, - "velocityX": 0.939892491830722, - "velocityY": -0.18729747698326368, - "timestamp": 0.1951450983334386 - }, - { - "x": 0.9047623296596092, - "y": 6.575501144351355, - "heading": 0.9205301893221267, - "angularVelocity": -1.0591976762369206, - "velocityX": 1.176695411489809, - "velocityY": -0.23327983785547873, - "timestamp": 0.24393137291679826 - }, - { - "x": 0.973767621217994, - "y": 6.561906156637783, - "heading": 0.8597586319551783, - "angularVelocity": -1.2456691535876518, - "velocityX": 1.4144406833211989, - "velocityY": -0.27866419048542307, - "timestamp": 0.2927176475001579 - }, - { - "x": 1.0544208484071813, - "y": 6.546134234731941, - "heading": 0.790408245746391, - "angularVelocity": -1.421514284520544, - "velocityX": 1.6531950405718783, - "velocityY": -0.3232860479824803, - "timestamp": 0.34150392208351754 - }, - { - "x": 1.1467736219789397, - "y": 6.52822958744161, - "heading": 0.7130246680019623, - "angularVelocity": -1.5861751774508972, - "velocityX": 1.8930072927367672, - "velocityY": -0.3670017324183618, - "timestamp": 0.3902901966668772 - }, - { - "x": 1.2508806763107996, - "y": 6.508241685857064, - "heading": 0.6282040373314669, - "angularVelocity": -1.7386166784587103, - "velocityX": 2.1339414665486536, - "velocityY": -0.4097033797977843, - "timestamp": 0.43907647125023685 - }, - { - "x": 1.3668033191753501, - "y": 6.486225040750028, - "heading": 0.5366697764006988, - "angularVelocity": -1.8762297738960634, - "velocityX": 2.376132300622291, - "velocityY": -0.4512876889055711, - "timestamp": 0.4878627458335965 - }, - { - "x": 1.494615387358709, - "y": 6.462244761643902, - "heading": 0.43943111627914694, - "angularVelocity": -1.993156086460405, - "velocityX": 2.6198366092695133, - "velocityY": -0.4915374111042586, - "timestamp": 0.5366490204169562 - }, - { - "x": 1.6344077245837227, - "y": 6.436394442604198, - "heading": 0.33805944296831114, - "angularVelocity": -2.077872806984372, - "velocityX": 2.865402993338927, - "velocityY": -0.5298686825437922, - "timestamp": 0.5854352950003158 - }, - { - "x": 1.7862758061457733, - "y": 6.408836740007201, - "heading": 0.23516941127167912, - "angularVelocity": -2.108995461845051, - "velocityX": 3.1129263888054926, - "velocityY": -0.5648658937855514, - "timestamp": 0.6342215695836754 - }, - { - "x": 1.9502202654428336, - "y": 6.379899377284357, - "heading": 0.1355865924332727, - "angularVelocity": -2.0412056400874032, - "velocityX": 3.360462767390291, - "velocityY": -0.5931455715766921, - "timestamp": 0.683007844167035 - }, - { - "x": 2.125024102640001, - "y": 6.350556213798447, - "heading": 0.05370061556801829, - "angularVelocity": -1.6784634113707182, - "velocityX": 3.5830536086227656, - "velocityY": -0.6014635004723082, - "timestamp": 0.7317941187503946 - }, - { - "x": 2.308874750217541, - "y": 6.32134206913622, - "heading": 0.000075594383193927, - "angularVelocity": -1.0991825394086383, - "velocityX": 3.768491223149237, - "velocityY": -0.598818928309628, - "timestamp": 0.7805803933337542 - }, - { - "x": 2.5013992294410428, - "y": 6.29284664925505, - "heading": -0.023825217387144004, - "angularVelocity": -0.489908523953788, - "velocityX": 3.9462836805573493, - "velocityY": -0.5840868179528854, - "timestamp": 0.8293666679171138 - }, - { - "x": 2.701090535408383, - "y": 6.269836071588193, - "heading": -0.023825516555088938, - "angularVelocity": -0.000006132215412864256, - "velocityX": 4.093186201912882, - "velocityY": -0.47166088953028434, - "timestamp": 0.8781529425004734 - }, - { - "x": 2.90181040763855, - "y": 6.258988857269287, - "heading": -0.023825563731718707, - "angularVelocity": -9.67006195283952e-7, - "velocityX": 4.114269309233729, - "velocityY": -0.22234151739485744, - "timestamp": 0.926939217083833 - }, - { - "x": 3.2228289165768107, - "y": 6.272839746260762, - "heading": -0.02382556485366325, - "angularVelocity": -1.43867746295835e-8, - "velocityX": 4.1164431535362835, - "velocityY": 0.17761093386148183, - "timestamp": 1.0049236558249548 - }, - { - "x": 3.5409920733834666, - "y": 6.3177500583059505, - "heading": -0.02382556591897316, - "angularVelocity": -1.3660544662719426e-8, - "velocityX": 4.079828770234975, - "velocityY": 0.575888122940443, - "timestamp": 1.0829080945660767 - }, - { - "x": 3.8543794985421305, - "y": 6.3886940665508725, - "heading": -0.023825566968556106, - "angularVelocity": -1.3458876738271386e-8, - "velocityX": 4.018589223921825, - "velocityY": 0.9097200594137623, - "timestamp": 1.1608925333071987 - }, - { - "x": 4.167766704285708, - "y": 6.4596390440310785, - "heading": -0.023825568018138833, - "angularVelocity": -1.3458873884787475e-8, - "velocityX": 4.018586410346573, - "velocityY": 0.9097324879866878, - "timestamp": 1.2388769720483206 - }, - { - "x": 4.4811539100323, - "y": 6.530584021497964, - "heading": -0.023825569067721552, - "angularVelocity": -1.3458873806018203e-8, - "velocityX": 4.018586410385244, - "velocityY": 0.9097324878158669, - "timestamp": 1.3168614107894425 - }, - { - "x": 4.79454111577784, - "y": 6.601528998969501, - "heading": -0.023825570117304313, - "angularVelocity": -1.3458874365967017e-8, - "velocityX": 4.018586410371737, - "velocityY": 0.909732487875532, - "timestamp": 1.3948458495305645 - }, - { - "x": 5.107928321523374, - "y": 6.672473976441061, - "heading": -0.023825571166887022, - "angularVelocity": -1.3458873644091302e-8, - "velocityX": 4.01858641037167, - "velocityY": 0.9097324878758241, - "timestamp": 1.4728302882716864 - }, - { - "x": 5.421315527268906, - "y": 6.743418953912637, - "heading": -0.0238255722164697, - "angularVelocity": -1.3458873232782846e-8, - "velocityX": 4.018586410371626, - "velocityY": 0.9097324878760211, - "timestamp": 1.5508147270128083 - }, - { - "x": 5.73470273301373, - "y": 6.814363931387334, - "heading": -0.02382557326605232, - "angularVelocity": -1.3458872602650603e-8, - "velocityX": 4.018586410362565, - "velocityY": 0.9097324879160451, - "timestamp": 1.6287991657539302 - }, - { - "x": 6.048089938761083, - "y": 6.885308908850857, - "heading": -0.023825574315635045, - "angularVelocity": -1.3458873837681842e-8, - "velocityX": 4.018586410395003, - "velocityY": 0.9097324877727555, - "timestamp": 1.7067836044950522 - }, - { - "x": 6.361476996805373, - "y": 6.956254538763802, - "heading": -0.023825575365233685, - "angularVelocity": -1.345907790933033e-8, - "velocityX": 4.0185845163881115, - "velocityY": 0.9097408541780642, - "timestamp": 1.784768043236174 - }, - { - "x": 6.648907366789074, - "y": 7.036067884976394, - "heading": -0.025930488860655996, - "angularVelocity": -0.026991455339055646, - "velocityX": 3.685740060755692, - "velocityY": 1.0234522104793284, - "timestamp": 1.862752481977296 - }, - { - "x": 6.905918727178058, - "y": 7.1089950068101935, - "heading": -0.027038195926471695, - "angularVelocity": -0.014204206424987693, - "velocityX": 3.295674938972906, - "velocityY": 0.9351496658954087, - "timestamp": 1.940736920718418 - }, - { - "x": 7.13251107745946, - "y": 7.175035870578235, - "heading": -0.027148690455274044, - "angularVelocity": -0.0014168791952089838, - "velocityX": 2.905609810613645, - "velocityY": 0.8468466893410759, - "timestamp": 2.0187213594595397 - }, - { - "x": 7.328684417474841, - "y": 7.234190465002728, - "heading": -0.0262619699118654, - "angularVelocity": 0.011370480543589091, - "velocityX": 2.5155446802226953, - "velocityY": 0.7585435681708689, - "timestamp": 2.0967057982006616 - }, - { - "x": 7.494438747151227, - "y": 7.286458784427156, - "heading": -0.024378032258793446, - "angularVelocity": 0.024157866408783164, - "velocityX": 2.1254795488959726, - "velocityY": 0.6702403744667375, - "timestamp": 2.1746902369417835 - }, - { - "x": 7.62977406644956, - "y": 7.331840825448755, - "heading": -0.021496875343877238, - "angularVelocity": 0.036945279871546305, - "velocityX": 1.7354144170684294, - "velocityY": 0.5819371371287247, - "timestamp": 2.2526746756829055 - }, - { - "x": 7.7346903753480705, - "y": 7.370336585793465, - "heading": -0.01761849670534105, - "angularVelocity": 0.04973272490183463, - "velocityX": 1.3453492849617374, - "velocityY": 0.49363387063029207, - "timestamp": 2.3306591144240274 - }, - { - "x": 7.809187673835323, - "y": 7.401946063832849, - "heading": -0.012742893499969495, - "angularVelocity": 0.06252020639087588, - "velocityX": 0.9552841527084046, - "velocityY": 0.4053305832502589, - "timestamp": 2.4086435531651493 - }, - { - "x": 7.853265961906796, - "y": 7.426669258342117, - "heading": -0.00687006248076722, - "angularVelocity": 0.07530772951636928, - "velocityX": 0.5652190203970796, - "velocityY": 0.3170272801646988, - "timestamp": 2.4866279919062713 - }, - { - "x": 7.866925239562988, - "y": 7.4445061683654785, - "heading": 1.1019724128852254e-21, - "angularVelocity": 0.08809529941701788, - "velocityX": 0.17515388809214882, - "velocityY": 0.22872396482294302, - "timestamp": 2.564612430647393 - }, - { - "x": 7.839415996512796, - "y": 7.455996330276693, - "heading": 0.00969522621841501, - "angularVelocity": 0.10346134162219067, - "velocityX": -0.29356129798992386, - "velocityY": 0.1226157636768162, - "timestamp": 2.6583211151318746 - }, - { - "x": 7.767984159154146, - "y": 7.4575409240302655, - "heading": 0.02071171654104976, - "angularVelocity": 0.1175610391207565, - "velocityX": -0.7622755324292112, - "velocityY": 0.016482930713085247, - "timestamp": 2.752029799616356 - }, - { - "x": 7.652629894962392, - "y": 7.449136985555429, - "heading": 0.03289647896885643, - "angularVelocity": 0.13002810246284618, - "velocityX": -1.2309879796771361, - "velocityY": -0.08968153294509411, - "timestamp": 2.8457384841008375 - }, - { - "x": 7.493353520570736, - "y": 7.430780569230724, - "heading": 0.04604478809468858, - "angularVelocity": 0.14031046533376074, - "velocityX": -1.6996970480151585, - "velocityY": -0.19588810178787341, - "timestamp": 2.939447168585319 - }, - { - "x": 7.290155660806777, - "y": 7.402466163933872, - "heading": 0.059868605999832875, - "angularVelocity": 0.1475190691363679, - "velocityX": -2.1683994485869587, - "velocityY": -0.30215348185302415, - "timestamp": 3.0331558530698004 - }, - { - "x": 7.043037657446755, - "y": 7.364185531976726, - "heading": 0.07393272399831907, - "angularVelocity": 0.1500834002297331, - "velocityX": -2.637087530568694, - "velocityY": -0.4085067693324192, - "timestamp": 3.126864537554282 - }, - { - "x": 6.752002857171037, - "y": 7.315925026351502, - "heading": 0.087503185209202, - "angularVelocity": 0.14481540622982755, - "velocityX": -3.1057398988875438, - "velocityY": -0.5150056890748022, - "timestamp": 3.2205732220387633 - }, - { - "x": 6.417062343367086, - "y": 7.25765770262344, - "heading": 0.09907823596032714, - "angularVelocity": 0.12352164385620025, - "velocityX": -3.5742739922831674, - "velocityY": -0.621792142837213, - "timestamp": 3.3142819065232447 - }, - { - "x": 6.038289731061863, - "y": 7.189306639433363, - "heading": 0.10384589626013921, - "angularVelocity": 0.05087746483733441, - "velocityX": -4.042022512523361, - "velocityY": -0.7293994528478953, - "timestamp": 3.407990591007726 - }, - { - "x": 5.6616794795490195, - "y": 7.104206263101145, - "heading": 0.10384589809069947, - "angularVelocity": 1.9534585058108795e-8, - "velocityX": -4.018947161457723, - "velocityY": -0.9081375627070208, - "timestamp": 3.5016992754922076 - }, - { - "x": 5.295621370465586, - "y": 6.981410624019321, - "heading": 0.10384599746908699, - "angularVelocity": 0.0000010605034961434597, - "velocityX": -3.906341350294527, - "velocityY": -1.3103976409161844, - "timestamp": 3.595407959976689 - }, - { - "x": 4.973743620370178, - "y": 6.867130189671141, - "heading": 0.10964047142974673, - "angularVelocity": 0.061834972847360024, - "velocityX": -3.4348764137086154, - "velocityY": -1.2195287446075023, - "timestamp": 3.6891166444611705 - }, - { - "x": 4.695925858929357, - "y": 6.762170123163068, - "heading": 0.11660456960418608, - "angularVelocity": 0.07431646504004273, - "velocityX": -2.9646959934308894, - "velocityY": -1.1200676552604343, - "timestamp": 3.782825328945652 - }, - { - "x": 4.462122805625061, - "y": 6.666750260320637, - "heading": 0.12346623798759834, - "angularVelocity": 0.07322339888944424, - "velocityX": -2.494998778293757, - "velocityY": -1.0182606165838868, - "timestamp": 3.8765340134301334 - }, - { - "x": 4.272311472149189, - "y": 6.580973181865323, - "heading": 0.1296297222155145, - "angularVelocity": 0.0657728177684199, - "velocityX": -2.025546879887157, - "velocityY": -0.9153589011221137, - "timestamp": 3.970242697914615 - }, - { - "x": 4.126478005598546, - "y": 6.504898268884928, - "heading": 0.13474943633917122, - "angularVelocity": 0.05463436128488802, - "velocityX": -1.5562428109295867, - "velocityY": -0.811823508129526, - "timestamp": 4.063951382399096 - }, - { - "x": 4.024613155788809, - "y": 6.438564244025636, - "heading": 0.13859971910248803, - "angularVelocity": 0.04108779014984924, - "velocityX": -1.0870374541071166, - "velocityY": -0.7078748914704718, - "timestamp": 4.157660066883577 - }, - { - "x": 3.9667103110145354, - "y": 6.381998354264439, - "heading": 0.1410216361623699, - "angularVelocity": 0.02584517190915161, - "velocityX": -0.6179026532366133, - "velocityY": -0.6036355122514226, - "timestamp": 4.251368751368058 - }, - { - "x": 3.9527645111083984, - "y": 6.335220813751221, - "heading": 0.14189719500937054, - "angularVelocity": 0.00934341199876338, - "velocityX": -0.14882078414457217, - "velocityY": -0.4991804203693128, - "timestamp": 4.345077435852539 - }, - { - "x": 3.964115076159712, - "y": 6.3075785150519685, - "heading": 0.1417203583468928, - "angularVelocity": -0.0027309287472943606, - "velocityX": 0.17528935438132787, - "velocityY": -0.4268862977924431, - "timestamp": 4.409830740988352 - }, - { - "x": 3.9964710164043287, - "y": 6.284535579351715, - "heading": 0.14077745477905462, - "angularVelocity": -0.01456147397975356, - "velocityX": 0.49968013488660173, - "velocityY": -0.3558572902483248, - "timestamp": 4.474584046124165 - }, - { - "x": 4.049853424217872, - "y": 6.265994962228474, - "heading": 0.13908718250809055, - "angularVelocity": -0.026103258627785963, - "velocityX": 0.8243966497397879, - "velocityY": -0.28632696175669053, - "timestamp": 4.539337351259978 - }, - { - "x": 4.124287056549126, - "y": 6.251839889602118, - "heading": 0.13667203697092578, - "angularVelocity": -0.03729764113351832, - "velocityX": 1.1494954917766365, - "velocityY": -0.2186000019098195, - "timestamp": 4.604090656395791 - }, - { - "x": 4.219801343483193, - "y": 6.241927175601898, - "heading": 0.1335595952579679, - "angularVelocity": -0.048066144367918166, - "velocityX": 1.4750488293027817, - "velocityY": -0.15308429398975482, - "timestamp": 4.668843961531604 - }, - { - "x": 4.336431776777692, - "y": 6.236077148786002, - "heading": 0.12978445160876886, - "angularVelocity": -0.0583004009027969, - "velocityX": 1.8011502741038279, - "velocityY": -0.09034329295819071, - "timestamp": 4.7335972666674175 - }, - { - "x": 4.474221844581992, - "y": 6.234057731464995, - "heading": 0.12539127460739471, - "angularVelocity": -0.06784483034742277, - "velocityX": 2.127923316273961, - "velocityY": -0.031186320401267092, - "timestamp": 4.798350571803231 - }, - { - "x": 4.6332257178085845, - "y": 6.23555773593313, - "heading": 0.120439931450763, - "angularVelocity": -0.07646471707114837, - "velocityX": 2.4555329321506916, - "velocityY": 0.02316490972912503, - "timestamp": 4.863103876939044 - }, - { - "x": 4.813511768295512, - "y": 6.240138470161825, - "heading": 0.11501476601933941, - "angularVelocity": -0.08378206209003339, - "velocityX": 2.7841984298530575, - "velocityY": 0.07074131921279452, - "timestamp": 4.927857182074857 - }, - { - "x": 5.015165820732933, - "y": 6.247136346300476, - "heading": 0.10924324745866247, - "angularVelocity": -0.08913087213960412, - "velocityX": 3.1141893377407177, - "velocityY": 0.10806979078476878, - "timestamp": 4.99261048721067 - }, - { - "x": 5.238285037327109, - "y": 6.25543524564352, - "heading": 0.10333948067978445, - "angularVelocity": -0.09117321141361788, - "velocityX": 3.4456807436501733, - "velocityY": 0.12816178765915376, - "timestamp": 5.057363792346483 - }, - { - "x": 5.4828882134200585, - "y": 6.262797588596474, - "heading": 0.09773171682329804, - "angularVelocity": -0.08660197104572066, - "velocityX": 3.7774624102958136, - "velocityY": 0.11369833458712587, - "timestamp": 5.122117097482296 - }, - { - "x": 5.74778413772583, - "y": 6.263060569763184, - "heading": 0.0935931028078498, - "angularVelocity": -0.06391355633149408, - "velocityX": 4.090847930467482, - "velocityY": 0.004061277893979396, - "timestamp": 5.186870402618109 - }, - { - "x": 6.013605641460004, - "y": 6.24191400772151, - "heading": 0.09359309638909583, - "angularVelocity": -9.917831510727641e-8, - "velocityX": 4.107296989323786, - "velocityY": -0.3267426050496276, - "timestamp": 5.251589731272729 - }, - { - "x": 6.276862418631435, - "y": 6.199439095939525, - "heading": 0.09359309077806317, - "angularVelocity": -8.669794285084282e-8, - "velocityX": 4.067668541129722, - "velocityY": -0.6562940726511032, - "timestamp": 5.316309059927348 - }, - { - "x": 6.527399691827839, - "y": 6.139917818463067, - "heading": 0.08476203699028893, - "angularVelocity": -0.13645156665487035, - "velocityX": 3.8711352296841666, - "velocityY": -0.9196831721493709, - "timestamp": 5.381028388581967 - }, - { - "x": 6.75663042562249, - "y": 6.083119284382794, - "heading": 0.07502326158910995, - "angularVelocity": -0.15047707699736645, - "velocityX": 3.541920760920773, - "velocityY": -0.8776131529945856, - "timestamp": 5.4457477172365865 - }, - { - "x": 6.964873739000207, - "y": 6.030903984882642, - "heading": 0.06524316275048915, - "angularVelocity": -0.151115579254742, - "velocityX": 3.217637106358551, - "velocityY": -0.8067960620976766, - "timestamp": 5.510467045891206 - }, - { - "x": 7.152282068970079, - "y": 5.983920652029787, - "heading": 0.05572785541591898, - "angularVelocity": -0.1470241971351326, - "velocityX": 2.89570880702416, - "velocityY": -0.7259551949864277, - "timestamp": 5.575186374545825 - }, - { - "x": 7.318941079653386, - "y": 5.942498197854015, - "heading": 0.04663339243937562, - "angularVelocity": -0.14052159015858803, - "velocityX": 2.5751041326880646, - "velocityY": -0.640032198059834, - "timestamp": 5.639905703200444 - }, - { - "x": 7.464905286734277, - "y": 5.90683529811683, - "heading": 0.03805432099740102, - "angularVelocity": -0.13255810312492006, - "velocityX": 2.2553417984269095, - "velocityY": -0.5510393954718356, - "timestamp": 5.7046250318550635 - }, - { - "x": 7.590212353553613, - "y": 5.877064925500585, - "heading": 0.03005404341529432, - "angularVelocity": -0.12361496555072342, - "velocityX": 1.9361614130463123, - "velocityY": -0.4599919874805364, - "timestamp": 5.769344360509683 - }, - { - "x": 7.694889835090688, - "y": 5.853282305980581, - "heading": 0.02267802548127335, - "angularVelocity": -0.11396932087141666, - "velocityX": 1.6174067888697665, - "velocityY": -0.3674732110853869, - "timestamp": 5.834063689164302 - }, - { - "x": 7.778958756807613, - "y": 5.835558989260669, - "heading": 0.015960462943441833, - "angularVelocity": -0.10379530624738742, - "velocityX": 1.2989770361427408, - "velocityY": -0.2738488962778864, - "timestamp": 5.898783017818921 - }, - { - "x": 7.842435685723995, - "y": 5.823950700480821, - "heading": 0.00992800913391407, - "angularVelocity": -0.09320946207153233, - "velocityX": 0.9808032659784228, - "velocityY": -0.1793635536888167, - "timestamp": 5.963502346473541 - }, - { - "x": 7.885334010682854, - "y": 5.818502066351385, - "heading": 0.004602022140728806, - "angularVelocity": -0.0822936069316772, - "velocityX": 0.662836371307088, - "velocityY": -0.08418866886758089, - "timestamp": 6.02822167512816 - }, - { - "x": 7.907664775848389, - "y": 5.819249629974365, - "heading": -8.861041564511578e-22, - "angularVelocity": -0.07110738378155824, - "velocityX": 0.3450401237118033, - "velocityY": 0.011550855648858615, - "timestamp": 6.092941003782779 - }, - { - "x": 7.906635252791002, - "y": 5.828052827441592, - "heading": -0.004258720886347518, - "angularVelocity": -0.058206213678033504, - "velocityX": -0.014071041672826983, - "velocityY": 0.12031800310510214, - "timestamp": 6.166107090652895 - }, - { - "x": 7.879238228976632, - "y": 5.84450093290686, - "heading": -0.0075552483463681396, - "angularVelocity": -0.04505540204538491, - "velocityX": -0.3744497619915793, - "velocityY": 0.2248050451907733, - "timestamp": 6.239273177523011 - }, - { - "x": 7.825367300152994, - "y": 5.868216578468005, - "heading": -0.009867835041262768, - "angularVelocity": -0.03160735791432891, - "velocityX": -0.7362827660753383, - "velocityY": 0.32413439853965875, - "timestamp": 6.312439264393127 - }, - { - "x": 7.744899750012138, - "y": 5.898736517545598, - "heading": -0.0111701723547619, - "angularVelocity": -0.01779973986870499, - "velocityX": -1.099792999504015, - "velocityY": 0.4171323133868237, - "timestamp": 6.385605351263243 - }, - { - "x": 7.637693676502783, - "y": 5.935479180350757, - "heading": -0.011429828096899505, - "angularVelocity": -0.003548853755135836, - "velocityX": -1.4652426840821369, - "velocityY": 0.5021816032116673, - "timestamp": 6.458771438133359 - }, - { - "x": 7.5035856277872615, - "y": 5.977694002563694, - "heading": -0.010605910687451307, - "angularVelocity": 0.01126091943267124, - "velocityX": -1.8329263522537513, - "velocityY": 0.5769725294708757, - "timestamp": 6.5319375250034755 - }, - { - "x": 7.342391196877079, - "y": 6.024378165489895, - "heading": -0.00864545101291993, - "angularVelocity": 0.026794649794673078, - "velocityX": -2.203130409260973, - "velocityY": 0.6380573968520984, - "timestamp": 6.6051036118735915 - }, - { - "x": 7.153916552611085, - "y": 6.0741311609152655, - "heading": -0.0054775986870561925, - "angularVelocity": 0.04329673023906966, - "velocityX": -2.575983660306647, - "velocityY": 0.6800007702160148, - "timestamp": 6.678269698743708 - }, - { - "x": 6.938008284848595, - "y": 6.124881823735959, - "heading": -0.0010041218542462327, - "angularVelocity": 0.0611413979368784, - "velocityX": -2.9509336497080865, - "velocityY": 0.6936364235357523, - "timestamp": 6.751435785613824 - }, - { - "x": 6.694745254080875, - "y": 6.173336610452631, - "heading": 0.004915269857105422, - "angularVelocity": 0.08090348909679626, - "velocityX": -3.324805810642302, - "velocityY": 0.6622574581949259, - "timestamp": 6.82460187248394 - }, - { - "x": 6.425208704257528, - "y": 6.213842395524965, - "heading": 0.0124744715476749, - "angularVelocity": 0.10331564819078756, - "velocityX": -3.6839000328366214, - "velocityY": 0.5536142057759702, - "timestamp": 6.897767959354056 - }, - { - "x": 6.134481864578053, - "y": 6.236901401740381, - "heading": 0.021837510116483112, - "angularVelocity": 0.1279696505490236, - "velocityX": -3.973519045723652, - "velocityY": 0.3151597577761656, - "timestamp": 6.970934046224172 - }, - { - "x": 5.836546421051025, - "y": 6.233473300933838, - "heading": 0.03271319444227894, - "angularVelocity": 0.14864378827724267, - "velocityX": -4.072042885878557, - "velocityY": -0.046853685268537476, - "timestamp": 7.044100133094288 - }, - { - "x": 5.568966710651099, - "y": 6.207960444496648, - "heading": 0.04338386716334799, - "angularVelocity": 0.15887874464776466, - "velocityX": -3.984072006782857, - "velocityY": -0.37986832780616103, - "timestamp": 7.111262501129899 - }, - { - "x": 5.317346915723196, - "y": 6.165700463545233, - "heading": 0.05445378266970707, - "angularVelocity": 0.16482318640834032, - "velocityX": -3.746440190948723, - "velocityY": -0.6292211276560161, - "timestamp": 7.178424869165511 - }, - { - "x": 5.087007251124614, - "y": 6.1143653077879145, - "heading": 0.06561369928254893, - "angularVelocity": 0.16616323901689406, - "velocityX": -3.429594151243304, - "velocityY": -0.7643440405510867, - "timestamp": 7.245587237201122 - }, - { - "x": 4.879543884126957, - "y": 6.059583812060162, - "heading": 0.07665980181981738, - "angularVelocity": 0.1644686281968431, - "velocityX": -3.088982313542825, - "velocityY": -0.8156575971041716, - "timestamp": 7.312749605236734 - }, - { - "x": 4.6952145650122015, - "y": 6.004917216734493, - "heading": 0.08747065927409489, - "angularVelocity": 0.16096599584674173, - "velocityX": -2.744532757049604, - "velocityY": -0.81394681165327, - "timestamp": 7.379911973272345 - }, - { - "x": 4.533893228023684, - "y": 5.952664203225111, - "heading": 0.0979708120981826, - "angularVelocity": 0.15633982438677985, - "velocityX": -2.4019602302137435, - "velocityY": -0.7780102911451432, - "timestamp": 7.447074341307957 - }, - { - "x": 4.39536164205183, - "y": 5.904388121866292, - "heading": 0.10811026318188136, - "angularVelocity": 0.15096923143511817, - "velocityX": -2.0626370097373927, - "velocityY": -0.7187965935510374, - "timestamp": 7.514236709343568 - }, - { - "x": 4.2793961801584235, - "y": 5.861206716024424, - "heading": 0.1178539418618899, - "angularVelocity": 0.14507646119389675, - "velocityX": -1.7266434356799014, - "velocityY": -0.6429404904093345, - "timestamp": 7.58139907737918 - }, - { - "x": 4.185792366980932, - "y": 5.823953202461205, - "heading": 0.12717608254691332, - "angularVelocity": 0.13880005958218405, - "velocityX": -1.393694354669862, - "velocityY": -0.5546783809568239, - "timestamp": 7.648561445414791 - }, - { - "x": 4.114369863428615, - "y": 5.7932701366868775, - "heading": 0.1360570420074184, - "angularVelocity": 0.1322311842220364, - "velocityX": -1.0634303947479564, - "velocityY": -0.4568490759298204, - "timestamp": 7.715723813450403 - }, - { - "x": 4.0649713345283995, - "y": 5.7696669169336205, - "heading": 0.14448139137724897, - "angularVelocity": 0.12543258399352125, - "velocityX": -0.7355090409263635, - "velocityY": -0.3514351927070385, - "timestamp": 7.782886181486014 - }, - { - "x": 4.037459651013235, - "y": 5.7535566504811975, - "heading": 0.15243671363190991, - "angularVelocity": 0.11844910308169677, - "velocityX": -0.4096294445808958, - "velocityY": -0.23987043523958734, - "timestamp": 7.850048549521626 - }, - { - "x": 4.031714916229248, - "y": 5.745280742645264, - "heading": 0.15991281260240592, - "angularVelocity": 0.11131380844898156, - "velocityX": -0.08553502432999834, - "velocityY": -0.12322239489151882, - "timestamp": 7.917210917557237 - }, - { - "x": 4.028733574124723, - "y": 5.716806207328283, - "heading": 0.16648713095695195, - "angularVelocity": 0.10328727118287491, - "velocityX": -0.04683902936129348, - "velocityY": -0.4473554355726786, - "timestamp": 7.980861726405753 - }, - { - "x": 4.029303269349349, - "y": 5.667859664319208, - "heading": 0.17250743991031525, - "angularVelocity": 0.09458338491331914, - "velocityX": 0.008950321840875176, - "velocityY": -0.7689854048133818, - "timestamp": 8.04451253525427 - }, - { - "x": 4.034773095532229, - "y": 5.598721670530651, - "heading": 0.177921913214448, - "angularVelocity": 0.08506527100101363, - "velocityX": 0.0859349045492505, - "velocityY": -1.0862076231128457, - "timestamp": 8.108163344102786 - }, - { - "x": 4.04683331391786, - "y": 5.509879274518647, - "heading": 0.18266829184010208, - "angularVelocity": 0.07456902294753398, - "velocityX": 0.1894747074516172, - "velocityY": -1.3957779581944039, - "timestamp": 8.171814152951303 - }, - { - "x": 4.067606933697682, - "y": 5.402175243088082, - "heading": 0.1866729466072294, - "angularVelocity": 0.06291600750366072, - "velocityX": 0.3263685121309602, - "velocityY": -1.692107820450355, - "timestamp": 8.235464961799819 - }, - { - "x": 4.099716828344451, - "y": 5.277059766569589, - "heading": 0.18985302153969794, - "angularVelocity": 0.04996126506478306, - "velocityX": 0.504469546069523, - "velocityY": -1.9656541492859476, - "timestamp": 8.299115770648335 - }, - { - "x": 4.146220491607715, - "y": 5.136961885287488, - "heading": 0.19212655579157403, - "angularVelocity": 0.03571885877030929, - "velocityX": 0.7306060064992874, - "velocityY": -2.2010385070757232, - "timestamp": 8.362766579496851 - }, - { - "x": 4.210214706803066, - "y": 4.985651459769157, - "heading": 0.193436287646545, - "angularVelocity": 0.02057682971614746, - "velocityX": 1.0053951607693359, - "velocityY": -2.3771956437888795, - "timestamp": 8.426417388345367 - }, - { - "x": 4.294045552639039, - "y": 4.828164588359487, - "heading": 0.19378149775282844, - "angularVelocity": 0.005423499127953307, - "velocityX": 1.3170428994151997, - "velocityY": -2.4742320523290933, - "timestamp": 8.490068197193883 - }, - { - "x": 4.398640112537955, - "y": 4.669954353870274, - "heading": 0.1932299156983433, - "angularVelocity": -0.008665750906604456, - "velocityX": 1.6432557856074201, - "velocityY": -2.485596606725612, - "timestamp": 8.5537190060424 - }, - { - "x": 4.523606377596732, - "y": 4.515827070408729, - "heading": 0.19189285353451518, - "angularVelocity": -0.021006208530833268, - "velocityX": 1.9633099299049899, - "velocityY": -2.421450508639348, - "timestamp": 8.617369814890916 - }, - { - "x": 4.667843818664551, - "y": 4.369466304779053, - "heading": 0.18988972149801628, - "angularVelocity": -0.0314706454283432, - "velocityX": 2.2660739694776426, - "velocityY": -2.2994329259507698, - "timestamp": 8.681020623739432 - }, - { - "x": 4.871797892715673, - "y": 4.205621418602988, - "heading": 0.1865920524335519, - "angularVelocity": -0.0422409120042009, - "velocityX": 2.6125138473502396, - "velocityY": -2.098742258245844, - "timestamp": 8.759088755036796 - }, - { - "x": 5.101719412723405, - "y": 4.059172590207619, - "heading": 0.1823462410927036, - "angularVelocity": -0.05438597376791099, - "velocityX": 2.945139280098198, - "velocityY": -1.8759105151055673, - "timestamp": 8.83715688633416 - }, - { - "x": 5.355857297295401, - "y": 3.932483913538177, - "heading": 0.17700453688749862, - "angularVelocity": -0.06842362070712561, - "velocityX": 3.2553345436689742, - "velocityY": -1.6227963262868412, - "timestamp": 8.915225017631524 - }, - { - "x": 5.631115809033472, - "y": 3.828833403933396, - "heading": 0.17035974396289696, - "angularVelocity": -0.0851153065172188, - "velocityX": 3.525875503406118, - "velocityY": -1.327692976407643, - "timestamp": 8.993293148928888 - }, - { - "x": 5.921560736313624, - "y": 3.7524980506854146, - "heading": 0.16213464835819472, - "angularVelocity": -0.10535791581038999, - "velocityX": 3.720403222844351, - "velocityY": -0.9778042842759619, - "timestamp": 9.071361280226252 - }, - { - "x": 6.215996410886688, - "y": 3.707158097711821, - "heading": 0.15206765627308344, - "angularVelocity": -0.12895136488877526, - "velocityX": 3.771521998541844, - "velocityY": -0.580774154832675, - "timestamp": 9.149429411523617 - }, - { - "x": 6.499201446177462, - "y": 3.690982108951251, - "heading": 0.14021370017373183, - "angularVelocity": -0.1518411662013455, - "velocityX": 3.62766509950179, - "velocityY": -0.2072034835694342, - "timestamp": 9.22749754282098 - }, - { - "x": 6.760144156179077, - "y": 3.6967423609871095, - "heading": 0.12696695962397309, - "angularVelocity": -0.16968179370531306, - "velocityX": 3.342499758418362, - "velocityY": 0.07378493554453382, - "timestamp": 9.305565674118345 - }, - { - "x": 6.993747301290997, - "y": 3.717650756831888, - "heading": 0.11271543576980789, - "angularVelocity": -0.18255238875746302, - "velocityX": 2.9922984094766716, - "velocityY": 0.2678224199467244, - "timestamp": 9.383633805415709 - }, - { - "x": 7.197885514439911, - "y": 3.7489894618571475, - "heading": 0.09773384035236395, - "angularVelocity": -0.19190411206819374, - "velocityX": 2.614872544743554, - "velocityY": 0.40142763128130604, - "timestamp": 9.461701936713073 - }, - { - "x": 7.371619435690451, - "y": 3.787579396090815, - "heading": 0.0822090924111378, - "angularVelocity": -0.19886152881118324, - "velocityX": 2.2254141140996357, - "velocityY": 0.49431097673744373, - "timestamp": 9.539770068010437 - }, - { - "x": 7.514504734103524, - "y": 3.831207022230382, - "heading": 0.06627209980833938, - "angularVelocity": -0.2041421043126261, - "velocityX": 1.8302641044246033, - "velocityY": 0.5588404053555219, - "timestamp": 9.617838199307801 - }, - { - "x": 7.626321599036744, - "y": 3.878266327671348, - "heading": 0.050018209226889945, - "angularVelocity": -0.20820135324538117, - "velocityX": 1.432298468978392, - "velocityY": 0.6027978979247636, - "timestamp": 9.695906330605165 - }, - { - "x": 7.706960109890584, - "y": 3.9275480062281813, - "heading": 0.033519413765036976, - "angularVelocity": -0.21133841924572758, - "velocityX": 1.032924824941496, - "velocityY": 0.6312649955603196, - "timestamp": 9.77397446190253 - }, - { - "x": 7.75636745475808, - "y": 3.9781125797320316, - "heading": 0.016831759030145377, - "angularVelocity": -0.21375757889384633, - "velocityX": 0.6328746960690229, - "velocityY": 0.647698012794074, - "timestamp": 9.852042593199894 - }, - { - "x": 7.774521827697754, - "y": 4.029211044311523, - "heading": -2.3205962182381023e-21, - "angularVelocity": -0.21560345752394805, - "velocityX": 0.23254524782363484, - "velocityY": 0.6545367966456909, - "timestamp": 9.930110724497258 - }, - { - "x": 7.767154710406391, - "y": 4.072900928949108, - "heading": -0.014488654781856458, - "angularVelocity": -0.216783406299003, - "velocityX": -0.11022892083989355, - "velocityY": 0.6537005784972164, - "timestamp": 9.99694542844998 - }, - { - "x": 7.736878414259794, - "y": 4.116522125330073, - "heading": -0.029046314724269887, - "angularVelocity": -0.21781588129291915, - "velocityX": -0.45300262223071897, - "velocityY": 0.6526728451108802, - "timestamp": 10.063780132402702 - }, - { - "x": 7.683692986765261, - "y": 4.160059290918648, - "heading": -0.04366116547987685, - "angularVelocity": -0.2186715866347725, - "velocityX": -0.7957756128037357, - "velocityY": 0.6514155523060602, - "timestamp": 10.130614836355424 - }, - { - "x": 7.607598500792507, - "y": 4.203493699341211, - "heading": -0.0583187869642347, - "angularVelocity": -0.2193115345393992, - "velocityX": -1.1385475130791645, - "velocityY": 0.6498780701308696, - "timestamp": 10.197449540308146 - }, - { - "x": 7.508595070224757, - "y": 4.246801982220053, - "heading": -0.07300118446700099, - "angularVelocity": -0.2196822404293508, - "velocityX": -1.4813177094011665, - "velocityY": 0.6479909435893982, - "timestamp": 10.264284244260867 - }, - { - "x": 7.3866828784850584, - "y": 4.289954159064308, - "heading": -0.08768527148039744, - "angularVelocity": -0.21970751937173005, - "velocityX": -1.8240851612949218, - "velocityY": 0.6456552403490899, - "timestamp": 10.33111894821359 - }, - { - "x": 7.241862234402131, - "y": 4.3329103687170365, - "heading": -0.10234035253177223, - "angularVelocity": -0.21927352385284243, - "velocityX": -2.166847992404854, - "velocityY": 0.6427231230516847, - "timestamp": 10.397953652166311 - }, - { - "x": 7.07413369246623, - "y": 4.375615021772806, - "heading": -0.1169236196715288, - "angularVelocity": -0.21819902352036502, - "velocityX": -2.5096025270726274, - "velocityY": 0.6389592611344215, - "timestamp": 10.464788356119033 - }, - { - "x": 6.883498347675479, - "y": 4.417985205751851, - "heading": -0.13137122210873817, - "angularVelocity": -0.21616916934994543, - "velocityX": -2.852340678064573, - "velocityY": 0.6339548389264723, - "timestamp": 10.531623060071755 - }, - { - "x": 6.669958711115492, - "y": 4.459883985157583, - "heading": -0.14557769926414693, - "angularVelocity": -0.21256138376042305, - "velocityX": -3.195041257473706, - "velocityY": 0.6269015485633134, - "timestamp": 10.598457764024477 - }, - { - "x": 6.433522272731176, - "y": 4.501042143745589, - "heading": -0.15933568232019976, - "angularVelocity": -0.2058508864763596, - "velocityX": -3.5376297701800143, - "velocityY": 0.6158201675752218, - "timestamp": 10.6652924679772 - }, - { - "x": 6.174229264575733, - "y": 4.540688400614103, - "heading": -0.17205071918548479, - "angularVelocity": -0.19024602658941284, - "velocityX": -3.879616319373006, - "velocityY": 0.5931986606323556, - "timestamp": 10.732127171929921 - }, - { - "x": 5.899813652038574, - "y": 4.563681602478027, - "heading": -0.1720507217902465, - "angularVelocity": -3.897319119513182e-8, - "velocityX": -4.105885061319011, - "velocityY": 0.3440308777336659, - "timestamp": 10.798961875882643 - }, - { - "x": 5.6382505881182885, - "y": 4.595249515536772, - "heading": -0.17409645748158847, - "angularVelocity": -0.03126690554583913, - "velocityX": -3.9977146844962266, - "velocityY": 0.48248215058493454, - "timestamp": 10.864390022852378 - }, - { - "x": 5.398484436113205, - "y": 4.624186785267214, - "heading": -0.1759717239534531, - "angularVelocity": -0.028661463891558173, - "velocityX": -3.664571948155486, - "velocityY": 0.44227555067129126, - "timestamp": 10.929818169822113 - }, - { - "x": 5.1805152028201515, - "y": 4.650493400816042, - "heading": -0.1776765154239882, - "angularVelocity": -0.026055933867785288, - "velocityX": -3.331429107932396, - "velocityY": 0.40206878487627273, - "timestamp": 10.995246316791848 - }, - { - "x": 4.984342890504657, - "y": 4.674169358565494, - "heading": -0.1792108298775417, - "angularVelocity": -0.023450373036901073, - "velocityX": -2.998286233083113, - "velocityY": 0.36186196378760377, - "timestamp": 11.060674463761583 - }, - { - "x": 4.809967500299472, - "y": 4.695214656706689, - "heading": -0.1805746662928034, - "angularVelocity": -0.020844796596372648, - "velocityX": -2.665143340920935, - "velocityY": 0.32165511505210137, - "timestamp": 11.126102610731317 - }, - { - "x": 4.657389032884244, - "y": 4.7136292941543, - "heading": -0.18176802405360484, - "angularVelocity": -0.018239210738361194, - "velocityX": -2.3320004383710753, - "velocityY": 0.281448249728481, - "timestamp": 11.191530757701052 - }, - { - "x": 4.526607488712068, - "y": 4.729413270184769, - "heading": -0.18279090274809942, - "angularVelocity": -0.015633618585709556, - "velocityX": -1.9988575288961132, - "velocityY": 0.24124137334610185, - "timestamp": 11.256958904670787 - }, - { - "x": 4.417622868106585, - "y": 4.742566584281272, - "heading": -0.1836433020817022, - "angularVelocity": -0.0130280219306395, - "velocityX": -1.665714614474658, - "velocityY": 0.20103448906460197, - "timestamp": 11.322387051640522 - }, - { - "x": 4.330435171310525, - "y": 4.753089236056193, - "heading": -0.18432522183325692, - "angularVelocity": -0.010422421895428998, - "velocityX": -1.3325716963433365, - "velocityY": 0.1608275988587593, - "timestamp": 11.387815198610257 - }, - { - "x": 4.265044398512677, - "y": 4.760981225208049, - "heading": -0.18483666183057199, - "angularVelocity": -0.007816819228453033, - "velocityX": -0.9994287753265666, - "velocityY": 0.1206207040450968, - "timestamp": 11.453243345579992 - }, - { - "x": 4.2214505498640715, - "y": 4.766242551495655, - "heading": -0.18517762193569534, - "angularVelocity": -0.005211214453024929, - "velocityX": -0.6662858520014394, - "velocityY": 0.08041380554518446, - "timestamp": 11.518671492549727 - }, - { - "x": 4.199653625488281, - "y": 4.76887321472168, - "heading": -0.1853481020355219, - "angularVelocity": -0.0026056079489066492, - "velocityX": -0.333142926787658, - "velocityY": 0.04020690402925863, - "timestamp": 11.584099639519462 - }, - { - "x": 4.199653625488281, - "y": 4.76887321472168, - "heading": -0.1853481020355219, - "angularVelocity": -7.946596899257776e-22, - "velocityX": -2.528747116740365e-22, - "velocityY": -1.6438334985949743e-21, - "timestamp": 11.649527786489196 - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 0.7328706979751587, - "y": 6.609785556793213, - "heading": 1.0789872785859569, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "timestamp": 0.926939217083833, - "isStopPoint": false, - "x": 2.90181040763855, - "y": 6.258988857269287, - "heading": -0.023825563731718707, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 21 - }, - { - "timestamp": 2.564612430647393, - "isStopPoint": false, - "x": 7.866925239562988, - "y": 7.4445061683654785, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "timestamp": 4.345077435852539, - "isStopPoint": false, - "x": 3.9527645111083984, - "y": 6.335220813751221, - "heading": 0.14189719500937054, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 5.186870402618109, - "isStopPoint": false, - "x": 5.74778413772583, - "y": 6.263060569763184, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 14 - }, - { - "timestamp": 6.092941003782779, - "isStopPoint": false, - "x": 7.907664775848389, - "y": 5.819249629974365, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 7.044100133094288, - "isStopPoint": false, - "x": 5.836546421051025, - "y": 6.233473300933838, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 13 - }, - { - "timestamp": 7.917210917557237, - "isStopPoint": false, - "x": 4.031714916229248, - "y": 5.745280742645264, - "heading": 0.15991281260240592, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "timestamp": 8.681020623739432, - "isStopPoint": false, - "x": 4.667843818664551, - "y": 4.369466304779053, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 16 - }, - { - "timestamp": 9.930110724497258, - "isStopPoint": false, - "x": 7.774521827697754, - "y": 4.029211044311523, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 10.798961875882643, - "isStopPoint": false, - "x": 5.899813652038574, - "y": 4.563681602478027, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 13 - }, - { - "timestamp": 11.649527786489196, - "isStopPoint": true, - "x": 4.199653625488281, - "y": 4.76887321472168, - "heading": -0.1853481020355219, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "constraints": [ - { - "scope": [ - "first" - ], - "type": "StopPoint" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint" - }, - { - "scope": [ - 7, - 7 - ], - "type": "MaxVelocity", - "velocity": 0.15 - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": false - }, - "Source4Note345": { - "waypoints": [ - { - "x": 0.7012643218040466, - "y": 4.475527763366699, - "heading": -1.0584069524694912, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "x": 2.922780752182007, - "y": 4.821096897125244, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "x": 4.601259708404541, - "y": 4.524894714355469, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 12 - }, - { - "x": 6.164548397064209, - "y": 3.7679338455200195, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 12 - }, - { - "x": 7.908850193023682, - "y": 4.1135029792785645, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 4.848094463348389, - "y": 3.603376865386963, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 15 - }, - { - "x": 3.8772099018096924, - "y": 2.2704672813415527, - "heading": -0.6435012536786778, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "x": 6.279738426208496, - "y": 1.9578094482421875, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "x": 7.908850193023682, - "y": 2.4185683727264404, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "x": 6.263282775878906, - "y": 1.8426196575164795, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "x": 3.8442983627319336, - "y": 2.1552774906158447, - "heading": -0.602287538290654, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 22 - }, - { - "x": 7.908850193023682, - "y": 0.7236337661743164, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "x": 3.811387062072754, - "y": 2.122366189956665, - "heading": -0.7022564818650576, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 0.7012643218040466, - "y": 4.475527763366699, - "heading": -1.0584069524694912, - "angularVelocity": 1.35595729168612e-25, - "velocityX": 1.4664818087675264e-24, - "velocityY": -6.87247645585249e-24, - "timestamp": 0 - }, - { - "x": 0.7130752441042216, - "y": 4.47752481036138, - "heading": -1.047874914711513, - "angularVelocity": 0.2134496897391787, - "velocityX": 0.2393684639609371, - "velocityY": 0.04047355993251818, - "timestamp": 0.049342014836600986 - }, - { - "x": 0.7367161607859627, - "y": 4.4815156769193, - "heading": -1.0270238646876997, - "angularVelocity": 0.4225820549254573, - "velocityX": 0.4791234561464372, - "velocityY": 0.08088171046795564, - "timestamp": 0.09868402967320197 - }, - { - "x": 0.7722110412083123, - "y": 4.487495862541681, - "heading": -0.9961275558882633, - "angularVelocity": 0.6261663392091168, - "velocityX": 0.7193642282321278, - "velocityY": 0.12119865072768905, - "timestamp": 0.14802604450980295 - }, - { - "x": 0.8195885546525802, - "y": 4.495458383955774, - "heading": -0.9555170011670803, - "angularVelocity": 0.8230420840265095, - "velocityX": 0.9601860321505173, - "velocityY": 0.161374063066966, - "timestamp": 0.19736805934640395 - }, - { - "x": 0.8788815466573906, - "y": 4.505392734371882, - "heading": -0.9055732183825892, - "angularVelocity": 1.0121958527612376, - "velocityX": 1.2016735068716329, - "velocityY": 0.20133653741150442, - "timestamp": 0.24671007418300495 - }, - { - "x": 0.9501261855969747, - "y": 4.517284465001881, - "heading": -0.8467167723668201, - "angularVelocity": 1.1928261586130158, - "velocityX": 1.443893995320518, - "velocityY": 0.24100618244671507, - "timestamp": 0.29605208901960595 - }, - { - "x": 1.033361036653653, - "y": 4.531115857788243, - "heading": -0.7793984190016389, - "angularVelocity": 1.3643211285171442, - "velocityX": 1.6868960728968083, - "velocityY": 0.2803167408579883, - "timestamp": 0.34539410385620695 - }, - { - "x": 1.1286266721674085, - "y": 4.54686791226827, - "heading": -0.7041006841948274, - "angularVelocity": 1.526036888768416, - "velocityX": 1.9307204180703474, - "velocityY": 0.319242222519503, - "timestamp": 0.39473611869280795 - }, - { - "x": 1.2359667010079436, - "y": 4.564523241147516, - "heading": -0.6213665168496443, - "angularVelocity": 1.6767488644142756, - "velocityX": 2.1754285712895585, - "velocityY": 0.35781532103446856, - "timestamp": 0.44407813352940895 - }, - { - "x": 1.355430979413833, - "y": 4.584068485538284, - "heading": -0.5318769704940612, - "angularVelocity": 1.8136581299311139, - "velocityX": 2.421147146128966, - "velocityY": 0.3961176789292777, - "timestamp": 0.49342014836600995 - }, - { - "x": 1.4870807395767256, - "y": 4.6054937421516176, - "heading": -0.4366063356348723, - "angularVelocity": 1.9308217383234834, - "velocityX": 2.6681066956600508, - "velocityY": 0.43421932980007055, - "timestamp": 0.542762163202611 - }, - { - "x": 1.6309921142351658, - "y": 4.62878555774163, - "heading": -0.3371005041962886, - "angularVelocity": 2.0166552129681596, - "velocityX": 2.916609204853331, - "velocityY": 0.47204832772120586, - "timestamp": 0.5921041780392119 - }, - { - "x": 1.7872429405082741, - "y": 4.653909326955937, - "heading": -0.23600200862807216, - "angularVelocity": 2.0489332651495915, - "velocityX": 3.1666892158851314, - "velocityY": 0.5091759892153832, - "timestamp": 0.6414461928758128 - }, - { - "x": 1.955800488408387, - "y": 4.680764921549245, - "heading": -0.13845532328201524, - "angularVelocity": 1.9769497793936581, - "velocityX": 3.4161058979512955, - "velocityY": 0.5442743812193794, - "timestamp": 0.6907882077124138 - }, - { - "x": 2.1349342314386073, - "y": 4.7085203213980575, - "heading": -0.062226637634806285, - "angularVelocity": 1.5449041937108723, - "velocityX": 3.63045051207237, - "velocityY": 0.5625104678178738, - "timestamp": 0.7401302225490147 - }, - { - "x": 2.3231376691326124, - "y": 4.736959726934749, - "heading": -0.015556580058332851, - "angularVelocity": 0.9458482336204572, - "velocityX": 3.814263327455349, - "velocityY": 0.576373008497331, - "timestamp": 0.7894722373856157 - }, - { - "x": 2.5200586239997804, - "y": 4.766210325846585, - "heading": -1.8588553206774156e-7, - "angularVelocity": 0.31527683302590515, - "velocityX": 3.990938665947945, - "velocityY": 0.5928132243626654, - "timestamp": 0.8388142522222166 - }, - { - "x": 2.7206497519468917, - "y": 4.799302905772457, - "heading": -9.393965020101493e-8, - "angularVelocity": 0.0000018634399541893636, - "velocityX": 4.0653209766844896, - "velocityY": 0.6706775156113934, - "timestamp": 0.8881562670588176 - }, - { - "x": 2.922780752182007, - "y": 4.821096897125244, - "heading": -4.19415250912016e-24, - "angularVelocity": 0.0000019038470664828271, - "velocityX": 4.096529112248132, - "velocityY": 0.44169236754840535, - "timestamp": 0.9374982818954185 - }, - { - "x": 3.0661275875026526, - "y": 4.830285372388774, - "heading": -2.148856449581639e-9, - "angularVelocity": -6.163889009608376e-8, - "velocityX": 4.11183344968015, - "velocityY": 0.2635668925346567, - "timestamp": 0.9723603056312768 - }, - { - "x": 3.2097380850541177, - "y": 4.8332464823275085, - "heading": -4.33224269168314e-9, - "angularVelocity": -6.262936020709883e-8, - "velocityX": 4.119396471058866, - "velocityY": 0.08493798183290027, - "timestamp": 1.0072223293671352 - }, - { - "x": 3.353341836255061, - "y": 4.829974529249004, - "heading": -6.56801260797033e-9, - "angularVelocity": -6.413196013022978e-8, - "velocityX": 4.1192029553131055, - "velocityY": -0.09385436437355381, - "timestamp": 1.0420843531029935 - }, - { - "x": 3.4966684334444085, - "y": 4.820475614588101, - "heading": -8.875894016604602e-9, - "angularVelocity": -6.620044281194253e-8, - "velocityX": 4.111252928840291, - "velocityY": -0.27247169392327125, - "timestamp": 1.0769463768388519 - }, - { - "x": 3.639447986078635, - "y": 4.80476759303118, - "heading": -1.1278209094883865e-8, - "angularVelocity": -6.890922616773665e-8, - "velocityX": 4.095561224902915, - "velocityY": -0.4505768705780642, - "timestamp": 1.1118084005747102 - }, - { - "x": 3.781411631541406, - "y": 4.78288002470995, - "heading": -1.3800882207541757e-8, - "angularVelocity": -7.236163717205908e-8, - "velocityX": 4.072157329086734, - "velocityY": -0.6278341293972823, - "timestamp": 1.1466704243105685 - }, - { - "x": 3.922292042494357, - "y": 4.754854113329163, - "heading": -1.6474766217146496e-8, - "angularVelocity": -7.669904736065112e-8, - "velocityX": 4.041085280084993, - "velocityY": -0.8039094802164521, - "timestamp": 1.1815324480464269 - }, - { - "x": 4.061823930760296, - "y": 4.720742625602728, - "heading": -1.9337446361982888e-8, - "angularVelocity": -8.21145716188558e-8, - "velocityX": 4.002403570232772, - "velocityY": -0.978471243806441, - "timestamp": 1.2163944717822852 - }, - { - "x": 4.199744547121747, - "y": 4.680609790344849, - "heading": -2.2435766007654413e-8, - "angularVelocity": -8.887377477414376e-8, - "velocityX": 3.956185028340431, - "velocityY": -1.1511906354592945, - "timestamp": 1.2512564955181436 - }, - { - "x": 4.33579417622256, - "y": 4.634531176665304, - "heading": -2.582946430761559e-8, - "angularVelocity": -9.734656615675744e-8, - "velocityX": 3.902516679227518, - "velocityY": -1.321742364375404, - "timestamp": 1.286118519254002 - }, - { - "x": 4.4697166256951775, - "y": 4.582593551168475, - "heading": -2.9596575969164054e-8, - "angularVelocity": -1.0805774472793139e-7, - "velocityX": 3.8414995780886927, - "velocityY": -1.4898052359308736, - "timestamp": 1.3209805429898602 - }, - { - "x": 4.601259708404541, - "y": 4.524894714355469, - "heading": -3.3875027210293766e-8, - "angularVelocity": -1.2272526900751864e-7, - "velocityX": 3.7732486130477016, - "velocityY": -1.6550627482264968, - "timestamp": 1.3558425667257186 - }, - { - "x": 4.734562448878385, - "y": 4.459137464101324, - "heading": -3.767778619796302e-8, - "angularVelocity": -1.0541224327618212e-7, - "velocityX": 3.6951436979767838, - "velocityY": -1.822786898522628, - "timestamp": 1.3919176835193718 - }, - { - "x": 4.864778755280991, - "y": 4.387462142159452, - "heading": -4.075372355757089e-8, - "angularVelocity": -8.52647928266453e-8, - "velocityX": 3.6095879369548025, - "velocityY": -1.9868354786444253, - "timestamp": 1.4279928003130251 - }, - { - "x": 4.991646062524004, - "y": 4.31001328242291, - "heading": -4.331381117101593e-8, - "angularVelocity": -7.09654698580335e-8, - "velocityX": 3.5167538879689317, - "velocityY": -2.146877588215275, - "timestamp": 1.4640679171066784 - }, - { - "x": 5.114908569345276, - "y": 4.226947074075465, - "heading": -4.549487456287536e-8, - "angularVelocity": -6.045894194424784e-8, - "velocityX": 3.4168290438620974, - "velocityY": -2.3025901432995166, - "timestamp": 1.5001430339003317 - }, - { - "x": 5.240630837773264, - "y": 4.147652992068584, - "heading": -4.7796207316709824e-8, - "angularVelocity": -6.379280119861848e-8, - "velocityX": 3.4850134830362576, - "velocityY": -2.1980270351011604, - "timestamp": 1.536218150693985 - }, - { - "x": 5.369786083327096, - "y": 4.074082884476059, - "heading": -6.80330102112903e-8, - "angularVelocity": -5.609629210719787e-7, - "velocityX": 3.5801753960379097, - "velocityY": -2.0393588193585033, - "timestamp": 1.5722932674876382 - }, - { - "x": 5.501957932059618, - "y": 4.006463913536522, - "heading": -0.0005378526214979867, - "angularVelocity": -0.014907355437374207, - "velocityX": 3.6637954490496707, - "velocityY": -1.8743936804505115, - "timestamp": 1.6083683842812915 - }, - { - "x": 5.635122517131343, - "y": 3.9454444846864316, - "heading": -0.0013716068459818165, - "angularVelocity": -0.02311161538998856, - "velocityX": 3.6913140387989873, - "velocityY": -1.691454783060481, - "timestamp": 1.6444435010749447 - }, - { - "x": 5.7683672766770036, - "y": 3.891098891931583, - "heading": -0.0023714416580770926, - "angularVelocity": -0.027715358977609194, - "velocityX": 3.6935364702437306, - "velocityY": -1.506456460437835, - "timestamp": 1.680518617868598 - }, - { - "x": 5.901203439301723, - "y": 3.843415261868438, - "heading": -0.0034666226109464834, - "angularVelocity": -0.030358348086126495, - "velocityX": 3.6822101889380328, - "velocityY": -1.3217872678248526, - "timestamp": 1.7165937346622513 - }, - { - "x": 6.033331045967558, - "y": 3.8023684544753524, - "heading": -0.004613334740621083, - "angularVelocity": -0.03178678911100141, - "velocityX": 3.6625690617051805, - "velocityY": -1.13781495505254, - "timestamp": 1.7526688514559046 - }, - { - "x": 6.164548397064209, - "y": 3.767933845520019, - "heading": -0.005781939029622976, - "angularVelocity": -0.03239363840971651, - "velocityX": 3.6373368337850036, - "velocityY": -0.9545252244724934, - "timestamp": 1.7887439682495578 - }, - { - "x": 6.4238894349918905, - "y": 3.725356363013457, - "heading": -0.00813177146759458, - "angularVelocity": -0.03242490425559778, - "velocityX": 3.578599132630597, - "velocityY": -0.5875188253471295, - "timestamp": 1.8612139567327446 - }, - { - "x": 6.673459862679172, - "y": 3.7078796706091532, - "heading": -0.010324564143580333, - "angularVelocity": -0.030257941554585537, - "velocityX": 3.443776284650332, - "velocityY": -0.2411576539488291, - "timestamp": 1.9336839452159313 - }, - { - "x": 6.907667295296139, - "y": 3.712527250548902, - "heading": -0.012192160841527707, - "angularVelocity": -0.025770622253937055, - "velocityX": 3.231785150225377, - "velocityY": 0.06413109808658506, - "timestamp": 2.0061539336991183 - }, - { - "x": 7.121777473190393, - "y": 3.735107801887392, - "heading": -0.013584669209521207, - "angularVelocity": -0.019214966045103837, - "velocityX": 2.9544668403518353, - "velocityY": 0.31158486169386757, - "timestamp": 2.078623922182305 - }, - { - "x": 7.312475114645496, - "y": 3.7710048983952196, - "heading": -0.01438951581488395, - "angularVelocity": -0.011105929809130157, - "velocityX": 2.631401569759389, - "velocityY": 0.49533741151560723, - "timestamp": 2.151093910665492 - }, - { - "x": 7.477791781199064, - "y": 3.8159171301541095, - "heading": -0.014532784027010696, - "angularVelocity": -0.0019769316254270534, - "velocityX": 2.2811741800113965, - "velocityY": 0.6197355995069491, - "timestamp": 2.2235638991486786 - }, - { - "x": 7.616715815868345, - "y": 3.8662041653804877, - "heading": -0.01397001086601989, - "angularVelocity": 0.007765603014016935, - "velocityX": 1.9169871222141917, - "velocityY": 0.6939015208763943, - "timestamp": 2.2960338876318653 - }, - { - "x": 7.728815295702192, - "y": 3.9189199057655046, - "heading": -0.012675922533213273, - "angularVelocity": 0.017856886138554434, - "velocityX": 1.546840039306131, - "velocityY": 0.7274147752520648, - "timestamp": 2.368503876115052 - }, - { - "x": 7.813980652629695, - "y": 3.971713548083725, - "heading": -0.010636867255267548, - "angularVelocity": 0.028136547564358877, - "velocityX": 1.1751810468034207, - "velocityY": 0.7284897296550381, - "timestamp": 2.440973864598239 - }, - { - "x": 7.872272087271126, - "y": 4.022706026315587, - "heading": -0.007846030199376108, - "angularVelocity": 0.03851024561069059, - "velocityX": 0.8043527515525248, - "velocityY": 0.7036357987512754, - "timestamp": 2.5134438530814256 - }, - { - "x": 7.903834329466794, - "y": 4.070381624553785, - "heading": -0.004300580651813334, - "angularVelocity": 0.04892300415344109, - "velocityX": 0.4355215566646703, - "velocityY": 0.6578667836998284, - "timestamp": 2.5859138415646123 - }, - { - "x": 7.908850193023682, - "y": 4.1135029792785645, - "heading": -1.6431801399771578e-28, - "angularVelocity": 0.05934291893548571, - "velocityX": 0.06921297576928687, - "velocityY": 0.5950236177391367, - "timestamp": 2.658383830047799 - }, - { - "x": 7.887054284240868, - "y": 4.151354202426506, - "heading": 0.005110873422893934, - "angularVelocity": 0.0698517929802493, - "velocityX": -0.2978910221672904, - "velocityY": 0.5173236714365999, - "timestamp": 2.731551220673535 - }, - { - "x": 7.838422086854329, - "y": 4.183408720964089, - "heading": 0.010956523638740997, - "angularVelocity": 0.07989420103483798, - "velocityX": -0.6646703807615897, - "velocityY": 0.43809842422217044, - "timestamp": 2.804718611299271 - }, - { - "x": 7.762983079117002, - "y": 4.20953112778775, - "heading": 0.017495483260506317, - "angularVelocity": 0.0893698622548022, - "velocityX": -1.0310468515026154, - "velocityY": 0.35702252875576485, - "timestamp": 2.877886001925007 - }, - { - "x": 7.6607747790696985, - "y": 4.229553700517737, - "heading": 0.024676301083283603, - "angularVelocity": 0.09814232489864837, - "velocityX": -1.3969105522720728, - "velocityY": 0.2736543227625315, - "timestamp": 2.951053392550743 - }, - { - "x": 7.531846476247114, - "y": 4.243263296141889, - "heading": 0.03243345200765441, - "angularVelocity": 0.1060192369583057, - "velocityX": -1.7621005986406668, - "velocityY": 0.1873730292539564, - "timestamp": 3.024220783176479 - }, - { - "x": 7.376265637530863, - "y": 4.250380077226667, - "heading": 0.04068066701574086, - "angularVelocity": 0.11271708526920698, - "velocityX": -2.12636855552324, - "velocityY": 0.09726711618269603, - "timestamp": 3.097388173802215 - }, - { - "x": 7.194129836575373, - "y": 4.2505205649617634, - "heading": 0.04929927784816929, - "angularVelocity": 0.1177930599782374, - "velocityX": -2.489302944902695, - "velocityY": 0.0019200867202677822, - "timestamp": 3.170555564427951 - }, - { - "x": 6.985591556826913, - "y": 4.243127449410096, - "heading": 0.058115883718386635, - "angularVelocity": 0.12049911572377706, - "velocityX": -2.8501532986897105, - "velocityY": -0.10104385968175955, - "timestamp": 3.243722955053687 - }, - { - "x": 6.750918561222395, - "y": 4.227318493920163, - "heading": 0.06685364598436354, - "angularVelocity": 0.1194215372620311, - "velocityX": -3.2073440585699053, - "velocityY": -0.21606559089689018, - "timestamp": 3.3168903456794228 - }, - { - "x": 6.490681615003969, - "y": 4.20149483174933, - "heading": 0.07500318356778511, - "angularVelocity": 0.11138209950807054, - "velocityX": -3.5567340039442454, - "velocityY": -0.3529394987300426, - "timestamp": 3.3900577363051587 - }, - { - "x": 6.206657285518001, - "y": 4.161973294401296, - "heading": 0.08134950784100285, - "angularVelocity": 0.0867370589403728, - "velocityX": -3.8818430868855596, - "velocityY": -0.5401523412279929, - "timestamp": 3.4632251269308947 - }, - { - "x": 5.912244098516139, - "y": 4.097129027635956, - "heading": 0.08134954547532162, - "angularVelocity": 5.143591764598389e-7, - "velocityX": -4.023830622959322, - "velocityY": -0.8862454463769199, - "timestamp": 3.5363925175566306 - }, - { - "x": 5.624951460773946, - "y": 4.005767892260616, - "heading": 0.08134954969560343, - "angularVelocity": 5.7679818199590674e-8, - "velocityX": -3.926512006034829, - "velocityY": -1.248659199050422, - "timestamp": 3.6095599081823666 - }, - { - "x": 5.34716243038826, - "y": 3.8886477005465494, - "heading": 0.08134932634773633, - "angularVelocity": -0.0000030525602346483844, - "velocityX": -3.7966234412626005, - "velocityY": -1.6007157110898942, - "timestamp": 3.6827272988081026 - }, - { - "x": 5.08665788699048, - "y": 3.751669204716049, - "heading": 0.05865018500104508, - "angularVelocity": -0.3102357642190817, - "velocityX": -3.5603913323943255, - "velocityY": -1.8721249269523577, - "timestamp": 3.7558946894338385 - }, - { - "x": 4.848094463348389, - "y": 3.603376865386963, - "heading": 4.952640691345501e-28, - "angularVelocity": -0.8015891300682177, - "velocityX": -3.260515669642855, - "velocityY": -2.0267545153773168, - "timestamp": 3.8290620800595745 - }, - { - "x": 4.700641185060707, - "y": 3.501989185359569, - "heading": -0.05033264236108494, - "angularVelocity": -1.034189338076649, - "velocityX": -3.0297357960183557, - "velocityY": -2.0832217975849, - "timestamp": 3.8777307720562373 - }, - { - "x": 4.565095450985404, - "y": 3.3994717636903555, - "heading": -0.10698430014195474, - "angularVelocity": -1.1640267173145824, - "velocityX": -2.78507041209567, - "velocityY": -2.1064347009005995, - "timestamp": 3.9263994640529 - }, - { - "x": 4.441653890418588, - "y": 3.297081790312479, - "heading": -0.16664697326151523, - "angularVelocity": -1.2258943208017916, - "velocityX": -2.5363648683075435, - "velocityY": -2.103816009374109, - "timestamp": 3.975068156049563 - }, - { - "x": 4.330312579185749, - "y": 3.1957377001354463, - "heading": -0.22705933791477417, - "angularVelocity": -1.2412983002995335, - "velocityX": -2.2877399548866757, - "velocityY": -2.0823261530016506, - "timestamp": 4.023736848046226 - }, - { - "x": 4.230991842079205, - "y": 3.096120447000011, - "heading": -0.2865484532706337, - "angularVelocity": -1.222328213791707, - "velocityX": -2.0407521351376094, - "velocityY": -2.04684467670234, - "timestamp": 4.0724055400428885 - }, - { - "x": 4.143586352271879, - "y": 2.9987473125477595, - "heading": -0.34383093881747717, - "angularVelocity": -1.176988392266047, - "velocityX": -1.795928475195518, - "velocityY": -2.000734567901041, - "timestamp": 4.121074232039551 - }, - { - "x": 4.067986542673592, - "y": 2.904020815068955, - "heading": -0.3979071509877982, - "angularVelocity": -1.1111088042807706, - "velocityX": -1.5533561001284146, - "velocityY": -1.946353879518679, - "timestamp": 4.169742924036214 - }, - { - "x": 4.004087484152938, - "y": 2.8122616254817605, - "heading": -0.4479862468350588, - "angularVelocity": -1.0289796950099774, - "velocityX": -1.3129397133794922, - "velocityY": -1.8853843368851253, - "timestamp": 4.218411616032877 - }, - { - "x": 3.951791937745737, - "y": 2.7237308923491046, - "heading": -0.4934284100602779, - "angularVelocity": -0.9337042225900607, - "velocityX": -1.0745213043898287, - "velocityY": -1.8190489511969272, - "timestamp": 4.26708030802954 - }, - { - "x": 3.911010848659871, - "y": 2.63864542270439, - "heading": -0.5337018468885103, - "angularVelocity": -0.8275019355563128, - "velocityX": -0.83793271223855, - "velocityY": -1.7482588118568951, - "timestamp": 4.315749000026202 - }, - { - "x": 3.8816628893967526, - "y": 2.5571880974329804, - "heading": -0.5683528513458943, - "angularVelocity": -0.7119773109940992, - "velocityX": -0.6030151635291687, - "velocityY": -1.673711002485852, - "timestamp": 4.364417692022865 - }, - { - "x": 3.8636737772161385, - "y": 2.479515163260617, - "heading": -0.596986412368271, - "angularVelocity": -0.5883363585020978, - "velocityX": -0.36962390897720954, - "velocityY": -1.59595277756158, - "timestamp": 4.413086384019528 - }, - { - "x": 3.8569756412361254, - "y": 2.4057614953060065, - "heading": -0.6192545253880498, - "angularVelocity": -0.4575449248010541, - "velocityX": -0.1376272035515664, - "velocityY": -1.5154232614196375, - "timestamp": 4.461755076016191 - }, - { - "x": 3.8615065086139246, - "y": 2.3360445280133795, - "heading": -0.6348496428505993, - "angularVelocity": -0.32043428378183847, - "velocityX": 0.09309614028891178, - "velocityY": -1.4324808091700407, - "timestamp": 4.510423768012854 - }, - { - "x": 3.877209901809693, - "y": 2.2704672813415527, - "heading": -0.6435012536786778, - "angularVelocity": -0.17776542728273412, - "velocityX": 0.3226590350290306, - "velocityY": -1.3474215965434906, - "timestamp": 4.559092460009516 - }, - { - "x": 3.909263343483357, - "y": 2.2016193636983066, - "heading": -0.644092375367383, - "angularVelocity": -0.010723484805221098, - "velocityX": 0.5814785708430558, - "velocityY": -1.2489638137550592, - "timestamp": 4.6142164891327075 - }, - { - "x": 3.955582772404527, - "y": 2.1382378341857042, - "heading": -0.6356618580904682, - "angularVelocity": 0.1529372473495064, - "velocityX": 0.8402765483207932, - "velocityY": -1.1497985637253951, - "timestamp": 4.669340518255899 - }, - { - "x": 4.016167136041281, - "y": 2.080367813253358, - "heading": -0.6184384375905784, - "angularVelocity": 0.31244850519541656, - "velocityX": 1.0990554319126369, - "velocityY": -1.0498147877220347, - "timestamp": 4.72446454737909 - }, - { - "x": 4.091014879475756, - "y": 2.0280623219290286, - "heading": -0.5926967583319528, - "angularVelocity": 0.4669774627884684, - "velocityX": 1.357806107880926, - "velocityY": -0.9488691620751633, - "timestamp": 4.779588576502281 - }, - { - "x": 4.180123073013336, - "y": 1.9813847697374103, - "heading": -0.5587633107627968, - "angularVelocity": 0.6155835868477868, - "velocityX": 1.616503636525577, - "velocityY": -0.8467732300065234, - "timestamp": 4.834712605625472 - }, - { - "x": 4.283486205946313, - "y": 1.9404125575120503, - "heading": -0.5170273230433461, - "angularVelocity": 0.7571287582440518, - "velocityX": 1.8751011959227666, - "velocityY": -0.7432731764544123, - "timestamp": 4.889836634748663 - }, - { - "x": 4.401094459736751, - "y": 1.9052424011175209, - "heading": -0.4679609941418416, - "angularVelocity": 0.8901078110936128, - "velocityX": 2.133520638116034, - "velocityY": -0.6380186091972911, - "timestamp": 4.944960663871854 - }, - { - "x": 4.532931044009035, - "y": 1.8759983507167912, - "heading": -0.41215648957706635, - "angularVelocity": 1.0123444431114288, - "velocityX": 2.3916354876319863, - "velocityY": -0.5305136592133903, - "timestamp": 5.0000846929950455 - }, - { - "x": 4.678967556850721, - "y": 1.8528442484692669, - "heading": -0.35039255139162767, - "angularVelocity": 1.1204539865438439, - "velocityX": 2.6492351006368366, - "velocityY": -0.4200364635135716, - "timestamp": 5.055208722118237 - }, - { - "x": 4.839154591796641, - "y": 1.8360041394290154, - "heading": -0.2837549204318002, - "angularVelocity": 1.2088672040083555, - "velocityX": 2.9059384354495057, - "velocityY": -0.3054948868599071, - "timestamp": 5.110332751241428 - }, - { - "x": 5.013399484318381, - "y": 1.8257985791825269, - "heading": -0.2138636206895667, - "angularVelocity": 1.2678917135400287, - "velocityX": 3.160960751478034, - "velocityY": -0.18513814045923885, - "timestamp": 5.165456780364619 - }, - { - "x": 5.201503784665096, - "y": 1.8227165159855272, - "heading": -0.1433490902182715, - "angularVelocity": 1.2791976855267446, - "velocityX": 3.4123830086211457, - "velocityY": -0.05591142821058677, - "timestamp": 5.22058080948781 - }, - { - "x": 5.402944132086975, - "y": 1.827569567849425, - "heading": -0.07703772004409672, - "angularVelocity": 1.2029485367621076, - "velocityX": 3.6543110259901166, - "velocityY": 0.08803877258413399, - "timestamp": 5.275704838611001 - }, - { - "x": 5.61588559518895, - "y": 1.8417195630192391, - "heading": -0.024979311792846126, - "angularVelocity": 0.9443868505132368, - "velocityX": 3.8629517197680348, - "velocityY": 0.25669377574327124, - "timestamp": 5.330828867734192 - }, - { - "x": 5.834915427384757, - "y": 1.8670658701516258, - "heading": -7.407288610339414e-7, - "angularVelocity": 0.4531339864174827, - "velocityX": 3.9734002698953517, - "velocityY": 0.4598050529968118, - "timestamp": 5.3859528968573835 - }, - { - "x": 6.058884353100281, - "y": 1.904802816527938, - "heading": -7.957104132685767e-8, - "angularVelocity": 0.000011994003889474889, - "velocityX": 4.062999916334081, - "velocityY": 0.6845825128634481, - "timestamp": 5.441076925980575 - }, - { - "x": 6.279738426208496, - "y": 1.9578094482421875, - "heading": 8.562539103389725e-28, - "angularVelocity": 0.0000014434910254660835, - "velocityX": 4.006493658412549, - "velocityY": 0.9615884861353298, - "timestamp": 5.496200955103766 - }, - { - "x": 6.525487452777932, - "y": 2.0369981575550793, - "heading": -0.0011671855841354959, - "angularVelocity": -0.018096810491915055, - "velocityX": 3.81025401859607, - "velocityY": 1.227793664532095, - "timestamp": 5.560697711847555 - }, - { - "x": 6.750918598574351, - "y": 2.1096797802641643, - "heading": -0.0021799869715645073, - "angularVelocity": -0.015703136693405003, - "velocityX": 3.495232274886886, - "velocityY": 1.126903527844196, - "timestamp": 5.625194468591345 - }, - { - "x": 6.956282004435993, - "y": 2.175119637271968, - "heading": -0.0029917904615700073, - "angularVelocity": -0.012586733519490889, - "velocityX": 3.1840888787236112, - "velocityY": 1.0146224447806116, - "timestamp": 5.689691225335134 - }, - { - "x": 7.141668336167598, - "y": 2.233071278014614, - "heading": -0.0035868817340549562, - "angularVelocity": -0.009226685224637363, - "velocityX": 2.8743512246366985, - "velocityY": 0.8985202306040955, - "timestamp": 5.754187982078924 - }, - { - "x": 7.307124311509477, - "y": 2.2834112498174775, - "heading": -0.003957374193442598, - "angularVelocity": -0.00574435798158672, - "velocityX": 2.5653379130232326, - "velocityY": 0.7805039252258378, - "timestamp": 5.818684738822713 - }, - { - "x": 7.452678406281355, - "y": 2.3260654168990693, - "heading": -0.004098526951679239, - "angularVelocity": -0.0021885249020716494, - "velocityX": 2.2567661091872586, - "velocityY": 0.6613381700886771, - "timestamp": 5.883181495566503 - }, - { - "x": 7.578349790283282, - "y": 2.3609843306826193, - "heading": -0.004007175808745517, - "angularVelocity": 0.001416368008962219, - "velocityX": 1.9484915264987899, - "velocityY": 0.5414057317992576, - "timestamp": 5.9476782523102925 - }, - { - "x": 7.684152247420869, - "y": 2.388132659287924, - "heading": -0.003681058888279675, - "angularVelocity": 0.005056330533972877, - "velocityX": 1.6404306585195192, - "velocityY": 0.4209254848759383, - "timestamp": 6.012175009054082 - }, - { - "x": 7.770096165540853, - "y": 2.4074838977797546, - "heading": -0.0031184788458053087, - "angularVelocity": 0.00872260980050817, - "velocityX": 1.3325308505262228, - "velocityY": 0.3000342880604488, - "timestamp": 6.0766717657978715 - }, - { - "x": 7.836189653680543, - "y": 2.4190174277466903, - "heading": -0.0023181149719148936, - "angularVelocity": 0.012409366211541923, - "velocityX": 1.0247567703635636, - "velocityY": 0.1788234098770594, - "timestamp": 6.141168522541661 - }, - { - "x": 7.882439217728024, - "y": 2.422716752331528, - "heading": -0.0012789103505499641, - "angularVelocity": 0.016112509742049974, - "velocityX": 0.7170835617549867, - "velocityY": 0.05735675360441909, - "timestamp": 6.2056652792854505 - }, - { - "x": 7.908850193023682, - "y": 2.4185683727264404, - "heading": 8.461910012631763e-29, - "angularVelocity": 0.019829064516071505, - "velocityX": 0.40949307576154037, - "velocityY": -0.06431919703446601, - "timestamp": 6.27016203602924 - }, - { - "x": 7.9135037293511274, - "y": 2.404007500518451, - "heading": 0.001738681655620773, - "angularVelocity": 0.024013784718208257, - "velocityX": 0.06427227157104093, - "velocityY": -0.20110734439603808, - "timestamp": 6.342565519112956 - }, - { - "x": 7.893003638215416, - "y": 2.37995206083196, - "heading": 0.003710519645397934, - "angularVelocity": 0.02723402115195558, - "velocityX": -0.28313680865337726, - "velocityY": -0.3322414704645804, - "timestamp": 6.414969002196671 - }, - { - "x": 7.847170108256414, - "y": 2.346892602647919, - "heading": 0.005832318333489156, - "angularVelocity": 0.029305201873201705, - "velocityX": -0.6330293517234256, - "velocityY": -0.45660038407014847, - "timestamp": 6.487372485280387 - }, - { - "x": 7.775798531874128, - "y": 2.305426839443902, - "heading": 0.008003405006399665, - "angularVelocity": 0.029985942394514752, - "velocityX": -0.9857478306639489, - "velocityY": -0.5727039838134944, - "timestamp": 6.559775968364103 - }, - { - "x": 7.678656271538087, - "y": 2.256297576429558, - "heading": 0.010099710341735239, - "angularVelocity": 0.028953100680415525, - "velocityX": -1.3416793805861689, - "velocityY": -0.6785483366530749, - "timestamp": 6.6321794514478185 - }, - { - "x": 7.555481050531809, - "y": 2.2004499248115295, - "heading": 0.011964993253965835, - "angularVelocity": 0.02576233673832923, - "velocityX": -1.7012333628184586, - "velocityY": -0.7713392952857744, - "timestamp": 6.704582934531534 - }, - { - "x": 7.405984923055888, - "y": 2.139120846470309, - "heading": 0.013397410987870865, - "angularVelocity": 0.01978382355236724, - "velocityX": -2.064764305649063, - "velocityY": -0.8470459669779953, - "timestamp": 6.77698641761525 - }, - { - "x": 7.229874738830789, - "y": 2.073984847809468, - "heading": 0.014128316578010962, - "angularVelocity": 0.01009489542505847, - "velocityX": -2.4323440907045013, - "velocityY": -0.8996252098193818, - "timestamp": 6.849389900698966 - }, - { - "x": 7.0269201286198015, - "y": 2.007399297467021, - "heading": 0.013788101357936091, - "angularVelocity": -0.004698879191785616, - "velocityX": -2.803105618224542, - "velocityY": -0.9196456787231895, - "timestamp": 6.921793383782681 - }, - { - "x": 6.797160014432058, - "y": 1.9428204344097308, - "heading": 0.011852542100195443, - "angularVelocity": -0.02673295779849002, - "velocityX": -3.1733295747952837, - "velocityY": -0.8919303368682154, - "timestamp": 6.994196866866397 - }, - { - "x": 6.541507190710733, - "y": 1.8854379538761046, - "heading": 0.007575451762797331, - "angularVelocity": -0.05907299145336416, - "velocityX": -3.530946479822401, - "velocityY": -0.7925375698746232, - "timestamp": 7.066600349950113 - }, - { - "x": 6.263282775878906, - "y": 1.8426196575164795, - "heading": -6.194293765118798e-29, - "angularVelocity": -0.10462827809041095, - "velocityX": -3.842693790161092, - "velocityY": -0.5913844822923381, - "timestamp": 7.139003833033828 - }, - { - "x": 6.030681887766221, - "y": 1.8226833751631784, - "heading": -0.008718413948409906, - "angularVelocity": -0.15018242816156785, - "velocityX": -4.006757006034486, - "velocityY": -0.34342018055697493, - "timestamp": 7.1970559903676445 - }, - { - "x": 5.793532898564822, - "y": 1.8194210922714795, - "heading": -0.016941072562243253, - "angularVelocity": -0.14164260195449305, - "velocityX": -4.0851020891045495, - "velocityY": -0.05619572194259459, - "timestamp": 7.255108147701461 - }, - { - "x": 5.557627566049778, - "y": 1.8333576054296736, - "heading": -0.028629707625858477, - "angularVelocity": -0.20134712645392766, - "velocityX": -4.0636789974663925, - "velocityY": 0.24006882428253462, - "timestamp": 7.313160305035277 - }, - { - "x": 5.327908854137327, - "y": 1.8622622668920639, - "heading": -0.0585740879768532, - "angularVelocity": -0.5158185625868486, - "velocityX": -3.957108959646458, - "velocityY": 0.49790848075085625, - "timestamp": 7.371212462369093 - }, - { - "x": 5.11245324515911, - "y": 1.8994141855682116, - "heading": -0.10374863935649094, - "angularVelocity": -0.7781717933387261, - "velocityX": -3.7114143362370884, - "velocityY": 0.6399748154493845, - "timestamp": 7.429264619702909 - }, - { - "x": 4.913979790820032, - "y": 1.9388003080563143, - "heading": -0.15574493643193385, - "angularVelocity": -0.8956824253136624, - "velocityX": -3.4188816308375802, - "velocityY": 0.6784609616077044, - "timestamp": 7.4873167770367255 - }, - { - "x": 4.7327605113302145, - "y": 1.9775150228594818, - "heading": -0.2099745757997402, - "angularVelocity": -0.9341537310313989, - "velocityX": -3.121663135579195, - "velocityY": 0.6668953675665628, - "timestamp": 7.545368934370542 - }, - { - "x": 4.568684620360207, - "y": 2.014030214515865, - "heading": -0.2640485055959757, - "angularVelocity": -0.9314714952847509, - "velocityX": -2.8263530332994278, - "velocityY": 0.6290066266859055, - "timestamp": 7.603421091704358 - }, - { - "x": 4.421601069864, - "y": 2.0474310267692073, - "heading": -0.3165220186257055, - "angularVelocity": -0.9039028942196281, - "velocityX": -2.5336448678459034, - "velocityY": 0.5753586737746517, - "timestamp": 7.661473249038174 - }, - { - "x": 4.291374419034759, - "y": 2.0771146233430215, - "heading": -0.36642962736971124, - "angularVelocity": -0.8597029126242952, - "velocityX": -2.2432697906539487, - "velocityY": 0.511326330270982, - "timestamp": 7.71952540637199 - }, - { - "x": 4.177891381608033, - "y": 2.102655731782735, - "heading": -0.4130820297898137, - "angularVelocity": -0.8036290908508001, - "velocityX": -1.9548461700426851, - "velocityY": 0.4399682908051872, - "timestamp": 7.777577563705806 - }, - { - "x": 4.081058211075384, - "y": 2.1237389589368134, - "heading": -0.4559637520429508, - "angularVelocity": -0.738675774038079, - "velocityX": -1.6680374163501055, - "velocityY": 0.36317732401991576, - "timestamp": 7.835629721039623 - }, - { - "x": 4.000796937094782, - "y": 2.140121363134788, - "heading": -0.49467583838017426, - "angularVelocity": -0.6668500899048075, - "velocityX": -1.382571771089882, - "velocityY": 0.2822014710628498, - "timestamp": 7.893681878373439 - }, - { - "x": 3.9370420833786737, - "y": 2.1516101924347857, - "heading": -0.5289011019599401, - "angularVelocity": -0.5895605805476083, - "velocityX": -1.0982340130703443, - "velocityY": 0.1979052946117624, - "timestamp": 7.951734035707255 - }, - { - "x": 3.8897380782848177, - "y": 2.1580488572733114, - "heading": -0.5583816999879796, - "angularVelocity": -0.5078294999187984, - "velocityX": -0.8148535259739682, - "velocityY": 0.11091172377111619, - "timestamp": 8.009786193041071 - }, - { - "x": 3.8588372630557566, - "y": 2.1593076697609526, - "heading": -0.5829039334740946, - "angularVelocity": -0.4224172642733201, - "velocityX": -0.5322940033282947, - "velocityY": 0.02168416378400226, - "timestamp": 8.067838350374888 - }, - { - "x": 3.8442983627319336, - "y": 2.1552774906158447, - "heading": -0.602287538290654, - "angularVelocity": -0.3338998188318499, - "velocityX": -0.25044547854130556, - "velocityY": -0.06942341732337823, - "timestamp": 8.125890507708705 - }, - { - "x": 3.8576387146651134, - "y": 2.13806005595645, - "heading": -0.619278145531587, - "angularVelocity": -0.20143847160866324, - "velocityX": 0.1581615104177926, - "velocityY": -0.20412770854092552, - "timestamp": 8.210236894499909 - }, - { - "x": 3.905455453573714, - "y": 2.109481651185984, - "heading": -0.6254126059760678, - "angularVelocity": -0.07272938033097415, - "velocityX": 0.5669091555394026, - "velocityY": -0.33882192062608685, - "timestamp": 8.294583281291112 - }, - { - "x": 3.987762915374457, - "y": 2.0695435831389517, - "heading": -0.6210817382802795, - "angularVelocity": 0.05134621482375198, - "velocityX": 0.9758267654605434, - "velocityY": -0.4735006390480968, - "timestamp": 8.378929668082316 - }, - { - "x": 4.104578927032089, - "y": 2.0182477742847946, - "heading": -0.6067890663536344, - "angularVelocity": 0.16945209475334327, - "velocityX": 1.3849557296011592, - "velocityY": -0.6081565649176908, - "timestamp": 8.46327605487352 - }, - { - "x": 4.25592634256958, - "y": 1.955597106088846, - "heading": -0.5832156347231323, - "angularVelocity": 0.2794835976656285, - "velocityX": 1.794355648122163, - "velocityY": -0.7427783285019535, - "timestamp": 8.547622441664723 - }, - { - "x": 4.441835387458979, - "y": 1.8815962088865352, - "heading": -0.5513387484522754, - "angularVelocity": 0.37792829643986087, - "velocityX": 2.2041139159832754, - "velocityY": -0.877345195420139, - "timestamp": 8.631968828455927 - }, - { - "x": 4.66234711446509, - "y": 1.7962536064859413, - "heading": -0.5126769338910522, - "angularVelocity": 0.45836954055814433, - "velocityX": 2.614358900185992, - "velocityY": -1.011811005157306, - "timestamp": 8.71631521524713 - }, - { - "x": 4.917516613544415, - "y": 1.699589099451937, - "heading": -0.4698979469526159, - "angularVelocity": 0.5071822109503572, - "velocityX": 3.025257023884024, - "velocityY": -1.1460420619237055, - "timestamp": 8.800661602038334 - }, - { - "x": 5.207389212765179, - "y": 1.5916714767699458, - "heading": -0.42891919524045724, - "angularVelocity": 0.48583885180049724, - "velocityX": 3.436692551375497, - "velocityY": -1.2794575652557374, - "timestamp": 8.885007988829537 - }, - { - "x": 5.530829704025048, - "y": 1.4731326595685643, - "heading": -0.4168747641910295, - "angularVelocity": 0.14279723776720205, - "velocityX": 3.8346691964474693, - "velocityY": -1.405381092314254, - "timestamp": 8.96935437562074 - }, - { - "x": 5.860796817769712, - "y": 1.3640506417959732, - "heading": -0.4168747316984138, - "angularVelocity": 3.852283051108577e-7, - "velocityX": 3.91204799989226, - "velocityY": -1.2932624848841556, - "timestamp": 9.053700762411944 - }, - { - "x": 6.1907640358798846, - "y": 1.2549689397238482, - "heading": -0.4168746992057636, - "angularVelocity": 3.852287159927463e-7, - "velocityX": 3.9120492372364075, - "velocityY": -1.2932587419797106, - "timestamp": 9.138047149203148 - }, - { - "x": 6.5162512528388925, - "y": 1.1501619128296605, - "heading": -0.39522547264575847, - "angularVelocity": 0.25667046786007763, - "velocityX": 3.8589349151937298, - "velocityY": -1.242578738477967, - "timestamp": 9.222393535994351 - }, - { - "x": 6.809203485103097, - "y": 1.0566385263910887, - "heading": -0.3364658613691826, - "angularVelocity": 0.6966464541277111, - "velocityX": 3.4732042878066567, - "velocityY": -1.1088013369213576, - "timestamp": 9.306739922785555 - }, - { - "x": 7.0676023282548455, - "y": 0.9747449425291351, - "heading": -0.27342754168182104, - "angularVelocity": 0.7473742751234995, - "velocityX": 3.0635437151730858, - "velocityY": -0.9709198814251399, - "timestamp": 9.391086309576758 - }, - { - "x": 7.291404029843143, - "y": 0.9044159486596018, - "heading": -0.212686256942587, - "angularVelocity": 0.7201409218583059, - "velocityX": 2.6533644190629335, - "velocityY": -0.833811578006664, - "timestamp": 9.475432696367962 - }, - { - "x": 7.480631108632639, - "y": 0.8456084340013106, - "heading": -0.15716871325728424, - "angularVelocity": 0.658208914422557, - "velocityX": 2.2434521025532703, - "velocityY": -0.6972143905093124, - "timestamp": 9.559779083159166 - }, - { - "x": 7.635307728813632, - "y": 0.7982939214998752, - "heading": -0.10853495890594571, - "angularVelocity": 0.5765955863851053, - "velocityX": 1.83382627360068, - "velocityY": -0.5609548233353625, - "timestamp": 9.64412546995037 - }, - { - "x": 7.755453704764619, - "y": 0.7624523838325293, - "heading": -0.06785138236204946, - "angularVelocity": 0.48233929266712156, - "velocityX": 1.4244353613914185, - "velocityY": -0.4249326975448363, - "timestamp": 9.728471856741573 - }, - { - "x": 7.841084766649754, - "y": 0.7380690201261568, - "heading": -0.03585889712581951, - "angularVelocity": 0.3792988230239957, - "velocityX": 1.0152309440013383, - "velocityY": -0.2890860490175211, - "timestamp": 9.812818243532776 - }, - { - "x": 7.892213505293505, - "y": 0.7251324738070216, - "heading": -0.013102178881898748, - "angularVelocity": 0.2698007479591791, - "velocityX": 0.6061758018196838, - "velocityY": -0.15337404257943216, - "timestamp": 9.89716463032398 - }, - { - "x": 7.908850193023682, - "y": 0.7236337661743164, - "heading": -5.019107924718939e-28, - "angularVelocity": 0.15533776111041753, - "velocityX": 0.19724244704590402, - "velocityY": -0.017768486472517064, - "timestamp": 9.981511017115183 - }, - { - "x": 7.892189079958052, - "y": 0.733080197359647, - "heading": 0.0032660991416649378, - "angularVelocity": 0.03963429721823649, - "velocityX": -0.20218354636142255, - "velocityY": 0.11463297499908585, - "timestamp": 10.063916897145829 - }, - { - "x": 7.842604987925804, - "y": 0.7534362672637073, - "heading": -0.002772756670579444, - "angularVelocity": -0.07328185573649153, - "velocityX": -0.6017057522328306, - "velocityY": 0.24702205590778456, - "timestamp": 10.146322777176474 - }, - { - "x": 7.76008824404944, - "y": 0.7847005763866867, - "heading": -0.017830574368452534, - "angularVelocity": -0.18272746668409265, - "velocityX": -1.001345339018009, - "velocityY": 0.37939415380738334, - "timestamp": 10.22872865720712 - }, - { - "x": 7.644626694532573, - "y": 0.8268711306705374, - "heading": -0.04153713177121822, - "angularVelocity": -0.2876804105963022, - "velocityX": -1.4011324128075406, - "velocityY": 0.5117420537001512, - "timestamp": 10.311134537237765 - }, - { - "x": 7.496204565153335, - "y": 0.8799449205205542, - "heading": -0.07339105495914866, - "angularVelocity": -0.3865491537264634, - "velocityX": -1.8011109076687513, - "velocityY": 0.6440534319914972, - "timestamp": 10.39354041726841 - }, - { - "x": 7.314800632642625, - "y": 0.9439170229632209, - "heading": -0.11267436902090536, - "angularVelocity": -0.47670523082998323, - "velocityX": -2.2013469480970156, - "velocityY": 0.7763050697216819, - "timestamp": 10.475946297299055 - }, - { - "x": 7.1003852320289775, - "y": 1.0187784547123067, - "heading": -0.15827781834795562, - "angularVelocity": -0.5534004285870268, - "velocityX": -2.601942974626455, - "velocityY": 0.9084476947669995, - "timestamp": 10.5583521773297 - }, - { - "x": 6.852915852080657, - "y": 1.1045099286982563, - "heading": -0.20827432822470915, - "angularVelocity": -0.606710466026947, - "velocityX": -3.0030548773496584, - "velocityY": 1.0403562701359113, - "timestamp": 10.640758057360346 - }, - { - "x": 6.57234037138111, - "y": 1.2010554187463547, - "heading": -0.25850083223033166, - "angularVelocity": -0.6095014577472403, - "velocityX": -3.4047992764012145, - "velocityY": 1.171584964716045, - "timestamp": 10.723163937390991 - }, - { - "x": 6.258992137221064, - "y": 1.3080260402749817, - "heading": -0.2924105128425884, - "angularVelocity": -0.4114958859688932, - "velocityX": -3.8024984872865555, - "velocityY": 1.2980945229739238, - "timestamp": 10.805569817421636 - }, - { - "x": 5.936813239669241, - "y": 1.415192130467459, - "heading": -0.29241053972638326, - "angularVelocity": -3.2623636665893746e-7, - "velocityX": -3.9096590853954853, - "velocityY": 1.3004665462297604, - "timestamp": 10.887975697452282 - }, - { - "x": 5.614634321099526, - "y": 1.5223581574728795, - "heading": -0.29241056661001313, - "angularVelocity": -3.262343643621567e-7, - "velocityX": -3.9096593404487785, - "velocityY": 1.300465779451264, - "timestamp": 10.970381577482927 - }, - { - "x": 5.292534947574076, - "y": 1.6297629984771478, - "heading": -0.2924106310888177, - "angularVelocity": -7.824539278829055e-7, - "velocityX": -3.9086940568520956, - "velocityY": 1.3033638007909902, - "timestamp": 11.052787457513572 - }, - { - "x": 4.996115872359855, - "y": 1.7283189881306324, - "heading": -0.36622067840528416, - "angularVelocity": -0.8956890854028594, - "velocityX": -3.5970621890572314, - "velocityY": 1.1959824907741203, - "timestamp": 11.135193337544218 - }, - { - "x": 4.732736935087431, - "y": 1.8159057723600291, - "heading": -0.43711479002142123, - "angularVelocity": -0.8603040412865287, - "velocityX": -3.1961182524169116, - "velocityY": 1.0628705645376848, - "timestamp": 11.217599217574863 - }, - { - "x": 4.502338857203799, - "y": 1.8925327189091943, - "heading": -0.5013692608315433, - "angularVelocity": -0.7797316257799427, - "velocityX": -2.7958936643592733, - "velocityY": 0.9298723164010714, - "timestamp": 11.300005097605508 - }, - { - "x": 4.304889219129118, - "y": 1.9582062400500209, - "heading": -0.5576357524751158, - "angularVelocity": -0.6827970482524788, - "velocityX": -2.396062489730738, - "velocityY": 0.7969518815453914, - "timestamp": 11.382410977636154 - }, - { - "x": 4.140369092817658, - "y": 2.0129300491668727, - "heading": -0.6052252685128586, - "angularVelocity": -0.5775014600905304, - "velocityX": -1.9964610080042535, - "velocityY": 0.6640765088183144, - "timestamp": 11.464816857666799 - }, - { - "x": 4.008766269829904, - "y": 2.0567065014156403, - "heading": -0.6437229947806191, - "angularVelocity": -0.4671720786604532, - "velocityX": -1.5970076763795704, - "velocityY": 0.5312297160407456, - "timestamp": 11.547222737697444 - }, - { - "x": 3.9100722638712457, - "y": 2.0895372342089806, - "heading": -0.6728522708471012, - "angularVelocity": -0.3534854072992033, - "velocityX": -1.1976573264184043, - "velocityY": 0.3984027933580843, - "timestamp": 11.62962861772809 - }, - { - "x": 3.8442808143052742, - "y": 2.1114234734626223, - "heading": -0.6924141497397114, - "angularVelocity": -0.23738450320942417, - "velocityX": -0.7983829496330213, - "velocityY": 0.26559074723190373, - "timestamp": 11.712034497758735 - }, - { - "x": 3.811387062072754, - "y": 2.122366189956665, - "heading": -0.7022564818650576, - "angularVelocity": -0.11943725522603567, - "velocityX": -0.3991675378054077, - "velocityY": 0.1327904815769616, - "timestamp": 11.79444037778938 - }, - { - "x": 3.811387062072754, - "y": 2.122366189956665, - "heading": -0.7022564818650576, - "angularVelocity": 1.9181866499986056e-28, - "velocityX": 1.4721704576805681e-27, - "velocityY": -6.910528798867393e-28, - "timestamp": 11.876846257820025 - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 0.7012643218040466, - "y": 4.475527763366699, - "heading": -1.0584069524694912, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "timestamp": 0.9374982818954185, - "isStopPoint": false, - "x": 2.922780752182007, - "y": 4.821096897125244, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "timestamp": 1.3558425667257186, - "isStopPoint": false, - "x": 4.601259708404541, - "y": 4.524894714355469, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 12 - }, - { - "timestamp": 1.7887439682495578, - "isStopPoint": false, - "x": 6.164548397064209, - "y": 3.7679338455200195, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 12 - }, - { - "timestamp": 2.658383830047799, - "isStopPoint": false, - "x": 7.908850193023682, - "y": 4.1135029792785645, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 3.8290620800595745, - "isStopPoint": false, - "x": 4.848094463348389, - "y": 3.603376865386963, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 15 - }, - { - "timestamp": 4.559092460009516, - "isStopPoint": false, - "x": 3.8772099018096924, - "y": 2.2704672813415527, - "heading": -0.6435012536786778, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "timestamp": 5.496200955103766, - "isStopPoint": false, - "x": 6.279738426208496, - "y": 1.9578094482421875, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "timestamp": 6.27016203602924, - "isStopPoint": false, - "x": 7.908850193023682, - "y": 2.4185683727264404, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "timestamp": 7.139003833033828, - "isStopPoint": false, - "x": 6.263282775878906, - "y": 1.8426196575164795, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "timestamp": 8.125890507708705, - "isStopPoint": false, - "x": 3.8442983627319336, - "y": 2.1552774906158447, - "heading": -0.602287538290654, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 22 - }, - { - "timestamp": 9.981511017115183, - "isStopPoint": false, - "x": 7.908850193023682, - "y": 0.7236337661743164, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "timestamp": 11.876846257820025, - "isStopPoint": true, - "x": 3.811387062072754, - "y": 2.122366189956665, - "heading": -0.7022564818650576, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "constraints": [ - { - "scope": [ - "first" - ], - "type": "StopPoint" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint" - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [ - { - "name": "Marker", - "target": 12, - "trajTargetIndex": 12, - "targetTimestamp": 11.876846257820025, - "offset": 0, - "command": { - "type": "named", - "data": { - "name": "" - } - } - } - ], - "isTrajectoryStale": false - } - }, - "splitTrajectoriesAtStopPoints": false, - "usesObstacles": false +{ + "version": "v0.3.1", + "robotConfiguration": { + "mass": 74.08797700309194, + "rotationalInertia": 6, + "motorMaxTorque": 0.7684210526315789, + "motorMaxVelocity": 4864, + "gearing": 4.71, + "wheelbase": 0.47497974351093847, + "trackWidth": 0.47497974351093847, + "bumperLength": 0.7619995885202222, + "bumperWidth": 0.7619995885202222, + "wheelRadius": 0.03809997942601111 + }, + "paths": { + "North3Note": { + "waypoints": [ + { + "x": 0.6933403611183167, + "y": 6.652110576629639, + "heading": 1.0445278830522644, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 22 + }, + { + "x": 7.720338821411133, + "y": 7.310452938079834, + "heading": 0.1899884683112146, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 11 + }, + { + "x": 5.880190372467041, + "y": 7.069122314453125, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "x": 7.70564079284668, + "y": 5.839958667755127, + "heading": -0.13953873523509996, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 14 + }, + { + "x": 5.910356521606445, + "y": 6.782541751861572, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "trajectory": [ + { + "x": 1.527046799659729, + "y": 6.424683570861816, + "heading": 0, + "angularVelocity": 0, + "velocityX": 0, + "velocityY": 0, + "timestamp": 0 + }, + { + "x": 1.5803778722762798, + "y": 6.431613307648725, + "heading": -7.238976046606308e-20, + "angularVelocity": -7.704500795241715e-19, + "velocityX": 0.5675202526066888, + "velocityY": 0.07374248780027282, + "timestamp": 0.09397210473418934 + }, + { + "x": 1.68704001649222, + "y": 6.445472781090374, + "heading": -7.766412640921261e-19, + "angularVelocity": -7.494484321596982e-18, + "velocityX": 1.135040494389377, + "velocityY": 0.1474849741940998, + "timestamp": 0.18794420946837867 + }, + { + "x": 1.8470332308835264, + "y": 6.466261991001732, + "heading": 5.341232520337701e-18, + "angularVelocity": 6.510278815728929e-17, + "velocityX": 1.7025607210184963, + "velocityY": 0.22122745861890658, + "timestamp": 0.281916314202568 + }, + { + "x": 2.060357513314171, + "y": 6.4939809371052455, + "heading": 1.0374456143775375e-17, + "angularVelocity": 5.356041194946413e-17, + "velocityX": 2.2700809249173326, + "velocityY": 0.2949699400901919, + "timestamp": 0.37588841893675734 + }, + { + "x": 2.3270128602241256, + "y": 6.528629618938332, + "heading": 1.5622472868888807e-17, + "angularVelocity": 5.584612294643159e-17, + "velocityX": 2.83760109093256, + "velocityY": 0.36871241663896615, + "timestamp": 0.46986052367094666 + }, + { + "x": 2.646999264493404, + "y": 6.570208035575839, + "heading": 1.828783002953645e-17, + "angularVelocity": 2.83627951640822e-17, + "velocityX": 3.4051211811813413, + "velocityY": 0.44245488334281696, + "timestamp": 0.563832628405136 + }, + { + "x": 3.020316704762692, + "y": 6.618716184242384, + "heading": 2.4259927284441674e-17, + "angularVelocity": 6.355118340467644e-17, + "velocityX": 3.9726410441377396, + "velocityY": 0.516197320512797, + "timestamp": 0.6578047331393254 + }, + { + "x": 3.4232251231318087, + "y": 6.671069327570229, + "heading": 1.2251203345153583e-17, + "angularVelocity": -1.2779030516969416e-16, + "velocityX": 4.287532129976935, + "velocityY": 0.5571136612926704, + "timestamp": 0.7517768378735148 + }, + { + "x": 3.826133541501536, + "y": 6.72342247089821, + "heading": -3.0725420146816944e-17, + "angularVelocity": -4.57333839797614e-16, + "velocityX": 4.287532129983888, + "velocityY": 0.5571136612941865, + "timestamp": 0.8457489426077042 + }, + { + "x": 4.229041959871261, + "y": 6.775775614226211, + "heading": -3.609315802714011e-17, + "angularVelocity": -5.712054546204108e-17, + "velocityX": 4.287532129983866, + "velocityY": 0.5571136612943784, + "timestamp": 0.9397210473418935 + }, + { + "x": 4.631950378240786, + "y": 6.8281287575557545, + "heading": -1.1924499875293168e-16, + "angularVelocity": -8.848566386893959e-16, + "velocityX": 4.28753212998173, + "velocityY": 0.5571136613108173, + "timestamp": 1.0336931520760828 + }, + { + "x": 5.034858796597671, + "y": 6.8804819009825735, + "heading": -2.1295278854430073e-16, + "angularVelocity": -9.971871592067265e-16, + "velocityX": 4.287532129847148, + "velocityY": 0.5571136623465057, + "timestamp": 1.127665256810272 + }, + { + "x": 5.437767215061566, + "y": 6.932835043626118, + "heading": -2.6699372248080257e-16, + "angularVelocity": -5.75074210471511e-16, + "velocityX": 4.287532130981454, + "velocityY": 0.557113654045475, + "timestamp": 1.2216373615444613 + }, + { + "x": 5.840675581043441, + "y": 6.985188591149217, + "heading": -3.5238377372764894e-16, + "angularVelocity": -9.086744571589023e-16, + "velocityX": 4.287531572521534, + "velocityY": 0.5571179623462049, + "timestamp": 1.3156094662786506 + }, + { + "x": 6.2391489941190015, + "y": 7.064529363238017, + "heading": -2.7972321354431857e-16, + "angularVelocity": 7.732141403951283e-16, + "velocityX": 4.240337217115807, + "velocityY": 0.8443013202155537, + "timestamp": 1.4095815710128399 + }, + { + "x": 6.583885426153462, + "y": 7.141736757688093, + "heading": -2.25728641853031e-16, + "angularVelocity": 5.74581096050356e-16, + "velocityX": 3.6684975079247897, + "velocityY": 0.8215990763489747, + "timestamp": 1.5035536757470291 + }, + { + "x": 6.875123486119249, + "y": 7.213453599944083, + "heading": -1.755249032552149e-16, + "angularVelocity": 5.3424129243203e-16, + "velocityX": 3.0991969455886323, + "velocityY": 0.7631716077921338, + "timestamp": 1.5975257804812184 + }, + { + "x": 7.112927337691344, + "y": 7.279086965742181, + "heading": -1.3031574273926836e-16, + "angularVelocity": 4.810917183158117e-16, + "velocityX": 2.5305791781660814, + "velocityY": 0.6984345618843045, + "timestamp": 1.6914978852154077 + }, + { + "x": 7.297325668269741, + "y": 7.338389913207113, + "heading": -9.321690493625898e-17, + "angularVelocity": 3.9478604538397664e-16, + "velocityX": 1.9622666864433715, + "velocityY": 0.6310696949237226, + "timestamp": 1.785469989949597 + }, + { + "x": 7.4283346967199675, + "y": 7.3912270589200295, + "heading": -5.778917139368449e-17, + "angularVelocity": 3.770030216563795e-16, + "velocityX": 1.3941267870617549, + "velocityY": 0.5622641512944202, + "timestamp": 1.8794420946837862 + }, + { + "x": 7.50596484417342, + "y": 7.437512912371683, + "heading": -2.877604697913188e-17, + "angularVelocity": 3.0874215564557075e-16, + "velocityX": 0.8260977836895133, + "velocityY": 0.49254886418904925, + "timestamp": 1.9734141994179755 + }, + { + "x": 7.530223369598389, + "y": 7.477188587188721, + "heading": 0, + "angularVelocity": 3.0621931871228367e-16, + "velocityX": 0.25814602630766825, + "velocityY": 0.42220694034401873, + "timestamp": 2.0673863041521647 + }, + { + "x": 7.500103329393163, + "y": 7.510531194938532, + "heading": 1.779046728903491e-17, + "angularVelocity": 1.8703842501578197e-16, + "velocityX": -0.31666471019917375, + "velocityY": 0.3505449246412241, + "timestamp": 2.1625028082142728 + }, + { + "x": 7.415463776975628, + "y": 7.535915868379189, + "heading": 2.4375199309402564e-17, + "angularVelocity": 6.922836439091234e-17, + "velocityX": -0.8898513800734154, + "velocityY": 0.2668797985169528, + "timestamp": 2.257619312276381 + }, + { + "x": 7.276591240327495, + "y": 7.5515799895791, + "heading": 3.036787917564806e-17, + "angularVelocity": 6.300375885015102e-17, + "velocityX": -1.460025660199517, + "velocityY": 0.16468352526083074, + "timestamp": 2.352735816338489 + }, + { + "x": 7.084125232551265, + "y": 7.55445954230526, + "heading": 3.032865591238689e-17, + "angularVelocity": -4.1256799084456108e-19, + "velocityX": -2.023476468844192, + "velocityY": 0.030273954607956743, + "timestamp": 2.447852320400597 + }, + { + "x": 6.840054992354522, + "y": 7.538033455103224, + "heading": 1.9251688156136728e-17, + "angularVelocity": -1.1645684985322104e-16, + "velocityX": -2.566013570378538, + "velocityY": -0.1726943958053017, + "timestamp": 2.542968824462705 + }, + { + "x": 6.556978957286809, + "y": 7.4826940016714385, + "heading": 1.168333713259459e-17, + "angularVelocity": -7.956942087581419e-17, + "velocityX": -2.9760979743487863, + "velocityY": -0.5818070583102407, + "timestamp": 2.638085328524813 + }, + { + "x": 6.309433732631585, + "y": 7.385244419108981, + "heading": 1.7429590751971742e-18, + "angularVelocity": -1.0450697704099872e-16, + "velocityX": -2.6025475504932367, + "velocityY": -1.0245286401220972, + "timestamp": 2.733201832586921 + }, + { + "x": 6.113965558529466, + "y": 7.269803584420074, + "heading": 5.511711951137295e-19, + "angularVelocity": -1.2529970637265847e-17, + "velocityX": -2.0550395121449547, + "velocityY": -1.2136782761902432, + "timestamp": 2.828318336649029 + }, + { + "x": 5.972598051076002, + "y": 7.143930917175248, + "heading": 3.9507181654559564e-19, + "angularVelocity": -1.6412388481640138e-18, + "velocityX": -1.486256342672709, + "velocityY": -1.3233525399690549, + "timestamp": 2.923434840711137 + }, + { + "x": 5.885876308034012, + "y": 7.011019350436582, + "heading": -1.2473375757596908e-19, + "angularVelocity": -5.46489063548754e-18, + "velocityX": -0.9117423300801472, + "velocityY": -1.3973554647335724, + "timestamp": 3.018551344773245 + }, + { + "x": 5.8540120124816895, + "y": 6.8729729652404785, + "heading": 0, + "angularVelocity": 1.3113676254288102e-18, + "velocityX": -0.3350028038363674, + "velocityY": -1.4513399809659164, + "timestamp": 3.113667848835353 + }, + { + "x": 5.876847778987881, + "y": 6.731488948754559, + "heading": -6.062838132168256e-20, + "angularVelocity": -6.395243271042044e-19, + "velocityX": 0.24087875528506464, + "velocityY": -1.4924173346526775, + "timestamp": 3.2084697606069428 + }, + { + "x": 5.954325811159231, + "y": 6.586848059484525, + "heading": 7.478073155132048e-19, + "angularVelocity": 8.527632110701656e-18, + "velocityX": 0.8172623391613877, + "velocityY": -1.5257170089433227, + "timestamp": 3.3032716723785325 + }, + { + "x": 6.086499328065735, + "y": 6.440170804019068, + "heading": 1.4363797703536666e-18, + "angularVelocity": 7.263274930401322e-18, + "velocityX": 1.3942072943118622, + "velocityY": -1.5471972318351441, + "timestamp": 3.398073584150122 + }, + { + "x": 6.273406060259042, + "y": 6.293360751925273, + "heading": 2.311285716611774e-18, + "angularVelocity": 9.22878498013423e-18, + "velocityX": 1.9715502430360803, + "velocityY": -1.5485980119022507, + "timestamp": 3.492875495921712 + }, + { + "x": 6.514914861463926, + "y": 6.1503396100077445, + "heading": -6.2949945446815836e-18, + "angularVelocity": -9.078179443488146e-17, + "velocityX": 2.5475098201304753, + "velocityY": -1.5086314109602783, + "timestamp": 3.5876774076933016 + }, + { + "x": 6.808786265563555, + "y": 6.023252627813635, + "heading": -8.361768144777607e-18, + "angularVelocity": -2.1801082921246504e-17, + "velocityX": 3.099846813302867, + "velocityY": -1.3405529468673267, + "timestamp": 3.6824793194648913 + }, + { + "x": 7.087207051909614, + "y": 5.948672912588583, + "heading": -4.419183708326357e-18, + "angularVelocity": 4.158764914156809e-17, + "velocityX": 2.936868900035097, + "velocityY": -0.7866899921229229, + "timestamp": 3.777281231236481 + }, + { + "x": 7.31638283607853, + "y": 5.897981907722374, + "heading": -1.1654088636534015e-18, + "angularVelocity": 3.4321857421642983e-17, + "velocityX": 2.417417327202346, + "velocityY": -0.5347044581556282, + "timestamp": 3.8720831430080707 + }, + { + "x": 7.493445610240801, + "y": 5.864023394695471, + "heading": 3.540512884513429e-18, + "angularVelocity": 4.963960527569517e-17, + "velocityX": 1.8677131173093207, + "velocityY": -0.3582049390356209, + "timestamp": 3.9668850547796604 + }, + { + "x": 7.6175649999735855, + "y": 5.843947989360528, + "heading": 1.3700368118154038e-18, + "angularVelocity": -2.28948415454817e-17, + "velocityX": 1.3092498601850082, + "velocityY": -0.211761608594753, + "timestamp": 4.06168696655125 + }, + { + "x": 7.688366440099985, + "y": 5.836239441706774, + "heading": 2.2068386463659204e-19, + "angularVelocity": -1.2123711772300208e-17, + "velocityX": 0.7468355732777747, + "velocityY": -0.0813121540414055, + "timestamp": 4.156488878322839 + }, + { + "x": 7.70564079284668, + "y": 5.839958667755127, + "heading": 0, + "angularVelocity": -2.327848859137068e-18, + "velocityX": 0.1822152362033504, + "velocityY": 0.0392315511284381, + "timestamp": 4.251290790094428 + }, + { + "x": 7.666755003045207, + "y": 5.85516685330475, + "heading": 6.870828582257685e-19, + "angularVelocity": 7.054828772599489e-18, + "velocityX": -0.39926835330188015, + "velocityY": 0.1561533720162553, + "timestamp": 4.348683407061851 + }, + { + "x": 7.571237005587491, + "y": 5.8817623602715665, + "heading": 2.2883038209312854e-18, + "angularVelocity": 1.644082969308034e-17, + "velocityX": -0.9807519340878659, + "velocityY": 0.2730751857199539, + "timestamp": 4.446076024029274 + }, + { + "x": 7.419086801662762, + "y": 5.919745187677906, + "heading": 3.101214925430452e-18, + "angularVelocity": 8.346688736165507e-18, + "velocityX": -1.5622355026631383, + "velocityY": 0.3899969893849836, + "timestamp": 4.543468640996697 + }, + { + "x": 7.210304393055825, + "y": 5.969115334062128, + "heading": 4.8294974273863036e-18, + "angularVelocity": 1.7745451453583443e-17, + "velocityX": -2.1437190529124375, + "velocityY": 0.5069187780419899, + "timestamp": 4.64086125796412 + }, + { + "x": 6.944889782743743, + "y": 6.029872797000189, + "heading": 1.1027082338991211e-17, + "angularVelocity": 6.363492534943682e-17, + "velocityX": -2.725202572593995, + "velocityY": 0.6238405418090931, + "timestamp": 4.7382538749315435 + }, + { + "x": 6.622842976687566, + "y": 6.10201757167907, + "heading": 1.8144210010315694e-17, + "angularVelocity": 7.307651508437439e-17, + "velocityX": -3.3066860310689554, + "velocityY": 0.7407622561564634, + "timestamp": 4.835646491898967 + }, + { + "x": 6.244163992803297, + "y": 6.185549643827075, + "heading": 2.6195414899111268e-17, + "angularVelocity": 8.266733840029285e-17, + "velocityX": -3.8881693055870428, + "velocityY": 0.8576838239632234, + "timestamp": 4.93303910886639 + }, + { + "x": 5.904370819071749, + "y": 6.2538736316180685, + "heading": 2.3122125773435226e-17, + "angularVelocity": -3.1555675659560407e-17, + "velocityX": -3.48890074331621, + "velocityY": 0.7015314909925873, + "timestamp": 5.030431725833813 + }, + { + "x": 5.6212098149661305, + "y": 6.310810281162716, + "heading": 1.980566671869573e-17, + "angularVelocity": -3.4052407882747414e-17, + "velocityX": -2.9074175530194926, + "velocityY": 0.5846095044853901, + "timestamp": 5.127824342801236 + }, + { + "x": 5.394681002455137, + "y": 6.356359598333385, + "heading": 1.6213849271933517e-17, + "angularVelocity": -3.6879655779404135e-17, + "velocityX": -2.325934137151687, + "velocityY": 0.46768757827677154, + "timestamp": 5.225216959768659 + }, + { + "x": 5.224784388861421, + "y": 6.390521585086604, + "heading": 1.1716654425896829e-17, + "angularVelocity": -4.6175799547016584e-17, + "velocityX": -1.7444506460961258, + "velocityY": 0.3507656721581154, + "timestamp": 5.322609576736082 + }, + { + "x": 5.111519977846271, + "y": 6.413296242400476, + "heading": 6.31238056070833e-18, + "angularVelocity": -5.54894105440847e-17, + "velocityX": -1.162967117447121, + "velocityY": 0.2338437760828003, + "timestamp": 5.420002193703505 + }, + { + "x": 5.054887771606445, + "y": 6.424683570861816, + "heading": 0, + "angularVelocity": -6.481362807675258e-17, + "velocityX": -0.58148356624218, + "velocityY": 0.11692188603299503, + "timestamp": 5.517394810670928 + }, + { + "x": 5.054887771606445, + "y": 6.424683570861816, + "heading": 0, + "angularVelocity": 0, + "velocityX": 1.6558987478358535e-31, + "velocityY": -3.8185471679149395e-31, + "timestamp": 5.614787427638351 + } + ], + "trajectoryWaypoints": [], + "constraints": [ + { + "scope": [ + "first" + ], + "type": "StopPoint" + }, + { + "scope": [ + "last" + ], + "type": "StopPoint" + } + ], + "usesControlIntervalGuessing": true, + "defaultControlIntervalCount": 40, + "usesDefaultFieldObstacles": true, + "circleObstacles": [], + "eventMarkers": [], + "isTrajectoryStale": true + }, + "loopPath": { + "waypoints": [ + { + "x": 1.2541749477386475, + "y": 5.604986667633057, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "x": 3.0300064086914062, + "y": 5.583330154418945, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "x": 1.2541749477386475, + "y": 5.561673641204834, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "trajectory": [ + { + "x": 1.2541749477386477, + "y": 5.604986667633057, + "heading": 7.866524923690053e-33, + "angularVelocity": 1.2831956883407897e-32, + "velocityX": 5.4428847049570976e-21, + "velocityY": 6.7744613347840735e-22, + "timestamp": 0 + }, + { + "x": 1.3034786342794933, + "y": 5.604984852143914, + "heading": 6.770179987744432e-22, + "angularVelocity": 6.905010344402558e-21, + "velocityX": 0.5028558562941375, + "velocityY": -0.000018516452040998658, + "timestamp": 0.09804735477119748 + }, + { + "x": 1.4020860063452631, + "y": 5.604981039642406, + "heading": 2.1174416388235206e-21, + "angularVelocity": 1.4691101496458947e-20, + "velocityX": 1.0057117022267377, + "velocityY": -0.00003888428726429579, + "timestamp": 0.19609470954239497 + }, + { + "x": 1.5499970624106292, + "y": 5.60497495780927, + "heading": 6.7303121457013634e-21, + "angularVelocity": 4.704737337023409e-20, + "velocityX": 1.5085675326022834, + "velocityY": -0.00006202954837740684, + "timestamp": 0.29414206431359247 + }, + { + "x": 1.7472117999295202, + "y": 5.6049661526872505, + "heading": 1.2447718118569106e-20, + "angularVelocity": 5.831269989541438e-20, + "velocityX": 2.0114233370100574, + "velocityY": -0.00008980478912080037, + "timestamp": 0.39218941908478994 + }, + { + "x": 1.9937302137953143, + "y": 5.604953716017382, + "heading": 1.6972015412374082e-20, + "angularVelocity": 4.614400159758598e-20, + "velocityX": 2.514279089334612, + "velocityY": -0.0001268435022699963, + "timestamp": 0.4902367738559874 + }, + { + "x": 2.289552288572065, + "y": 5.604934920264204, + "heading": 2.6162263283806833e-20, + "angularVelocity": 9.373274674572235e-20, + "velocityX": 3.017134684225582, + "velocityY": -0.0001917007676846815, + "timestamp": 0.5882841286271849 + }, + { + "x": 2.536220493621631, + "y": 5.601339738762721, + "heading": 1.6478715367224322e-20, + "angularVelocity": -9.876398951722278e-20, + "velocityX": 2.5158068325778777, + "velocityY": -0.03666780720267226, + "timestamp": 0.6863314833983825 + }, + { + "x": 2.7335850374661526, + "y": 5.597740030880163, + "heading": 1.0984255449736642e-20, + "angularVelocity": -5.603883890163484e-20, + "velocityX": 2.0129512346874656, + "velocityY": -0.036713972457059985, + "timestamp": 0.78437883816958 + }, + { + "x": 2.881645904840353, + "y": 5.5941385117780875, + "heading": 7.470100120478928e-21, + "angularVelocity": -3.5841408861826487e-20, + "velocityX": 1.5100954811041447, + "velocityY": -0.03673244536255617, + "timestamp": 0.8824261929407775 + }, + { + "x": 2.980403090683931, + "y": 5.590536087428902, + "heading": 4.600149736655284e-21, + "angularVelocity": -2.9271063878775503e-20, + "velocityX": 1.0072396759100455, + "velocityY": -0.03674167811658048, + "timestamp": 0.980473547711975 + }, + { + "x": 3.0298565924720235, + "y": 5.586933210992084, + "heading": 2.1096566940203663e-21, + "angularVelocity": -2.5400920292710638e-20, + "velocityX": 0.5043838449644774, + "velocityY": -0.03674628902763381, + "timestamp": 1.0785209024831726 + }, + { + "x": 3.0300064086914062, + "y": 5.583330154418945, + "heading": 9.314541542403617e-33, + "angularVelocity": -2.151671199851494e-20, + "velocityX": 0.0015279985852996618, + "velocityY": -0.036748126265591534, + "timestamp": 1.17656825725437 + }, + { + "x": 2.9808026628295825, + "y": 5.5797252743022625, + "heading": -1.881560336573548e-21, + "angularVelocity": -1.9180608440235076e-20, + "velocityX": -0.5015825244790882, + "velocityY": -0.03674811414659432, + "timestamp": 1.2746652671390815 + }, + { + "x": 2.882245280022854, + "y": 5.57612057746786, + "heading": -3.645326848999846e-21, + "angularVelocity": -1.7979819299132985e-20, + "velocityX": -1.0046930372552438, + "velocityY": -0.03674624576874157, + "timestamp": 1.3727622770237928 + }, + { + "x": 2.7343342617865396, + "y": 5.572516337089734, + "heading": -5.336952867008863e-21, + "angularVelocity": -1.7244419773331064e-20, + "velocityX": -1.5078035345842509, + "velocityY": -0.03674159265773245, + "timestamp": 1.4708592869085042 + }, + { + "x": 2.5370696106500454, + "y": 5.568913008548219, + "heading": -6.786337969000901e-21, + "angularVelocity": -1.477501814296612e-20, + "velocityX": -2.0109140061285244, + "velocityY": -0.036732297403860824, + "timestamp": 1.5689562967932156 + }, + { + "x": 2.290451331686718, + "y": 5.5653115029452165, + "heading": -8.801693594315238e-21, + "angularVelocity": -2.0544516351608002e-20, + "velocityX": -2.514024425955135, + "velocityY": -0.036713714385750676, + "timestamp": 1.667053306677927 + }, + { + "x": 1.9944794402331503, + "y": 5.561714556342404, + "heading": -1.571317447728586e-20, + "angularVelocity": -7.045557135490912e-20, + "velocityX": -3.0171346894406788, + "velocityY": -0.036667239980500047, + "timestamp": 1.7651503165626383 + }, + { + "x": 1.747711294963774, + "y": 5.561697557028532, + "heading": -8.53170785637743e-21, + "angularVelocity": 7.320780343440057e-20, + "velocityX": -2.5155521616753718, + "velocityY": -0.0001732908463936188, + "timestamp": 1.8632473264473497 + }, + { + "x": 1.550296762077375, + "y": 5.5616869181016915, + "heading": -3.82353008314657e-21, + "angularVelocity": 4.799512009950944e-20, + "velocityX": -2.012441899283276, + "velocityY": -0.00010845312056685896, + "timestamp": 1.961344336332061 + }, + { + "x": 1.4022358569404827, + "y": 5.5616799159742625, + "heading": -1.5717254748580432e-21, + "angularVelocity": 2.2954875071296284e-20, + "velocityX": -1.5093314802449216, + "velocityY": -0.00007137962143080107, + "timestamp": 2.0594413462167727 + }, + { + "x": 1.3035285846470228, + "y": 5.561675641863372, + "heading": -2.490804565078234e-22, + "angularVelocity": 1.3483030918647887e-20, + "velocityX": -1.0062210092791382, + "velocityY": -0.00004357024638633891, + "timestamp": 2.157538356101484 + }, + { + "x": 1.2541749477386477, + "y": 5.561673641204834, + "heading": -4.0141515265073783e-32, + "angularVelocity": 2.5391238358261822e-21, + "velocityX": -0.5031105124037735, + "velocityY": -0.000020394694400561694, + "timestamp": 2.2556353659861954 + }, + { + "x": 1.2541749477386477, + "y": 5.561673641204834, + "heading": -1.9221361979359865e-32, + "angularVelocity": 1.7317462658979315e-32, + "velocityX": 1.5215136549872227e-21, + "velocityY": 3.9124748150960787e-22, + "timestamp": 2.353732375870907 + } + ], + "trajectoryWaypoints": [ + { + "timestamp": 0, + "isStopPoint": true, + "x": 1.2541749477386475, + "y": 5.604986667633057, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "timestamp": 1.17656825725437, + "isStopPoint": false, + "x": 3.0300064086914062, + "y": 5.583330154418945, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "timestamp": 2.353732375870907, + "isStopPoint": true, + "x": 1.2541749477386475, + "y": 5.561673641204834, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "constraints": [ + { + "scope": [ + "first" + ], + "type": "StopPoint" + }, + { + "scope": [ + "last" + ], + "type": "StopPoint" + } + ], + "usesControlIntervalGuessing": true, + "defaultControlIntervalCount": 40, + "usesDefaultFieldObstacles": true, + "circleObstacles": [], + "eventMarkers": [], + "isTrajectoryStale": true + }, + "Source4NoteFar": { + "waypoints": [ + { + "x": 0.6885567903518677, + "y": 4.453176975250244, + "heading": -1.0863186564678593, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 23 + }, + { + "x": 3.7100203037261963, + "y": 2.2926273345947266, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 22 + }, + { + "x": 7.939531326293945, + "y": 0.8503056764602661, + "heading": -0.49642193244286464, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + }, + { + "x": 3.863532304763794, + "y": 2.288334846496582, + "heading": -0.6254844943742653, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 17 + }, + { + "x": 6.234120845794678, + "y": 1.6881886720657349, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 15 + }, + { + "x": 8.134439468383789, + "y": 2.3900814056396484, + "heading": 0.4216725296119854, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 17 + }, + { + "x": 5.631840705871582, + "y": 1.6077326536178589, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 15 + }, + { + "x": 3.9220190048217773, + "y": 2.3468215465545654, + "heading": -0.5404196941509068, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 16 + }, + { + "x": 6.053758144378662, + "y": 1.916719675064087, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 19 + }, + { + "x": 8.013365745544434, + "y": 3.783747434616089, + "heading": 0.706908432995524, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 19 + }, + { + "x": 4.996804237365723, + "y": 3.968907356262207, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 13 + }, + { + "x": 3.9951274394989014, + "y": 3.1802568435668945, + "heading": -0.43662724907911504, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "trajectory": [ + { + "x": 0.6885567903518677, + "y": 4.453176975250244, + "heading": -1.0863186564678593, + "angularVelocity": 3.394120175036044e-27, + "velocityX": -2.1149346198916325e-25, + "velocityY": -3.6854833776665248e-25, + "timestamp": 0 + }, + { + "x": 0.701309503097222, + "y": 4.443900931648444, + "heading": -1.0829185789751592, + "angularVelocity": 0.06123493124721272, + "velocityX": 0.2296746147268097, + "velocityY": -0.16706027830890885, + "timestamp": 0.055525129586146055 + }, + { + "x": 0.7268154815552788, + "y": 4.425347913055752, + "heading": -1.0761583023507493, + "angularVelocity": 0.12175165865973384, + "velocityX": 0.45935918832003475, + "velocityY": -0.334137330808164, + "timestamp": 0.11105025917229211 + }, + { + "x": 0.7650753560299537, + "y": 4.3975168405520435, + "heading": -1.0660842521869078, + "angularVelocity": 0.18143226749631602, + "velocityX": 0.6890551136006906, + "velocityY": -0.5012338145114863, + "timestamp": 0.16657538875843816 + }, + { + "x": 0.8160898545753549, + "y": 4.3604064485110285, + "heading": -1.052751348041684, + "angularVelocity": 0.24012378259357745, + "velocityX": 0.9187641510363933, + "velocityY": -0.6683530919714367, + "timestamp": 0.22210051834458422 + }, + { + "x": 0.8798598296859603, + "y": 4.314015230291449, + "heading": -1.0362257436703786, + "angularVelocity": 0.2976238775934092, + "velocityX": 1.1484885417812079, + "velocityY": -0.8354995038346342, + "timestamp": 0.2776256479307303 + }, + { + "x": 0.9563862935427256, + "y": 4.258341360780349, + "heading": -1.0165888098402591, + "angularVelocity": 0.35365849618870837, + "velocityX": 1.3782311617667844, + "velocityY": -1.0026787857329247, + "timestamp": 0.3331507775168764 + }, + { + "x": 1.0456704648547377, + "y": 4.193382582363671, + "heading": -0.9939431496875328, + "angularVelocity": 0.4078452463148618, + "velocityX": 1.6079957305365589, + "velocityY": -1.169898726952011, + "timestamp": 0.38867590710302247 + }, + { + "x": 1.1477138307776387, + "y": 4.119136030759216, + "heading": -0.9684221265669595, + "angularVelocity": 0.45963014063709734, + "velocityX": 1.8377870827763283, + "velocityY": -1.3371702535023144, + "timestamp": 0.44420103668916855 + }, + { + "x": 1.2625182253193026, + "y": 4.035597957054578, + "heading": -0.9402059046034171, + "angularVelocity": 0.5081703036778226, + "velocityX": 2.0676114652474116, + "velocityY": -1.504509297452977, + "timestamp": 0.49972616627531463 + }, + { + "x": 1.3900859107662955, + "y": 3.9427632601540505, + "heading": -0.9095507354987135, + "angularVelocity": 0.5520954085688863, + "velocityX": 2.2974765911905615, + "velocityY": -1.671940211440602, + "timestamp": 0.5552512958614607 + }, + { + "x": 1.5304195680842245, + "y": 3.840624652337327, + "heading": -0.8768488312128728, + "angularVelocity": 0.588956829629805, + "velocityX": 2.527390000958115, + "velocityY": -1.8395023762755498, + "timestamp": 0.6107764254476068 + }, + { + "x": 1.6835216202036696, + "y": 3.729171108221817, + "heading": -0.8427733340930771, + "angularVelocity": 0.6136950489584778, + "velocityX": 2.7573470473744757, + "velocityY": -2.007263106745065, + "timestamp": 0.6663015550337529 + }, + { + "x": 1.8493882506818127, + "y": 3.608385664410105, + "heading": -0.808746208075466, + "angularVelocity": 0.612823892014852, + "velocityX": 2.9872353601769563, + "velocityY": -2.1753293456851024, + "timestamp": 0.721826684619899 + }, + { + "x": 2.027907239187379, + "y": 3.4782789596731347, + "heading": -0.7798687850274081, + "angularVelocity": 0.5200784449004344, + "velocityX": 3.2151026001406824, + "velocityY": -2.3432039818135415, + "timestamp": 0.777351814206045 + }, + { + "x": 2.212973382556378, + "y": 3.343779104303734, + "heading": -0.7798687767385638, + "angularVelocity": 1.4928095213230132e-7, + "velocityX": 3.333015964994242, + "velocityY": -2.4223240246693583, + "timestamp": 0.8328769437921911 + }, + { + "x": 2.3980395462614625, + "y": 3.209279276915848, + "heading": -0.7798687684499269, + "angularVelocity": 1.4927721668634784e-7, + "velocityX": 3.333016331244363, + "velocityY": -2.4223235207260925, + "timestamp": 0.8884020733783372 + }, + { + "x": 2.583105709967169, + "y": 3.074779449528818, + "heading": -0.7798687601612903, + "angularVelocity": 1.4927721505001108e-7, + "velocityX": 3.333016331255567, + "velocityY": -2.4223235207106772, + "timestamp": 0.9439272029644833 + }, + { + "x": 2.768171873672875, + "y": 2.940279622141788, + "heading": -0.7798687518726534, + "angularVelocity": 1.4927721772237764e-7, + "velocityX": 3.3330163312555676, + "velocityY": -2.422323520710677, + "timestamp": 0.9994523325506294 + }, + { + "x": 2.953238037378582, + "y": 2.8057797947547582, + "heading": -0.7798687435840165, + "angularVelocity": 1.4927721820085747e-7, + "velocityX": 3.333016331255571, + "velocityY": -2.4223235207106706, + "timestamp": 1.0549774621367753 + }, + { + "x": 3.138304201089101, + "y": 2.671279967374351, + "heading": -0.7798687352953797, + "angularVelocity": 1.4927721680994496e-7, + "velocityX": 3.333016331342246, + "velocityY": -2.4223235205914095, + "timestamp": 1.1105025917229214 + }, + { + "x": 3.323370522018546, + "y": 2.536780356320906, + "heading": -0.7798687270067427, + "angularVelocity": 1.4927722007479915e-7, + "velocityX": 3.3330191628336134, + "velocityY": -2.4223196245723564, + "timestamp": 1.1660277213090675 + }, + { + "x": 3.51247438849094, + "y": 2.408019274510783, + "heading": -0.779868718696711, + "angularVelocity": 1.49662535873164e-7, + "velocityX": 3.405734806597866, + "velocityY": -2.31896949669164, + "timestamp": 1.2215528508952136 + }, + { + "x": 3.710020303726196, + "y": 2.2926273345947266, + "heading": -0.779868710229491, + "angularVelocity": 1.5249347506293226e-7, + "velocityX": 3.5577749517678714, + "velocityY": -2.0781930771908943, + "timestamp": 1.2770779804813597 + }, + { + "x": 3.9581046340644135, + "y": 2.17413656564851, + "heading": -0.7798687023875752, + "angularVelocity": 1.1752432896230884e-7, + "velocityX": 3.7179619396532617, + "velocityY": -1.775783938234554, + "timestamp": 1.3438038734208 + }, + { + "x": 4.2151657327976855, + "y": 2.076640468884465, + "heading": -0.7798686946986859, + "angularVelocity": 1.1523096829074136e-7, + "velocityX": 3.8524939481376075, + "velocityY": -1.4611433803146185, + "timestamp": 1.4105297663602403 + }, + { + "x": 4.473273733448251, + "y": 1.981950673388302, + "heading": -0.779868687019788, + "angularVelocity": 1.1508123071029428e-7, + "velocityX": 3.8681835383577634, + "velocityY": -1.4190862246250013, + "timestamp": 1.4772556592996806 + }, + { + "x": 4.731381751981754, + "y": 1.8872609266379454, + "heading": -0.7798686793408901, + "angularVelocity": 1.1508123135598442e-7, + "velocityX": 3.8681838063637195, + "velocityY": -1.4190854940869202, + "timestamp": 1.543981552239121 + }, + { + "x": 4.989489770515562, + "y": 1.7925711798884192, + "heading": -0.7798686716619923, + "angularVelocity": 1.1508123122518e-7, + "velocityX": 3.868183806368286, + "velocityY": -1.4190854940744717, + "timestamp": 1.6107074451785612 + }, + { + "x": 5.247597789049369, + "y": 1.6978814331388932, + "heading": -0.7798686639830944, + "angularVelocity": 1.1508123020194597e-7, + "velocityX": 3.8681838063682856, + "velocityY": -1.419085494074472, + "timestamp": 1.6774333381180015 + }, + { + "x": 5.505705807583176, + "y": 1.6031916863893672, + "heading": -0.7798686563041966, + "angularVelocity": 1.1508122981029888e-7, + "velocityX": 3.868183806368286, + "velocityY": -1.419085494074472, + "timestamp": 1.7441592310574419 + }, + { + "x": 5.763813826116984, + "y": 1.5085019396398411, + "heading": -0.7798686486252987, + "angularVelocity": 1.150812311539268e-7, + "velocityX": 3.868183806368287, + "velocityY": -1.4190854940744704, + "timestamp": 1.8108851239968822 + }, + { + "x": 6.021921844652431, + "y": 1.413812192894788, + "heading": -0.7798686409464007, + "angularVelocity": 1.1508123149232243e-7, + "velocityX": 3.8681838063928784, + "velocityY": -1.419085494007436, + "timestamp": 1.8776110169363225 + }, + { + "x": 6.280029959502567, + "y": 1.319122708687512, + "heading": -0.7798686332674524, + "angularVelocity": 1.1508198682436301e-7, + "velocityX": 3.8681852498308413, + "velocityY": -1.4190815594362318, + "timestamp": 1.9443369098757628 + }, + { + "x": 6.535640541521234, + "y": 1.2363573105352137, + "heading": -0.7601601921076507, + "angularVelocity": 0.29536421757126274, + "velocityX": 3.830755509718786, + "velocityY": -1.240379026885639, + "timestamp": 2.011062802815203 + }, + { + "x": 6.770261917470024, + "y": 1.1616480507635125, + "heading": -0.7286485121958914, + "angularVelocity": 0.47225564954760224, + "velocityX": 3.5161968707069784, + "velocityY": -1.119644211273522, + "timestamp": 2.0777886957546436 + }, + { + "x": 6.98350443701307, + "y": 1.094927347846598, + "heading": -0.6949548329623987, + "angularVelocity": 0.5049565880530491, + "velocityX": 3.1957986644941965, + "velocityY": -0.9999222187625046, + "timestamp": 2.144514588694084 + }, + { + "x": 7.175340032760939, + "y": 1.036153040315015, + "heading": -0.6617196405184319, + "angularVelocity": 0.49808539054142775, + "velocityX": 2.874979821131458, + "velocityY": -0.8808320869519976, + "timestamp": 2.2112404816335247 + }, + { + "x": 7.345767051248528, + "y": 0.9853010621719508, + "heading": -0.630183689398933, + "angularVelocity": 0.47261939451481727, + "velocityX": 2.554136197806548, + "velocityY": -0.7621026246770035, + "timestamp": 2.2779663745729652 + }, + { + "x": 7.494787941521159, + "y": 0.9423562064943364, + "heading": -0.6010692809022818, + "angularVelocity": 0.43632849579210764, + "velocityX": 2.233329277554675, + "velocityY": -0.6436010637818008, + "timestamp": 2.344692267512406 + }, + { + "x": 7.6224056734264645, + "y": 0.9073080528508631, + "heading": -0.5748497275005627, + "angularVelocity": 0.3929442117097724, + "velocityX": 1.912566865476494, + "velocityY": -0.5252556706177386, + "timestamp": 2.4114181604518463 + }, + { + "x": 7.728622996709226, + "y": 0.8801490267496294, + "heading": -0.5518594737395791, + "angularVelocity": 0.3445477122629041, + "velocityX": 1.5918456629596907, + "velocityY": -0.4070237939847864, + "timestamp": 2.478144053391287 + }, + { + "x": 7.813442307646716, + "y": 0.8608733761969334, + "heading": -0.5323475063047407, + "angularVelocity": 0.29241972756433915, + "velocityX": 1.2711603726977772, + "velocityY": -0.28887812067483865, + "timestamp": 2.5448699463307274 + }, + { + "x": 7.876865663404102, + "y": 0.849476585375473, + "heading": -0.5165064137632613, + "angularVelocity": 0.23740547849777704, + "velocityX": 0.9505059125240666, + "velocityY": -0.17080012450045454, + "timestamp": 2.611595839270168 + }, + { + "x": 7.91889482908089, + "y": 0.8459550160486062, + "heading": -0.5044895665966007, + "angularVelocity": 0.18009271419667666, + "velocityX": 0.629877905342268, + "velocityY": -0.05277665343591268, + "timestamp": 2.6783217322096085 + }, + { + "x": 7.939531326293945, + "y": 0.8503056764602661, + "heading": -0.49642193244286464, + "angularVelocity": 0.12090709915352006, + "velocityX": 0.3092727021545489, + "velocityY": 0.06520198112011014, + "timestamp": 2.745047625149049 + }, + { + "x": 7.927180666475836, + "y": 0.8713586733936556, + "heading": -0.4930143763837493, + "angularVelocity": 0.036942190406947725, + "velocityX": -0.1338966751351047, + "velocityY": 0.22824094684214172, + "timestamp": 2.8372878529638696 + }, + { + "x": 7.87394900492315, + "y": 0.9074500624880938, + "heading": -0.49722150955455136, + "angularVelocity": -0.04561061123188263, + "velocityX": -0.5770981144967761, + "velocityY": 0.3912760186032336, + "timestamp": 2.9295280807786903 + }, + { + "x": 7.779832586973778, + "y": 0.9585793720111768, + "heading": -0.5088748847639726, + "angularVelocity": -0.1263372336071879, + "velocityX": -1.0203402591146986, + "velocityY": 0.5543059761921793, + "timestamp": 3.021768308593511 + }, + { + "x": 7.644826495037085, + "y": 1.0247459321009753, + "heading": -0.5277488943045168, + "angularVelocity": -0.20461798488220692, + "velocityX": -1.463635716595666, + "velocityY": 0.7173286716359051, + "timestamp": 3.1140085364083316 + }, + { + "x": 7.468924023316461, + "y": 1.1059487096578826, + "heading": -0.5535264419169841, + "angularVelocity": -0.2794610141707124, + "velocityX": -1.9070038733399683, + "velocityY": 0.8803401669814643, + "timestamp": 3.2062487642231523 + }, + { + "x": 7.252115520954535, + "y": 1.2021859450131016, + "heading": -0.5857297212655913, + "angularVelocity": -0.34912402225694766, + "velocityX": -2.350476657507682, + "velocityY": 1.04333258530565, + "timestamp": 3.298488992037973 + }, + { + "x": 6.994386027654477, + "y": 1.31345417318691, + "heading": -0.6235562220957586, + "angularVelocity": -0.4100868105628156, + "velocityX": -2.794111630095605, + "velocityY": 1.2062874388947544, + "timestamp": 3.3907292198527936 + }, + { + "x": 6.695710018451316, + "y": 1.439744501943248, + "heading": -0.6653719919030509, + "angularVelocity": -0.45333550011650886, + "velocityX": -3.238023325384417, + "velocityY": 1.369145889468917, + "timestamp": 3.4829694476676143 + }, + { + "x": 6.356050726739891, + "y": 1.5810125125479777, + "heading": -0.7059823103401129, + "angularVelocity": -0.44026689221312976, + "velocityX": -3.6823336168826186, + "velocityY": 1.5315227851381312, + "timestamp": 3.575209675482435 + }, + { + "x": 5.999398683183485, + "y": 1.7123177539849823, + "heading": -0.7059823175120675, + "angularVelocity": -7.775300131162323e-8, + "velocityX": -3.8665564039197022, + "velocityY": 1.4235138458310193, + "timestamp": 3.6674499032972556 + }, + { + "x": 5.642746522149845, + "y": 1.8436226763292314, + "heading": -0.7059823246840017, + "angularVelocity": -7.77527794510748e-8, + "velocityX": -3.866557677520564, + "velocityY": 1.4235103864645033, + "timestamp": 3.7596901311120763 + }, + { + "x": 5.28156245438674, + "y": 1.9537093318962377, + "heading": -0.7138474612609973, + "angularVelocity": -0.08526796565144627, + "velocityX": -3.915689242314218, + "velocityY": 1.1934777067985334, + "timestamp": 3.851930358926897 + }, + { + "x": 4.961235013550277, + "y": 2.048482673838497, + "heading": -0.723491200847142, + "angularVelocity": -0.10455025767613332, + "velocityX": -3.472752056505604, + "velocityY": 1.0274621408408044, + "timestamp": 3.9441705867417176 + }, + { + "x": 4.681796334872038, + "y": 2.1280729865083585, + "heading": -0.7292938799639851, + "angularVelocity": -0.06290833462046955, + "velocityX": -3.0294664843980423, + "velocityY": 0.8628590210081168, + "timestamp": 4.036410814556538 + }, + { + "x": 4.443240110455446, + "y": 2.1925269170063846, + "heading": -0.7294953062364742, + "angularVelocity": -0.002183713952804096, + "velocityX": -2.586249297817354, + "velocityY": 0.698761614373095, + "timestamp": 4.1286510423713585 + }, + { + "x": 4.245560384054017, + "y": 2.24186822032086, + "heading": -0.7232342713321199, + "angularVelocity": 0.06787748743339812, + "velocityX": -2.143096684434545, + "velocityY": 0.5349217416671156, + "timestamp": 4.220891270186179 + }, + { + "x": 4.0887527147976686, + "y": 2.2761112730627358, + "heading": -0.7099988392979812, + "angularVelocity": 0.1434887179670669, + "velocityX": -1.699992215664861, + "velocityY": 0.3712377294928318, + "timestamp": 4.313131498001 + }, + { + "x": 3.972813772950256, + "y": 2.2952657190650956, + "heading": -0.6894483842110904, + "angularVelocity": 0.22279276161532663, + "velocityX": -1.256923845419907, + "velocityY": 0.20765826858986366, + "timestamp": 4.4053717258158205 + }, + { + "x": 3.8977409855221326, + "y": 2.2993384931570473, + "heading": -0.6613385952715591, + "angularVelocity": 0.3047454413920573, + "velocityX": -0.8138833696165418, + "velocityY": 0.044153989950329355, + "timestamp": 4.497611953630641 + }, + { + "x": 3.863532304763794, + "y": 2.288334846496582, + "heading": -0.6254844943742653, + "angularVelocity": 0.3887035163147435, + "velocityX": -0.37086509399147366, + "velocityY": -0.11929335953675119, + "timestamp": 4.589852181445462 + }, + { + "x": 3.8588969628219925, + "y": 2.2742859384660616, + "heading": -0.5980545373887644, + "angularVelocity": 0.4457546351730898, + "velocityX": -0.07532732031852572, + "velocityY": -0.22830388968656506, + "timestamp": 4.651388180896931 + }, + { + "x": 3.87252307186548, + "y": 2.2537298660333667, + "heading": -0.5672227548547781, + "angularVelocity": 0.5010365121038134, + "velocityX": 0.22143313125569966, + "velocityY": -0.33404954199056636, + "timestamp": 4.7129241803484 + }, + { + "x": 3.904495293557158, + "y": 2.226901435332701, + "heading": -0.5331165435350333, + "angularVelocity": 0.5542481088105673, + "velocityX": 0.5195693898966114, + "velocityY": -0.4359794419496553, + "timestamp": 4.77446017979987 + }, + { + "x": 3.954909336055298, + "y": 2.1940785550728865, + "heading": -0.495886840771047, + "angularVelocity": 0.6050068755826099, + "velocityX": 0.8192609683360987, + "velocityY": -0.5333931447022372, + "timestamp": 4.835996179251339 + }, + { + "x": 4.02387381433517, + "y": 2.1555950274998867, + "heading": -0.45571503088966375, + "angularVelocity": 0.6528180291126203, + "velocityX": 1.120717610742014, + "velocityY": -0.6253823439294258, + "timestamp": 4.897532178702808 + }, + { + "x": 4.111512236956564, + "y": 2.1118588104756206, + "heading": -0.412822729802436, + "angularVelocity": 0.6970277799916975, + "velocityX": 1.4241813475461795, + "velocityY": -0.7107419626581243, + "timestamp": 4.959068178154277 + }, + { + "x": 4.217964742540069, + "y": 2.063378913974966, + "heading": -0.36748611131765924, + "angularVelocity": 0.7367495269258114, + "velocityX": 1.7299224280489682, + "velocityY": -0.7878298383515892, + "timestamp": 5.020604177605747 + }, + { + "x": 4.3433885040310445, + "y": 2.010806456684427, + "heading": -0.32005768718105704, + "angularVelocity": 0.7707427287990534, + "velocityX": 2.0382176711031144, + "velocityY": -0.854336612050985, + "timestamp": 5.082140177057216 + }, + { + "x": 4.487953805149203, + "y": 1.954999944894153, + "heading": -0.2710008539723626, + "angularVelocity": 0.7972054349646767, + "velocityX": 2.3492801353161026, + "velocityY": -0.9068921003596625, + "timestamp": 5.143676176508685 + }, + { + "x": 4.651827347820778, + "y": 1.8971338065315515, + "heading": -0.22094730911564786, + "angularVelocity": 0.8134026472778757, + "velocityX": 2.66305161421512, + "velocityY": -0.9403623712691659, + "timestamp": 5.205212175960154 + }, + { + "x": 4.835117881418664, + "y": 1.8388867617728581, + "heading": -0.17079707648624934, + "angularVelocity": 0.8149738864475594, + "velocityX": 2.978590341129327, + "velocityY": -0.9465523478598972, + "timestamp": 5.266748175411624 + }, + { + "x": 5.037706705982249, + "y": 1.7827750767858257, + "heading": -0.12189771533901265, + "angularVelocity": 0.7946464115822435, + "velocityX": 3.2922001165083703, + "velocityY": -0.9118513632217131, + "timestamp": 5.328284174863093 + }, + { + "x": 5.258723241665742, + "y": 1.7326877167097992, + "heading": -0.07633456189791264, + "angularVelocity": 0.7404308672524917, + "velocityX": 3.5916624033676507, + "velocityY": -0.8139521665773647, + "timestamp": 5.389820174314562 + }, + { + "x": 5.49513452171728, + "y": 1.6942432648547043, + "heading": -0.03706015615864722, + "angularVelocity": 0.6382346283371836, + "velocityX": 3.8418370085625435, + "velocityY": -0.6247473381075812, + "timestamp": 5.451356173766031 + }, + { + "x": 5.7400281736184455, + "y": 1.6729770610154633, + "heading": -0.007145484204979612, + "angularVelocity": 0.4861328688950628, + "velocityX": 3.9796810661099893, + "velocityY": -0.34558963905368534, + "timestamp": 5.512892173217501 + }, + { + "x": 5.9874771608430795, + "y": 1.6708818345855783, + "heading": 0.017579240823119676, + "angularVelocity": 0.40179285700232625, + "velocityX": 4.021206926520915, + "velocityY": -0.03404879174079811, + "timestamp": 5.57442817266897 + }, + { + "x": 6.234120845794678, + "y": 1.6881886720657349, + "heading": 0.04311790612474964, + "angularVelocity": 0.41501991564744656, + "velocityX": 4.008120241000007, + "velocityY": 0.28124736145393664, + "timestamp": 5.635964172120439 + }, + { + "x": 6.467272536529507, + "y": 1.7222668368059177, + "heading": 0.07140808783124676, + "angularVelocity": 0.4798746133284011, + "velocityX": 3.9548553840693117, + "velocityY": 0.5780537678158916, + "timestamp": 5.694917450582654 + }, + { + "x": 6.692584478408081, + "y": 1.7722919010776508, + "heading": 0.10380607474487556, + "angularVelocity": 0.5495536085307539, + "velocityX": 3.8218729773100346, + "velocityY": 0.8485544074329195, + "timestamp": 5.753870729044869 + }, + { + "x": 6.904741537320341, + "y": 1.8343117738412145, + "heading": 0.13881865410428046, + "angularVelocity": 0.5939038552681234, + "velocityX": 3.598732156146937, + "velocityY": 1.0520173666561004, + "timestamp": 5.812824007507084 + }, + { + "x": 7.100383513043178, + "y": 1.9030310585915293, + "heading": 0.17471896196074413, + "angularVelocity": 0.6089620254024232, + "velocityX": 3.318593652908188, + "velocityY": 1.1656567122786685, + "timestamp": 5.871777285969299 + }, + { + "x": 7.278323373731877, + "y": 1.973830348179141, + "heading": 0.21010738421181074, + "angularVelocity": 0.6002791222840638, + "velocityX": 3.0183200210442145, + "velocityY": 1.2009389712395522, + "timestamp": 5.930730564431514 + }, + { + "x": 7.4384871771356265, + "y": 2.0434113203538615, + "heading": 0.24403115598521166, + "angularVelocity": 0.5754348639854446, + "velocityX": 2.716792137461926, + "velocityY": 1.1802731585032522, + "timestamp": 5.9896838428937285 + }, + { + "x": 7.581181613697001, + "y": 2.1095234080577914, + "heading": 0.27585930904768985, + "angularVelocity": 0.5398877533651957, + "velocityX": 2.4204665165963752, + "velocityY": 1.1214319106324677, + "timestamp": 6.048637121355943 + }, + { + "x": 7.706797630897918, + "y": 2.1706045807896808, + "heading": 0.3051630458824759, + "angularVelocity": 0.49706712839672884, + "velocityX": 2.1307723756436663, + "velocityY": 1.0360945875306653, + "timestamp": 6.107590399818158 + }, + { + "x": 7.815712043569113, + "y": 2.2255333978794116, + "heading": 0.33163957385897364, + "angularVelocity": 0.4491103576787036, + "velocityX": 1.847469988306098, + "velocityY": 0.9317347316813903, + "timestamp": 6.166543678280373 + }, + { + "x": 7.908260582203949, + "y": 2.273476340322031, + "heading": 0.35506686665379467, + "angularVelocity": 0.3973874465664564, + "velocityX": 1.5698624580167049, + "velocityY": 0.8132362388182927, + "timestamp": 6.225496956742588 + }, + { + "x": 7.984734808626996, + "y": 2.3137943937734238, + "heading": 0.37527661607304347, + "angularVelocity": 0.34280959340033684, + "velocityX": 1.2972005699744291, + "velocityY": 0.6838984107937889, + "timestamp": 6.284450235204803 + }, + { + "x": 8.045386300065186, + "y": 2.3459844705884807, + "heading": 0.3921375822600176, + "angularVelocity": 0.2860055730027077, + "velocityX": 1.0288060820411038, + "velocityY": 0.5460269158005876, + "timestamp": 6.343403513667018 + }, + { + "x": 8.090432430021092, + "y": 2.369641472578161, + "heading": 0.40554498361648383, + "angularVelocity": 0.2274241858331832, + "velocityX": 0.76409881063319, + "velocityY": 0.40128390832145205, + "timestamp": 6.402356792129233 + }, + { + "x": 8.120061893982145, + "y": 2.3844329106489335, + "heading": 0.41541350240022923, + "angularVelocity": 0.1673955892049397, + "velocityX": 0.5025923024797195, + "velocityY": 0.25090102631447014, + "timestamp": 6.4613100705914475 + }, + { + "x": 8.134439468383789, + "y": 2.3900814056396484, + "heading": 0.4216725296119854, + "angularVelocity": 0.10616928142118104, + "velocityX": 0.24388082862701033, + "velocityY": 0.09581307669488197, + "timestamp": 6.520263349053662 + }, + { + "x": 8.132176285564572, + "y": 2.3851078879497147, + "heading": 0.42413738865593775, + "angularVelocity": 0.03838472583689847, + "velocityX": -0.03524406486753986, + "velocityY": -0.07745153356394213, + "timestamp": 6.58447792894739 + }, + { + "x": 8.111834551335587, + "y": 2.369262184782309, + "heading": 0.42223170348479205, + "angularVelocity": -0.029676830001840532, + "velocityX": -0.3167775022845199, + "velocityY": -0.24676176646533576, + "timestamp": 6.648692508841117 + }, + { + "x": 8.073236234054438, + "y": 2.3428469037837596, + "heading": 0.41593590278547166, + "angularVelocity": -0.09804316573805726, + "velocityX": -0.6010833886171775, + "velocityY": -0.41135955482797815, + "timestamp": 6.712907088734845 + }, + { + "x": 8.016174669315534, + "y": 2.3062284127277977, + "heading": 0.4052283935995224, + "angularVelocity": -0.16674576402539432, + "velocityX": -0.8886076157990642, + "velocityY": -0.5702519757438951, + "timestamp": 6.777121668628572 + }, + { + "x": 7.940407873057922, + "y": 2.259858654551234, + "heading": 0.3900854339256775, + "angularVelocity": -0.23581809145066257, + "velocityX": -1.1799002093138764, + "velocityY": -0.7221063853926085, + "timestamp": 6.8413362485223 + }, + { + "x": 7.845650198886334, + "y": 2.2043077633338255, + "heading": 0.37048131278322016, + "angularVelocity": -0.30529081051221507, + "velocityX": -1.4756411134108256, + "velocityY": -0.865082218233669, + "timestamp": 6.905550828416027 + }, + { + "x": 7.731562513102335, + "y": 2.140314722394816, + "heading": 0.34638932376904424, + "angularVelocity": -0.3751794227112801, + "velocityX": -1.776663274490152, + "velocityY": -0.9965500209596554, + "timestamp": 6.969765408309755 + }, + { + "x": 7.597742640115569, + "y": 2.0688695295905424, + "heading": 0.3177847679181409, + "angularVelocity": -0.44545266664117245, + "velocityX": -2.083948430531411, + "velocityY": -1.1126007975527197, + "timestamp": 7.033979988203482 + }, + { + "x": 7.443723347321437, + "y": 1.991352898659247, + "heading": 0.28465327704940796, + "angularVelocity": -0.5159496632005437, + "velocityX": -2.398509700585578, + "velocityY": -1.2071500126541717, + "timestamp": 7.09819456809721 + }, + { + "x": 7.2690042706160805, + "y": 1.909784448765435, + "heading": 0.24701367157934487, + "angularVelocity": -0.5861535734151859, + "velocityX": -2.7208630344465448, + "velocityY": -1.270248127898756, + "timestamp": 7.162409147990937 + }, + { + "x": 7.0732110345953325, + "y": 1.8272697519579237, + "heading": 0.20498160985555938, + "angularVelocity": -0.654556360772695, + "velocityX": -3.0490464368805132, + "velocityY": -1.2849838299038974, + "timestamp": 7.226623727884665 + }, + { + "x": 6.856687516382241, + "y": 1.7487095931314518, + "heading": 0.158939232751959, + "angularVelocity": -0.7170081495479512, + "velocityX": -3.3718747139891065, + "velocityY": -1.223400650700919, + "timestamp": 7.290838307778392 + }, + { + "x": 6.622137169577345, + "y": 1.6811594344762097, + "heading": 0.10987454919796363, + "angularVelocity": -0.7640738853262871, + "velocityX": -3.652602682958729, + "velocityY": -1.0519442588744687, + "timestamp": 7.3550528876721195 + }, + { + "x": 6.376228451811506, + "y": 1.6314432842511626, + "heading": 0.0595492132865963, + "angularVelocity": -0.783705756459888, + "velocityX": -3.829484179026162, + "velocityY": -0.7742190372860123, + "timestamp": 7.419267467565847 + }, + { + "x": 6.126649542350112, + "y": 1.602554470841584, + "heading": 0.00931766555509535, + "angularVelocity": -0.7822452130751675, + "velocityX": -3.886639293980256, + "velocityY": -0.4498793491663203, + "timestamp": 7.4834820474595745 + }, + { + "x": 5.877150893660191, + "y": 1.594782132459995, + "heading": -0.04431021757632018, + "angularVelocity": -0.8351356221619418, + "velocityX": -3.8853894100503816, + "velocityY": -0.12103697313681898, + "timestamp": 7.547696627353302 + }, + { + "x": 5.631840705871582, + "y": 1.6077326536178589, + "heading": -0.09946026915631453, + "angularVelocity": -0.8588400277828766, + "velocityX": -3.8201633989444104, + "velocityY": 0.20167571257643785, + "timestamp": 7.611911207247029 + }, + { + "x": 5.408191557035955, + "y": 1.6373943243488176, + "heading": -0.15130862691248864, + "angularVelocity": -0.8625486017123365, + "velocityX": -3.720624315807819, + "velocityY": 0.4934511664526841, + "timestamp": 7.672021858001369 + }, + { + "x": 5.193948054538076, + "y": 1.6830215447877035, + "heading": -0.20249256634286344, + "angularVelocity": -0.8514953471316359, + "velocityX": -3.5641521063122457, + "velocityY": 0.7590538426435499, + "timestamp": 7.732132508755708 + }, + { + "x": 4.992708519368323, + "y": 1.7418388706856198, + "heading": -0.2519810867857048, + "angularVelocity": -0.8232903790227013, + "velocityX": -3.347818275868942, + "velocityY": 0.9784842645988236, + "timestamp": 7.792243159510047 + }, + { + "x": 4.807476467472973, + "y": 1.8099478214565607, + "heading": -0.29877876502879425, + "angularVelocity": -0.778525563370499, + "velocityX": -3.0815179934144843, + "velocityY": 1.133059614498085, + "timestamp": 7.852353810264386 + }, + { + "x": 4.640051176081192, + "y": 1.8830509886189777, + "heading": -0.34211563798950406, + "angularVelocity": -0.7209516519430013, + "velocityX": -2.785284958501204, + "velocityY": 1.2161433330870974, + "timestamp": 7.912464461018725 + }, + { + "x": 4.491074408686971, + "y": 1.9572734446033506, + "heading": -0.38149861118808165, + "angularVelocity": -0.6551746271975682, + "velocityX": -2.4783755544929993, + "velocityY": 1.2347638072944158, + "timestamp": 7.9725751117730645 + }, + { + "x": 4.360467804854574, + "y": 2.0295250421816173, + "heading": -0.41665596351126605, + "angularVelocity": -0.5848772535646916, + "velocityX": -2.1727697536691237, + "velocityY": 1.2019766326194772, + "timestamp": 8.032685762527404 + }, + { + "x": 4.247824136670683, + "y": 2.0974690843884547, + "heading": -0.44745848671344385, + "angularVelocity": -0.5124303732471919, + "velocityX": -1.8739385910866808, + "velocityY": 1.1303161977818494, + "timestamp": 8.092796413281743 + }, + { + "x": 4.152630521964107, + "y": 2.1593575088225836, + "heading": -0.4738576897252565, + "angularVelocity": -0.4391767961338674, + "velocityX": -1.5836397295982356, + "velocityY": 1.0295750196925144, + "timestamp": 8.152907064036082 + }, + { + "x": 4.0743710372510344, + "y": 2.213869973094629, + "heading": -0.495847468032445, + "angularVelocity": -0.36582166440114666, + "velocityX": -1.3019237644407449, + "velocityY": 0.90686864287707, + "timestamp": 8.213017714790421 + }, + { + "x": 4.012566881536003, + "y": 2.259991535127209, + "heading": -0.5134428122609265, + "angularVelocity": -0.29271591652517925, + "velocityX": -1.0281731263834195, + "velocityY": 0.7672777029327102, + "timestamp": 8.27312836554476 + }, + { + "x": 3.9667882785861663, + "y": 2.296926593546496, + "heading": -0.5266685380504919, + "angularVelocity": -0.22002300130830899, + "velocityX": -0.7615722401163919, + "velocityY": 0.6144511489358724, + "timestamp": 8.3332390162991 + }, + { + "x": 3.9366546232582045, + "y": 2.3240395045135216, + "heading": -0.5355534491643124, + "angularVelocity": -0.14780926511894657, + "velocityX": -0.5013030960372105, + "velocityY": 0.4510500323450303, + "timestamp": 8.393349667053439 + }, + { + "x": 3.9218302529315436, + "y": 2.340813447733847, + "heading": -0.5401273706627876, + "angularVelocity": -0.07609169824442547, + "velocityX": -0.24661803092508605, + "velocityY": 0.2790511000933509, + "timestamp": 8.453460317807778 + }, + { + "x": 3.922019004821778, + "y": 2.3468215465545654, + "heading": -0.5404196941509068, + "angularVelocity": -0.00486308972621038, + "velocityX": 0.0031400739779980803, + "velocityY": 0.09995065342533552, + "timestamp": 8.513570968562117 + }, + { + "x": 3.9374653525267678, + "y": 2.343996586754968, + "heading": -0.5363170167809265, + "angularVelocity": 0.0699891910700783, + "velocityX": 0.26350533648336844, + "velocityY": -0.048192103192425555, + "timestamp": 8.572189696786488 + }, + { + "x": 3.9683552537421263, + "y": 2.3328180917591665, + "heading": -0.52776434309664, + "angularVelocity": 0.14590343297026154, + "velocityX": 0.5269630056988549, + "velocityY": -0.19069835416787767, + "timestamp": 8.630808425010859 + }, + { + "x": 4.014893571544688, + "y": 2.3136810117650746, + "heading": -0.5146908632348776, + "angularVelocity": 0.22302564824883497, + "velocityX": 0.7939155149260704, + "velocityY": -0.32646699397575807, + "timestamp": 8.68942715323523 + }, + { + "x": 4.077312296102222, + "y": 2.287064622569289, + "heading": -0.4970157041294251, + "angularVelocity": 0.30152750905476433, + "velocityX": 1.0648256359063084, + "velocityY": -0.4540594789758664, + "timestamp": 8.7480458814596 + }, + { + "x": 4.155873833381881, + "y": 2.253560682274067, + "heading": -0.47464638279152427, + "angularVelocity": 0.3816070736348903, + "velocityX": 1.3402122437551975, + "velocityY": -0.5715569291606204, + "timestamp": 8.80666460968397 + }, + { + "x": 4.250872712284989, + "y": 2.2139144425815496, + "heading": -0.4474776048037691, + "angularVelocity": 0.46348289720246916, + "velocityX": 1.6206233362738318, + "velocityY": -0.6763408366822088, + "timestamp": 8.865283337908341 + }, + { + "x": 4.362632375743991, + "y": 2.1690856862971724, + "heading": -0.4153914647840616, + "angularVelocity": 0.5473701151770817, + "velocityX": 1.9065521693208372, + "velocityY": -0.7647514308531158, + "timestamp": 8.923902066132712 + }, + { + "x": 4.4914888946742755, + "y": 2.120340950697993, + "heading": -0.3782617628527304, + "angularVelocity": 0.6334102266636167, + "velocityX": 2.1982141686368726, + "velocityY": -0.8315556661789609, + "timestamp": 8.982520794357082 + }, + { + "x": 4.637741905018974, + "y": 2.069392283286928, + "heading": -0.3359690811718077, + "angularVelocity": 0.7214875341382799, + "velocityX": 2.4949877756627052, + "velocityY": -0.869153408038005, + "timestamp": 9.041139522581453 + }, + { + "x": 4.801527199967717, + "y": 2.018594113204702, + "heading": -0.28844131507798226, + "angularVelocity": 0.8107949034975191, + "velocityX": 2.794077932258038, + "velocityY": -0.8665860147594886, + "timestamp": 9.099758250805824 + }, + { + "x": 4.982520910343412, + "y": 1.9711637668084108, + "heading": -0.23574369114733976, + "angularVelocity": 0.89898954697441, + "velocityX": 3.0876430768494463, + "velocityY": -0.8091329824616064, + "timestamp": 9.158376979030194 + }, + { + "x": 5.17938468342917, + "y": 1.9312172935307006, + "heading": -0.1782266556555277, + "angularVelocity": 0.9812057892429679, + "velocityX": 3.3583767346885973, + "velocityY": -0.6814626398036162, + "timestamp": 9.216995707254565 + }, + { + "x": 5.389185993172574, + "y": 1.9031572532827392, + "heading": -0.11666625659371352, + "angularVelocity": 1.0501831228099072, + "velocityX": 3.5790832742116896, + "velocityY": -0.47868729155225614, + "timestamp": 9.275614435478936 + }, + { + "x": 5.607648109126699, + "y": 1.8904140574345172, + "heading": -0.052238343106668465, + "angularVelocity": 1.099101182141647, + "velocityX": 3.726831382590488, + "velocityY": -0.21739120302040635, + "timestamp": 9.334233163703306 + }, + { + "x": 5.8303718087359035, + "y": 1.8947620924297608, + "heading": 0.013795227099602759, + "angularVelocity": 1.1264927132762073, + "velocityX": 3.7995314186398494, + "velocityY": 0.07417484355172438, + "timestamp": 9.392851891927677 + }, + { + "x": 6.053758144378662, + "y": 1.916719675064087, + "heading": 0.08038234053778825, + "angularVelocity": 1.135935825549055, + "velocityX": 3.810835588034616, + "velocityY": 0.37458306072900377, + "timestamp": 9.451470620152048 + }, + { + "x": 6.264479674099062, + "y": 1.9534587833223342, + "heading": 0.14352280822320104, + "angularVelocity": 1.1321628825027237, + "velocityX": 3.778418235390223, + "velocityY": 0.6587638044348276, + "timestamp": 9.507240393796133 + }, + { + "x": 6.471410323168012, + "y": 2.005691126005294, + "heading": 0.2060499040900196, + "angularVelocity": 1.1211645983334413, + "velocityX": 3.7104444853864718, + "velocityY": 0.9365708208948176, + "timestamp": 9.563010167440218 + }, + { + "x": 6.67221720068237, + "y": 2.0726457450879647, + "heading": 0.26723641438299095, + "angularVelocity": 1.0971267461735486, + "velocityX": 3.6006399953472306, + "velocityY": 1.2005538969902354, + "timestamp": 9.618779941084304 + }, + { + "x": 6.864483989652029, + "y": 2.1530541266402397, + "heading": 0.32631078239943323, + "angularVelocity": 1.059254218843449, + "velocityX": 3.4475088637919846, + "velocityY": 1.4417914274751908, + "timestamp": 9.67454971472839 + }, + { + "x": 7.04594464974176, + "y": 2.2451559533202436, + "heading": 0.3825309232468606, + "angularVelocity": 1.0080754712438957, + "velocityX": 3.2537456803713387, + "velocityY": 1.651464954256111, + "timestamp": 9.730319488372475 + }, + { + "x": 7.214709569426035, + "y": 2.346842107517073, + "heading": 0.4352629915349554, + "angularVelocity": 0.9455313307280512, + "velocityX": 3.0261001373487018, + "velocityY": 1.8233201885626171, + "timestamp": 9.78608926201656 + }, + { + "x": 7.3693846071392155, + "y": 2.4558832400596216, + "heading": 0.4840246615609249, + "angularVelocity": 0.8743386755908128, + "velocityX": 2.7734564371785453, + "velocityY": 1.9552012751285666, + "timestamp": 9.841859035660645 + }, + { + "x": 7.509056975127237, + "y": 2.570141200020485, + "heading": 0.5284810080472253, + "angularVelocity": 0.7971405222121561, + "velocityX": 2.504445667636898, + "velocityY": 2.0487434768884056, + "timestamp": 9.89762880930473 + }, + { + "x": 7.633199119801413, + "y": 2.6876980533080026, + "heading": 0.5684145092479561, + "angularVelocity": 0.7160420168742332, + "velocityX": 2.22597540858659, + "velocityY": 2.1078954710798543, + "timestamp": 9.953398582948816 + }, + { + "x": 7.741554690257944, + "y": 2.8069018359636293, + "heading": 0.603691839683821, + "angularVelocity": 0.6325528710408487, + "velocityX": 1.9429085573852172, + "velocityY": 2.1374263309076094, + "timestamp": 10.009168356592902 + }, + { + "x": 7.8340426189154515, + "y": 2.926359352059011, + "heading": 0.634236867715058, + "angularVelocity": 0.5476986194380259, + "velocityX": 1.6583880947366105, + "velocityY": 2.141975989677505, + "timestamp": 10.064938130236987 + }, + { + "x": 7.9106883703790265, + "y": 3.044905211891904, + "heading": 0.6600110520724907, + "angularVelocity": 0.4621532897357523, + "velocityX": 1.3743242343552553, + "velocityY": 2.125629208922992, + "timestamp": 10.120707903881073 + }, + { + "x": 7.971578677351933, + "y": 3.1615649052675256, + "heading": 0.6809999057835043, + "angularVelocity": 0.37634819615660037, + "velocityX": 1.0918155659282187, + "velocityY": 2.091808622357435, + "timestamp": 10.176477677525158 + }, + { + "x": 8.016833117191899, + "y": 3.2755201745089106, + "heading": 0.6972038977263983, + "angularVelocity": 0.29055150996856166, + "velocityX": 0.8114510223543884, + "velocityY": 2.043315971992817, + "timestamp": 10.232247451169243 + }, + { + "x": 8.046586768246696, + "y": 3.3860795222420745, + "heading": 0.7086324373644792, + "angularVelocity": 0.2049235435491652, + "velocityX": 0.5335085497151109, + "velocityY": 1.9824241790676127, + "timestamp": 10.288017224813329 + }, + { + "x": 8.060979854260694, + "y": 3.4926541817887737, + "heading": 0.715299943712957, + "angularVelocity": 0.11955412247194647, + "velocityX": 0.2580804093961653, + "velocityY": 1.910975293298518, + "timestamp": 10.343786998457414 + }, + { + "x": 8.060151705157804, + "y": 3.594738929349592, + "heading": 0.7172233049609025, + "angularVelocity": 0.034487521147568596, + "velocityX": -0.014849425571926141, + "velocityY": 1.8304673103446223, + "timestamp": 10.3995567721015 + }, + { + "x": 8.04423735574141, + "y": 3.6918968779622365, + "heading": 0.7144202648047442, + "angularVelocity": -0.05026092044136668, + "velocityX": -0.2853579703937069, + "velocityY": 1.7421255684610018, + "timestamp": 10.455326545745585 + }, + { + "x": 8.013365745544434, + "y": 3.783747434616089, + "heading": 0.706908432995524, + "angularVelocity": -0.13469360405081665, + "velocityX": -0.5535545185102473, + "velocityY": 1.6469594666105056, + "timestamp": 10.51109631938967 + }, + { + "x": 7.966240008450173, + "y": 3.8718311568256762, + "heading": 0.6943083666247631, + "angularVelocity": -0.22078504296141274, + "velocityX": -0.8257621494033686, + "velocityY": 1.5434496787551952, + "timestamp": 10.568165703265294 + }, + { + "x": 7.903637633551601, + "y": 3.953847701206782, + "heading": 0.6768953931750158, + "angularVelocity": -0.30511935239562316, + "velocityX": -1.0969520020578343, + "velocityY": 1.437137372287953, + "timestamp": 10.625235087140917 + }, + { + "x": 7.8256280875512765, + "y": 4.029612355077064, + "heading": 0.6547868801961407, + "angularVelocity": -0.38739708539798207, + "velocityX": -1.3669246223218023, + "velocityY": 1.3275884322739986, + "timestamp": 10.68230447101654 + }, + { + "x": 7.732295732907965, + "y": 4.098909485083783, + "heading": 0.6281225750310581, + "angularVelocity": -0.4672260913696688, + "velocityX": -1.6354189988579395, + "velocityY": 1.2142610503338351, + "timestamp": 10.739373854892163 + }, + { + "x": 7.623744896157086, + "y": 4.16148422694545, + "heading": 0.5970717835083564, + "angularVelocity": -0.5440884308541606, + "velocityX": -1.902085310531024, + "velocityY": 1.0964678013353422, + "timestamp": 10.796443238767786 + }, + { + "x": 7.500107414312447, + "y": 4.217031008030893, + "heading": 0.5618432556119679, + "angularVelocity": -0.6172929424499382, + "velocityX": -2.166441504153836, + "velocityY": 0.9733201466919875, + "timestamp": 10.853512622643409 + }, + { + "x": 7.361554289078083, + "y": 4.265177319785923, + "heading": 0.5226990910090863, + "angularVelocity": -0.6859048047231799, + "velocityX": -2.427801315260849, + "velocityY": 0.8436451996741265, + "timestamp": 10.910582006519032 + }, + { + "x": 7.208314472207239, + "y": 4.305460180951621, + "heading": 0.4799749331776388, + "angularVelocity": -0.748635344032456, + "velocityX": -2.6851493123670993, + "velocityY": 0.7058576495847575, + "timestamp": 10.967651390394655 + }, + { + "x": 7.04070672092061, + "y": 4.337291084304275, + "heading": 0.4341107031105424, + "angularVelocity": -0.8036573544766614, + "velocityX": -2.9369118764609987, + "velocityY": 0.5577579639203134, + "timestamp": 11.024720774270278 + }, + { + "x": 6.859196980023488, + "y": 4.359902561866159, + "heading": 0.38570049610139884, + "angularVelocity": -0.8482693122226175, + "velocityX": -3.1805099086526467, + "velocityY": 0.39621029747164144, + "timestamp": 11.081790158145902 + }, + { + "x": 6.664509345661969, + "y": 4.372266184440463, + "heading": 0.33558027930717554, + "angularVelocity": -0.8782330102503829, + "velocityX": -3.411419944287813, + "velocityY": 0.21664194940757758, + "timestamp": 11.138859542021525 + }, + { + "x": 6.457857876304668, + "y": 4.372974056751145, + "heading": 0.28499344198952337, + "angularVelocity": -0.8864093824440242, + "velocityX": -3.621056603794368, + "velocityY": 0.012403713911223541, + "timestamp": 11.195928925897148 + }, + { + "x": 6.241459304464819, + "y": 4.360126451607489, + "heading": 0.23589645193749556, + "angularVelocity": -0.8603034888028499, + "velocityX": -3.791850500987835, + "velocityY": -0.22512254857450334, + "timestamp": 11.25299830977277 + }, + { + "x": 6.019579657099656, + "y": 4.331576905992715, + "heading": 0.19136436588478378, + "angularVelocity": -0.7803148208111865, + "velocityX": -3.8878928121727503, + "velocityY": -0.5002602740025169, + "timestamp": 11.310067693648394 + }, + { + "x": 5.798551620924673, + "y": 4.286498911567636, + "heading": 0.15351127427729616, + "angularVelocity": -0.6632819392265463, + "velocityX": -3.872970429410807, + "velocityY": -0.789880516728909, + "timestamp": 11.367137077524017 + }, + { + "x": 5.582334432989124, + "y": 4.225425033971107, + "heading": 0.1155118535473049, + "angularVelocity": -0.665845995688459, + "velocityX": -3.788672196054744, + "velocityY": -1.0701688619879504, + "timestamp": 11.42420646139964 + }, + { + "x": 5.374024465313053, + "y": 4.149876189702931, + "heading": 0.0697446592710017, + "angularVelocity": -0.8019570419061819, + "velocityX": -3.650117690600284, + "velocityY": -1.3238069020129641, + "timestamp": 11.481275845275263 + }, + { + "x": 5.177992197827677, + "y": 4.063196905648788, + "heading": 0.017847542723990653, + "angularVelocity": -0.9093687897545091, + "velocityX": -3.43498131875068, + "velocityY": -1.5188403688228005, + "timestamp": 11.538345229150886 + }, + { + "x": 4.996804237365723, + "y": 3.968907356262207, + "heading": -0.036582580096447645, + "angularVelocity": -0.9537534685684189, + "velocityX": -3.174871501273511, + "velocityY": -1.6521914726129727, + "timestamp": 11.59541461302651 + }, + { + "x": 4.831701648512126, + "y": 3.869632531276603, + "heading": -0.09108789522014621, + "angularVelocity": -0.956247053450245, + "velocityX": -2.8965774025882935, + "velocityY": -1.74168810250575, + "timestamp": 11.652413811013094 + }, + { + "x": 4.683239484058957, + "y": 3.7696816729003366, + "heading": -0.14402851520145338, + "angularVelocity": -0.9287958752291116, + "velocityX": -2.604636024670233, + "velocityY": -1.7535485043103856, + "timestamp": 11.709413008999679 + }, + { + "x": 4.551166900503627, + "y": 3.672576162220203, + "heading": -0.19413777607531787, + "angularVelocity": -0.8791222095029895, + "velocityX": -2.317095471876902, + "velocityY": -1.7036294212944654, + "timestamp": 11.766412206986264 + }, + { + "x": 4.434814024677728, + "y": 3.580852424602329, + "heading": -0.240569995174145, + "angularVelocity": -0.8146117969897673, + "velocityX": -2.0413072452928884, + "velocityY": -1.6092110215210784, + "timestamp": 11.823411404972848 + }, + { + "x": 4.333433551144432, + "y": 3.4962968449308427, + "heading": -0.2827665728058861, + "angularVelocity": -0.7403012519873094, + "velocityX": -1.7786298248820436, + "velocityY": -1.4834520950871575, + "timestamp": 11.880410602959433 + }, + { + "x": 4.246331382415327, + "y": 3.420184326553122, + "heading": -0.32034046484185646, + "angularVelocity": -0.6592003635702718, + "velocityX": -1.5281297247306171, + "velocityY": -1.3353261285471856, + "timestamp": 11.937409800946018 + }, + { + "x": 4.172901382527213, + "y": 3.353448110684795, + "heading": -0.353008344600164, + "angularVelocity": -0.5731287616712845, + "velocityX": -1.2882637384721891, + "velocityY": -1.170827278728279, + "timestamp": 11.994408998932602 + }, + { + "x": 4.112625106867851, + "y": 3.296790361986866, + "heading": -0.38055433946809814, + "angularVelocity": -0.4832698676640572, + "velocityX": -1.0574933997062392, + "velocityY": -0.9940095773148284, + "timestamp": 12.051408196919187 + }, + { + "x": 4.065061021100414, + "y": 3.2507532442668188, + "heading": -0.4028098814387128, + "angularVelocity": -0.3904535985901558, + "velocityX": -0.8344693863698196, + "velocityY": -0.8076800963214009, + "timestamp": 12.108407394905772 + }, + { + "x": 4.029832043193561, + "y": 3.2157652112178092, + "heading": -0.41964145091513144, + "angularVelocity": -0.29529484748855805, + "velocityX": -0.6180609403512081, + "velocityY": -0.6138337781041129, + "timestamp": 12.165406592892356 + }, + { + "x": 4.006614252366996, + "y": 3.1921718341567256, + "heading": -0.43094241785407744, + "angularVelocity": -0.19826536755141405, + "velocityX": -0.40733539500027605, + "velocityY": -0.413924719899331, + "timestamp": 12.222405790878941 + }, + { + "x": 3.995127439498902, + "y": 3.1802568435668945, + "heading": -0.43662724907911504, + "angularVelocity": -0.09973528445743389, + "velocityX": -0.201525868325339, + "velocityY": -0.20903786387722884, + "timestamp": 12.279404988865526 + }, + { + "x": 3.995127439498902, + "y": 3.1802568435668945, + "heading": -0.43662724907911504, + "angularVelocity": 3.139708268480762e-27, + "velocityX": 2.985814455257795e-29, + "velocityY": -2.388166631545772e-27, + "timestamp": 12.33640418685211 + } + ], + "trajectoryWaypoints": [ + { + "timestamp": 0, + "isStopPoint": true, + "x": 0.6885567903518677, + "y": 4.453176975250244, + "heading": -1.0863186564678593, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 23 + }, + { + "timestamp": 1.2770779804813597, + "isStopPoint": false, + "x": 3.7100203037261963, + "y": 2.2926273345947266, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 22 + }, + { + "timestamp": 2.745047625149049, + "isStopPoint": false, + "x": 7.939531326293945, + "y": 0.8503056764602661, + "heading": -0.49642193244286464, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + }, + { + "timestamp": 4.589852181445462, + "isStopPoint": false, + "x": 3.863532304763794, + "y": 2.288334846496582, + "heading": -0.6254844943742653, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 17 + }, + { + "timestamp": 5.635964172120439, + "isStopPoint": false, + "x": 6.234120845794678, + "y": 1.6881886720657349, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 15 + }, + { + "timestamp": 6.520263349053662, + "isStopPoint": false, + "x": 8.134439468383789, + "y": 2.3900814056396484, + "heading": 0.4216725296119854, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 17 + }, + { + "timestamp": 7.611911207247029, + "isStopPoint": false, + "x": 5.631840705871582, + "y": 1.6077326536178589, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 15 + }, + { + "timestamp": 8.513570968562117, + "isStopPoint": false, + "x": 3.9220190048217773, + "y": 2.3468215465545654, + "heading": -0.5404196941509068, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 16 + }, + { + "timestamp": 9.451470620152048, + "isStopPoint": false, + "x": 6.053758144378662, + "y": 1.916719675064087, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 19 + }, + { + "timestamp": 10.51109631938967, + "isStopPoint": false, + "x": 8.013365745544434, + "y": 3.783747434616089, + "heading": 0.706908432995524, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 19 + }, + { + "timestamp": 11.59541461302651, + "isStopPoint": false, + "x": 4.996804237365723, + "y": 3.968907356262207, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 13 + }, + { + "timestamp": 12.33640418685211, + "isStopPoint": true, + "x": 3.9951274394989014, + "y": 3.1802568435668945, + "heading": -0.43662724907911504, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "constraints": [ + { + "scope": [ + "first" + ], + "type": "StopPoint" + }, + { + "scope": [ + "last" + ], + "type": "StopPoint" + }, + { + "scope": [ + 7, + 7 + ], + "type": "MaxVelocity", + "velocity": 0.1 + } + ], + "usesControlIntervalGuessing": true, + "defaultControlIntervalCount": 40, + "usesDefaultFieldObstacles": true, + "circleObstacles": [], + "eventMarkers": [], + "isTrajectoryStale": false + }, + "Amp4NoteFar": { + "waypoints": [ + { + "x": 0.7328706979751587, + "y": 6.609785556793213, + "heading": 1.0789872785859569, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 19 + }, + { + "x": 2.90181040763855, + "y": 6.258988857269287, + "heading": -0.023825563731718707, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 21 + }, + { + "x": 7.866925239562988, + "y": 7.4445061683654785, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 19 + }, + { + "x": 3.9527645111083984, + "y": 6.335220813751221, + "heading": 0.14189719500937054, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 13 + }, + { + "x": 5.74778413772583, + "y": 6.263060569763184, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 14 + }, + { + "x": 7.907664775848389, + "y": 5.819249629974365, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 13 + }, + { + "x": 5.836546421051025, + "y": 6.233473300933838, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 13 + }, + { + "x": 4.031714916229248, + "y": 5.745280742645264, + "heading": 0.15991281260240592, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "x": 4.667843818664551, + "y": 4.369466304779053, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 16 + }, + { + "x": 7.774521827697754, + "y": 4.029211044311523, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 13 + }, + { + "x": 5.899813652038574, + "y": 4.563681602478027, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 13 + }, + { + "x": 4.199653625488281, + "y": 4.76887321472168, + "heading": -0.1853481020355219, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "trajectory": [ + { + "x": 0.7328706979751587, + "y": 6.609785556793213, + "heading": 1.0789872785859569, + "angularVelocity": 1.0130524956425154e-21, + "velocityX": 6.391561318798467e-22, + "velocityY": 3.1627763991179065e-21, + "timestamp": 0 + }, + { + "x": 0.7442922596904098, + "y": 6.607484693492832, + "heading": 1.0680322161337672, + "angularVelocity": -0.22455214188308412, + "velocityX": 0.23411424243381077, + "velocityY": -0.04716210286663648, + "timestamp": 0.04878627458335965 + }, + { + "x": 0.7671593544585043, + "y": 6.60289224668038, + "heading": 1.0463644335259636, + "angularVelocity": -0.44413685596715274, + "velocityX": 0.4687198389994303, + "velocityY": -0.09413399263774451, + "timestamp": 0.0975725491667193 + }, + { + "x": 0.8015018910283972, + "y": 6.59601954471661, + "heading": 1.0142955583551334, + "angularVelocity": -0.6573339621584579, + "velocityX": 0.7039384921923673, + "velocityY": -0.14087367855945515, + "timestamp": 0.14635882375007894 + }, + { + "x": 0.8473557442136884, + "y": 6.586881998575734, + "heading": 0.9722044979930776, + "angularVelocity": -0.862764388580973, + "velocityX": 0.939892491830722, + "velocityY": -0.18729747698326368, + "timestamp": 0.1951450983334386 + }, + { + "x": 0.9047623296596092, + "y": 6.575501144351355, + "heading": 0.9205301893221267, + "angularVelocity": -1.0591976762369206, + "velocityX": 1.176695411489809, + "velocityY": -0.23327983785547873, + "timestamp": 0.24393137291679826 + }, + { + "x": 0.973767621217994, + "y": 6.561906156637783, + "heading": 0.8597586319551783, + "angularVelocity": -1.2456691535876518, + "velocityX": 1.4144406833211989, + "velocityY": -0.27866419048542307, + "timestamp": 0.2927176475001579 + }, + { + "x": 1.0544208484071813, + "y": 6.546134234731941, + "heading": 0.790408245746391, + "angularVelocity": -1.421514284520544, + "velocityX": 1.6531950405718783, + "velocityY": -0.3232860479824803, + "timestamp": 0.34150392208351754 + }, + { + "x": 1.1467736219789397, + "y": 6.52822958744161, + "heading": 0.7130246680019623, + "angularVelocity": -1.5861751774508972, + "velocityX": 1.8930072927367672, + "velocityY": -0.3670017324183618, + "timestamp": 0.3902901966668772 + }, + { + "x": 1.2508806763107996, + "y": 6.508241685857064, + "heading": 0.6282040373314669, + "angularVelocity": -1.7386166784587103, + "velocityX": 2.1339414665486536, + "velocityY": -0.4097033797977843, + "timestamp": 0.43907647125023685 + }, + { + "x": 1.3668033191753501, + "y": 6.486225040750028, + "heading": 0.5366697764006988, + "angularVelocity": -1.8762297738960634, + "velocityX": 2.376132300622291, + "velocityY": -0.4512876889055711, + "timestamp": 0.4878627458335965 + }, + { + "x": 1.494615387358709, + "y": 6.462244761643902, + "heading": 0.43943111627914694, + "angularVelocity": -1.993156086460405, + "velocityX": 2.6198366092695133, + "velocityY": -0.4915374111042586, + "timestamp": 0.5366490204169562 + }, + { + "x": 1.6344077245837227, + "y": 6.436394442604198, + "heading": 0.33805944296831114, + "angularVelocity": -2.077872806984372, + "velocityX": 2.865402993338927, + "velocityY": -0.5298686825437922, + "timestamp": 0.5854352950003158 + }, + { + "x": 1.7862758061457733, + "y": 6.408836740007201, + "heading": 0.23516941127167912, + "angularVelocity": -2.108995461845051, + "velocityX": 3.1129263888054926, + "velocityY": -0.5648658937855514, + "timestamp": 0.6342215695836754 + }, + { + "x": 1.9502202654428336, + "y": 6.379899377284357, + "heading": 0.1355865924332727, + "angularVelocity": -2.0412056400874032, + "velocityX": 3.360462767390291, + "velocityY": -0.5931455715766921, + "timestamp": 0.683007844167035 + }, + { + "x": 2.125024102640001, + "y": 6.350556213798447, + "heading": 0.05370061556801829, + "angularVelocity": -1.6784634113707182, + "velocityX": 3.5830536086227656, + "velocityY": -0.6014635004723082, + "timestamp": 0.7317941187503946 + }, + { + "x": 2.308874750217541, + "y": 6.32134206913622, + "heading": 0.000075594383193927, + "angularVelocity": -1.0991825394086383, + "velocityX": 3.768491223149237, + "velocityY": -0.598818928309628, + "timestamp": 0.7805803933337542 + }, + { + "x": 2.5013992294410428, + "y": 6.29284664925505, + "heading": -0.023825217387144004, + "angularVelocity": -0.489908523953788, + "velocityX": 3.9462836805573493, + "velocityY": -0.5840868179528854, + "timestamp": 0.8293666679171138 + }, + { + "x": 2.701090535408383, + "y": 6.269836071588193, + "heading": -0.023825516555088938, + "angularVelocity": -0.000006132215412864256, + "velocityX": 4.093186201912882, + "velocityY": -0.47166088953028434, + "timestamp": 0.8781529425004734 + }, + { + "x": 2.90181040763855, + "y": 6.258988857269287, + "heading": -0.023825563731718707, + "angularVelocity": -9.67006195283952e-7, + "velocityX": 4.114269309233729, + "velocityY": -0.22234151739485744, + "timestamp": 0.926939217083833 + }, + { + "x": 3.2228289165768107, + "y": 6.272839746260762, + "heading": -0.02382556485366325, + "angularVelocity": -1.43867746295835e-8, + "velocityX": 4.1164431535362835, + "velocityY": 0.17761093386148183, + "timestamp": 1.0049236558249548 + }, + { + "x": 3.5409920733834666, + "y": 6.3177500583059505, + "heading": -0.02382556591897316, + "angularVelocity": -1.3660544662719426e-8, + "velocityX": 4.079828770234975, + "velocityY": 0.575888122940443, + "timestamp": 1.0829080945660767 + }, + { + "x": 3.8543794985421305, + "y": 6.3886940665508725, + "heading": -0.023825566968556106, + "angularVelocity": -1.3458876738271386e-8, + "velocityX": 4.018589223921825, + "velocityY": 0.9097200594137623, + "timestamp": 1.1608925333071987 + }, + { + "x": 4.167766704285708, + "y": 6.4596390440310785, + "heading": -0.023825568018138833, + "angularVelocity": -1.3458873884787475e-8, + "velocityX": 4.018586410346573, + "velocityY": 0.9097324879866878, + "timestamp": 1.2388769720483206 + }, + { + "x": 4.4811539100323, + "y": 6.530584021497964, + "heading": -0.023825569067721552, + "angularVelocity": -1.3458873806018203e-8, + "velocityX": 4.018586410385244, + "velocityY": 0.9097324878158669, + "timestamp": 1.3168614107894425 + }, + { + "x": 4.79454111577784, + "y": 6.601528998969501, + "heading": -0.023825570117304313, + "angularVelocity": -1.3458874365967017e-8, + "velocityX": 4.018586410371737, + "velocityY": 0.909732487875532, + "timestamp": 1.3948458495305645 + }, + { + "x": 5.107928321523374, + "y": 6.672473976441061, + "heading": -0.023825571166887022, + "angularVelocity": -1.3458873644091302e-8, + "velocityX": 4.01858641037167, + "velocityY": 0.9097324878758241, + "timestamp": 1.4728302882716864 + }, + { + "x": 5.421315527268906, + "y": 6.743418953912637, + "heading": -0.0238255722164697, + "angularVelocity": -1.3458873232782846e-8, + "velocityX": 4.018586410371626, + "velocityY": 0.9097324878760211, + "timestamp": 1.5508147270128083 + }, + { + "x": 5.73470273301373, + "y": 6.814363931387334, + "heading": -0.02382557326605232, + "angularVelocity": -1.3458872602650603e-8, + "velocityX": 4.018586410362565, + "velocityY": 0.9097324879160451, + "timestamp": 1.6287991657539302 + }, + { + "x": 6.048089938761083, + "y": 6.885308908850857, + "heading": -0.023825574315635045, + "angularVelocity": -1.3458873837681842e-8, + "velocityX": 4.018586410395003, + "velocityY": 0.9097324877727555, + "timestamp": 1.7067836044950522 + }, + { + "x": 6.361476996805373, + "y": 6.956254538763802, + "heading": -0.023825575365233685, + "angularVelocity": -1.345907790933033e-8, + "velocityX": 4.0185845163881115, + "velocityY": 0.9097408541780642, + "timestamp": 1.784768043236174 + }, + { + "x": 6.648907366789074, + "y": 7.036067884976394, + "heading": -0.025930488860655996, + "angularVelocity": -0.026991455339055646, + "velocityX": 3.685740060755692, + "velocityY": 1.0234522104793284, + "timestamp": 1.862752481977296 + }, + { + "x": 6.905918727178058, + "y": 7.1089950068101935, + "heading": -0.027038195926471695, + "angularVelocity": -0.014204206424987693, + "velocityX": 3.295674938972906, + "velocityY": 0.9351496658954087, + "timestamp": 1.940736920718418 + }, + { + "x": 7.13251107745946, + "y": 7.175035870578235, + "heading": -0.027148690455274044, + "angularVelocity": -0.0014168791952089838, + "velocityX": 2.905609810613645, + "velocityY": 0.8468466893410759, + "timestamp": 2.0187213594595397 + }, + { + "x": 7.328684417474841, + "y": 7.234190465002728, + "heading": -0.0262619699118654, + "angularVelocity": 0.011370480543589091, + "velocityX": 2.5155446802226953, + "velocityY": 0.7585435681708689, + "timestamp": 2.0967057982006616 + }, + { + "x": 7.494438747151227, + "y": 7.286458784427156, + "heading": -0.024378032258793446, + "angularVelocity": 0.024157866408783164, + "velocityX": 2.1254795488959726, + "velocityY": 0.6702403744667375, + "timestamp": 2.1746902369417835 + }, + { + "x": 7.62977406644956, + "y": 7.331840825448755, + "heading": -0.021496875343877238, + "angularVelocity": 0.036945279871546305, + "velocityX": 1.7354144170684294, + "velocityY": 0.5819371371287247, + "timestamp": 2.2526746756829055 + }, + { + "x": 7.7346903753480705, + "y": 7.370336585793465, + "heading": -0.01761849670534105, + "angularVelocity": 0.04973272490183463, + "velocityX": 1.3453492849617374, + "velocityY": 0.49363387063029207, + "timestamp": 2.3306591144240274 + }, + { + "x": 7.809187673835323, + "y": 7.401946063832849, + "heading": -0.012742893499969495, + "angularVelocity": 0.06252020639087588, + "velocityX": 0.9552841527084046, + "velocityY": 0.4053305832502589, + "timestamp": 2.4086435531651493 + }, + { + "x": 7.853265961906796, + "y": 7.426669258342117, + "heading": -0.00687006248076722, + "angularVelocity": 0.07530772951636928, + "velocityX": 0.5652190203970796, + "velocityY": 0.3170272801646988, + "timestamp": 2.4866279919062713 + }, + { + "x": 7.866925239562988, + "y": 7.4445061683654785, + "heading": 1.1019724128852254e-21, + "angularVelocity": 0.08809529941701788, + "velocityX": 0.17515388809214882, + "velocityY": 0.22872396482294302, + "timestamp": 2.564612430647393 + }, + { + "x": 7.839415996512796, + "y": 7.455996330276693, + "heading": 0.00969522621841501, + "angularVelocity": 0.10346134162219067, + "velocityX": -0.29356129798992386, + "velocityY": 0.1226157636768162, + "timestamp": 2.6583211151318746 + }, + { + "x": 7.767984159154146, + "y": 7.4575409240302655, + "heading": 0.02071171654104976, + "angularVelocity": 0.1175610391207565, + "velocityX": -0.7622755324292112, + "velocityY": 0.016482930713085247, + "timestamp": 2.752029799616356 + }, + { + "x": 7.652629894962392, + "y": 7.449136985555429, + "heading": 0.03289647896885643, + "angularVelocity": 0.13002810246284618, + "velocityX": -1.2309879796771361, + "velocityY": -0.08968153294509411, + "timestamp": 2.8457384841008375 + }, + { + "x": 7.493353520570736, + "y": 7.430780569230724, + "heading": 0.04604478809468858, + "angularVelocity": 0.14031046533376074, + "velocityX": -1.6996970480151585, + "velocityY": -0.19588810178787341, + "timestamp": 2.939447168585319 + }, + { + "x": 7.290155660806777, + "y": 7.402466163933872, + "heading": 0.059868605999832875, + "angularVelocity": 0.1475190691363679, + "velocityX": -2.1683994485869587, + "velocityY": -0.30215348185302415, + "timestamp": 3.0331558530698004 + }, + { + "x": 7.043037657446755, + "y": 7.364185531976726, + "heading": 0.07393272399831907, + "angularVelocity": 0.1500834002297331, + "velocityX": -2.637087530568694, + "velocityY": -0.4085067693324192, + "timestamp": 3.126864537554282 + }, + { + "x": 6.752002857171037, + "y": 7.315925026351502, + "heading": 0.087503185209202, + "angularVelocity": 0.14481540622982755, + "velocityX": -3.1057398988875438, + "velocityY": -0.5150056890748022, + "timestamp": 3.2205732220387633 + }, + { + "x": 6.417062343367086, + "y": 7.25765770262344, + "heading": 0.09907823596032714, + "angularVelocity": 0.12352164385620025, + "velocityX": -3.5742739922831674, + "velocityY": -0.621792142837213, + "timestamp": 3.3142819065232447 + }, + { + "x": 6.038289731061863, + "y": 7.189306639433363, + "heading": 0.10384589626013921, + "angularVelocity": 0.05087746483733441, + "velocityX": -4.042022512523361, + "velocityY": -0.7293994528478953, + "timestamp": 3.407990591007726 + }, + { + "x": 5.6616794795490195, + "y": 7.104206263101145, + "heading": 0.10384589809069947, + "angularVelocity": 1.9534585058108795e-8, + "velocityX": -4.018947161457723, + "velocityY": -0.9081375627070208, + "timestamp": 3.5016992754922076 + }, + { + "x": 5.295621370465586, + "y": 6.981410624019321, + "heading": 0.10384599746908699, + "angularVelocity": 0.0000010605034961434597, + "velocityX": -3.906341350294527, + "velocityY": -1.3103976409161844, + "timestamp": 3.595407959976689 + }, + { + "x": 4.973743620370178, + "y": 6.867130189671141, + "heading": 0.10964047142974673, + "angularVelocity": 0.061834972847360024, + "velocityX": -3.4348764137086154, + "velocityY": -1.2195287446075023, + "timestamp": 3.6891166444611705 + }, + { + "x": 4.695925858929357, + "y": 6.762170123163068, + "heading": 0.11660456960418608, + "angularVelocity": 0.07431646504004273, + "velocityX": -2.9646959934308894, + "velocityY": -1.1200676552604343, + "timestamp": 3.782825328945652 + }, + { + "x": 4.462122805625061, + "y": 6.666750260320637, + "heading": 0.12346623798759834, + "angularVelocity": 0.07322339888944424, + "velocityX": -2.494998778293757, + "velocityY": -1.0182606165838868, + "timestamp": 3.8765340134301334 + }, + { + "x": 4.272311472149189, + "y": 6.580973181865323, + "heading": 0.1296297222155145, + "angularVelocity": 0.0657728177684199, + "velocityX": -2.025546879887157, + "velocityY": -0.9153589011221137, + "timestamp": 3.970242697914615 + }, + { + "x": 4.126478005598546, + "y": 6.504898268884928, + "heading": 0.13474943633917122, + "angularVelocity": 0.05463436128488802, + "velocityX": -1.5562428109295867, + "velocityY": -0.811823508129526, + "timestamp": 4.063951382399096 + }, + { + "x": 4.024613155788809, + "y": 6.438564244025636, + "heading": 0.13859971910248803, + "angularVelocity": 0.04108779014984924, + "velocityX": -1.0870374541071166, + "velocityY": -0.7078748914704718, + "timestamp": 4.157660066883577 + }, + { + "x": 3.9667103110145354, + "y": 6.381998354264439, + "heading": 0.1410216361623699, + "angularVelocity": 0.02584517190915161, + "velocityX": -0.6179026532366133, + "velocityY": -0.6036355122514226, + "timestamp": 4.251368751368058 + }, + { + "x": 3.9527645111083984, + "y": 6.335220813751221, + "heading": 0.14189719500937054, + "angularVelocity": 0.00934341199876338, + "velocityX": -0.14882078414457217, + "velocityY": -0.4991804203693128, + "timestamp": 4.345077435852539 + }, + { + "x": 3.964115076159712, + "y": 6.3075785150519685, + "heading": 0.1417203583468928, + "angularVelocity": -0.0027309287472943606, + "velocityX": 0.17528935438132787, + "velocityY": -0.4268862977924431, + "timestamp": 4.409830740988352 + }, + { + "x": 3.9964710164043287, + "y": 6.284535579351715, + "heading": 0.14077745477905462, + "angularVelocity": -0.01456147397975356, + "velocityX": 0.49968013488660173, + "velocityY": -0.3558572902483248, + "timestamp": 4.474584046124165 + }, + { + "x": 4.049853424217872, + "y": 6.265994962228474, + "heading": 0.13908718250809055, + "angularVelocity": -0.026103258627785963, + "velocityX": 0.8243966497397879, + "velocityY": -0.28632696175669053, + "timestamp": 4.539337351259978 + }, + { + "x": 4.124287056549126, + "y": 6.251839889602118, + "heading": 0.13667203697092578, + "angularVelocity": -0.03729764113351832, + "velocityX": 1.1494954917766365, + "velocityY": -0.2186000019098195, + "timestamp": 4.604090656395791 + }, + { + "x": 4.219801343483193, + "y": 6.241927175601898, + "heading": 0.1335595952579679, + "angularVelocity": -0.048066144367918166, + "velocityX": 1.4750488293027817, + "velocityY": -0.15308429398975482, + "timestamp": 4.668843961531604 + }, + { + "x": 4.336431776777692, + "y": 6.236077148786002, + "heading": 0.12978445160876886, + "angularVelocity": -0.0583004009027969, + "velocityX": 1.8011502741038279, + "velocityY": -0.09034329295819071, + "timestamp": 4.7335972666674175 + }, + { + "x": 4.474221844581992, + "y": 6.234057731464995, + "heading": 0.12539127460739471, + "angularVelocity": -0.06784483034742277, + "velocityX": 2.127923316273961, + "velocityY": -0.031186320401267092, + "timestamp": 4.798350571803231 + }, + { + "x": 4.6332257178085845, + "y": 6.23555773593313, + "heading": 0.120439931450763, + "angularVelocity": -0.07646471707114837, + "velocityX": 2.4555329321506916, + "velocityY": 0.02316490972912503, + "timestamp": 4.863103876939044 + }, + { + "x": 4.813511768295512, + "y": 6.240138470161825, + "heading": 0.11501476601933941, + "angularVelocity": -0.08378206209003339, + "velocityX": 2.7841984298530575, + "velocityY": 0.07074131921279452, + "timestamp": 4.927857182074857 + }, + { + "x": 5.015165820732933, + "y": 6.247136346300476, + "heading": 0.10924324745866247, + "angularVelocity": -0.08913087213960412, + "velocityX": 3.1141893377407177, + "velocityY": 0.10806979078476878, + "timestamp": 4.99261048721067 + }, + { + "x": 5.238285037327109, + "y": 6.25543524564352, + "heading": 0.10333948067978445, + "angularVelocity": -0.09117321141361788, + "velocityX": 3.4456807436501733, + "velocityY": 0.12816178765915376, + "timestamp": 5.057363792346483 + }, + { + "x": 5.4828882134200585, + "y": 6.262797588596474, + "heading": 0.09773171682329804, + "angularVelocity": -0.08660197104572066, + "velocityX": 3.7774624102958136, + "velocityY": 0.11369833458712587, + "timestamp": 5.122117097482296 + }, + { + "x": 5.74778413772583, + "y": 6.263060569763184, + "heading": 0.0935931028078498, + "angularVelocity": -0.06391355633149408, + "velocityX": 4.090847930467482, + "velocityY": 0.004061277893979396, + "timestamp": 5.186870402618109 + }, + { + "x": 6.013605641460004, + "y": 6.24191400772151, + "heading": 0.09359309638909583, + "angularVelocity": -9.917831510727641e-8, + "velocityX": 4.107296989323786, + "velocityY": -0.3267426050496276, + "timestamp": 5.251589731272729 + }, + { + "x": 6.276862418631435, + "y": 6.199439095939525, + "heading": 0.09359309077806317, + "angularVelocity": -8.669794285084282e-8, + "velocityX": 4.067668541129722, + "velocityY": -0.6562940726511032, + "timestamp": 5.316309059927348 + }, + { + "x": 6.527399691827839, + "y": 6.139917818463067, + "heading": 0.08476203699028893, + "angularVelocity": -0.13645156665487035, + "velocityX": 3.8711352296841666, + "velocityY": -0.9196831721493709, + "timestamp": 5.381028388581967 + }, + { + "x": 6.75663042562249, + "y": 6.083119284382794, + "heading": 0.07502326158910995, + "angularVelocity": -0.15047707699736645, + "velocityX": 3.541920760920773, + "velocityY": -0.8776131529945856, + "timestamp": 5.4457477172365865 + }, + { + "x": 6.964873739000207, + "y": 6.030903984882642, + "heading": 0.06524316275048915, + "angularVelocity": -0.151115579254742, + "velocityX": 3.217637106358551, + "velocityY": -0.8067960620976766, + "timestamp": 5.510467045891206 + }, + { + "x": 7.152282068970079, + "y": 5.983920652029787, + "heading": 0.05572785541591898, + "angularVelocity": -0.1470241971351326, + "velocityX": 2.89570880702416, + "velocityY": -0.7259551949864277, + "timestamp": 5.575186374545825 + }, + { + "x": 7.318941079653386, + "y": 5.942498197854015, + "heading": 0.04663339243937562, + "angularVelocity": -0.14052159015858803, + "velocityX": 2.5751041326880646, + "velocityY": -0.640032198059834, + "timestamp": 5.639905703200444 + }, + { + "x": 7.464905286734277, + "y": 5.90683529811683, + "heading": 0.03805432099740102, + "angularVelocity": -0.13255810312492006, + "velocityX": 2.2553417984269095, + "velocityY": -0.5510393954718356, + "timestamp": 5.7046250318550635 + }, + { + "x": 7.590212353553613, + "y": 5.877064925500585, + "heading": 0.03005404341529432, + "angularVelocity": -0.12361496555072342, + "velocityX": 1.9361614130463123, + "velocityY": -0.4599919874805364, + "timestamp": 5.769344360509683 + }, + { + "x": 7.694889835090688, + "y": 5.853282305980581, + "heading": 0.02267802548127335, + "angularVelocity": -0.11396932087141666, + "velocityX": 1.6174067888697665, + "velocityY": -0.3674732110853869, + "timestamp": 5.834063689164302 + }, + { + "x": 7.778958756807613, + "y": 5.835558989260669, + "heading": 0.015960462943441833, + "angularVelocity": -0.10379530624738742, + "velocityX": 1.2989770361427408, + "velocityY": -0.2738488962778864, + "timestamp": 5.898783017818921 + }, + { + "x": 7.842435685723995, + "y": 5.823950700480821, + "heading": 0.00992800913391407, + "angularVelocity": -0.09320946207153233, + "velocityX": 0.9808032659784228, + "velocityY": -0.1793635536888167, + "timestamp": 5.963502346473541 + }, + { + "x": 7.885334010682854, + "y": 5.818502066351385, + "heading": 0.004602022140728806, + "angularVelocity": -0.0822936069316772, + "velocityX": 0.662836371307088, + "velocityY": -0.08418866886758089, + "timestamp": 6.02822167512816 + }, + { + "x": 7.907664775848389, + "y": 5.819249629974365, + "heading": -8.861041564511578e-22, + "angularVelocity": -0.07110738378155824, + "velocityX": 0.3450401237118033, + "velocityY": 0.011550855648858615, + "timestamp": 6.092941003782779 + }, + { + "x": 7.906635252791002, + "y": 5.828052827441592, + "heading": -0.004258720886347518, + "angularVelocity": -0.058206213678033504, + "velocityX": -0.014071041672826983, + "velocityY": 0.12031800310510214, + "timestamp": 6.166107090652895 + }, + { + "x": 7.879238228976632, + "y": 5.84450093290686, + "heading": -0.0075552483463681396, + "angularVelocity": -0.04505540204538491, + "velocityX": -0.3744497619915793, + "velocityY": 0.2248050451907733, + "timestamp": 6.239273177523011 + }, + { + "x": 7.825367300152994, + "y": 5.868216578468005, + "heading": -0.009867835041262768, + "angularVelocity": -0.03160735791432891, + "velocityX": -0.7362827660753383, + "velocityY": 0.32413439853965875, + "timestamp": 6.312439264393127 + }, + { + "x": 7.744899750012138, + "y": 5.898736517545598, + "heading": -0.0111701723547619, + "angularVelocity": -0.01779973986870499, + "velocityX": -1.099792999504015, + "velocityY": 0.4171323133868237, + "timestamp": 6.385605351263243 + }, + { + "x": 7.637693676502783, + "y": 5.935479180350757, + "heading": -0.011429828096899505, + "angularVelocity": -0.003548853755135836, + "velocityX": -1.4652426840821369, + "velocityY": 0.5021816032116673, + "timestamp": 6.458771438133359 + }, + { + "x": 7.5035856277872615, + "y": 5.977694002563694, + "heading": -0.010605910687451307, + "angularVelocity": 0.01126091943267124, + "velocityX": -1.8329263522537513, + "velocityY": 0.5769725294708757, + "timestamp": 6.5319375250034755 + }, + { + "x": 7.342391196877079, + "y": 6.024378165489895, + "heading": -0.00864545101291993, + "angularVelocity": 0.026794649794673078, + "velocityX": -2.203130409260973, + "velocityY": 0.6380573968520984, + "timestamp": 6.6051036118735915 + }, + { + "x": 7.153916552611085, + "y": 6.0741311609152655, + "heading": -0.0054775986870561925, + "angularVelocity": 0.04329673023906966, + "velocityX": -2.575983660306647, + "velocityY": 0.6800007702160148, + "timestamp": 6.678269698743708 + }, + { + "x": 6.938008284848595, + "y": 6.124881823735959, + "heading": -0.0010041218542462327, + "angularVelocity": 0.0611413979368784, + "velocityX": -2.9509336497080865, + "velocityY": 0.6936364235357523, + "timestamp": 6.751435785613824 + }, + { + "x": 6.694745254080875, + "y": 6.173336610452631, + "heading": 0.004915269857105422, + "angularVelocity": 0.08090348909679626, + "velocityX": -3.324805810642302, + "velocityY": 0.6622574581949259, + "timestamp": 6.82460187248394 + }, + { + "x": 6.425208704257528, + "y": 6.213842395524965, + "heading": 0.0124744715476749, + "angularVelocity": 0.10331564819078756, + "velocityX": -3.6839000328366214, + "velocityY": 0.5536142057759702, + "timestamp": 6.897767959354056 + }, + { + "x": 6.134481864578053, + "y": 6.236901401740381, + "heading": 0.021837510116483112, + "angularVelocity": 0.1279696505490236, + "velocityX": -3.973519045723652, + "velocityY": 0.3151597577761656, + "timestamp": 6.970934046224172 + }, + { + "x": 5.836546421051025, + "y": 6.233473300933838, + "heading": 0.03271319444227894, + "angularVelocity": 0.14864378827724267, + "velocityX": -4.072042885878557, + "velocityY": -0.046853685268537476, + "timestamp": 7.044100133094288 + }, + { + "x": 5.568966710651099, + "y": 6.207960444496648, + "heading": 0.04338386716334799, + "angularVelocity": 0.15887874464776466, + "velocityX": -3.984072006782857, + "velocityY": -0.37986832780616103, + "timestamp": 7.111262501129899 + }, + { + "x": 5.317346915723196, + "y": 6.165700463545233, + "heading": 0.05445378266970707, + "angularVelocity": 0.16482318640834032, + "velocityX": -3.746440190948723, + "velocityY": -0.6292211276560161, + "timestamp": 7.178424869165511 + }, + { + "x": 5.087007251124614, + "y": 6.1143653077879145, + "heading": 0.06561369928254893, + "angularVelocity": 0.16616323901689406, + "velocityX": -3.429594151243304, + "velocityY": -0.7643440405510867, + "timestamp": 7.245587237201122 + }, + { + "x": 4.879543884126957, + "y": 6.059583812060162, + "heading": 0.07665980181981738, + "angularVelocity": 0.1644686281968431, + "velocityX": -3.088982313542825, + "velocityY": -0.8156575971041716, + "timestamp": 7.312749605236734 + }, + { + "x": 4.6952145650122015, + "y": 6.004917216734493, + "heading": 0.08747065927409489, + "angularVelocity": 0.16096599584674173, + "velocityX": -2.744532757049604, + "velocityY": -0.81394681165327, + "timestamp": 7.379911973272345 + }, + { + "x": 4.533893228023684, + "y": 5.952664203225111, + "heading": 0.0979708120981826, + "angularVelocity": 0.15633982438677985, + "velocityX": -2.4019602302137435, + "velocityY": -0.7780102911451432, + "timestamp": 7.447074341307957 + }, + { + "x": 4.39536164205183, + "y": 5.904388121866292, + "heading": 0.10811026318188136, + "angularVelocity": 0.15096923143511817, + "velocityX": -2.0626370097373927, + "velocityY": -0.7187965935510374, + "timestamp": 7.514236709343568 + }, + { + "x": 4.2793961801584235, + "y": 5.861206716024424, + "heading": 0.1178539418618899, + "angularVelocity": 0.14507646119389675, + "velocityX": -1.7266434356799014, + "velocityY": -0.6429404904093345, + "timestamp": 7.58139907737918 + }, + { + "x": 4.185792366980932, + "y": 5.823953202461205, + "heading": 0.12717608254691332, + "angularVelocity": 0.13880005958218405, + "velocityX": -1.393694354669862, + "velocityY": -0.5546783809568239, + "timestamp": 7.648561445414791 + }, + { + "x": 4.114369863428615, + "y": 5.7932701366868775, + "heading": 0.1360570420074184, + "angularVelocity": 0.1322311842220364, + "velocityX": -1.0634303947479564, + "velocityY": -0.4568490759298204, + "timestamp": 7.715723813450403 + }, + { + "x": 4.0649713345283995, + "y": 5.7696669169336205, + "heading": 0.14448139137724897, + "angularVelocity": 0.12543258399352125, + "velocityX": -0.7355090409263635, + "velocityY": -0.3514351927070385, + "timestamp": 7.782886181486014 + }, + { + "x": 4.037459651013235, + "y": 5.7535566504811975, + "heading": 0.15243671363190991, + "angularVelocity": 0.11844910308169677, + "velocityX": -0.4096294445808958, + "velocityY": -0.23987043523958734, + "timestamp": 7.850048549521626 + }, + { + "x": 4.031714916229248, + "y": 5.745280742645264, + "heading": 0.15991281260240592, + "angularVelocity": 0.11131380844898156, + "velocityX": -0.08553502432999834, + "velocityY": -0.12322239489151882, + "timestamp": 7.917210917557237 + }, + { + "x": 4.028733574124723, + "y": 5.716806207328283, + "heading": 0.16648713095695195, + "angularVelocity": 0.10328727118287491, + "velocityX": -0.04683902936129348, + "velocityY": -0.4473554355726786, + "timestamp": 7.980861726405753 + }, + { + "x": 4.029303269349349, + "y": 5.667859664319208, + "heading": 0.17250743991031525, + "angularVelocity": 0.09458338491331914, + "velocityX": 0.008950321840875176, + "velocityY": -0.7689854048133818, + "timestamp": 8.04451253525427 + }, + { + "x": 4.034773095532229, + "y": 5.598721670530651, + "heading": 0.177921913214448, + "angularVelocity": 0.08506527100101363, + "velocityX": 0.0859349045492505, + "velocityY": -1.0862076231128457, + "timestamp": 8.108163344102786 + }, + { + "x": 4.04683331391786, + "y": 5.509879274518647, + "heading": 0.18266829184010208, + "angularVelocity": 0.07456902294753398, + "velocityX": 0.1894747074516172, + "velocityY": -1.3957779581944039, + "timestamp": 8.171814152951303 + }, + { + "x": 4.067606933697682, + "y": 5.402175243088082, + "heading": 0.1866729466072294, + "angularVelocity": 0.06291600750366072, + "velocityX": 0.3263685121309602, + "velocityY": -1.692107820450355, + "timestamp": 8.235464961799819 + }, + { + "x": 4.099716828344451, + "y": 5.277059766569589, + "heading": 0.18985302153969794, + "angularVelocity": 0.04996126506478306, + "velocityX": 0.504469546069523, + "velocityY": -1.9656541492859476, + "timestamp": 8.299115770648335 + }, + { + "x": 4.146220491607715, + "y": 5.136961885287488, + "heading": 0.19212655579157403, + "angularVelocity": 0.03571885877030929, + "velocityX": 0.7306060064992874, + "velocityY": -2.2010385070757232, + "timestamp": 8.362766579496851 + }, + { + "x": 4.210214706803066, + "y": 4.985651459769157, + "heading": 0.193436287646545, + "angularVelocity": 0.02057682971614746, + "velocityX": 1.0053951607693359, + "velocityY": -2.3771956437888795, + "timestamp": 8.426417388345367 + }, + { + "x": 4.294045552639039, + "y": 4.828164588359487, + "heading": 0.19378149775282844, + "angularVelocity": 0.005423499127953307, + "velocityX": 1.3170428994151997, + "velocityY": -2.4742320523290933, + "timestamp": 8.490068197193883 + }, + { + "x": 4.398640112537955, + "y": 4.669954353870274, + "heading": 0.1932299156983433, + "angularVelocity": -0.008665750906604456, + "velocityX": 1.6432557856074201, + "velocityY": -2.485596606725612, + "timestamp": 8.5537190060424 + }, + { + "x": 4.523606377596732, + "y": 4.515827070408729, + "heading": 0.19189285353451518, + "angularVelocity": -0.021006208530833268, + "velocityX": 1.9633099299049899, + "velocityY": -2.421450508639348, + "timestamp": 8.617369814890916 + }, + { + "x": 4.667843818664551, + "y": 4.369466304779053, + "heading": 0.18988972149801628, + "angularVelocity": -0.0314706454283432, + "velocityX": 2.2660739694776426, + "velocityY": -2.2994329259507698, + "timestamp": 8.681020623739432 + }, + { + "x": 4.871797892715673, + "y": 4.205621418602988, + "heading": 0.1865920524335519, + "angularVelocity": -0.0422409120042009, + "velocityX": 2.6125138473502396, + "velocityY": -2.098742258245844, + "timestamp": 8.759088755036796 + }, + { + "x": 5.101719412723405, + "y": 4.059172590207619, + "heading": 0.1823462410927036, + "angularVelocity": -0.05438597376791099, + "velocityX": 2.945139280098198, + "velocityY": -1.8759105151055673, + "timestamp": 8.83715688633416 + }, + { + "x": 5.355857297295401, + "y": 3.932483913538177, + "heading": 0.17700453688749862, + "angularVelocity": -0.06842362070712561, + "velocityX": 3.2553345436689742, + "velocityY": -1.6227963262868412, + "timestamp": 8.915225017631524 + }, + { + "x": 5.631115809033472, + "y": 3.828833403933396, + "heading": 0.17035974396289696, + "angularVelocity": -0.0851153065172188, + "velocityX": 3.525875503406118, + "velocityY": -1.327692976407643, + "timestamp": 8.993293148928888 + }, + { + "x": 5.921560736313624, + "y": 3.7524980506854146, + "heading": 0.16213464835819472, + "angularVelocity": -0.10535791581038999, + "velocityX": 3.720403222844351, + "velocityY": -0.9778042842759619, + "timestamp": 9.071361280226252 + }, + { + "x": 6.215996410886688, + "y": 3.707158097711821, + "heading": 0.15206765627308344, + "angularVelocity": -0.12895136488877526, + "velocityX": 3.771521998541844, + "velocityY": -0.580774154832675, + "timestamp": 9.149429411523617 + }, + { + "x": 6.499201446177462, + "y": 3.690982108951251, + "heading": 0.14021370017373183, + "angularVelocity": -0.1518411662013455, + "velocityX": 3.62766509950179, + "velocityY": -0.2072034835694342, + "timestamp": 9.22749754282098 + }, + { + "x": 6.760144156179077, + "y": 3.6967423609871095, + "heading": 0.12696695962397309, + "angularVelocity": -0.16968179370531306, + "velocityX": 3.342499758418362, + "velocityY": 0.07378493554453382, + "timestamp": 9.305565674118345 + }, + { + "x": 6.993747301290997, + "y": 3.717650756831888, + "heading": 0.11271543576980789, + "angularVelocity": -0.18255238875746302, + "velocityX": 2.9922984094766716, + "velocityY": 0.2678224199467244, + "timestamp": 9.383633805415709 + }, + { + "x": 7.197885514439911, + "y": 3.7489894618571475, + "heading": 0.09773384035236395, + "angularVelocity": -0.19190411206819374, + "velocityX": 2.614872544743554, + "velocityY": 0.40142763128130604, + "timestamp": 9.461701936713073 + }, + { + "x": 7.371619435690451, + "y": 3.787579396090815, + "heading": 0.0822090924111378, + "angularVelocity": -0.19886152881118324, + "velocityX": 2.2254141140996357, + "velocityY": 0.49431097673744373, + "timestamp": 9.539770068010437 + }, + { + "x": 7.514504734103524, + "y": 3.831207022230382, + "heading": 0.06627209980833938, + "angularVelocity": -0.2041421043126261, + "velocityX": 1.8302641044246033, + "velocityY": 0.5588404053555219, + "timestamp": 9.617838199307801 + }, + { + "x": 7.626321599036744, + "y": 3.878266327671348, + "heading": 0.050018209226889945, + "angularVelocity": -0.20820135324538117, + "velocityX": 1.432298468978392, + "velocityY": 0.6027978979247636, + "timestamp": 9.695906330605165 + }, + { + "x": 7.706960109890584, + "y": 3.9275480062281813, + "heading": 0.033519413765036976, + "angularVelocity": -0.21133841924572758, + "velocityX": 1.032924824941496, + "velocityY": 0.6312649955603196, + "timestamp": 9.77397446190253 + }, + { + "x": 7.75636745475808, + "y": 3.9781125797320316, + "heading": 0.016831759030145377, + "angularVelocity": -0.21375757889384633, + "velocityX": 0.6328746960690229, + "velocityY": 0.647698012794074, + "timestamp": 9.852042593199894 + }, + { + "x": 7.774521827697754, + "y": 4.029211044311523, + "heading": -2.3205962182381023e-21, + "angularVelocity": -0.21560345752394805, + "velocityX": 0.23254524782363484, + "velocityY": 0.6545367966456909, + "timestamp": 9.930110724497258 + }, + { + "x": 7.767154710406391, + "y": 4.072900928949108, + "heading": -0.014488654781856458, + "angularVelocity": -0.216783406299003, + "velocityX": -0.11022892083989355, + "velocityY": 0.6537005784972164, + "timestamp": 9.99694542844998 + }, + { + "x": 7.736878414259794, + "y": 4.116522125330073, + "heading": -0.029046314724269887, + "angularVelocity": -0.21781588129291915, + "velocityX": -0.45300262223071897, + "velocityY": 0.6526728451108802, + "timestamp": 10.063780132402702 + }, + { + "x": 7.683692986765261, + "y": 4.160059290918648, + "heading": -0.04366116547987685, + "angularVelocity": -0.2186715866347725, + "velocityX": -0.7957756128037357, + "velocityY": 0.6514155523060602, + "timestamp": 10.130614836355424 + }, + { + "x": 7.607598500792507, + "y": 4.203493699341211, + "heading": -0.0583187869642347, + "angularVelocity": -0.2193115345393992, + "velocityX": -1.1385475130791645, + "velocityY": 0.6498780701308696, + "timestamp": 10.197449540308146 + }, + { + "x": 7.508595070224757, + "y": 4.246801982220053, + "heading": -0.07300118446700099, + "angularVelocity": -0.2196822404293508, + "velocityX": -1.4813177094011665, + "velocityY": 0.6479909435893982, + "timestamp": 10.264284244260867 + }, + { + "x": 7.3866828784850584, + "y": 4.289954159064308, + "heading": -0.08768527148039744, + "angularVelocity": -0.21970751937173005, + "velocityX": -1.8240851612949218, + "velocityY": 0.6456552403490899, + "timestamp": 10.33111894821359 + }, + { + "x": 7.241862234402131, + "y": 4.3329103687170365, + "heading": -0.10234035253177223, + "angularVelocity": -0.21927352385284243, + "velocityX": -2.166847992404854, + "velocityY": 0.6427231230516847, + "timestamp": 10.397953652166311 + }, + { + "x": 7.07413369246623, + "y": 4.375615021772806, + "heading": -0.1169236196715288, + "angularVelocity": -0.21819902352036502, + "velocityX": -2.5096025270726274, + "velocityY": 0.6389592611344215, + "timestamp": 10.464788356119033 + }, + { + "x": 6.883498347675479, + "y": 4.417985205751851, + "heading": -0.13137122210873817, + "angularVelocity": -0.21616916934994543, + "velocityX": -2.852340678064573, + "velocityY": 0.6339548389264723, + "timestamp": 10.531623060071755 + }, + { + "x": 6.669958711115492, + "y": 4.459883985157583, + "heading": -0.14557769926414693, + "angularVelocity": -0.21256138376042305, + "velocityX": -3.195041257473706, + "velocityY": 0.6269015485633134, + "timestamp": 10.598457764024477 + }, + { + "x": 6.433522272731176, + "y": 4.501042143745589, + "heading": -0.15933568232019976, + "angularVelocity": -0.2058508864763596, + "velocityX": -3.5376297701800143, + "velocityY": 0.6158201675752218, + "timestamp": 10.6652924679772 + }, + { + "x": 6.174229264575733, + "y": 4.540688400614103, + "heading": -0.17205071918548479, + "angularVelocity": -0.19024602658941284, + "velocityX": -3.879616319373006, + "velocityY": 0.5931986606323556, + "timestamp": 10.732127171929921 + }, + { + "x": 5.899813652038574, + "y": 4.563681602478027, + "heading": -0.1720507217902465, + "angularVelocity": -3.897319119513182e-8, + "velocityX": -4.105885061319011, + "velocityY": 0.3440308777336659, + "timestamp": 10.798961875882643 + }, + { + "x": 5.6382505881182885, + "y": 4.595249515536772, + "heading": -0.17409645748158847, + "angularVelocity": -0.03126690554583913, + "velocityX": -3.9977146844962266, + "velocityY": 0.48248215058493454, + "timestamp": 10.864390022852378 + }, + { + "x": 5.398484436113205, + "y": 4.624186785267214, + "heading": -0.1759717239534531, + "angularVelocity": -0.028661463891558173, + "velocityX": -3.664571948155486, + "velocityY": 0.44227555067129126, + "timestamp": 10.929818169822113 + }, + { + "x": 5.1805152028201515, + "y": 4.650493400816042, + "heading": -0.1776765154239882, + "angularVelocity": -0.026055933867785288, + "velocityX": -3.331429107932396, + "velocityY": 0.40206878487627273, + "timestamp": 10.995246316791848 + }, + { + "x": 4.984342890504657, + "y": 4.674169358565494, + "heading": -0.1792108298775417, + "angularVelocity": -0.023450373036901073, + "velocityX": -2.998286233083113, + "velocityY": 0.36186196378760377, + "timestamp": 11.060674463761583 + }, + { + "x": 4.809967500299472, + "y": 4.695214656706689, + "heading": -0.1805746662928034, + "angularVelocity": -0.020844796596372648, + "velocityX": -2.665143340920935, + "velocityY": 0.32165511505210137, + "timestamp": 11.126102610731317 + }, + { + "x": 4.657389032884244, + "y": 4.7136292941543, + "heading": -0.18176802405360484, + "angularVelocity": -0.018239210738361194, + "velocityX": -2.3320004383710753, + "velocityY": 0.281448249728481, + "timestamp": 11.191530757701052 + }, + { + "x": 4.526607488712068, + "y": 4.729413270184769, + "heading": -0.18279090274809942, + "angularVelocity": -0.015633618585709556, + "velocityX": -1.9988575288961132, + "velocityY": 0.24124137334610185, + "timestamp": 11.256958904670787 + }, + { + "x": 4.417622868106585, + "y": 4.742566584281272, + "heading": -0.1836433020817022, + "angularVelocity": -0.0130280219306395, + "velocityX": -1.665714614474658, + "velocityY": 0.20103448906460197, + "timestamp": 11.322387051640522 + }, + { + "x": 4.330435171310525, + "y": 4.753089236056193, + "heading": -0.18432522183325692, + "angularVelocity": -0.010422421895428998, + "velocityX": -1.3325716963433365, + "velocityY": 0.1608275988587593, + "timestamp": 11.387815198610257 + }, + { + "x": 4.265044398512677, + "y": 4.760981225208049, + "heading": -0.18483666183057199, + "angularVelocity": -0.007816819228453033, + "velocityX": -0.9994287753265666, + "velocityY": 0.1206207040450968, + "timestamp": 11.453243345579992 + }, + { + "x": 4.2214505498640715, + "y": 4.766242551495655, + "heading": -0.18517762193569534, + "angularVelocity": -0.005211214453024929, + "velocityX": -0.6662858520014394, + "velocityY": 0.08041380554518446, + "timestamp": 11.518671492549727 + }, + { + "x": 4.199653625488281, + "y": 4.76887321472168, + "heading": -0.1853481020355219, + "angularVelocity": -0.0026056079489066492, + "velocityX": -0.333142926787658, + "velocityY": 0.04020690402925863, + "timestamp": 11.584099639519462 + }, + { + "x": 4.199653625488281, + "y": 4.76887321472168, + "heading": -0.1853481020355219, + "angularVelocity": -7.946596899257776e-22, + "velocityX": -2.528747116740365e-22, + "velocityY": -1.6438334985949743e-21, + "timestamp": 11.649527786489196 + } + ], + "trajectoryWaypoints": [ + { + "timestamp": 0, + "isStopPoint": true, + "x": 0.7328706979751587, + "y": 6.609785556793213, + "heading": 1.0789872785859569, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 19 + }, + { + "timestamp": 0.926939217083833, + "isStopPoint": false, + "x": 2.90181040763855, + "y": 6.258988857269287, + "heading": -0.023825563731718707, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 21 + }, + { + "timestamp": 2.564612430647393, + "isStopPoint": false, + "x": 7.866925239562988, + "y": 7.4445061683654785, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 19 + }, + { + "timestamp": 4.345077435852539, + "isStopPoint": false, + "x": 3.9527645111083984, + "y": 6.335220813751221, + "heading": 0.14189719500937054, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 13 + }, + { + "timestamp": 5.186870402618109, + "isStopPoint": false, + "x": 5.74778413772583, + "y": 6.263060569763184, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 14 + }, + { + "timestamp": 6.092941003782779, + "isStopPoint": false, + "x": 7.907664775848389, + "y": 5.819249629974365, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 13 + }, + { + "timestamp": 7.044100133094288, + "isStopPoint": false, + "x": 5.836546421051025, + "y": 6.233473300933838, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 13 + }, + { + "timestamp": 7.917210917557237, + "isStopPoint": false, + "x": 4.031714916229248, + "y": 5.745280742645264, + "heading": 0.15991281260240592, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "timestamp": 8.681020623739432, + "isStopPoint": false, + "x": 4.667843818664551, + "y": 4.369466304779053, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 16 + }, + { + "timestamp": 9.930110724497258, + "isStopPoint": false, + "x": 7.774521827697754, + "y": 4.029211044311523, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 13 + }, + { + "timestamp": 10.798961875882643, + "isStopPoint": false, + "x": 5.899813652038574, + "y": 4.563681602478027, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 13 + }, + { + "timestamp": 11.649527786489196, + "isStopPoint": true, + "x": 4.199653625488281, + "y": 4.76887321472168, + "heading": -0.1853481020355219, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "constraints": [ + { + "scope": [ + "first" + ], + "type": "StopPoint" + }, + { + "scope": [ + "last" + ], + "type": "StopPoint" + }, + { + "scope": [ + 7, + 7 + ], + "type": "MaxVelocity", + "velocity": 0.15 + } + ], + "usesControlIntervalGuessing": true, + "defaultControlIntervalCount": 40, + "usesDefaultFieldObstacles": true, + "circleObstacles": [], + "eventMarkers": [], + "isTrajectoryStale": false + }, + "Source4Note345": { + "waypoints": [ + { + "x": 0.7012643218040466, + "y": 4.475527763366699, + "heading": -1.0584069524694912, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 19 + }, + { + "x": 2.922780752182007, + "y": 4.821096897125244, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "x": 4.601259708404541, + "y": 4.524894714355469, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 12 + }, + { + "x": 6.164548397064209, + "y": 3.7679338455200195, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 12 + }, + { + "x": 7.908850193023682, + "y": 4.1135029792785645, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 16 + }, + { + "x": 4.848094463348389, + "y": 3.603376865386963, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 15 + }, + { + "x": 3.8772099018096924, + "y": 2.2704672813415527, + "heading": -0.6435012536786778, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 17 + }, + { + "x": 6.279738426208496, + "y": 1.9578094482421875, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "x": 7.908850193023682, + "y": 2.4185683727264404, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "x": 6.263282775878906, + "y": 1.8426196575164795, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 17 + }, + { + "x": 3.8442983627319336, + "y": 2.1552774906158447, + "heading": -0.602287538290654, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 22 + }, + { + "x": 7.908850193023682, + "y": 0.7236337661743164, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 23 + }, + { + "x": 3.811387062072754, + "y": 2.122366189956665, + "heading": -0.7022564818650576, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "trajectory": [ + { + "x": 0.7012643218040466, + "y": 4.475527763366699, + "heading": -1.0584069524694912, + "angularVelocity": 1.35595729168612e-25, + "velocityX": 1.4664818087675264e-24, + "velocityY": -6.87247645585249e-24, + "timestamp": 0 + }, + { + "x": 0.7130752441042216, + "y": 4.47752481036138, + "heading": -1.047874914711513, + "angularVelocity": 0.2134496897391787, + "velocityX": 0.2393684639609371, + "velocityY": 0.04047355993251818, + "timestamp": 0.049342014836600986 + }, + { + "x": 0.7367161607859627, + "y": 4.4815156769193, + "heading": -1.0270238646876997, + "angularVelocity": 0.4225820549254573, + "velocityX": 0.4791234561464372, + "velocityY": 0.08088171046795564, + "timestamp": 0.09868402967320197 + }, + { + "x": 0.7722110412083123, + "y": 4.487495862541681, + "heading": -0.9961275558882633, + "angularVelocity": 0.6261663392091168, + "velocityX": 0.7193642282321278, + "velocityY": 0.12119865072768905, + "timestamp": 0.14802604450980295 + }, + { + "x": 0.8195885546525802, + "y": 4.495458383955774, + "heading": -0.9555170011670803, + "angularVelocity": 0.8230420840265095, + "velocityX": 0.9601860321505173, + "velocityY": 0.161374063066966, + "timestamp": 0.19736805934640395 + }, + { + "x": 0.8788815466573906, + "y": 4.505392734371882, + "heading": -0.9055732183825892, + "angularVelocity": 1.0121958527612376, + "velocityX": 1.2016735068716329, + "velocityY": 0.20133653741150442, + "timestamp": 0.24671007418300495 + }, + { + "x": 0.9501261855969747, + "y": 4.517284465001881, + "heading": -0.8467167723668201, + "angularVelocity": 1.1928261586130158, + "velocityX": 1.443893995320518, + "velocityY": 0.24100618244671507, + "timestamp": 0.29605208901960595 + }, + { + "x": 1.033361036653653, + "y": 4.531115857788243, + "heading": -0.7793984190016389, + "angularVelocity": 1.3643211285171442, + "velocityX": 1.6868960728968083, + "velocityY": 0.2803167408579883, + "timestamp": 0.34539410385620695 + }, + { + "x": 1.1286266721674085, + "y": 4.54686791226827, + "heading": -0.7041006841948274, + "angularVelocity": 1.526036888768416, + "velocityX": 1.9307204180703474, + "velocityY": 0.319242222519503, + "timestamp": 0.39473611869280795 + }, + { + "x": 1.2359667010079436, + "y": 4.564523241147516, + "heading": -0.6213665168496443, + "angularVelocity": 1.6767488644142756, + "velocityX": 2.1754285712895585, + "velocityY": 0.35781532103446856, + "timestamp": 0.44407813352940895 + }, + { + "x": 1.355430979413833, + "y": 4.584068485538284, + "heading": -0.5318769704940612, + "angularVelocity": 1.8136581299311139, + "velocityX": 2.421147146128966, + "velocityY": 0.3961176789292777, + "timestamp": 0.49342014836600995 + }, + { + "x": 1.4870807395767256, + "y": 4.6054937421516176, + "heading": -0.4366063356348723, + "angularVelocity": 1.9308217383234834, + "velocityX": 2.6681066956600508, + "velocityY": 0.43421932980007055, + "timestamp": 0.542762163202611 + }, + { + "x": 1.6309921142351658, + "y": 4.62878555774163, + "heading": -0.3371005041962886, + "angularVelocity": 2.0166552129681596, + "velocityX": 2.916609204853331, + "velocityY": 0.47204832772120586, + "timestamp": 0.5921041780392119 + }, + { + "x": 1.7872429405082741, + "y": 4.653909326955937, + "heading": -0.23600200862807216, + "angularVelocity": 2.0489332651495915, + "velocityX": 3.1666892158851314, + "velocityY": 0.5091759892153832, + "timestamp": 0.6414461928758128 + }, + { + "x": 1.955800488408387, + "y": 4.680764921549245, + "heading": -0.13845532328201524, + "angularVelocity": 1.9769497793936581, + "velocityX": 3.4161058979512955, + "velocityY": 0.5442743812193794, + "timestamp": 0.6907882077124138 + }, + { + "x": 2.1349342314386073, + "y": 4.7085203213980575, + "heading": -0.062226637634806285, + "angularVelocity": 1.5449041937108723, + "velocityX": 3.63045051207237, + "velocityY": 0.5625104678178738, + "timestamp": 0.7401302225490147 + }, + { + "x": 2.3231376691326124, + "y": 4.736959726934749, + "heading": -0.015556580058332851, + "angularVelocity": 0.9458482336204572, + "velocityX": 3.814263327455349, + "velocityY": 0.576373008497331, + "timestamp": 0.7894722373856157 + }, + { + "x": 2.5200586239997804, + "y": 4.766210325846585, + "heading": -1.8588553206774156e-7, + "angularVelocity": 0.31527683302590515, + "velocityX": 3.990938665947945, + "velocityY": 0.5928132243626654, + "timestamp": 0.8388142522222166 + }, + { + "x": 2.7206497519468917, + "y": 4.799302905772457, + "heading": -9.393965020101493e-8, + "angularVelocity": 0.0000018634399541893636, + "velocityX": 4.0653209766844896, + "velocityY": 0.6706775156113934, + "timestamp": 0.8881562670588176 + }, + { + "x": 2.922780752182007, + "y": 4.821096897125244, + "heading": -4.19415250912016e-24, + "angularVelocity": 0.0000019038470664828271, + "velocityX": 4.096529112248132, + "velocityY": 0.44169236754840535, + "timestamp": 0.9374982818954185 + }, + { + "x": 3.0661275875026526, + "y": 4.830285372388774, + "heading": -2.148856449581639e-9, + "angularVelocity": -6.163889009608376e-8, + "velocityX": 4.11183344968015, + "velocityY": 0.2635668925346567, + "timestamp": 0.9723603056312768 + }, + { + "x": 3.2097380850541177, + "y": 4.8332464823275085, + "heading": -4.33224269168314e-9, + "angularVelocity": -6.262936020709883e-8, + "velocityX": 4.119396471058866, + "velocityY": 0.08493798183290027, + "timestamp": 1.0072223293671352 + }, + { + "x": 3.353341836255061, + "y": 4.829974529249004, + "heading": -6.56801260797033e-9, + "angularVelocity": -6.413196013022978e-8, + "velocityX": 4.1192029553131055, + "velocityY": -0.09385436437355381, + "timestamp": 1.0420843531029935 + }, + { + "x": 3.4966684334444085, + "y": 4.820475614588101, + "heading": -8.875894016604602e-9, + "angularVelocity": -6.620044281194253e-8, + "velocityX": 4.111252928840291, + "velocityY": -0.27247169392327125, + "timestamp": 1.0769463768388519 + }, + { + "x": 3.639447986078635, + "y": 4.80476759303118, + "heading": -1.1278209094883865e-8, + "angularVelocity": -6.890922616773665e-8, + "velocityX": 4.095561224902915, + "velocityY": -0.4505768705780642, + "timestamp": 1.1118084005747102 + }, + { + "x": 3.781411631541406, + "y": 4.78288002470995, + "heading": -1.3800882207541757e-8, + "angularVelocity": -7.236163717205908e-8, + "velocityX": 4.072157329086734, + "velocityY": -0.6278341293972823, + "timestamp": 1.1466704243105685 + }, + { + "x": 3.922292042494357, + "y": 4.754854113329163, + "heading": -1.6474766217146496e-8, + "angularVelocity": -7.669904736065112e-8, + "velocityX": 4.041085280084993, + "velocityY": -0.8039094802164521, + "timestamp": 1.1815324480464269 + }, + { + "x": 4.061823930760296, + "y": 4.720742625602728, + "heading": -1.9337446361982888e-8, + "angularVelocity": -8.21145716188558e-8, + "velocityX": 4.002403570232772, + "velocityY": -0.978471243806441, + "timestamp": 1.2163944717822852 + }, + { + "x": 4.199744547121747, + "y": 4.680609790344849, + "heading": -2.2435766007654413e-8, + "angularVelocity": -8.887377477414376e-8, + "velocityX": 3.956185028340431, + "velocityY": -1.1511906354592945, + "timestamp": 1.2512564955181436 + }, + { + "x": 4.33579417622256, + "y": 4.634531176665304, + "heading": -2.582946430761559e-8, + "angularVelocity": -9.734656615675744e-8, + "velocityX": 3.902516679227518, + "velocityY": -1.321742364375404, + "timestamp": 1.286118519254002 + }, + { + "x": 4.4697166256951775, + "y": 4.582593551168475, + "heading": -2.9596575969164054e-8, + "angularVelocity": -1.0805774472793139e-7, + "velocityX": 3.8414995780886927, + "velocityY": -1.4898052359308736, + "timestamp": 1.3209805429898602 + }, + { + "x": 4.601259708404541, + "y": 4.524894714355469, + "heading": -3.3875027210293766e-8, + "angularVelocity": -1.2272526900751864e-7, + "velocityX": 3.7732486130477016, + "velocityY": -1.6550627482264968, + "timestamp": 1.3558425667257186 + }, + { + "x": 4.734562448878385, + "y": 4.459137464101324, + "heading": -3.767778619796302e-8, + "angularVelocity": -1.0541224327618212e-7, + "velocityX": 3.6951436979767838, + "velocityY": -1.822786898522628, + "timestamp": 1.3919176835193718 + }, + { + "x": 4.864778755280991, + "y": 4.387462142159452, + "heading": -4.075372355757089e-8, + "angularVelocity": -8.52647928266453e-8, + "velocityX": 3.6095879369548025, + "velocityY": -1.9868354786444253, + "timestamp": 1.4279928003130251 + }, + { + "x": 4.991646062524004, + "y": 4.31001328242291, + "heading": -4.331381117101593e-8, + "angularVelocity": -7.09654698580335e-8, + "velocityX": 3.5167538879689317, + "velocityY": -2.146877588215275, + "timestamp": 1.4640679171066784 + }, + { + "x": 5.114908569345276, + "y": 4.226947074075465, + "heading": -4.549487456287536e-8, + "angularVelocity": -6.045894194424784e-8, + "velocityX": 3.4168290438620974, + "velocityY": -2.3025901432995166, + "timestamp": 1.5001430339003317 + }, + { + "x": 5.240630837773264, + "y": 4.147652992068584, + "heading": -4.7796207316709824e-8, + "angularVelocity": -6.379280119861848e-8, + "velocityX": 3.4850134830362576, + "velocityY": -2.1980270351011604, + "timestamp": 1.536218150693985 + }, + { + "x": 5.369786083327096, + "y": 4.074082884476059, + "heading": -6.80330102112903e-8, + "angularVelocity": -5.609629210719787e-7, + "velocityX": 3.5801753960379097, + "velocityY": -2.0393588193585033, + "timestamp": 1.5722932674876382 + }, + { + "x": 5.501957932059618, + "y": 4.006463913536522, + "heading": -0.0005378526214979867, + "angularVelocity": -0.014907355437374207, + "velocityX": 3.6637954490496707, + "velocityY": -1.8743936804505115, + "timestamp": 1.6083683842812915 + }, + { + "x": 5.635122517131343, + "y": 3.9454444846864316, + "heading": -0.0013716068459818165, + "angularVelocity": -0.02311161538998856, + "velocityX": 3.6913140387989873, + "velocityY": -1.691454783060481, + "timestamp": 1.6444435010749447 + }, + { + "x": 5.7683672766770036, + "y": 3.891098891931583, + "heading": -0.0023714416580770926, + "angularVelocity": -0.027715358977609194, + "velocityX": 3.6935364702437306, + "velocityY": -1.506456460437835, + "timestamp": 1.680518617868598 + }, + { + "x": 5.901203439301723, + "y": 3.843415261868438, + "heading": -0.0034666226109464834, + "angularVelocity": -0.030358348086126495, + "velocityX": 3.6822101889380328, + "velocityY": -1.3217872678248526, + "timestamp": 1.7165937346622513 + }, + { + "x": 6.033331045967558, + "y": 3.8023684544753524, + "heading": -0.004613334740621083, + "angularVelocity": -0.03178678911100141, + "velocityX": 3.6625690617051805, + "velocityY": -1.13781495505254, + "timestamp": 1.7526688514559046 + }, + { + "x": 6.164548397064209, + "y": 3.767933845520019, + "heading": -0.005781939029622976, + "angularVelocity": -0.03239363840971651, + "velocityX": 3.6373368337850036, + "velocityY": -0.9545252244724934, + "timestamp": 1.7887439682495578 + }, + { + "x": 6.4238894349918905, + "y": 3.725356363013457, + "heading": -0.00813177146759458, + "angularVelocity": -0.03242490425559778, + "velocityX": 3.578599132630597, + "velocityY": -0.5875188253471295, + "timestamp": 1.8612139567327446 + }, + { + "x": 6.673459862679172, + "y": 3.7078796706091532, + "heading": -0.010324564143580333, + "angularVelocity": -0.030257941554585537, + "velocityX": 3.443776284650332, + "velocityY": -0.2411576539488291, + "timestamp": 1.9336839452159313 + }, + { + "x": 6.907667295296139, + "y": 3.712527250548902, + "heading": -0.012192160841527707, + "angularVelocity": -0.025770622253937055, + "velocityX": 3.231785150225377, + "velocityY": 0.06413109808658506, + "timestamp": 2.0061539336991183 + }, + { + "x": 7.121777473190393, + "y": 3.735107801887392, + "heading": -0.013584669209521207, + "angularVelocity": -0.019214966045103837, + "velocityX": 2.9544668403518353, + "velocityY": 0.31158486169386757, + "timestamp": 2.078623922182305 + }, + { + "x": 7.312475114645496, + "y": 3.7710048983952196, + "heading": -0.01438951581488395, + "angularVelocity": -0.011105929809130157, + "velocityX": 2.631401569759389, + "velocityY": 0.49533741151560723, + "timestamp": 2.151093910665492 + }, + { + "x": 7.477791781199064, + "y": 3.8159171301541095, + "heading": -0.014532784027010696, + "angularVelocity": -0.0019769316254270534, + "velocityX": 2.2811741800113965, + "velocityY": 0.6197355995069491, + "timestamp": 2.2235638991486786 + }, + { + "x": 7.616715815868345, + "y": 3.8662041653804877, + "heading": -0.01397001086601989, + "angularVelocity": 0.007765603014016935, + "velocityX": 1.9169871222141917, + "velocityY": 0.6939015208763943, + "timestamp": 2.2960338876318653 + }, + { + "x": 7.728815295702192, + "y": 3.9189199057655046, + "heading": -0.012675922533213273, + "angularVelocity": 0.017856886138554434, + "velocityX": 1.546840039306131, + "velocityY": 0.7274147752520648, + "timestamp": 2.368503876115052 + }, + { + "x": 7.813980652629695, + "y": 3.971713548083725, + "heading": -0.010636867255267548, + "angularVelocity": 0.028136547564358877, + "velocityX": 1.1751810468034207, + "velocityY": 0.7284897296550381, + "timestamp": 2.440973864598239 + }, + { + "x": 7.872272087271126, + "y": 4.022706026315587, + "heading": -0.007846030199376108, + "angularVelocity": 0.03851024561069059, + "velocityX": 0.8043527515525248, + "velocityY": 0.7036357987512754, + "timestamp": 2.5134438530814256 + }, + { + "x": 7.903834329466794, + "y": 4.070381624553785, + "heading": -0.004300580651813334, + "angularVelocity": 0.04892300415344109, + "velocityX": 0.4355215566646703, + "velocityY": 0.6578667836998284, + "timestamp": 2.5859138415646123 + }, + { + "x": 7.908850193023682, + "y": 4.1135029792785645, + "heading": -1.6431801399771578e-28, + "angularVelocity": 0.05934291893548571, + "velocityX": 0.06921297576928687, + "velocityY": 0.5950236177391367, + "timestamp": 2.658383830047799 + }, + { + "x": 7.887054284240868, + "y": 4.151354202426506, + "heading": 0.005110873422893934, + "angularVelocity": 0.0698517929802493, + "velocityX": -0.2978910221672904, + "velocityY": 0.5173236714365999, + "timestamp": 2.731551220673535 + }, + { + "x": 7.838422086854329, + "y": 4.183408720964089, + "heading": 0.010956523638740997, + "angularVelocity": 0.07989420103483798, + "velocityX": -0.6646703807615897, + "velocityY": 0.43809842422217044, + "timestamp": 2.804718611299271 + }, + { + "x": 7.762983079117002, + "y": 4.20953112778775, + "heading": 0.017495483260506317, + "angularVelocity": 0.0893698622548022, + "velocityX": -1.0310468515026154, + "velocityY": 0.35702252875576485, + "timestamp": 2.877886001925007 + }, + { + "x": 7.6607747790696985, + "y": 4.229553700517737, + "heading": 0.024676301083283603, + "angularVelocity": 0.09814232489864837, + "velocityX": -1.3969105522720728, + "velocityY": 0.2736543227625315, + "timestamp": 2.951053392550743 + }, + { + "x": 7.531846476247114, + "y": 4.243263296141889, + "heading": 0.03243345200765441, + "angularVelocity": 0.1060192369583057, + "velocityX": -1.7621005986406668, + "velocityY": 0.1873730292539564, + "timestamp": 3.024220783176479 + }, + { + "x": 7.376265637530863, + "y": 4.250380077226667, + "heading": 0.04068066701574086, + "angularVelocity": 0.11271708526920698, + "velocityX": -2.12636855552324, + "velocityY": 0.09726711618269603, + "timestamp": 3.097388173802215 + }, + { + "x": 7.194129836575373, + "y": 4.2505205649617634, + "heading": 0.04929927784816929, + "angularVelocity": 0.1177930599782374, + "velocityX": -2.489302944902695, + "velocityY": 0.0019200867202677822, + "timestamp": 3.170555564427951 + }, + { + "x": 6.985591556826913, + "y": 4.243127449410096, + "heading": 0.058115883718386635, + "angularVelocity": 0.12049911572377706, + "velocityX": -2.8501532986897105, + "velocityY": -0.10104385968175955, + "timestamp": 3.243722955053687 + }, + { + "x": 6.750918561222395, + "y": 4.227318493920163, + "heading": 0.06685364598436354, + "angularVelocity": 0.1194215372620311, + "velocityX": -3.2073440585699053, + "velocityY": -0.21606559089689018, + "timestamp": 3.3168903456794228 + }, + { + "x": 6.490681615003969, + "y": 4.20149483174933, + "heading": 0.07500318356778511, + "angularVelocity": 0.11138209950807054, + "velocityX": -3.5567340039442454, + "velocityY": -0.3529394987300426, + "timestamp": 3.3900577363051587 + }, + { + "x": 6.206657285518001, + "y": 4.161973294401296, + "heading": 0.08134950784100285, + "angularVelocity": 0.0867370589403728, + "velocityX": -3.8818430868855596, + "velocityY": -0.5401523412279929, + "timestamp": 3.4632251269308947 + }, + { + "x": 5.912244098516139, + "y": 4.097129027635956, + "heading": 0.08134954547532162, + "angularVelocity": 5.143591764598389e-7, + "velocityX": -4.023830622959322, + "velocityY": -0.8862454463769199, + "timestamp": 3.5363925175566306 + }, + { + "x": 5.624951460773946, + "y": 4.005767892260616, + "heading": 0.08134954969560343, + "angularVelocity": 5.7679818199590674e-8, + "velocityX": -3.926512006034829, + "velocityY": -1.248659199050422, + "timestamp": 3.6095599081823666 + }, + { + "x": 5.34716243038826, + "y": 3.8886477005465494, + "heading": 0.08134932634773633, + "angularVelocity": -0.0000030525602346483844, + "velocityX": -3.7966234412626005, + "velocityY": -1.6007157110898942, + "timestamp": 3.6827272988081026 + }, + { + "x": 5.08665788699048, + "y": 3.751669204716049, + "heading": 0.05865018500104508, + "angularVelocity": -0.3102357642190817, + "velocityX": -3.5603913323943255, + "velocityY": -1.8721249269523577, + "timestamp": 3.7558946894338385 + }, + { + "x": 4.848094463348389, + "y": 3.603376865386963, + "heading": 4.952640691345501e-28, + "angularVelocity": -0.8015891300682177, + "velocityX": -3.260515669642855, + "velocityY": -2.0267545153773168, + "timestamp": 3.8290620800595745 + }, + { + "x": 4.700641185060707, + "y": 3.501989185359569, + "heading": -0.05033264236108494, + "angularVelocity": -1.034189338076649, + "velocityX": -3.0297357960183557, + "velocityY": -2.0832217975849, + "timestamp": 3.8777307720562373 + }, + { + "x": 4.565095450985404, + "y": 3.3994717636903555, + "heading": -0.10698430014195474, + "angularVelocity": -1.1640267173145824, + "velocityX": -2.78507041209567, + "velocityY": -2.1064347009005995, + "timestamp": 3.9263994640529 + }, + { + "x": 4.441653890418588, + "y": 3.297081790312479, + "heading": -0.16664697326151523, + "angularVelocity": -1.2258943208017916, + "velocityX": -2.5363648683075435, + "velocityY": -2.103816009374109, + "timestamp": 3.975068156049563 + }, + { + "x": 4.330312579185749, + "y": 3.1957377001354463, + "heading": -0.22705933791477417, + "angularVelocity": -1.2412983002995335, + "velocityX": -2.2877399548866757, + "velocityY": -2.0823261530016506, + "timestamp": 4.023736848046226 + }, + { + "x": 4.230991842079205, + "y": 3.096120447000011, + "heading": -0.2865484532706337, + "angularVelocity": -1.222328213791707, + "velocityX": -2.0407521351376094, + "velocityY": -2.04684467670234, + "timestamp": 4.0724055400428885 + }, + { + "x": 4.143586352271879, + "y": 2.9987473125477595, + "heading": -0.34383093881747717, + "angularVelocity": -1.176988392266047, + "velocityX": -1.795928475195518, + "velocityY": -2.000734567901041, + "timestamp": 4.121074232039551 + }, + { + "x": 4.067986542673592, + "y": 2.904020815068955, + "heading": -0.3979071509877982, + "angularVelocity": -1.1111088042807706, + "velocityX": -1.5533561001284146, + "velocityY": -1.946353879518679, + "timestamp": 4.169742924036214 + }, + { + "x": 4.004087484152938, + "y": 2.8122616254817605, + "heading": -0.4479862468350588, + "angularVelocity": -1.0289796950099774, + "velocityX": -1.3129397133794922, + "velocityY": -1.8853843368851253, + "timestamp": 4.218411616032877 + }, + { + "x": 3.951791937745737, + "y": 2.7237308923491046, + "heading": -0.4934284100602779, + "angularVelocity": -0.9337042225900607, + "velocityX": -1.0745213043898287, + "velocityY": -1.8190489511969272, + "timestamp": 4.26708030802954 + }, + { + "x": 3.911010848659871, + "y": 2.63864542270439, + "heading": -0.5337018468885103, + "angularVelocity": -0.8275019355563128, + "velocityX": -0.83793271223855, + "velocityY": -1.7482588118568951, + "timestamp": 4.315749000026202 + }, + { + "x": 3.8816628893967526, + "y": 2.5571880974329804, + "heading": -0.5683528513458943, + "angularVelocity": -0.7119773109940992, + "velocityX": -0.6030151635291687, + "velocityY": -1.673711002485852, + "timestamp": 4.364417692022865 + }, + { + "x": 3.8636737772161385, + "y": 2.479515163260617, + "heading": -0.596986412368271, + "angularVelocity": -0.5883363585020978, + "velocityX": -0.36962390897720954, + "velocityY": -1.59595277756158, + "timestamp": 4.413086384019528 + }, + { + "x": 3.8569756412361254, + "y": 2.4057614953060065, + "heading": -0.6192545253880498, + "angularVelocity": -0.4575449248010541, + "velocityX": -0.1376272035515664, + "velocityY": -1.5154232614196375, + "timestamp": 4.461755076016191 + }, + { + "x": 3.8615065086139246, + "y": 2.3360445280133795, + "heading": -0.6348496428505993, + "angularVelocity": -0.32043428378183847, + "velocityX": 0.09309614028891178, + "velocityY": -1.4324808091700407, + "timestamp": 4.510423768012854 + }, + { + "x": 3.877209901809693, + "y": 2.2704672813415527, + "heading": -0.6435012536786778, + "angularVelocity": -0.17776542728273412, + "velocityX": 0.3226590350290306, + "velocityY": -1.3474215965434906, + "timestamp": 4.559092460009516 + }, + { + "x": 3.909263343483357, + "y": 2.2016193636983066, + "heading": -0.644092375367383, + "angularVelocity": -0.010723484805221098, + "velocityX": 0.5814785708430558, + "velocityY": -1.2489638137550592, + "timestamp": 4.6142164891327075 + }, + { + "x": 3.955582772404527, + "y": 2.1382378341857042, + "heading": -0.6356618580904682, + "angularVelocity": 0.1529372473495064, + "velocityX": 0.8402765483207932, + "velocityY": -1.1497985637253951, + "timestamp": 4.669340518255899 + }, + { + "x": 4.016167136041281, + "y": 2.080367813253358, + "heading": -0.6184384375905784, + "angularVelocity": 0.31244850519541656, + "velocityX": 1.0990554319126369, + "velocityY": -1.0498147877220347, + "timestamp": 4.72446454737909 + }, + { + "x": 4.091014879475756, + "y": 2.0280623219290286, + "heading": -0.5926967583319528, + "angularVelocity": 0.4669774627884684, + "velocityX": 1.357806107880926, + "velocityY": -0.9488691620751633, + "timestamp": 4.779588576502281 + }, + { + "x": 4.180123073013336, + "y": 1.9813847697374103, + "heading": -0.5587633107627968, + "angularVelocity": 0.6155835868477868, + "velocityX": 1.616503636525577, + "velocityY": -0.8467732300065234, + "timestamp": 4.834712605625472 + }, + { + "x": 4.283486205946313, + "y": 1.9404125575120503, + "heading": -0.5170273230433461, + "angularVelocity": 0.7571287582440518, + "velocityX": 1.8751011959227666, + "velocityY": -0.7432731764544123, + "timestamp": 4.889836634748663 + }, + { + "x": 4.401094459736751, + "y": 1.9052424011175209, + "heading": -0.4679609941418416, + "angularVelocity": 0.8901078110936128, + "velocityX": 2.133520638116034, + "velocityY": -0.6380186091972911, + "timestamp": 4.944960663871854 + }, + { + "x": 4.532931044009035, + "y": 1.8759983507167912, + "heading": -0.41215648957706635, + "angularVelocity": 1.0123444431114288, + "velocityX": 2.3916354876319863, + "velocityY": -0.5305136592133903, + "timestamp": 5.0000846929950455 + }, + { + "x": 4.678967556850721, + "y": 1.8528442484692669, + "heading": -0.35039255139162767, + "angularVelocity": 1.1204539865438439, + "velocityX": 2.6492351006368366, + "velocityY": -0.4200364635135716, + "timestamp": 5.055208722118237 + }, + { + "x": 4.839154591796641, + "y": 1.8360041394290154, + "heading": -0.2837549204318002, + "angularVelocity": 1.2088672040083555, + "velocityX": 2.9059384354495057, + "velocityY": -0.3054948868599071, + "timestamp": 5.110332751241428 + }, + { + "x": 5.013399484318381, + "y": 1.8257985791825269, + "heading": -0.2138636206895667, + "angularVelocity": 1.2678917135400287, + "velocityX": 3.160960751478034, + "velocityY": -0.18513814045923885, + "timestamp": 5.165456780364619 + }, + { + "x": 5.201503784665096, + "y": 1.8227165159855272, + "heading": -0.1433490902182715, + "angularVelocity": 1.2791976855267446, + "velocityX": 3.4123830086211457, + "velocityY": -0.05591142821058677, + "timestamp": 5.22058080948781 + }, + { + "x": 5.402944132086975, + "y": 1.827569567849425, + "heading": -0.07703772004409672, + "angularVelocity": 1.2029485367621076, + "velocityX": 3.6543110259901166, + "velocityY": 0.08803877258413399, + "timestamp": 5.275704838611001 + }, + { + "x": 5.61588559518895, + "y": 1.8417195630192391, + "heading": -0.024979311792846126, + "angularVelocity": 0.9443868505132368, + "velocityX": 3.8629517197680348, + "velocityY": 0.25669377574327124, + "timestamp": 5.330828867734192 + }, + { + "x": 5.834915427384757, + "y": 1.8670658701516258, + "heading": -7.407288610339414e-7, + "angularVelocity": 0.4531339864174827, + "velocityX": 3.9734002698953517, + "velocityY": 0.4598050529968118, + "timestamp": 5.3859528968573835 + }, + { + "x": 6.058884353100281, + "y": 1.904802816527938, + "heading": -7.957104132685767e-8, + "angularVelocity": 0.000011994003889474889, + "velocityX": 4.062999916334081, + "velocityY": 0.6845825128634481, + "timestamp": 5.441076925980575 + }, + { + "x": 6.279738426208496, + "y": 1.9578094482421875, + "heading": 8.562539103389725e-28, + "angularVelocity": 0.0000014434910254660835, + "velocityX": 4.006493658412549, + "velocityY": 0.9615884861353298, + "timestamp": 5.496200955103766 + }, + { + "x": 6.525487452777932, + "y": 2.0369981575550793, + "heading": -0.0011671855841354959, + "angularVelocity": -0.018096810491915055, + "velocityX": 3.81025401859607, + "velocityY": 1.227793664532095, + "timestamp": 5.560697711847555 + }, + { + "x": 6.750918598574351, + "y": 2.1096797802641643, + "heading": -0.0021799869715645073, + "angularVelocity": -0.015703136693405003, + "velocityX": 3.495232274886886, + "velocityY": 1.126903527844196, + "timestamp": 5.625194468591345 + }, + { + "x": 6.956282004435993, + "y": 2.175119637271968, + "heading": -0.0029917904615700073, + "angularVelocity": -0.012586733519490889, + "velocityX": 3.1840888787236112, + "velocityY": 1.0146224447806116, + "timestamp": 5.689691225335134 + }, + { + "x": 7.141668336167598, + "y": 2.233071278014614, + "heading": -0.0035868817340549562, + "angularVelocity": -0.009226685224637363, + "velocityX": 2.8743512246366985, + "velocityY": 0.8985202306040955, + "timestamp": 5.754187982078924 + }, + { + "x": 7.307124311509477, + "y": 2.2834112498174775, + "heading": -0.003957374193442598, + "angularVelocity": -0.00574435798158672, + "velocityX": 2.5653379130232326, + "velocityY": 0.7805039252258378, + "timestamp": 5.818684738822713 + }, + { + "x": 7.452678406281355, + "y": 2.3260654168990693, + "heading": -0.004098526951679239, + "angularVelocity": -0.0021885249020716494, + "velocityX": 2.2567661091872586, + "velocityY": 0.6613381700886771, + "timestamp": 5.883181495566503 + }, + { + "x": 7.578349790283282, + "y": 2.3609843306826193, + "heading": -0.004007175808745517, + "angularVelocity": 0.001416368008962219, + "velocityX": 1.9484915264987899, + "velocityY": 0.5414057317992576, + "timestamp": 5.9476782523102925 + }, + { + "x": 7.684152247420869, + "y": 2.388132659287924, + "heading": -0.003681058888279675, + "angularVelocity": 0.005056330533972877, + "velocityX": 1.6404306585195192, + "velocityY": 0.4209254848759383, + "timestamp": 6.012175009054082 + }, + { + "x": 7.770096165540853, + "y": 2.4074838977797546, + "heading": -0.0031184788458053087, + "angularVelocity": 0.00872260980050817, + "velocityX": 1.3325308505262228, + "velocityY": 0.3000342880604488, + "timestamp": 6.0766717657978715 + }, + { + "x": 7.836189653680543, + "y": 2.4190174277466903, + "heading": -0.0023181149719148936, + "angularVelocity": 0.012409366211541923, + "velocityX": 1.0247567703635636, + "velocityY": 0.1788234098770594, + "timestamp": 6.141168522541661 + }, + { + "x": 7.882439217728024, + "y": 2.422716752331528, + "heading": -0.0012789103505499641, + "angularVelocity": 0.016112509742049974, + "velocityX": 0.7170835617549867, + "velocityY": 0.05735675360441909, + "timestamp": 6.2056652792854505 + }, + { + "x": 7.908850193023682, + "y": 2.4185683727264404, + "heading": 8.461910012631763e-29, + "angularVelocity": 0.019829064516071505, + "velocityX": 0.40949307576154037, + "velocityY": -0.06431919703446601, + "timestamp": 6.27016203602924 + }, + { + "x": 7.9135037293511274, + "y": 2.404007500518451, + "heading": 0.001738681655620773, + "angularVelocity": 0.024013784718208257, + "velocityX": 0.06427227157104093, + "velocityY": -0.20110734439603808, + "timestamp": 6.342565519112956 + }, + { + "x": 7.893003638215416, + "y": 2.37995206083196, + "heading": 0.003710519645397934, + "angularVelocity": 0.02723402115195558, + "velocityX": -0.28313680865337726, + "velocityY": -0.3322414704645804, + "timestamp": 6.414969002196671 + }, + { + "x": 7.847170108256414, + "y": 2.346892602647919, + "heading": 0.005832318333489156, + "angularVelocity": 0.029305201873201705, + "velocityX": -0.6330293517234256, + "velocityY": -0.45660038407014847, + "timestamp": 6.487372485280387 + }, + { + "x": 7.775798531874128, + "y": 2.305426839443902, + "heading": 0.008003405006399665, + "angularVelocity": 0.029985942394514752, + "velocityX": -0.9857478306639489, + "velocityY": -0.5727039838134944, + "timestamp": 6.559775968364103 + }, + { + "x": 7.678656271538087, + "y": 2.256297576429558, + "heading": 0.010099710341735239, + "angularVelocity": 0.028953100680415525, + "velocityX": -1.3416793805861689, + "velocityY": -0.6785483366530749, + "timestamp": 6.6321794514478185 + }, + { + "x": 7.555481050531809, + "y": 2.2004499248115295, + "heading": 0.011964993253965835, + "angularVelocity": 0.02576233673832923, + "velocityX": -1.7012333628184586, + "velocityY": -0.7713392952857744, + "timestamp": 6.704582934531534 + }, + { + "x": 7.405984923055888, + "y": 2.139120846470309, + "heading": 0.013397410987870865, + "angularVelocity": 0.01978382355236724, + "velocityX": -2.064764305649063, + "velocityY": -0.8470459669779953, + "timestamp": 6.77698641761525 + }, + { + "x": 7.229874738830789, + "y": 2.073984847809468, + "heading": 0.014128316578010962, + "angularVelocity": 0.01009489542505847, + "velocityX": -2.4323440907045013, + "velocityY": -0.8996252098193818, + "timestamp": 6.849389900698966 + }, + { + "x": 7.0269201286198015, + "y": 2.007399297467021, + "heading": 0.013788101357936091, + "angularVelocity": -0.004698879191785616, + "velocityX": -2.803105618224542, + "velocityY": -0.9196456787231895, + "timestamp": 6.921793383782681 + }, + { + "x": 6.797160014432058, + "y": 1.9428204344097308, + "heading": 0.011852542100195443, + "angularVelocity": -0.02673295779849002, + "velocityX": -3.1733295747952837, + "velocityY": -0.8919303368682154, + "timestamp": 6.994196866866397 + }, + { + "x": 6.541507190710733, + "y": 1.8854379538761046, + "heading": 0.007575451762797331, + "angularVelocity": -0.05907299145336416, + "velocityX": -3.530946479822401, + "velocityY": -0.7925375698746232, + "timestamp": 7.066600349950113 + }, + { + "x": 6.263282775878906, + "y": 1.8426196575164795, + "heading": -6.194293765118798e-29, + "angularVelocity": -0.10462827809041095, + "velocityX": -3.842693790161092, + "velocityY": -0.5913844822923381, + "timestamp": 7.139003833033828 + }, + { + "x": 6.030681887766221, + "y": 1.8226833751631784, + "heading": -0.008718413948409906, + "angularVelocity": -0.15018242816156785, + "velocityX": -4.006757006034486, + "velocityY": -0.34342018055697493, + "timestamp": 7.1970559903676445 + }, + { + "x": 5.793532898564822, + "y": 1.8194210922714795, + "heading": -0.016941072562243253, + "angularVelocity": -0.14164260195449305, + "velocityX": -4.0851020891045495, + "velocityY": -0.05619572194259459, + "timestamp": 7.255108147701461 + }, + { + "x": 5.557627566049778, + "y": 1.8333576054296736, + "heading": -0.028629707625858477, + "angularVelocity": -0.20134712645392766, + "velocityX": -4.0636789974663925, + "velocityY": 0.24006882428253462, + "timestamp": 7.313160305035277 + }, + { + "x": 5.327908854137327, + "y": 1.8622622668920639, + "heading": -0.0585740879768532, + "angularVelocity": -0.5158185625868486, + "velocityX": -3.957108959646458, + "velocityY": 0.49790848075085625, + "timestamp": 7.371212462369093 + }, + { + "x": 5.11245324515911, + "y": 1.8994141855682116, + "heading": -0.10374863935649094, + "angularVelocity": -0.7781717933387261, + "velocityX": -3.7114143362370884, + "velocityY": 0.6399748154493845, + "timestamp": 7.429264619702909 + }, + { + "x": 4.913979790820032, + "y": 1.9388003080563143, + "heading": -0.15574493643193385, + "angularVelocity": -0.8956824253136624, + "velocityX": -3.4188816308375802, + "velocityY": 0.6784609616077044, + "timestamp": 7.4873167770367255 + }, + { + "x": 4.7327605113302145, + "y": 1.9775150228594818, + "heading": -0.2099745757997402, + "angularVelocity": -0.9341537310313989, + "velocityX": -3.121663135579195, + "velocityY": 0.6668953675665628, + "timestamp": 7.545368934370542 + }, + { + "x": 4.568684620360207, + "y": 2.014030214515865, + "heading": -0.2640485055959757, + "angularVelocity": -0.9314714952847509, + "velocityX": -2.8263530332994278, + "velocityY": 0.6290066266859055, + "timestamp": 7.603421091704358 + }, + { + "x": 4.421601069864, + "y": 2.0474310267692073, + "heading": -0.3165220186257055, + "angularVelocity": -0.9039028942196281, + "velocityX": -2.5336448678459034, + "velocityY": 0.5753586737746517, + "timestamp": 7.661473249038174 + }, + { + "x": 4.291374419034759, + "y": 2.0771146233430215, + "heading": -0.36642962736971124, + "angularVelocity": -0.8597029126242952, + "velocityX": -2.2432697906539487, + "velocityY": 0.511326330270982, + "timestamp": 7.71952540637199 + }, + { + "x": 4.177891381608033, + "y": 2.102655731782735, + "heading": -0.4130820297898137, + "angularVelocity": -0.8036290908508001, + "velocityX": -1.9548461700426851, + "velocityY": 0.4399682908051872, + "timestamp": 7.777577563705806 + }, + { + "x": 4.081058211075384, + "y": 2.1237389589368134, + "heading": -0.4559637520429508, + "angularVelocity": -0.738675774038079, + "velocityX": -1.6680374163501055, + "velocityY": 0.36317732401991576, + "timestamp": 7.835629721039623 + }, + { + "x": 4.000796937094782, + "y": 2.140121363134788, + "heading": -0.49467583838017426, + "angularVelocity": -0.6668500899048075, + "velocityX": -1.382571771089882, + "velocityY": 0.2822014710628498, + "timestamp": 7.893681878373439 + }, + { + "x": 3.9370420833786737, + "y": 2.1516101924347857, + "heading": -0.5289011019599401, + "angularVelocity": -0.5895605805476083, + "velocityX": -1.0982340130703443, + "velocityY": 0.1979052946117624, + "timestamp": 7.951734035707255 + }, + { + "x": 3.8897380782848177, + "y": 2.1580488572733114, + "heading": -0.5583816999879796, + "angularVelocity": -0.5078294999187984, + "velocityX": -0.8148535259739682, + "velocityY": 0.11091172377111619, + "timestamp": 8.009786193041071 + }, + { + "x": 3.8588372630557566, + "y": 2.1593076697609526, + "heading": -0.5829039334740946, + "angularVelocity": -0.4224172642733201, + "velocityX": -0.5322940033282947, + "velocityY": 0.02168416378400226, + "timestamp": 8.067838350374888 + }, + { + "x": 3.8442983627319336, + "y": 2.1552774906158447, + "heading": -0.602287538290654, + "angularVelocity": -0.3338998188318499, + "velocityX": -0.25044547854130556, + "velocityY": -0.06942341732337823, + "timestamp": 8.125890507708705 + }, + { + "x": 3.8576387146651134, + "y": 2.13806005595645, + "heading": -0.619278145531587, + "angularVelocity": -0.20143847160866324, + "velocityX": 0.1581615104177926, + "velocityY": -0.20412770854092552, + "timestamp": 8.210236894499909 + }, + { + "x": 3.905455453573714, + "y": 2.109481651185984, + "heading": -0.6254126059760678, + "angularVelocity": -0.07272938033097415, + "velocityX": 0.5669091555394026, + "velocityY": -0.33882192062608685, + "timestamp": 8.294583281291112 + }, + { + "x": 3.987762915374457, + "y": 2.0695435831389517, + "heading": -0.6210817382802795, + "angularVelocity": 0.05134621482375198, + "velocityX": 0.9758267654605434, + "velocityY": -0.4735006390480968, + "timestamp": 8.378929668082316 + }, + { + "x": 4.104578927032089, + "y": 2.0182477742847946, + "heading": -0.6067890663536344, + "angularVelocity": 0.16945209475334327, + "velocityX": 1.3849557296011592, + "velocityY": -0.6081565649176908, + "timestamp": 8.46327605487352 + }, + { + "x": 4.25592634256958, + "y": 1.955597106088846, + "heading": -0.5832156347231323, + "angularVelocity": 0.2794835976656285, + "velocityX": 1.794355648122163, + "velocityY": -0.7427783285019535, + "timestamp": 8.547622441664723 + }, + { + "x": 4.441835387458979, + "y": 1.8815962088865352, + "heading": -0.5513387484522754, + "angularVelocity": 0.37792829643986087, + "velocityX": 2.2041139159832754, + "velocityY": -0.877345195420139, + "timestamp": 8.631968828455927 + }, + { + "x": 4.66234711446509, + "y": 1.7962536064859413, + "heading": -0.5126769338910522, + "angularVelocity": 0.45836954055814433, + "velocityX": 2.614358900185992, + "velocityY": -1.011811005157306, + "timestamp": 8.71631521524713 + }, + { + "x": 4.917516613544415, + "y": 1.699589099451937, + "heading": -0.4698979469526159, + "angularVelocity": 0.5071822109503572, + "velocityX": 3.025257023884024, + "velocityY": -1.1460420619237055, + "timestamp": 8.800661602038334 + }, + { + "x": 5.207389212765179, + "y": 1.5916714767699458, + "heading": -0.42891919524045724, + "angularVelocity": 0.48583885180049724, + "velocityX": 3.436692551375497, + "velocityY": -1.2794575652557374, + "timestamp": 8.885007988829537 + }, + { + "x": 5.530829704025048, + "y": 1.4731326595685643, + "heading": -0.4168747641910295, + "angularVelocity": 0.14279723776720205, + "velocityX": 3.8346691964474693, + "velocityY": -1.405381092314254, + "timestamp": 8.96935437562074 + }, + { + "x": 5.860796817769712, + "y": 1.3640506417959732, + "heading": -0.4168747316984138, + "angularVelocity": 3.852283051108577e-7, + "velocityX": 3.91204799989226, + "velocityY": -1.2932624848841556, + "timestamp": 9.053700762411944 + }, + { + "x": 6.1907640358798846, + "y": 1.2549689397238482, + "heading": -0.4168746992057636, + "angularVelocity": 3.852287159927463e-7, + "velocityX": 3.9120492372364075, + "velocityY": -1.2932587419797106, + "timestamp": 9.138047149203148 + }, + { + "x": 6.5162512528388925, + "y": 1.1501619128296605, + "heading": -0.39522547264575847, + "angularVelocity": 0.25667046786007763, + "velocityX": 3.8589349151937298, + "velocityY": -1.242578738477967, + "timestamp": 9.222393535994351 + }, + { + "x": 6.809203485103097, + "y": 1.0566385263910887, + "heading": -0.3364658613691826, + "angularVelocity": 0.6966464541277111, + "velocityX": 3.4732042878066567, + "velocityY": -1.1088013369213576, + "timestamp": 9.306739922785555 + }, + { + "x": 7.0676023282548455, + "y": 0.9747449425291351, + "heading": -0.27342754168182104, + "angularVelocity": 0.7473742751234995, + "velocityX": 3.0635437151730858, + "velocityY": -0.9709198814251399, + "timestamp": 9.391086309576758 + }, + { + "x": 7.291404029843143, + "y": 0.9044159486596018, + "heading": -0.212686256942587, + "angularVelocity": 0.7201409218583059, + "velocityX": 2.6533644190629335, + "velocityY": -0.833811578006664, + "timestamp": 9.475432696367962 + }, + { + "x": 7.480631108632639, + "y": 0.8456084340013106, + "heading": -0.15716871325728424, + "angularVelocity": 0.658208914422557, + "velocityX": 2.2434521025532703, + "velocityY": -0.6972143905093124, + "timestamp": 9.559779083159166 + }, + { + "x": 7.635307728813632, + "y": 0.7982939214998752, + "heading": -0.10853495890594571, + "angularVelocity": 0.5765955863851053, + "velocityX": 1.83382627360068, + "velocityY": -0.5609548233353625, + "timestamp": 9.64412546995037 + }, + { + "x": 7.755453704764619, + "y": 0.7624523838325293, + "heading": -0.06785138236204946, + "angularVelocity": 0.48233929266712156, + "velocityX": 1.4244353613914185, + "velocityY": -0.4249326975448363, + "timestamp": 9.728471856741573 + }, + { + "x": 7.841084766649754, + "y": 0.7380690201261568, + "heading": -0.03585889712581951, + "angularVelocity": 0.3792988230239957, + "velocityX": 1.0152309440013383, + "velocityY": -0.2890860490175211, + "timestamp": 9.812818243532776 + }, + { + "x": 7.892213505293505, + "y": 0.7251324738070216, + "heading": -0.013102178881898748, + "angularVelocity": 0.2698007479591791, + "velocityX": 0.6061758018196838, + "velocityY": -0.15337404257943216, + "timestamp": 9.89716463032398 + }, + { + "x": 7.908850193023682, + "y": 0.7236337661743164, + "heading": -5.019107924718939e-28, + "angularVelocity": 0.15533776111041753, + "velocityX": 0.19724244704590402, + "velocityY": -0.017768486472517064, + "timestamp": 9.981511017115183 + }, + { + "x": 7.892189079958052, + "y": 0.733080197359647, + "heading": 0.0032660991416649378, + "angularVelocity": 0.03963429721823649, + "velocityX": -0.20218354636142255, + "velocityY": 0.11463297499908585, + "timestamp": 10.063916897145829 + }, + { + "x": 7.842604987925804, + "y": 0.7534362672637073, + "heading": -0.002772756670579444, + "angularVelocity": -0.07328185573649153, + "velocityX": -0.6017057522328306, + "velocityY": 0.24702205590778456, + "timestamp": 10.146322777176474 + }, + { + "x": 7.76008824404944, + "y": 0.7847005763866867, + "heading": -0.017830574368452534, + "angularVelocity": -0.18272746668409265, + "velocityX": -1.001345339018009, + "velocityY": 0.37939415380738334, + "timestamp": 10.22872865720712 + }, + { + "x": 7.644626694532573, + "y": 0.8268711306705374, + "heading": -0.04153713177121822, + "angularVelocity": -0.2876804105963022, + "velocityX": -1.4011324128075406, + "velocityY": 0.5117420537001512, + "timestamp": 10.311134537237765 + }, + { + "x": 7.496204565153335, + "y": 0.8799449205205542, + "heading": -0.07339105495914866, + "angularVelocity": -0.3865491537264634, + "velocityX": -1.8011109076687513, + "velocityY": 0.6440534319914972, + "timestamp": 10.39354041726841 + }, + { + "x": 7.314800632642625, + "y": 0.9439170229632209, + "heading": -0.11267436902090536, + "angularVelocity": -0.47670523082998323, + "velocityX": -2.2013469480970156, + "velocityY": 0.7763050697216819, + "timestamp": 10.475946297299055 + }, + { + "x": 7.1003852320289775, + "y": 1.0187784547123067, + "heading": -0.15827781834795562, + "angularVelocity": -0.5534004285870268, + "velocityX": -2.601942974626455, + "velocityY": 0.9084476947669995, + "timestamp": 10.5583521773297 + }, + { + "x": 6.852915852080657, + "y": 1.1045099286982563, + "heading": -0.20827432822470915, + "angularVelocity": -0.606710466026947, + "velocityX": -3.0030548773496584, + "velocityY": 1.0403562701359113, + "timestamp": 10.640758057360346 + }, + { + "x": 6.57234037138111, + "y": 1.2010554187463547, + "heading": -0.25850083223033166, + "angularVelocity": -0.6095014577472403, + "velocityX": -3.4047992764012145, + "velocityY": 1.171584964716045, + "timestamp": 10.723163937390991 + }, + { + "x": 6.258992137221064, + "y": 1.3080260402749817, + "heading": -0.2924105128425884, + "angularVelocity": -0.4114958859688932, + "velocityX": -3.8024984872865555, + "velocityY": 1.2980945229739238, + "timestamp": 10.805569817421636 + }, + { + "x": 5.936813239669241, + "y": 1.415192130467459, + "heading": -0.29241053972638326, + "angularVelocity": -3.2623636665893746e-7, + "velocityX": -3.9096590853954853, + "velocityY": 1.3004665462297604, + "timestamp": 10.887975697452282 + }, + { + "x": 5.614634321099526, + "y": 1.5223581574728795, + "heading": -0.29241056661001313, + "angularVelocity": -3.262343643621567e-7, + "velocityX": -3.9096593404487785, + "velocityY": 1.300465779451264, + "timestamp": 10.970381577482927 + }, + { + "x": 5.292534947574076, + "y": 1.6297629984771478, + "heading": -0.2924106310888177, + "angularVelocity": -7.824539278829055e-7, + "velocityX": -3.9086940568520956, + "velocityY": 1.3033638007909902, + "timestamp": 11.052787457513572 + }, + { + "x": 4.996115872359855, + "y": 1.7283189881306324, + "heading": -0.36622067840528416, + "angularVelocity": -0.8956890854028594, + "velocityX": -3.5970621890572314, + "velocityY": 1.1959824907741203, + "timestamp": 11.135193337544218 + }, + { + "x": 4.732736935087431, + "y": 1.8159057723600291, + "heading": -0.43711479002142123, + "angularVelocity": -0.8603040412865287, + "velocityX": -3.1961182524169116, + "velocityY": 1.0628705645376848, + "timestamp": 11.217599217574863 + }, + { + "x": 4.502338857203799, + "y": 1.8925327189091943, + "heading": -0.5013692608315433, + "angularVelocity": -0.7797316257799427, + "velocityX": -2.7958936643592733, + "velocityY": 0.9298723164010714, + "timestamp": 11.300005097605508 + }, + { + "x": 4.304889219129118, + "y": 1.9582062400500209, + "heading": -0.5576357524751158, + "angularVelocity": -0.6827970482524788, + "velocityX": -2.396062489730738, + "velocityY": 0.7969518815453914, + "timestamp": 11.382410977636154 + }, + { + "x": 4.140369092817658, + "y": 2.0129300491668727, + "heading": -0.6052252685128586, + "angularVelocity": -0.5775014600905304, + "velocityX": -1.9964610080042535, + "velocityY": 0.6640765088183144, + "timestamp": 11.464816857666799 + }, + { + "x": 4.008766269829904, + "y": 2.0567065014156403, + "heading": -0.6437229947806191, + "angularVelocity": -0.4671720786604532, + "velocityX": -1.5970076763795704, + "velocityY": 0.5312297160407456, + "timestamp": 11.547222737697444 + }, + { + "x": 3.9100722638712457, + "y": 2.0895372342089806, + "heading": -0.6728522708471012, + "angularVelocity": -0.3534854072992033, + "velocityX": -1.1976573264184043, + "velocityY": 0.3984027933580843, + "timestamp": 11.62962861772809 + }, + { + "x": 3.8442808143052742, + "y": 2.1114234734626223, + "heading": -0.6924141497397114, + "angularVelocity": -0.23738450320942417, + "velocityX": -0.7983829496330213, + "velocityY": 0.26559074723190373, + "timestamp": 11.712034497758735 + }, + { + "x": 3.811387062072754, + "y": 2.122366189956665, + "heading": -0.7022564818650576, + "angularVelocity": -0.11943725522603567, + "velocityX": -0.3991675378054077, + "velocityY": 0.1327904815769616, + "timestamp": 11.79444037778938 + }, + { + "x": 3.811387062072754, + "y": 2.122366189956665, + "heading": -0.7022564818650576, + "angularVelocity": 1.9181866499986056e-28, + "velocityX": 1.4721704576805681e-27, + "velocityY": -6.910528798867393e-28, + "timestamp": 11.876846257820025 + } + ], + "trajectoryWaypoints": [ + { + "timestamp": 0, + "isStopPoint": true, + "x": 0.7012643218040466, + "y": 4.475527763366699, + "heading": -1.0584069524694912, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 19 + }, + { + "timestamp": 0.9374982818954185, + "isStopPoint": false, + "x": 2.922780752182007, + "y": 4.821096897125244, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "timestamp": 1.3558425667257186, + "isStopPoint": false, + "x": 4.601259708404541, + "y": 4.524894714355469, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 12 + }, + { + "timestamp": 1.7887439682495578, + "isStopPoint": false, + "x": 6.164548397064209, + "y": 3.7679338455200195, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 12 + }, + { + "timestamp": 2.658383830047799, + "isStopPoint": false, + "x": 7.908850193023682, + "y": 4.1135029792785645, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 16 + }, + { + "timestamp": 3.8290620800595745, + "isStopPoint": false, + "x": 4.848094463348389, + "y": 3.603376865386963, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 15 + }, + { + "timestamp": 4.559092460009516, + "isStopPoint": false, + "x": 3.8772099018096924, + "y": 2.2704672813415527, + "heading": -0.6435012536786778, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 17 + }, + { + "timestamp": 5.496200955103766, + "isStopPoint": false, + "x": 6.279738426208496, + "y": 1.9578094482421875, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "timestamp": 6.27016203602924, + "isStopPoint": false, + "x": 7.908850193023682, + "y": 2.4185683727264404, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "timestamp": 7.139003833033828, + "isStopPoint": false, + "x": 6.263282775878906, + "y": 1.8426196575164795, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 17 + }, + { + "timestamp": 8.125890507708705, + "isStopPoint": false, + "x": 3.8442983627319336, + "y": 2.1552774906158447, + "heading": -0.602287538290654, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 22 + }, + { + "timestamp": 9.981511017115183, + "isStopPoint": false, + "x": 7.908850193023682, + "y": 0.7236337661743164, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 23 + }, + { + "timestamp": 11.876846257820025, + "isStopPoint": true, + "x": 3.811387062072754, + "y": 2.122366189956665, + "heading": -0.7022564818650576, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "constraints": [ + { + "scope": [ + "first" + ], + "type": "StopPoint" + }, + { + "scope": [ + "last" + ], + "type": "StopPoint" + } + ], + "usesControlIntervalGuessing": true, + "defaultControlIntervalCount": 40, + "usesDefaultFieldObstacles": true, + "circleObstacles": [], + "eventMarkers": [ + { + "name": "Marker", + "target": 12, + "trajTargetIndex": 12, + "targetTimestamp": 11.876846257820025, + "offset": 0, + "command": { + "type": "named", + "data": { + "name": "" + } + } + } + ], + "isTrajectoryStale": false + } + }, + "splitTrajectoriesAtStopPoints": false, + "usesObstacles": false } \ No newline at end of file diff --git a/src/main/deploy/choreo/Amp4NoteFar.1.traj b/src/main/deploy/choreo/Amp4NoteFar.1.traj index f26f679..295698b 100644 --- a/src/main/deploy/choreo/Amp4NoteFar.1.traj +++ b/src/main/deploy/choreo/Amp4NoteFar.1.traj @@ -1,1508 +1,1508 @@ -{ - "samples": [ - { - "x": 0.7328706979751587, - "y": 6.609785556793213, - "heading": 1.0789872785859569, - "angularVelocity": 1.0130524956425154e-21, - "velocityX": 6.391561318798467e-22, - "velocityY": 3.1627763991179065e-21, - "timestamp": 0 - }, - { - "x": 0.7442922596904098, - "y": 6.607484693492832, - "heading": 1.0680322161337672, - "angularVelocity": -0.22455214188308412, - "velocityX": 0.23411424243381077, - "velocityY": -0.04716210286663648, - "timestamp": 0.04878627458335965 - }, - { - "x": 0.7671593544585043, - "y": 6.60289224668038, - "heading": 1.0463644335259636, - "angularVelocity": -0.44413685596715274, - "velocityX": 0.4687198389994303, - "velocityY": -0.09413399263774451, - "timestamp": 0.0975725491667193 - }, - { - "x": 0.8015018910283972, - "y": 6.59601954471661, - "heading": 1.0142955583551334, - "angularVelocity": -0.6573339621584579, - "velocityX": 0.7039384921923673, - "velocityY": -0.14087367855945515, - "timestamp": 0.14635882375007894 - }, - { - "x": 0.8473557442136884, - "y": 6.586881998575734, - "heading": 0.9722044979930776, - "angularVelocity": -0.862764388580973, - "velocityX": 0.939892491830722, - "velocityY": -0.18729747698326368, - "timestamp": 0.1951450983334386 - }, - { - "x": 0.9047623296596092, - "y": 6.575501144351355, - "heading": 0.9205301893221267, - "angularVelocity": -1.0591976762369206, - "velocityX": 1.176695411489809, - "velocityY": -0.23327983785547873, - "timestamp": 0.24393137291679826 - }, - { - "x": 0.973767621217994, - "y": 6.561906156637783, - "heading": 0.8597586319551783, - "angularVelocity": -1.2456691535876518, - "velocityX": 1.4144406833211989, - "velocityY": -0.27866419048542307, - "timestamp": 0.2927176475001579 - }, - { - "x": 1.0544208484071813, - "y": 6.546134234731941, - "heading": 0.790408245746391, - "angularVelocity": -1.421514284520544, - "velocityX": 1.6531950405718783, - "velocityY": -0.3232860479824803, - "timestamp": 0.34150392208351754 - }, - { - "x": 1.1467736219789397, - "y": 6.52822958744161, - "heading": 0.7130246680019623, - "angularVelocity": -1.5861751774508972, - "velocityX": 1.8930072927367672, - "velocityY": -0.3670017324183618, - "timestamp": 0.3902901966668772 - }, - { - "x": 1.2508806763107996, - "y": 6.508241685857064, - "heading": 0.6282040373314669, - "angularVelocity": -1.7386166784587103, - "velocityX": 2.1339414665486536, - "velocityY": -0.4097033797977843, - "timestamp": 0.43907647125023685 - }, - { - "x": 1.3668033191753501, - "y": 6.486225040750028, - "heading": 0.5366697764006988, - "angularVelocity": -1.8762297738960634, - "velocityX": 2.376132300622291, - "velocityY": -0.4512876889055711, - "timestamp": 0.4878627458335965 - }, - { - "x": 1.494615387358709, - "y": 6.462244761643902, - "heading": 0.43943111627914694, - "angularVelocity": -1.993156086460405, - "velocityX": 2.6198366092695133, - "velocityY": -0.4915374111042586, - "timestamp": 0.5366490204169562 - }, - { - "x": 1.6344077245837227, - "y": 6.436394442604198, - "heading": 0.33805944296831114, - "angularVelocity": -2.077872806984372, - "velocityX": 2.865402993338927, - "velocityY": -0.5298686825437922, - "timestamp": 0.5854352950003158 - }, - { - "x": 1.7862758061457733, - "y": 6.408836740007201, - "heading": 0.23516941127167912, - "angularVelocity": -2.108995461845051, - "velocityX": 3.1129263888054926, - "velocityY": -0.5648658937855514, - "timestamp": 0.6342215695836754 - }, - { - "x": 1.9502202654428336, - "y": 6.379899377284357, - "heading": 0.1355865924332727, - "angularVelocity": -2.0412056400874032, - "velocityX": 3.360462767390291, - "velocityY": -0.5931455715766921, - "timestamp": 0.683007844167035 - }, - { - "x": 2.125024102640001, - "y": 6.350556213798447, - "heading": 0.05370061556801829, - "angularVelocity": -1.6784634113707182, - "velocityX": 3.5830536086227656, - "velocityY": -0.6014635004723082, - "timestamp": 0.7317941187503946 - }, - { - "x": 2.308874750217541, - "y": 6.32134206913622, - "heading": 0.000075594383193927, - "angularVelocity": -1.0991825394086383, - "velocityX": 3.768491223149237, - "velocityY": -0.598818928309628, - "timestamp": 0.7805803933337542 - }, - { - "x": 2.5013992294410428, - "y": 6.29284664925505, - "heading": -0.023825217387144004, - "angularVelocity": -0.489908523953788, - "velocityX": 3.9462836805573493, - "velocityY": -0.5840868179528854, - "timestamp": 0.8293666679171138 - }, - { - "x": 2.701090535408383, - "y": 6.269836071588193, - "heading": -0.023825516555088938, - "angularVelocity": -0.000006132215412864256, - "velocityX": 4.093186201912882, - "velocityY": -0.47166088953028434, - "timestamp": 0.8781529425004734 - }, - { - "x": 2.90181040763855, - "y": 6.258988857269287, - "heading": -0.023825563731718707, - "angularVelocity": -9.67006195283952e-7, - "velocityX": 4.114269309233729, - "velocityY": -0.22234151739485744, - "timestamp": 0.926939217083833 - }, - { - "x": 3.2228289165768107, - "y": 6.272839746260762, - "heading": -0.02382556485366325, - "angularVelocity": -1.43867746295835e-8, - "velocityX": 4.1164431535362835, - "velocityY": 0.17761093386148183, - "timestamp": 1.0049236558249548 - }, - { - "x": 3.5409920733834666, - "y": 6.3177500583059505, - "heading": -0.02382556591897316, - "angularVelocity": -1.3660544662719426e-8, - "velocityX": 4.079828770234975, - "velocityY": 0.575888122940443, - "timestamp": 1.0829080945660767 - }, - { - "x": 3.8543794985421305, - "y": 6.3886940665508725, - "heading": -0.023825566968556106, - "angularVelocity": -1.3458876738271386e-8, - "velocityX": 4.018589223921825, - "velocityY": 0.9097200594137623, - "timestamp": 1.1608925333071987 - }, - { - "x": 4.167766704285708, - "y": 6.4596390440310785, - "heading": -0.023825568018138833, - "angularVelocity": -1.3458873884787475e-8, - "velocityX": 4.018586410346573, - "velocityY": 0.9097324879866878, - "timestamp": 1.2388769720483206 - }, - { - "x": 4.4811539100323, - "y": 6.530584021497964, - "heading": -0.023825569067721552, - "angularVelocity": -1.3458873806018203e-8, - "velocityX": 4.018586410385244, - "velocityY": 0.9097324878158669, - "timestamp": 1.3168614107894425 - }, - { - "x": 4.79454111577784, - "y": 6.601528998969501, - "heading": -0.023825570117304313, - "angularVelocity": -1.3458874365967017e-8, - "velocityX": 4.018586410371737, - "velocityY": 0.909732487875532, - "timestamp": 1.3948458495305645 - }, - { - "x": 5.107928321523374, - "y": 6.672473976441061, - "heading": -0.023825571166887022, - "angularVelocity": -1.3458873644091302e-8, - "velocityX": 4.01858641037167, - "velocityY": 0.9097324878758241, - "timestamp": 1.4728302882716864 - }, - { - "x": 5.421315527268906, - "y": 6.743418953912637, - "heading": -0.0238255722164697, - "angularVelocity": -1.3458873232782846e-8, - "velocityX": 4.018586410371626, - "velocityY": 0.9097324878760211, - "timestamp": 1.5508147270128083 - }, - { - "x": 5.73470273301373, - "y": 6.814363931387334, - "heading": -0.02382557326605232, - "angularVelocity": -1.3458872602650603e-8, - "velocityX": 4.018586410362565, - "velocityY": 0.9097324879160451, - "timestamp": 1.6287991657539302 - }, - { - "x": 6.048089938761083, - "y": 6.885308908850857, - "heading": -0.023825574315635045, - "angularVelocity": -1.3458873837681842e-8, - "velocityX": 4.018586410395003, - "velocityY": 0.9097324877727555, - "timestamp": 1.7067836044950522 - }, - { - "x": 6.361476996805373, - "y": 6.956254538763802, - "heading": -0.023825575365233685, - "angularVelocity": -1.345907790933033e-8, - "velocityX": 4.0185845163881115, - "velocityY": 0.9097408541780642, - "timestamp": 1.784768043236174 - }, - { - "x": 6.648907366789074, - "y": 7.036067884976394, - "heading": -0.025930488860655996, - "angularVelocity": -0.026991455339055646, - "velocityX": 3.685740060755692, - "velocityY": 1.0234522104793284, - "timestamp": 1.862752481977296 - }, - { - "x": 6.905918727178058, - "y": 7.1089950068101935, - "heading": -0.027038195926471695, - "angularVelocity": -0.014204206424987693, - "velocityX": 3.295674938972906, - "velocityY": 0.9351496658954087, - "timestamp": 1.940736920718418 - }, - { - "x": 7.13251107745946, - "y": 7.175035870578235, - "heading": -0.027148690455274044, - "angularVelocity": -0.0014168791952089838, - "velocityX": 2.905609810613645, - "velocityY": 0.8468466893410759, - "timestamp": 2.0187213594595397 - }, - { - "x": 7.328684417474841, - "y": 7.234190465002728, - "heading": -0.0262619699118654, - "angularVelocity": 0.011370480543589091, - "velocityX": 2.5155446802226953, - "velocityY": 0.7585435681708689, - "timestamp": 2.0967057982006616 - }, - { - "x": 7.494438747151227, - "y": 7.286458784427156, - "heading": -0.024378032258793446, - "angularVelocity": 0.024157866408783164, - "velocityX": 2.1254795488959726, - "velocityY": 0.6702403744667375, - "timestamp": 2.1746902369417835 - }, - { - "x": 7.62977406644956, - "y": 7.331840825448755, - "heading": -0.021496875343877238, - "angularVelocity": 0.036945279871546305, - "velocityX": 1.7354144170684294, - "velocityY": 0.5819371371287247, - "timestamp": 2.2526746756829055 - }, - { - "x": 7.7346903753480705, - "y": 7.370336585793465, - "heading": -0.01761849670534105, - "angularVelocity": 0.04973272490183463, - "velocityX": 1.3453492849617374, - "velocityY": 0.49363387063029207, - "timestamp": 2.3306591144240274 - }, - { - "x": 7.809187673835323, - "y": 7.401946063832849, - "heading": -0.012742893499969495, - "angularVelocity": 0.06252020639087588, - "velocityX": 0.9552841527084046, - "velocityY": 0.4053305832502589, - "timestamp": 2.4086435531651493 - }, - { - "x": 7.853265961906796, - "y": 7.426669258342117, - "heading": -0.00687006248076722, - "angularVelocity": 0.07530772951636928, - "velocityX": 0.5652190203970796, - "velocityY": 0.3170272801646988, - "timestamp": 2.4866279919062713 - }, - { - "x": 7.866925239562988, - "y": 7.4445061683654785, - "heading": 1.1019724128852254e-21, - "angularVelocity": 0.08809529941701788, - "velocityX": 0.17515388809214882, - "velocityY": 0.22872396482294302, - "timestamp": 2.564612430647393 - }, - { - "x": 7.839415996512796, - "y": 7.455996330276693, - "heading": 0.00969522621841501, - "angularVelocity": 0.10346134162219067, - "velocityX": -0.29356129798992386, - "velocityY": 0.1226157636768162, - "timestamp": 2.6583211151318746 - }, - { - "x": 7.767984159154146, - "y": 7.4575409240302655, - "heading": 0.02071171654104976, - "angularVelocity": 0.1175610391207565, - "velocityX": -0.7622755324292112, - "velocityY": 0.016482930713085247, - "timestamp": 2.752029799616356 - }, - { - "x": 7.652629894962392, - "y": 7.449136985555429, - "heading": 0.03289647896885643, - "angularVelocity": 0.13002810246284618, - "velocityX": -1.2309879796771361, - "velocityY": -0.08968153294509411, - "timestamp": 2.8457384841008375 - }, - { - "x": 7.493353520570736, - "y": 7.430780569230724, - "heading": 0.04604478809468858, - "angularVelocity": 0.14031046533376074, - "velocityX": -1.6996970480151585, - "velocityY": -0.19588810178787341, - "timestamp": 2.939447168585319 - }, - { - "x": 7.290155660806777, - "y": 7.402466163933872, - "heading": 0.059868605999832875, - "angularVelocity": 0.1475190691363679, - "velocityX": -2.1683994485869587, - "velocityY": -0.30215348185302415, - "timestamp": 3.0331558530698004 - }, - { - "x": 7.043037657446755, - "y": 7.364185531976726, - "heading": 0.07393272399831907, - "angularVelocity": 0.1500834002297331, - "velocityX": -2.637087530568694, - "velocityY": -0.4085067693324192, - "timestamp": 3.126864537554282 - }, - { - "x": 6.752002857171037, - "y": 7.315925026351502, - "heading": 0.087503185209202, - "angularVelocity": 0.14481540622982755, - "velocityX": -3.1057398988875438, - "velocityY": -0.5150056890748022, - "timestamp": 3.2205732220387633 - }, - { - "x": 6.417062343367086, - "y": 7.25765770262344, - "heading": 0.09907823596032714, - "angularVelocity": 0.12352164385620025, - "velocityX": -3.5742739922831674, - "velocityY": -0.621792142837213, - "timestamp": 3.3142819065232447 - }, - { - "x": 6.038289731061863, - "y": 7.189306639433363, - "heading": 0.10384589626013921, - "angularVelocity": 0.05087746483733441, - "velocityX": -4.042022512523361, - "velocityY": -0.7293994528478953, - "timestamp": 3.407990591007726 - }, - { - "x": 5.6616794795490195, - "y": 7.104206263101145, - "heading": 0.10384589809069947, - "angularVelocity": 1.9534585058108795e-8, - "velocityX": -4.018947161457723, - "velocityY": -0.9081375627070208, - "timestamp": 3.5016992754922076 - }, - { - "x": 5.295621370465586, - "y": 6.981410624019321, - "heading": 0.10384599746908699, - "angularVelocity": 0.0000010605034961434597, - "velocityX": -3.906341350294527, - "velocityY": -1.3103976409161844, - "timestamp": 3.595407959976689 - }, - { - "x": 4.973743620370178, - "y": 6.867130189671141, - "heading": 0.10964047142974673, - "angularVelocity": 0.061834972847360024, - "velocityX": -3.4348764137086154, - "velocityY": -1.2195287446075023, - "timestamp": 3.6891166444611705 - }, - { - "x": 4.695925858929357, - "y": 6.762170123163068, - "heading": 0.11660456960418608, - "angularVelocity": 0.07431646504004273, - "velocityX": -2.9646959934308894, - "velocityY": -1.1200676552604343, - "timestamp": 3.782825328945652 - }, - { - "x": 4.462122805625061, - "y": 6.666750260320637, - "heading": 0.12346623798759834, - "angularVelocity": 0.07322339888944424, - "velocityX": -2.494998778293757, - "velocityY": -1.0182606165838868, - "timestamp": 3.8765340134301334 - }, - { - "x": 4.272311472149189, - "y": 6.580973181865323, - "heading": 0.1296297222155145, - "angularVelocity": 0.0657728177684199, - "velocityX": -2.025546879887157, - "velocityY": -0.9153589011221137, - "timestamp": 3.970242697914615 - }, - { - "x": 4.126478005598546, - "y": 6.504898268884928, - "heading": 0.13474943633917122, - "angularVelocity": 0.05463436128488802, - "velocityX": -1.5562428109295867, - "velocityY": -0.811823508129526, - "timestamp": 4.063951382399096 - }, - { - "x": 4.024613155788809, - "y": 6.438564244025636, - "heading": 0.13859971910248803, - "angularVelocity": 0.04108779014984924, - "velocityX": -1.0870374541071166, - "velocityY": -0.7078748914704718, - "timestamp": 4.157660066883577 - }, - { - "x": 3.9667103110145354, - "y": 6.381998354264439, - "heading": 0.1410216361623699, - "angularVelocity": 0.02584517190915161, - "velocityX": -0.6179026532366133, - "velocityY": -0.6036355122514226, - "timestamp": 4.251368751368058 - }, - { - "x": 3.9527645111083984, - "y": 6.335220813751221, - "heading": 0.14189719500937054, - "angularVelocity": 0.00934341199876338, - "velocityX": -0.14882078414457217, - "velocityY": -0.4991804203693128, - "timestamp": 4.345077435852539 - }, - { - "x": 3.964115076159712, - "y": 6.3075785150519685, - "heading": 0.1417203583468928, - "angularVelocity": -0.0027309287472943606, - "velocityX": 0.17528935438132787, - "velocityY": -0.4268862977924431, - "timestamp": 4.409830740988352 - }, - { - "x": 3.9964710164043287, - "y": 6.284535579351715, - "heading": 0.14077745477905462, - "angularVelocity": -0.01456147397975356, - "velocityX": 0.49968013488660173, - "velocityY": -0.3558572902483248, - "timestamp": 4.474584046124165 - }, - { - "x": 4.049853424217872, - "y": 6.265994962228474, - "heading": 0.13908718250809055, - "angularVelocity": -0.026103258627785963, - "velocityX": 0.8243966497397879, - "velocityY": -0.28632696175669053, - "timestamp": 4.539337351259978 - }, - { - "x": 4.124287056549126, - "y": 6.251839889602118, - "heading": 0.13667203697092578, - "angularVelocity": -0.03729764113351832, - "velocityX": 1.1494954917766365, - "velocityY": -0.2186000019098195, - "timestamp": 4.604090656395791 - }, - { - "x": 4.219801343483193, - "y": 6.241927175601898, - "heading": 0.1335595952579679, - "angularVelocity": -0.048066144367918166, - "velocityX": 1.4750488293027817, - "velocityY": -0.15308429398975482, - "timestamp": 4.668843961531604 - }, - { - "x": 4.336431776777692, - "y": 6.236077148786002, - "heading": 0.12978445160876886, - "angularVelocity": -0.0583004009027969, - "velocityX": 1.8011502741038279, - "velocityY": -0.09034329295819071, - "timestamp": 4.7335972666674175 - }, - { - "x": 4.474221844581992, - "y": 6.234057731464995, - "heading": 0.12539127460739471, - "angularVelocity": -0.06784483034742277, - "velocityX": 2.127923316273961, - "velocityY": -0.031186320401267092, - "timestamp": 4.798350571803231 - }, - { - "x": 4.6332257178085845, - "y": 6.23555773593313, - "heading": 0.120439931450763, - "angularVelocity": -0.07646471707114837, - "velocityX": 2.4555329321506916, - "velocityY": 0.02316490972912503, - "timestamp": 4.863103876939044 - }, - { - "x": 4.813511768295512, - "y": 6.240138470161825, - "heading": 0.11501476601933941, - "angularVelocity": -0.08378206209003339, - "velocityX": 2.7841984298530575, - "velocityY": 0.07074131921279452, - "timestamp": 4.927857182074857 - }, - { - "x": 5.015165820732933, - "y": 6.247136346300476, - "heading": 0.10924324745866247, - "angularVelocity": -0.08913087213960412, - "velocityX": 3.1141893377407177, - "velocityY": 0.10806979078476878, - "timestamp": 4.99261048721067 - }, - { - "x": 5.238285037327109, - "y": 6.25543524564352, - "heading": 0.10333948067978445, - "angularVelocity": -0.09117321141361788, - "velocityX": 3.4456807436501733, - "velocityY": 0.12816178765915376, - "timestamp": 5.057363792346483 - }, - { - "x": 5.4828882134200585, - "y": 6.262797588596474, - "heading": 0.09773171682329804, - "angularVelocity": -0.08660197104572066, - "velocityX": 3.7774624102958136, - "velocityY": 0.11369833458712587, - "timestamp": 5.122117097482296 - }, - { - "x": 5.74778413772583, - "y": 6.263060569763184, - "heading": 0.0935931028078498, - "angularVelocity": -0.06391355633149408, - "velocityX": 4.090847930467482, - "velocityY": 0.004061277893979396, - "timestamp": 5.186870402618109 - }, - { - "x": 6.013605641460004, - "y": 6.24191400772151, - "heading": 0.09359309638909583, - "angularVelocity": -9.917831510727641e-8, - "velocityX": 4.107296989323786, - "velocityY": -0.3267426050496276, - "timestamp": 5.251589731272729 - }, - { - "x": 6.276862418631435, - "y": 6.199439095939525, - "heading": 0.09359309077806317, - "angularVelocity": -8.669794285084282e-8, - "velocityX": 4.067668541129722, - "velocityY": -0.6562940726511032, - "timestamp": 5.316309059927348 - }, - { - "x": 6.527399691827839, - "y": 6.139917818463067, - "heading": 0.08476203699028893, - "angularVelocity": -0.13645156665487035, - "velocityX": 3.8711352296841666, - "velocityY": -0.9196831721493709, - "timestamp": 5.381028388581967 - }, - { - "x": 6.75663042562249, - "y": 6.083119284382794, - "heading": 0.07502326158910995, - "angularVelocity": -0.15047707699736645, - "velocityX": 3.541920760920773, - "velocityY": -0.8776131529945856, - "timestamp": 5.4457477172365865 - }, - { - "x": 6.964873739000207, - "y": 6.030903984882642, - "heading": 0.06524316275048915, - "angularVelocity": -0.151115579254742, - "velocityX": 3.217637106358551, - "velocityY": -0.8067960620976766, - "timestamp": 5.510467045891206 - }, - { - "x": 7.152282068970079, - "y": 5.983920652029787, - "heading": 0.05572785541591898, - "angularVelocity": -0.1470241971351326, - "velocityX": 2.89570880702416, - "velocityY": -0.7259551949864277, - "timestamp": 5.575186374545825 - }, - { - "x": 7.318941079653386, - "y": 5.942498197854015, - "heading": 0.04663339243937562, - "angularVelocity": -0.14052159015858803, - "velocityX": 2.5751041326880646, - "velocityY": -0.640032198059834, - "timestamp": 5.639905703200444 - }, - { - "x": 7.464905286734277, - "y": 5.90683529811683, - "heading": 0.03805432099740102, - "angularVelocity": -0.13255810312492006, - "velocityX": 2.2553417984269095, - "velocityY": -0.5510393954718356, - "timestamp": 5.7046250318550635 - }, - { - "x": 7.590212353553613, - "y": 5.877064925500585, - "heading": 0.03005404341529432, - "angularVelocity": -0.12361496555072342, - "velocityX": 1.9361614130463123, - "velocityY": -0.4599919874805364, - "timestamp": 5.769344360509683 - }, - { - "x": 7.694889835090688, - "y": 5.853282305980581, - "heading": 0.02267802548127335, - "angularVelocity": -0.11396932087141666, - "velocityX": 1.6174067888697665, - "velocityY": -0.3674732110853869, - "timestamp": 5.834063689164302 - }, - { - "x": 7.778958756807613, - "y": 5.835558989260669, - "heading": 0.015960462943441833, - "angularVelocity": -0.10379530624738742, - "velocityX": 1.2989770361427408, - "velocityY": -0.2738488962778864, - "timestamp": 5.898783017818921 - }, - { - "x": 7.842435685723995, - "y": 5.823950700480821, - "heading": 0.00992800913391407, - "angularVelocity": -0.09320946207153233, - "velocityX": 0.9808032659784228, - "velocityY": -0.1793635536888167, - "timestamp": 5.963502346473541 - }, - { - "x": 7.885334010682854, - "y": 5.818502066351385, - "heading": 0.004602022140728806, - "angularVelocity": -0.0822936069316772, - "velocityX": 0.662836371307088, - "velocityY": -0.08418866886758089, - "timestamp": 6.02822167512816 - }, - { - "x": 7.907664775848389, - "y": 5.819249629974365, - "heading": -8.861041564511578e-22, - "angularVelocity": -0.07110738378155824, - "velocityX": 0.3450401237118033, - "velocityY": 0.011550855648858615, - "timestamp": 6.092941003782779 - }, - { - "x": 7.906635252791002, - "y": 5.828052827441592, - "heading": -0.004258720886347518, - "angularVelocity": -0.058206213678033504, - "velocityX": -0.014071041672826983, - "velocityY": 0.12031800310510214, - "timestamp": 6.166107090652895 - }, - { - "x": 7.879238228976632, - "y": 5.84450093290686, - "heading": -0.0075552483463681396, - "angularVelocity": -0.04505540204538491, - "velocityX": -0.3744497619915793, - "velocityY": 0.2248050451907733, - "timestamp": 6.239273177523011 - }, - { - "x": 7.825367300152994, - "y": 5.868216578468005, - "heading": -0.009867835041262768, - "angularVelocity": -0.03160735791432891, - "velocityX": -0.7362827660753383, - "velocityY": 0.32413439853965875, - "timestamp": 6.312439264393127 - }, - { - "x": 7.744899750012138, - "y": 5.898736517545598, - "heading": -0.0111701723547619, - "angularVelocity": -0.01779973986870499, - "velocityX": -1.099792999504015, - "velocityY": 0.4171323133868237, - "timestamp": 6.385605351263243 - }, - { - "x": 7.637693676502783, - "y": 5.935479180350757, - "heading": -0.011429828096899505, - "angularVelocity": -0.003548853755135836, - "velocityX": -1.4652426840821369, - "velocityY": 0.5021816032116673, - "timestamp": 6.458771438133359 - }, - { - "x": 7.5035856277872615, - "y": 5.977694002563694, - "heading": -0.010605910687451307, - "angularVelocity": 0.01126091943267124, - "velocityX": -1.8329263522537513, - "velocityY": 0.5769725294708757, - "timestamp": 6.5319375250034755 - }, - { - "x": 7.342391196877079, - "y": 6.024378165489895, - "heading": -0.00864545101291993, - "angularVelocity": 0.026794649794673078, - "velocityX": -2.203130409260973, - "velocityY": 0.6380573968520984, - "timestamp": 6.6051036118735915 - }, - { - "x": 7.153916552611085, - "y": 6.0741311609152655, - "heading": -0.0054775986870561925, - "angularVelocity": 0.04329673023906966, - "velocityX": -2.575983660306647, - "velocityY": 0.6800007702160148, - "timestamp": 6.678269698743708 - }, - { - "x": 6.938008284848595, - "y": 6.124881823735959, - "heading": -0.0010041218542462327, - "angularVelocity": 0.0611413979368784, - "velocityX": -2.9509336497080865, - "velocityY": 0.6936364235357523, - "timestamp": 6.751435785613824 - }, - { - "x": 6.694745254080875, - "y": 6.173336610452631, - "heading": 0.004915269857105422, - "angularVelocity": 0.08090348909679626, - "velocityX": -3.324805810642302, - "velocityY": 0.6622574581949259, - "timestamp": 6.82460187248394 - }, - { - "x": 6.425208704257528, - "y": 6.213842395524965, - "heading": 0.0124744715476749, - "angularVelocity": 0.10331564819078756, - "velocityX": -3.6839000328366214, - "velocityY": 0.5536142057759702, - "timestamp": 6.897767959354056 - }, - { - "x": 6.134481864578053, - "y": 6.236901401740381, - "heading": 0.021837510116483112, - "angularVelocity": 0.1279696505490236, - "velocityX": -3.973519045723652, - "velocityY": 0.3151597577761656, - "timestamp": 6.970934046224172 - }, - { - "x": 5.836546421051025, - "y": 6.233473300933838, - "heading": 0.03271319444227894, - "angularVelocity": 0.14864378827724267, - "velocityX": -4.072042885878557, - "velocityY": -0.046853685268537476, - "timestamp": 7.044100133094288 - }, - { - "x": 5.568966710651099, - "y": 6.207960444496648, - "heading": 0.04338386716334799, - "angularVelocity": 0.15887874464776466, - "velocityX": -3.984072006782857, - "velocityY": -0.37986832780616103, - "timestamp": 7.111262501129899 - }, - { - "x": 5.317346915723196, - "y": 6.165700463545233, - "heading": 0.05445378266970707, - "angularVelocity": 0.16482318640834032, - "velocityX": -3.746440190948723, - "velocityY": -0.6292211276560161, - "timestamp": 7.178424869165511 - }, - { - "x": 5.087007251124614, - "y": 6.1143653077879145, - "heading": 0.06561369928254893, - "angularVelocity": 0.16616323901689406, - "velocityX": -3.429594151243304, - "velocityY": -0.7643440405510867, - "timestamp": 7.245587237201122 - }, - { - "x": 4.879543884126957, - "y": 6.059583812060162, - "heading": 0.07665980181981738, - "angularVelocity": 0.1644686281968431, - "velocityX": -3.088982313542825, - "velocityY": -0.8156575971041716, - "timestamp": 7.312749605236734 - }, - { - "x": 4.6952145650122015, - "y": 6.004917216734493, - "heading": 0.08747065927409489, - "angularVelocity": 0.16096599584674173, - "velocityX": -2.744532757049604, - "velocityY": -0.81394681165327, - "timestamp": 7.379911973272345 - }, - { - "x": 4.533893228023684, - "y": 5.952664203225111, - "heading": 0.0979708120981826, - "angularVelocity": 0.15633982438677985, - "velocityX": -2.4019602302137435, - "velocityY": -0.7780102911451432, - "timestamp": 7.447074341307957 - }, - { - "x": 4.39536164205183, - "y": 5.904388121866292, - "heading": 0.10811026318188136, - "angularVelocity": 0.15096923143511817, - "velocityX": -2.0626370097373927, - "velocityY": -0.7187965935510374, - "timestamp": 7.514236709343568 - }, - { - "x": 4.2793961801584235, - "y": 5.861206716024424, - "heading": 0.1178539418618899, - "angularVelocity": 0.14507646119389675, - "velocityX": -1.7266434356799014, - "velocityY": -0.6429404904093345, - "timestamp": 7.58139907737918 - }, - { - "x": 4.185792366980932, - "y": 5.823953202461205, - "heading": 0.12717608254691332, - "angularVelocity": 0.13880005958218405, - "velocityX": -1.393694354669862, - "velocityY": -0.5546783809568239, - "timestamp": 7.648561445414791 - }, - { - "x": 4.114369863428615, - "y": 5.7932701366868775, - "heading": 0.1360570420074184, - "angularVelocity": 0.1322311842220364, - "velocityX": -1.0634303947479564, - "velocityY": -0.4568490759298204, - "timestamp": 7.715723813450403 - }, - { - "x": 4.0649713345283995, - "y": 5.7696669169336205, - "heading": 0.14448139137724897, - "angularVelocity": 0.12543258399352125, - "velocityX": -0.7355090409263635, - "velocityY": -0.3514351927070385, - "timestamp": 7.782886181486014 - }, - { - "x": 4.037459651013235, - "y": 5.7535566504811975, - "heading": 0.15243671363190991, - "angularVelocity": 0.11844910308169677, - "velocityX": -0.4096294445808958, - "velocityY": -0.23987043523958734, - "timestamp": 7.850048549521626 - }, - { - "x": 4.031714916229248, - "y": 5.745280742645264, - "heading": 0.15991281260240592, - "angularVelocity": 0.11131380844898156, - "velocityX": -0.08553502432999834, - "velocityY": -0.12322239489151882, - "timestamp": 7.917210917557237 - }, - { - "x": 4.028733574124723, - "y": 5.716806207328283, - "heading": 0.16648713095695195, - "angularVelocity": 0.10328727118287491, - "velocityX": -0.04683902936129348, - "velocityY": -0.4473554355726786, - "timestamp": 7.980861726405753 - }, - { - "x": 4.029303269349349, - "y": 5.667859664319208, - "heading": 0.17250743991031525, - "angularVelocity": 0.09458338491331914, - "velocityX": 0.008950321840875176, - "velocityY": -0.7689854048133818, - "timestamp": 8.04451253525427 - }, - { - "x": 4.034773095532229, - "y": 5.598721670530651, - "heading": 0.177921913214448, - "angularVelocity": 0.08506527100101363, - "velocityX": 0.0859349045492505, - "velocityY": -1.0862076231128457, - "timestamp": 8.108163344102786 - }, - { - "x": 4.04683331391786, - "y": 5.509879274518647, - "heading": 0.18266829184010208, - "angularVelocity": 0.07456902294753398, - "velocityX": 0.1894747074516172, - "velocityY": -1.3957779581944039, - "timestamp": 8.171814152951303 - }, - { - "x": 4.067606933697682, - "y": 5.402175243088082, - "heading": 0.1866729466072294, - "angularVelocity": 0.06291600750366072, - "velocityX": 0.3263685121309602, - "velocityY": -1.692107820450355, - "timestamp": 8.235464961799819 - }, - { - "x": 4.099716828344451, - "y": 5.277059766569589, - "heading": 0.18985302153969794, - "angularVelocity": 0.04996126506478306, - "velocityX": 0.504469546069523, - "velocityY": -1.9656541492859476, - "timestamp": 8.299115770648335 - }, - { - "x": 4.146220491607715, - "y": 5.136961885287488, - "heading": 0.19212655579157403, - "angularVelocity": 0.03571885877030929, - "velocityX": 0.7306060064992874, - "velocityY": -2.2010385070757232, - "timestamp": 8.362766579496851 - }, - { - "x": 4.210214706803066, - "y": 4.985651459769157, - "heading": 0.193436287646545, - "angularVelocity": 0.02057682971614746, - "velocityX": 1.0053951607693359, - "velocityY": -2.3771956437888795, - "timestamp": 8.426417388345367 - }, - { - "x": 4.294045552639039, - "y": 4.828164588359487, - "heading": 0.19378149775282844, - "angularVelocity": 0.005423499127953307, - "velocityX": 1.3170428994151997, - "velocityY": -2.4742320523290933, - "timestamp": 8.490068197193883 - }, - { - "x": 4.398640112537955, - "y": 4.669954353870274, - "heading": 0.1932299156983433, - "angularVelocity": -0.008665750906604456, - "velocityX": 1.6432557856074201, - "velocityY": -2.485596606725612, - "timestamp": 8.5537190060424 - }, - { - "x": 4.523606377596732, - "y": 4.515827070408729, - "heading": 0.19189285353451518, - "angularVelocity": -0.021006208530833268, - "velocityX": 1.9633099299049899, - "velocityY": -2.421450508639348, - "timestamp": 8.617369814890916 - }, - { - "x": 4.667843818664551, - "y": 4.369466304779053, - "heading": 0.18988972149801628, - "angularVelocity": -0.0314706454283432, - "velocityX": 2.2660739694776426, - "velocityY": -2.2994329259507698, - "timestamp": 8.681020623739432 - }, - { - "x": 4.871797892715673, - "y": 4.205621418602988, - "heading": 0.1865920524335519, - "angularVelocity": -0.0422409120042009, - "velocityX": 2.6125138473502396, - "velocityY": -2.098742258245844, - "timestamp": 8.759088755036796 - }, - { - "x": 5.101719412723405, - "y": 4.059172590207619, - "heading": 0.1823462410927036, - "angularVelocity": -0.05438597376791099, - "velocityX": 2.945139280098198, - "velocityY": -1.8759105151055673, - "timestamp": 8.83715688633416 - }, - { - "x": 5.355857297295401, - "y": 3.932483913538177, - "heading": 0.17700453688749862, - "angularVelocity": -0.06842362070712561, - "velocityX": 3.2553345436689742, - "velocityY": -1.6227963262868412, - "timestamp": 8.915225017631524 - }, - { - "x": 5.631115809033472, - "y": 3.828833403933396, - "heading": 0.17035974396289696, - "angularVelocity": -0.0851153065172188, - "velocityX": 3.525875503406118, - "velocityY": -1.327692976407643, - "timestamp": 8.993293148928888 - }, - { - "x": 5.921560736313624, - "y": 3.7524980506854146, - "heading": 0.16213464835819472, - "angularVelocity": -0.10535791581038999, - "velocityX": 3.720403222844351, - "velocityY": -0.9778042842759619, - "timestamp": 9.071361280226252 - }, - { - "x": 6.215996410886688, - "y": 3.707158097711821, - "heading": 0.15206765627308344, - "angularVelocity": -0.12895136488877526, - "velocityX": 3.771521998541844, - "velocityY": -0.580774154832675, - "timestamp": 9.149429411523617 - }, - { - "x": 6.499201446177462, - "y": 3.690982108951251, - "heading": 0.14021370017373183, - "angularVelocity": -0.1518411662013455, - "velocityX": 3.62766509950179, - "velocityY": -0.2072034835694342, - "timestamp": 9.22749754282098 - }, - { - "x": 6.760144156179077, - "y": 3.6967423609871095, - "heading": 0.12696695962397309, - "angularVelocity": -0.16968179370531306, - "velocityX": 3.342499758418362, - "velocityY": 0.07378493554453382, - "timestamp": 9.305565674118345 - }, - { - "x": 6.993747301290997, - "y": 3.717650756831888, - "heading": 0.11271543576980789, - "angularVelocity": -0.18255238875746302, - "velocityX": 2.9922984094766716, - "velocityY": 0.2678224199467244, - "timestamp": 9.383633805415709 - }, - { - "x": 7.197885514439911, - "y": 3.7489894618571475, - "heading": 0.09773384035236395, - "angularVelocity": -0.19190411206819374, - "velocityX": 2.614872544743554, - "velocityY": 0.40142763128130604, - "timestamp": 9.461701936713073 - }, - { - "x": 7.371619435690451, - "y": 3.787579396090815, - "heading": 0.0822090924111378, - "angularVelocity": -0.19886152881118324, - "velocityX": 2.2254141140996357, - "velocityY": 0.49431097673744373, - "timestamp": 9.539770068010437 - }, - { - "x": 7.514504734103524, - "y": 3.831207022230382, - "heading": 0.06627209980833938, - "angularVelocity": -0.2041421043126261, - "velocityX": 1.8302641044246033, - "velocityY": 0.5588404053555219, - "timestamp": 9.617838199307801 - }, - { - "x": 7.626321599036744, - "y": 3.878266327671348, - "heading": 0.050018209226889945, - "angularVelocity": -0.20820135324538117, - "velocityX": 1.432298468978392, - "velocityY": 0.6027978979247636, - "timestamp": 9.695906330605165 - }, - { - "x": 7.706960109890584, - "y": 3.9275480062281813, - "heading": 0.033519413765036976, - "angularVelocity": -0.21133841924572758, - "velocityX": 1.032924824941496, - "velocityY": 0.6312649955603196, - "timestamp": 9.77397446190253 - }, - { - "x": 7.75636745475808, - "y": 3.9781125797320316, - "heading": 0.016831759030145377, - "angularVelocity": -0.21375757889384633, - "velocityX": 0.6328746960690229, - "velocityY": 0.647698012794074, - "timestamp": 9.852042593199894 - }, - { - "x": 7.774521827697754, - "y": 4.029211044311523, - "heading": -2.3205962182381023e-21, - "angularVelocity": -0.21560345752394805, - "velocityX": 0.23254524782363484, - "velocityY": 0.6545367966456909, - "timestamp": 9.930110724497258 - }, - { - "x": 7.767154710406391, - "y": 4.072900928949108, - "heading": -0.014488654781856458, - "angularVelocity": -0.216783406299003, - "velocityX": -0.11022892083989355, - "velocityY": 0.6537005784972164, - "timestamp": 9.99694542844998 - }, - { - "x": 7.736878414259794, - "y": 4.116522125330073, - "heading": -0.029046314724269887, - "angularVelocity": -0.21781588129291915, - "velocityX": -0.45300262223071897, - "velocityY": 0.6526728451108802, - "timestamp": 10.063780132402702 - }, - { - "x": 7.683692986765261, - "y": 4.160059290918648, - "heading": -0.04366116547987685, - "angularVelocity": -0.2186715866347725, - "velocityX": -0.7957756128037357, - "velocityY": 0.6514155523060602, - "timestamp": 10.130614836355424 - }, - { - "x": 7.607598500792507, - "y": 4.203493699341211, - "heading": -0.0583187869642347, - "angularVelocity": -0.2193115345393992, - "velocityX": -1.1385475130791645, - "velocityY": 0.6498780701308696, - "timestamp": 10.197449540308146 - }, - { - "x": 7.508595070224757, - "y": 4.246801982220053, - "heading": -0.07300118446700099, - "angularVelocity": -0.2196822404293508, - "velocityX": -1.4813177094011665, - "velocityY": 0.6479909435893982, - "timestamp": 10.264284244260867 - }, - { - "x": 7.3866828784850584, - "y": 4.289954159064308, - "heading": -0.08768527148039744, - "angularVelocity": -0.21970751937173005, - "velocityX": -1.8240851612949218, - "velocityY": 0.6456552403490899, - "timestamp": 10.33111894821359 - }, - { - "x": 7.241862234402131, - "y": 4.3329103687170365, - "heading": -0.10234035253177223, - "angularVelocity": -0.21927352385284243, - "velocityX": -2.166847992404854, - "velocityY": 0.6427231230516847, - "timestamp": 10.397953652166311 - }, - { - "x": 7.07413369246623, - "y": 4.375615021772806, - "heading": -0.1169236196715288, - "angularVelocity": -0.21819902352036502, - "velocityX": -2.5096025270726274, - "velocityY": 0.6389592611344215, - "timestamp": 10.464788356119033 - }, - { - "x": 6.883498347675479, - "y": 4.417985205751851, - "heading": -0.13137122210873817, - "angularVelocity": -0.21616916934994543, - "velocityX": -2.852340678064573, - "velocityY": 0.6339548389264723, - "timestamp": 10.531623060071755 - }, - { - "x": 6.669958711115492, - "y": 4.459883985157583, - "heading": -0.14557769926414693, - "angularVelocity": -0.21256138376042305, - "velocityX": -3.195041257473706, - "velocityY": 0.6269015485633134, - "timestamp": 10.598457764024477 - }, - { - "x": 6.433522272731176, - "y": 4.501042143745589, - "heading": -0.15933568232019976, - "angularVelocity": -0.2058508864763596, - "velocityX": -3.5376297701800143, - "velocityY": 0.6158201675752218, - "timestamp": 10.6652924679772 - }, - { - "x": 6.174229264575733, - "y": 4.540688400614103, - "heading": -0.17205071918548479, - "angularVelocity": -0.19024602658941284, - "velocityX": -3.879616319373006, - "velocityY": 0.5931986606323556, - "timestamp": 10.732127171929921 - }, - { - "x": 5.899813652038574, - "y": 4.563681602478027, - "heading": -0.1720507217902465, - "angularVelocity": -3.897319119513182e-8, - "velocityX": -4.105885061319011, - "velocityY": 0.3440308777336659, - "timestamp": 10.798961875882643 - }, - { - "x": 5.6382505881182885, - "y": 4.595249515536772, - "heading": -0.17409645748158847, - "angularVelocity": -0.03126690554583913, - "velocityX": -3.9977146844962266, - "velocityY": 0.48248215058493454, - "timestamp": 10.864390022852378 - }, - { - "x": 5.398484436113205, - "y": 4.624186785267214, - "heading": -0.1759717239534531, - "angularVelocity": -0.028661463891558173, - "velocityX": -3.664571948155486, - "velocityY": 0.44227555067129126, - "timestamp": 10.929818169822113 - }, - { - "x": 5.1805152028201515, - "y": 4.650493400816042, - "heading": -0.1776765154239882, - "angularVelocity": -0.026055933867785288, - "velocityX": -3.331429107932396, - "velocityY": 0.40206878487627273, - "timestamp": 10.995246316791848 - }, - { - "x": 4.984342890504657, - "y": 4.674169358565494, - "heading": -0.1792108298775417, - "angularVelocity": -0.023450373036901073, - "velocityX": -2.998286233083113, - "velocityY": 0.36186196378760377, - "timestamp": 11.060674463761583 - }, - { - "x": 4.809967500299472, - "y": 4.695214656706689, - "heading": -0.1805746662928034, - "angularVelocity": -0.020844796596372648, - "velocityX": -2.665143340920935, - "velocityY": 0.32165511505210137, - "timestamp": 11.126102610731317 - }, - { - "x": 4.657389032884244, - "y": 4.7136292941543, - "heading": -0.18176802405360484, - "angularVelocity": -0.018239210738361194, - "velocityX": -2.3320004383710753, - "velocityY": 0.281448249728481, - "timestamp": 11.191530757701052 - }, - { - "x": 4.526607488712068, - "y": 4.729413270184769, - "heading": -0.18279090274809942, - "angularVelocity": -0.015633618585709556, - "velocityX": -1.9988575288961132, - "velocityY": 0.24124137334610185, - "timestamp": 11.256958904670787 - }, - { - "x": 4.417622868106585, - "y": 4.742566584281272, - "heading": -0.1836433020817022, - "angularVelocity": -0.0130280219306395, - "velocityX": -1.665714614474658, - "velocityY": 0.20103448906460197, - "timestamp": 11.322387051640522 - }, - { - "x": 4.330435171310525, - "y": 4.753089236056193, - "heading": -0.18432522183325692, - "angularVelocity": -0.010422421895428998, - "velocityX": -1.3325716963433365, - "velocityY": 0.1608275988587593, - "timestamp": 11.387815198610257 - }, - { - "x": 4.265044398512677, - "y": 4.760981225208049, - "heading": -0.18483666183057199, - "angularVelocity": -0.007816819228453033, - "velocityX": -0.9994287753265666, - "velocityY": 0.1206207040450968, - "timestamp": 11.453243345579992 - }, - { - "x": 4.2214505498640715, - "y": 4.766242551495655, - "heading": -0.18517762193569534, - "angularVelocity": -0.005211214453024929, - "velocityX": -0.6662858520014394, - "velocityY": 0.08041380554518446, - "timestamp": 11.518671492549727 - }, - { - "x": 4.199653625488281, - "y": 4.76887321472168, - "heading": -0.1853481020355219, - "angularVelocity": -0.0026056079489066492, - "velocityX": -0.333142926787658, - "velocityY": 0.04020690402925863, - "timestamp": 11.584099639519462 - }, - { - "x": 4.199653625488281, - "y": 4.76887321472168, - "heading": -0.1853481020355219, - "angularVelocity": -7.946596899257776e-22, - "velocityX": -2.528747116740365e-22, - "velocityY": -1.6438334985949743e-21, - "timestamp": 11.649527786489196 - } - ], - "eventMarkers": [] +{ + "samples": [ + { + "x": 0.7328706979751587, + "y": 6.609785556793213, + "heading": 1.0789872785859569, + "angularVelocity": 1.0130524956425154e-21, + "velocityX": 6.391561318798467e-22, + "velocityY": 3.1627763991179065e-21, + "timestamp": 0 + }, + { + "x": 0.7442922596904098, + "y": 6.607484693492832, + "heading": 1.0680322161337672, + "angularVelocity": -0.22455214188308412, + "velocityX": 0.23411424243381077, + "velocityY": -0.04716210286663648, + "timestamp": 0.04878627458335965 + }, + { + "x": 0.7671593544585043, + "y": 6.60289224668038, + "heading": 1.0463644335259636, + "angularVelocity": -0.44413685596715274, + "velocityX": 0.4687198389994303, + "velocityY": -0.09413399263774451, + "timestamp": 0.0975725491667193 + }, + { + "x": 0.8015018910283972, + "y": 6.59601954471661, + "heading": 1.0142955583551334, + "angularVelocity": -0.6573339621584579, + "velocityX": 0.7039384921923673, + "velocityY": -0.14087367855945515, + "timestamp": 0.14635882375007894 + }, + { + "x": 0.8473557442136884, + "y": 6.586881998575734, + "heading": 0.9722044979930776, + "angularVelocity": -0.862764388580973, + "velocityX": 0.939892491830722, + "velocityY": -0.18729747698326368, + "timestamp": 0.1951450983334386 + }, + { + "x": 0.9047623296596092, + "y": 6.575501144351355, + "heading": 0.9205301893221267, + "angularVelocity": -1.0591976762369206, + "velocityX": 1.176695411489809, + "velocityY": -0.23327983785547873, + "timestamp": 0.24393137291679826 + }, + { + "x": 0.973767621217994, + "y": 6.561906156637783, + "heading": 0.8597586319551783, + "angularVelocity": -1.2456691535876518, + "velocityX": 1.4144406833211989, + "velocityY": -0.27866419048542307, + "timestamp": 0.2927176475001579 + }, + { + "x": 1.0544208484071813, + "y": 6.546134234731941, + "heading": 0.790408245746391, + "angularVelocity": -1.421514284520544, + "velocityX": 1.6531950405718783, + "velocityY": -0.3232860479824803, + "timestamp": 0.34150392208351754 + }, + { + "x": 1.1467736219789397, + "y": 6.52822958744161, + "heading": 0.7130246680019623, + "angularVelocity": -1.5861751774508972, + "velocityX": 1.8930072927367672, + "velocityY": -0.3670017324183618, + "timestamp": 0.3902901966668772 + }, + { + "x": 1.2508806763107996, + "y": 6.508241685857064, + "heading": 0.6282040373314669, + "angularVelocity": -1.7386166784587103, + "velocityX": 2.1339414665486536, + "velocityY": -0.4097033797977843, + "timestamp": 0.43907647125023685 + }, + { + "x": 1.3668033191753501, + "y": 6.486225040750028, + "heading": 0.5366697764006988, + "angularVelocity": -1.8762297738960634, + "velocityX": 2.376132300622291, + "velocityY": -0.4512876889055711, + "timestamp": 0.4878627458335965 + }, + { + "x": 1.494615387358709, + "y": 6.462244761643902, + "heading": 0.43943111627914694, + "angularVelocity": -1.993156086460405, + "velocityX": 2.6198366092695133, + "velocityY": -0.4915374111042586, + "timestamp": 0.5366490204169562 + }, + { + "x": 1.6344077245837227, + "y": 6.436394442604198, + "heading": 0.33805944296831114, + "angularVelocity": -2.077872806984372, + "velocityX": 2.865402993338927, + "velocityY": -0.5298686825437922, + "timestamp": 0.5854352950003158 + }, + { + "x": 1.7862758061457733, + "y": 6.408836740007201, + "heading": 0.23516941127167912, + "angularVelocity": -2.108995461845051, + "velocityX": 3.1129263888054926, + "velocityY": -0.5648658937855514, + "timestamp": 0.6342215695836754 + }, + { + "x": 1.9502202654428336, + "y": 6.379899377284357, + "heading": 0.1355865924332727, + "angularVelocity": -2.0412056400874032, + "velocityX": 3.360462767390291, + "velocityY": -0.5931455715766921, + "timestamp": 0.683007844167035 + }, + { + "x": 2.125024102640001, + "y": 6.350556213798447, + "heading": 0.05370061556801829, + "angularVelocity": -1.6784634113707182, + "velocityX": 3.5830536086227656, + "velocityY": -0.6014635004723082, + "timestamp": 0.7317941187503946 + }, + { + "x": 2.308874750217541, + "y": 6.32134206913622, + "heading": 0.000075594383193927, + "angularVelocity": -1.0991825394086383, + "velocityX": 3.768491223149237, + "velocityY": -0.598818928309628, + "timestamp": 0.7805803933337542 + }, + { + "x": 2.5013992294410428, + "y": 6.29284664925505, + "heading": -0.023825217387144004, + "angularVelocity": -0.489908523953788, + "velocityX": 3.9462836805573493, + "velocityY": -0.5840868179528854, + "timestamp": 0.8293666679171138 + }, + { + "x": 2.701090535408383, + "y": 6.269836071588193, + "heading": -0.023825516555088938, + "angularVelocity": -0.000006132215412864256, + "velocityX": 4.093186201912882, + "velocityY": -0.47166088953028434, + "timestamp": 0.8781529425004734 + }, + { + "x": 2.90181040763855, + "y": 6.258988857269287, + "heading": -0.023825563731718707, + "angularVelocity": -9.67006195283952e-7, + "velocityX": 4.114269309233729, + "velocityY": -0.22234151739485744, + "timestamp": 0.926939217083833 + }, + { + "x": 3.2228289165768107, + "y": 6.272839746260762, + "heading": -0.02382556485366325, + "angularVelocity": -1.43867746295835e-8, + "velocityX": 4.1164431535362835, + "velocityY": 0.17761093386148183, + "timestamp": 1.0049236558249548 + }, + { + "x": 3.5409920733834666, + "y": 6.3177500583059505, + "heading": -0.02382556591897316, + "angularVelocity": -1.3660544662719426e-8, + "velocityX": 4.079828770234975, + "velocityY": 0.575888122940443, + "timestamp": 1.0829080945660767 + }, + { + "x": 3.8543794985421305, + "y": 6.3886940665508725, + "heading": -0.023825566968556106, + "angularVelocity": -1.3458876738271386e-8, + "velocityX": 4.018589223921825, + "velocityY": 0.9097200594137623, + "timestamp": 1.1608925333071987 + }, + { + "x": 4.167766704285708, + "y": 6.4596390440310785, + "heading": -0.023825568018138833, + "angularVelocity": -1.3458873884787475e-8, + "velocityX": 4.018586410346573, + "velocityY": 0.9097324879866878, + "timestamp": 1.2388769720483206 + }, + { + "x": 4.4811539100323, + "y": 6.530584021497964, + "heading": -0.023825569067721552, + "angularVelocity": -1.3458873806018203e-8, + "velocityX": 4.018586410385244, + "velocityY": 0.9097324878158669, + "timestamp": 1.3168614107894425 + }, + { + "x": 4.79454111577784, + "y": 6.601528998969501, + "heading": -0.023825570117304313, + "angularVelocity": -1.3458874365967017e-8, + "velocityX": 4.018586410371737, + "velocityY": 0.909732487875532, + "timestamp": 1.3948458495305645 + }, + { + "x": 5.107928321523374, + "y": 6.672473976441061, + "heading": -0.023825571166887022, + "angularVelocity": -1.3458873644091302e-8, + "velocityX": 4.01858641037167, + "velocityY": 0.9097324878758241, + "timestamp": 1.4728302882716864 + }, + { + "x": 5.421315527268906, + "y": 6.743418953912637, + "heading": -0.0238255722164697, + "angularVelocity": -1.3458873232782846e-8, + "velocityX": 4.018586410371626, + "velocityY": 0.9097324878760211, + "timestamp": 1.5508147270128083 + }, + { + "x": 5.73470273301373, + "y": 6.814363931387334, + "heading": -0.02382557326605232, + "angularVelocity": -1.3458872602650603e-8, + "velocityX": 4.018586410362565, + "velocityY": 0.9097324879160451, + "timestamp": 1.6287991657539302 + }, + { + "x": 6.048089938761083, + "y": 6.885308908850857, + "heading": -0.023825574315635045, + "angularVelocity": -1.3458873837681842e-8, + "velocityX": 4.018586410395003, + "velocityY": 0.9097324877727555, + "timestamp": 1.7067836044950522 + }, + { + "x": 6.361476996805373, + "y": 6.956254538763802, + "heading": -0.023825575365233685, + "angularVelocity": -1.345907790933033e-8, + "velocityX": 4.0185845163881115, + "velocityY": 0.9097408541780642, + "timestamp": 1.784768043236174 + }, + { + "x": 6.648907366789074, + "y": 7.036067884976394, + "heading": -0.025930488860655996, + "angularVelocity": -0.026991455339055646, + "velocityX": 3.685740060755692, + "velocityY": 1.0234522104793284, + "timestamp": 1.862752481977296 + }, + { + "x": 6.905918727178058, + "y": 7.1089950068101935, + "heading": -0.027038195926471695, + "angularVelocity": -0.014204206424987693, + "velocityX": 3.295674938972906, + "velocityY": 0.9351496658954087, + "timestamp": 1.940736920718418 + }, + { + "x": 7.13251107745946, + "y": 7.175035870578235, + "heading": -0.027148690455274044, + "angularVelocity": -0.0014168791952089838, + "velocityX": 2.905609810613645, + "velocityY": 0.8468466893410759, + "timestamp": 2.0187213594595397 + }, + { + "x": 7.328684417474841, + "y": 7.234190465002728, + "heading": -0.0262619699118654, + "angularVelocity": 0.011370480543589091, + "velocityX": 2.5155446802226953, + "velocityY": 0.7585435681708689, + "timestamp": 2.0967057982006616 + }, + { + "x": 7.494438747151227, + "y": 7.286458784427156, + "heading": -0.024378032258793446, + "angularVelocity": 0.024157866408783164, + "velocityX": 2.1254795488959726, + "velocityY": 0.6702403744667375, + "timestamp": 2.1746902369417835 + }, + { + "x": 7.62977406644956, + "y": 7.331840825448755, + "heading": -0.021496875343877238, + "angularVelocity": 0.036945279871546305, + "velocityX": 1.7354144170684294, + "velocityY": 0.5819371371287247, + "timestamp": 2.2526746756829055 + }, + { + "x": 7.7346903753480705, + "y": 7.370336585793465, + "heading": -0.01761849670534105, + "angularVelocity": 0.04973272490183463, + "velocityX": 1.3453492849617374, + "velocityY": 0.49363387063029207, + "timestamp": 2.3306591144240274 + }, + { + "x": 7.809187673835323, + "y": 7.401946063832849, + "heading": -0.012742893499969495, + "angularVelocity": 0.06252020639087588, + "velocityX": 0.9552841527084046, + "velocityY": 0.4053305832502589, + "timestamp": 2.4086435531651493 + }, + { + "x": 7.853265961906796, + "y": 7.426669258342117, + "heading": -0.00687006248076722, + "angularVelocity": 0.07530772951636928, + "velocityX": 0.5652190203970796, + "velocityY": 0.3170272801646988, + "timestamp": 2.4866279919062713 + }, + { + "x": 7.866925239562988, + "y": 7.4445061683654785, + "heading": 1.1019724128852254e-21, + "angularVelocity": 0.08809529941701788, + "velocityX": 0.17515388809214882, + "velocityY": 0.22872396482294302, + "timestamp": 2.564612430647393 + }, + { + "x": 7.839415996512796, + "y": 7.455996330276693, + "heading": 0.00969522621841501, + "angularVelocity": 0.10346134162219067, + "velocityX": -0.29356129798992386, + "velocityY": 0.1226157636768162, + "timestamp": 2.6583211151318746 + }, + { + "x": 7.767984159154146, + "y": 7.4575409240302655, + "heading": 0.02071171654104976, + "angularVelocity": 0.1175610391207565, + "velocityX": -0.7622755324292112, + "velocityY": 0.016482930713085247, + "timestamp": 2.752029799616356 + }, + { + "x": 7.652629894962392, + "y": 7.449136985555429, + "heading": 0.03289647896885643, + "angularVelocity": 0.13002810246284618, + "velocityX": -1.2309879796771361, + "velocityY": -0.08968153294509411, + "timestamp": 2.8457384841008375 + }, + { + "x": 7.493353520570736, + "y": 7.430780569230724, + "heading": 0.04604478809468858, + "angularVelocity": 0.14031046533376074, + "velocityX": -1.6996970480151585, + "velocityY": -0.19588810178787341, + "timestamp": 2.939447168585319 + }, + { + "x": 7.290155660806777, + "y": 7.402466163933872, + "heading": 0.059868605999832875, + "angularVelocity": 0.1475190691363679, + "velocityX": -2.1683994485869587, + "velocityY": -0.30215348185302415, + "timestamp": 3.0331558530698004 + }, + { + "x": 7.043037657446755, + "y": 7.364185531976726, + "heading": 0.07393272399831907, + "angularVelocity": 0.1500834002297331, + "velocityX": -2.637087530568694, + "velocityY": -0.4085067693324192, + "timestamp": 3.126864537554282 + }, + { + "x": 6.752002857171037, + "y": 7.315925026351502, + "heading": 0.087503185209202, + "angularVelocity": 0.14481540622982755, + "velocityX": -3.1057398988875438, + "velocityY": -0.5150056890748022, + "timestamp": 3.2205732220387633 + }, + { + "x": 6.417062343367086, + "y": 7.25765770262344, + "heading": 0.09907823596032714, + "angularVelocity": 0.12352164385620025, + "velocityX": -3.5742739922831674, + "velocityY": -0.621792142837213, + "timestamp": 3.3142819065232447 + }, + { + "x": 6.038289731061863, + "y": 7.189306639433363, + "heading": 0.10384589626013921, + "angularVelocity": 0.05087746483733441, + "velocityX": -4.042022512523361, + "velocityY": -0.7293994528478953, + "timestamp": 3.407990591007726 + }, + { + "x": 5.6616794795490195, + "y": 7.104206263101145, + "heading": 0.10384589809069947, + "angularVelocity": 1.9534585058108795e-8, + "velocityX": -4.018947161457723, + "velocityY": -0.9081375627070208, + "timestamp": 3.5016992754922076 + }, + { + "x": 5.295621370465586, + "y": 6.981410624019321, + "heading": 0.10384599746908699, + "angularVelocity": 0.0000010605034961434597, + "velocityX": -3.906341350294527, + "velocityY": -1.3103976409161844, + "timestamp": 3.595407959976689 + }, + { + "x": 4.973743620370178, + "y": 6.867130189671141, + "heading": 0.10964047142974673, + "angularVelocity": 0.061834972847360024, + "velocityX": -3.4348764137086154, + "velocityY": -1.2195287446075023, + "timestamp": 3.6891166444611705 + }, + { + "x": 4.695925858929357, + "y": 6.762170123163068, + "heading": 0.11660456960418608, + "angularVelocity": 0.07431646504004273, + "velocityX": -2.9646959934308894, + "velocityY": -1.1200676552604343, + "timestamp": 3.782825328945652 + }, + { + "x": 4.462122805625061, + "y": 6.666750260320637, + "heading": 0.12346623798759834, + "angularVelocity": 0.07322339888944424, + "velocityX": -2.494998778293757, + "velocityY": -1.0182606165838868, + "timestamp": 3.8765340134301334 + }, + { + "x": 4.272311472149189, + "y": 6.580973181865323, + "heading": 0.1296297222155145, + "angularVelocity": 0.0657728177684199, + "velocityX": -2.025546879887157, + "velocityY": -0.9153589011221137, + "timestamp": 3.970242697914615 + }, + { + "x": 4.126478005598546, + "y": 6.504898268884928, + "heading": 0.13474943633917122, + "angularVelocity": 0.05463436128488802, + "velocityX": -1.5562428109295867, + "velocityY": -0.811823508129526, + "timestamp": 4.063951382399096 + }, + { + "x": 4.024613155788809, + "y": 6.438564244025636, + "heading": 0.13859971910248803, + "angularVelocity": 0.04108779014984924, + "velocityX": -1.0870374541071166, + "velocityY": -0.7078748914704718, + "timestamp": 4.157660066883577 + }, + { + "x": 3.9667103110145354, + "y": 6.381998354264439, + "heading": 0.1410216361623699, + "angularVelocity": 0.02584517190915161, + "velocityX": -0.6179026532366133, + "velocityY": -0.6036355122514226, + "timestamp": 4.251368751368058 + }, + { + "x": 3.9527645111083984, + "y": 6.335220813751221, + "heading": 0.14189719500937054, + "angularVelocity": 0.00934341199876338, + "velocityX": -0.14882078414457217, + "velocityY": -0.4991804203693128, + "timestamp": 4.345077435852539 + }, + { + "x": 3.964115076159712, + "y": 6.3075785150519685, + "heading": 0.1417203583468928, + "angularVelocity": -0.0027309287472943606, + "velocityX": 0.17528935438132787, + "velocityY": -0.4268862977924431, + "timestamp": 4.409830740988352 + }, + { + "x": 3.9964710164043287, + "y": 6.284535579351715, + "heading": 0.14077745477905462, + "angularVelocity": -0.01456147397975356, + "velocityX": 0.49968013488660173, + "velocityY": -0.3558572902483248, + "timestamp": 4.474584046124165 + }, + { + "x": 4.049853424217872, + "y": 6.265994962228474, + "heading": 0.13908718250809055, + "angularVelocity": -0.026103258627785963, + "velocityX": 0.8243966497397879, + "velocityY": -0.28632696175669053, + "timestamp": 4.539337351259978 + }, + { + "x": 4.124287056549126, + "y": 6.251839889602118, + "heading": 0.13667203697092578, + "angularVelocity": -0.03729764113351832, + "velocityX": 1.1494954917766365, + "velocityY": -0.2186000019098195, + "timestamp": 4.604090656395791 + }, + { + "x": 4.219801343483193, + "y": 6.241927175601898, + "heading": 0.1335595952579679, + "angularVelocity": -0.048066144367918166, + "velocityX": 1.4750488293027817, + "velocityY": -0.15308429398975482, + "timestamp": 4.668843961531604 + }, + { + "x": 4.336431776777692, + "y": 6.236077148786002, + "heading": 0.12978445160876886, + "angularVelocity": -0.0583004009027969, + "velocityX": 1.8011502741038279, + "velocityY": -0.09034329295819071, + "timestamp": 4.7335972666674175 + }, + { + "x": 4.474221844581992, + "y": 6.234057731464995, + "heading": 0.12539127460739471, + "angularVelocity": -0.06784483034742277, + "velocityX": 2.127923316273961, + "velocityY": -0.031186320401267092, + "timestamp": 4.798350571803231 + }, + { + "x": 4.6332257178085845, + "y": 6.23555773593313, + "heading": 0.120439931450763, + "angularVelocity": -0.07646471707114837, + "velocityX": 2.4555329321506916, + "velocityY": 0.02316490972912503, + "timestamp": 4.863103876939044 + }, + { + "x": 4.813511768295512, + "y": 6.240138470161825, + "heading": 0.11501476601933941, + "angularVelocity": -0.08378206209003339, + "velocityX": 2.7841984298530575, + "velocityY": 0.07074131921279452, + "timestamp": 4.927857182074857 + }, + { + "x": 5.015165820732933, + "y": 6.247136346300476, + "heading": 0.10924324745866247, + "angularVelocity": -0.08913087213960412, + "velocityX": 3.1141893377407177, + "velocityY": 0.10806979078476878, + "timestamp": 4.99261048721067 + }, + { + "x": 5.238285037327109, + "y": 6.25543524564352, + "heading": 0.10333948067978445, + "angularVelocity": -0.09117321141361788, + "velocityX": 3.4456807436501733, + "velocityY": 0.12816178765915376, + "timestamp": 5.057363792346483 + }, + { + "x": 5.4828882134200585, + "y": 6.262797588596474, + "heading": 0.09773171682329804, + "angularVelocity": -0.08660197104572066, + "velocityX": 3.7774624102958136, + "velocityY": 0.11369833458712587, + "timestamp": 5.122117097482296 + }, + { + "x": 5.74778413772583, + "y": 6.263060569763184, + "heading": 0.0935931028078498, + "angularVelocity": -0.06391355633149408, + "velocityX": 4.090847930467482, + "velocityY": 0.004061277893979396, + "timestamp": 5.186870402618109 + }, + { + "x": 6.013605641460004, + "y": 6.24191400772151, + "heading": 0.09359309638909583, + "angularVelocity": -9.917831510727641e-8, + "velocityX": 4.107296989323786, + "velocityY": -0.3267426050496276, + "timestamp": 5.251589731272729 + }, + { + "x": 6.276862418631435, + "y": 6.199439095939525, + "heading": 0.09359309077806317, + "angularVelocity": -8.669794285084282e-8, + "velocityX": 4.067668541129722, + "velocityY": -0.6562940726511032, + "timestamp": 5.316309059927348 + }, + { + "x": 6.527399691827839, + "y": 6.139917818463067, + "heading": 0.08476203699028893, + "angularVelocity": -0.13645156665487035, + "velocityX": 3.8711352296841666, + "velocityY": -0.9196831721493709, + "timestamp": 5.381028388581967 + }, + { + "x": 6.75663042562249, + "y": 6.083119284382794, + "heading": 0.07502326158910995, + "angularVelocity": -0.15047707699736645, + "velocityX": 3.541920760920773, + "velocityY": -0.8776131529945856, + "timestamp": 5.4457477172365865 + }, + { + "x": 6.964873739000207, + "y": 6.030903984882642, + "heading": 0.06524316275048915, + "angularVelocity": -0.151115579254742, + "velocityX": 3.217637106358551, + "velocityY": -0.8067960620976766, + "timestamp": 5.510467045891206 + }, + { + "x": 7.152282068970079, + "y": 5.983920652029787, + "heading": 0.05572785541591898, + "angularVelocity": -0.1470241971351326, + "velocityX": 2.89570880702416, + "velocityY": -0.7259551949864277, + "timestamp": 5.575186374545825 + }, + { + "x": 7.318941079653386, + "y": 5.942498197854015, + "heading": 0.04663339243937562, + "angularVelocity": -0.14052159015858803, + "velocityX": 2.5751041326880646, + "velocityY": -0.640032198059834, + "timestamp": 5.639905703200444 + }, + { + "x": 7.464905286734277, + "y": 5.90683529811683, + "heading": 0.03805432099740102, + "angularVelocity": -0.13255810312492006, + "velocityX": 2.2553417984269095, + "velocityY": -0.5510393954718356, + "timestamp": 5.7046250318550635 + }, + { + "x": 7.590212353553613, + "y": 5.877064925500585, + "heading": 0.03005404341529432, + "angularVelocity": -0.12361496555072342, + "velocityX": 1.9361614130463123, + "velocityY": -0.4599919874805364, + "timestamp": 5.769344360509683 + }, + { + "x": 7.694889835090688, + "y": 5.853282305980581, + "heading": 0.02267802548127335, + "angularVelocity": -0.11396932087141666, + "velocityX": 1.6174067888697665, + "velocityY": -0.3674732110853869, + "timestamp": 5.834063689164302 + }, + { + "x": 7.778958756807613, + "y": 5.835558989260669, + "heading": 0.015960462943441833, + "angularVelocity": -0.10379530624738742, + "velocityX": 1.2989770361427408, + "velocityY": -0.2738488962778864, + "timestamp": 5.898783017818921 + }, + { + "x": 7.842435685723995, + "y": 5.823950700480821, + "heading": 0.00992800913391407, + "angularVelocity": -0.09320946207153233, + "velocityX": 0.9808032659784228, + "velocityY": -0.1793635536888167, + "timestamp": 5.963502346473541 + }, + { + "x": 7.885334010682854, + "y": 5.818502066351385, + "heading": 0.004602022140728806, + "angularVelocity": -0.0822936069316772, + "velocityX": 0.662836371307088, + "velocityY": -0.08418866886758089, + "timestamp": 6.02822167512816 + }, + { + "x": 7.907664775848389, + "y": 5.819249629974365, + "heading": -8.861041564511578e-22, + "angularVelocity": -0.07110738378155824, + "velocityX": 0.3450401237118033, + "velocityY": 0.011550855648858615, + "timestamp": 6.092941003782779 + }, + { + "x": 7.906635252791002, + "y": 5.828052827441592, + "heading": -0.004258720886347518, + "angularVelocity": -0.058206213678033504, + "velocityX": -0.014071041672826983, + "velocityY": 0.12031800310510214, + "timestamp": 6.166107090652895 + }, + { + "x": 7.879238228976632, + "y": 5.84450093290686, + "heading": -0.0075552483463681396, + "angularVelocity": -0.04505540204538491, + "velocityX": -0.3744497619915793, + "velocityY": 0.2248050451907733, + "timestamp": 6.239273177523011 + }, + { + "x": 7.825367300152994, + "y": 5.868216578468005, + "heading": -0.009867835041262768, + "angularVelocity": -0.03160735791432891, + "velocityX": -0.7362827660753383, + "velocityY": 0.32413439853965875, + "timestamp": 6.312439264393127 + }, + { + "x": 7.744899750012138, + "y": 5.898736517545598, + "heading": -0.0111701723547619, + "angularVelocity": -0.01779973986870499, + "velocityX": -1.099792999504015, + "velocityY": 0.4171323133868237, + "timestamp": 6.385605351263243 + }, + { + "x": 7.637693676502783, + "y": 5.935479180350757, + "heading": -0.011429828096899505, + "angularVelocity": -0.003548853755135836, + "velocityX": -1.4652426840821369, + "velocityY": 0.5021816032116673, + "timestamp": 6.458771438133359 + }, + { + "x": 7.5035856277872615, + "y": 5.977694002563694, + "heading": -0.010605910687451307, + "angularVelocity": 0.01126091943267124, + "velocityX": -1.8329263522537513, + "velocityY": 0.5769725294708757, + "timestamp": 6.5319375250034755 + }, + { + "x": 7.342391196877079, + "y": 6.024378165489895, + "heading": -0.00864545101291993, + "angularVelocity": 0.026794649794673078, + "velocityX": -2.203130409260973, + "velocityY": 0.6380573968520984, + "timestamp": 6.6051036118735915 + }, + { + "x": 7.153916552611085, + "y": 6.0741311609152655, + "heading": -0.0054775986870561925, + "angularVelocity": 0.04329673023906966, + "velocityX": -2.575983660306647, + "velocityY": 0.6800007702160148, + "timestamp": 6.678269698743708 + }, + { + "x": 6.938008284848595, + "y": 6.124881823735959, + "heading": -0.0010041218542462327, + "angularVelocity": 0.0611413979368784, + "velocityX": -2.9509336497080865, + "velocityY": 0.6936364235357523, + "timestamp": 6.751435785613824 + }, + { + "x": 6.694745254080875, + "y": 6.173336610452631, + "heading": 0.004915269857105422, + "angularVelocity": 0.08090348909679626, + "velocityX": -3.324805810642302, + "velocityY": 0.6622574581949259, + "timestamp": 6.82460187248394 + }, + { + "x": 6.425208704257528, + "y": 6.213842395524965, + "heading": 0.0124744715476749, + "angularVelocity": 0.10331564819078756, + "velocityX": -3.6839000328366214, + "velocityY": 0.5536142057759702, + "timestamp": 6.897767959354056 + }, + { + "x": 6.134481864578053, + "y": 6.236901401740381, + "heading": 0.021837510116483112, + "angularVelocity": 0.1279696505490236, + "velocityX": -3.973519045723652, + "velocityY": 0.3151597577761656, + "timestamp": 6.970934046224172 + }, + { + "x": 5.836546421051025, + "y": 6.233473300933838, + "heading": 0.03271319444227894, + "angularVelocity": 0.14864378827724267, + "velocityX": -4.072042885878557, + "velocityY": -0.046853685268537476, + "timestamp": 7.044100133094288 + }, + { + "x": 5.568966710651099, + "y": 6.207960444496648, + "heading": 0.04338386716334799, + "angularVelocity": 0.15887874464776466, + "velocityX": -3.984072006782857, + "velocityY": -0.37986832780616103, + "timestamp": 7.111262501129899 + }, + { + "x": 5.317346915723196, + "y": 6.165700463545233, + "heading": 0.05445378266970707, + "angularVelocity": 0.16482318640834032, + "velocityX": -3.746440190948723, + "velocityY": -0.6292211276560161, + "timestamp": 7.178424869165511 + }, + { + "x": 5.087007251124614, + "y": 6.1143653077879145, + "heading": 0.06561369928254893, + "angularVelocity": 0.16616323901689406, + "velocityX": -3.429594151243304, + "velocityY": -0.7643440405510867, + "timestamp": 7.245587237201122 + }, + { + "x": 4.879543884126957, + "y": 6.059583812060162, + "heading": 0.07665980181981738, + "angularVelocity": 0.1644686281968431, + "velocityX": -3.088982313542825, + "velocityY": -0.8156575971041716, + "timestamp": 7.312749605236734 + }, + { + "x": 4.6952145650122015, + "y": 6.004917216734493, + "heading": 0.08747065927409489, + "angularVelocity": 0.16096599584674173, + "velocityX": -2.744532757049604, + "velocityY": -0.81394681165327, + "timestamp": 7.379911973272345 + }, + { + "x": 4.533893228023684, + "y": 5.952664203225111, + "heading": 0.0979708120981826, + "angularVelocity": 0.15633982438677985, + "velocityX": -2.4019602302137435, + "velocityY": -0.7780102911451432, + "timestamp": 7.447074341307957 + }, + { + "x": 4.39536164205183, + "y": 5.904388121866292, + "heading": 0.10811026318188136, + "angularVelocity": 0.15096923143511817, + "velocityX": -2.0626370097373927, + "velocityY": -0.7187965935510374, + "timestamp": 7.514236709343568 + }, + { + "x": 4.2793961801584235, + "y": 5.861206716024424, + "heading": 0.1178539418618899, + "angularVelocity": 0.14507646119389675, + "velocityX": -1.7266434356799014, + "velocityY": -0.6429404904093345, + "timestamp": 7.58139907737918 + }, + { + "x": 4.185792366980932, + "y": 5.823953202461205, + "heading": 0.12717608254691332, + "angularVelocity": 0.13880005958218405, + "velocityX": -1.393694354669862, + "velocityY": -0.5546783809568239, + "timestamp": 7.648561445414791 + }, + { + "x": 4.114369863428615, + "y": 5.7932701366868775, + "heading": 0.1360570420074184, + "angularVelocity": 0.1322311842220364, + "velocityX": -1.0634303947479564, + "velocityY": -0.4568490759298204, + "timestamp": 7.715723813450403 + }, + { + "x": 4.0649713345283995, + "y": 5.7696669169336205, + "heading": 0.14448139137724897, + "angularVelocity": 0.12543258399352125, + "velocityX": -0.7355090409263635, + "velocityY": -0.3514351927070385, + "timestamp": 7.782886181486014 + }, + { + "x": 4.037459651013235, + "y": 5.7535566504811975, + "heading": 0.15243671363190991, + "angularVelocity": 0.11844910308169677, + "velocityX": -0.4096294445808958, + "velocityY": -0.23987043523958734, + "timestamp": 7.850048549521626 + }, + { + "x": 4.031714916229248, + "y": 5.745280742645264, + "heading": 0.15991281260240592, + "angularVelocity": 0.11131380844898156, + "velocityX": -0.08553502432999834, + "velocityY": -0.12322239489151882, + "timestamp": 7.917210917557237 + }, + { + "x": 4.028733574124723, + "y": 5.716806207328283, + "heading": 0.16648713095695195, + "angularVelocity": 0.10328727118287491, + "velocityX": -0.04683902936129348, + "velocityY": -0.4473554355726786, + "timestamp": 7.980861726405753 + }, + { + "x": 4.029303269349349, + "y": 5.667859664319208, + "heading": 0.17250743991031525, + "angularVelocity": 0.09458338491331914, + "velocityX": 0.008950321840875176, + "velocityY": -0.7689854048133818, + "timestamp": 8.04451253525427 + }, + { + "x": 4.034773095532229, + "y": 5.598721670530651, + "heading": 0.177921913214448, + "angularVelocity": 0.08506527100101363, + "velocityX": 0.0859349045492505, + "velocityY": -1.0862076231128457, + "timestamp": 8.108163344102786 + }, + { + "x": 4.04683331391786, + "y": 5.509879274518647, + "heading": 0.18266829184010208, + "angularVelocity": 0.07456902294753398, + "velocityX": 0.1894747074516172, + "velocityY": -1.3957779581944039, + "timestamp": 8.171814152951303 + }, + { + "x": 4.067606933697682, + "y": 5.402175243088082, + "heading": 0.1866729466072294, + "angularVelocity": 0.06291600750366072, + "velocityX": 0.3263685121309602, + "velocityY": -1.692107820450355, + "timestamp": 8.235464961799819 + }, + { + "x": 4.099716828344451, + "y": 5.277059766569589, + "heading": 0.18985302153969794, + "angularVelocity": 0.04996126506478306, + "velocityX": 0.504469546069523, + "velocityY": -1.9656541492859476, + "timestamp": 8.299115770648335 + }, + { + "x": 4.146220491607715, + "y": 5.136961885287488, + "heading": 0.19212655579157403, + "angularVelocity": 0.03571885877030929, + "velocityX": 0.7306060064992874, + "velocityY": -2.2010385070757232, + "timestamp": 8.362766579496851 + }, + { + "x": 4.210214706803066, + "y": 4.985651459769157, + "heading": 0.193436287646545, + "angularVelocity": 0.02057682971614746, + "velocityX": 1.0053951607693359, + "velocityY": -2.3771956437888795, + "timestamp": 8.426417388345367 + }, + { + "x": 4.294045552639039, + "y": 4.828164588359487, + "heading": 0.19378149775282844, + "angularVelocity": 0.005423499127953307, + "velocityX": 1.3170428994151997, + "velocityY": -2.4742320523290933, + "timestamp": 8.490068197193883 + }, + { + "x": 4.398640112537955, + "y": 4.669954353870274, + "heading": 0.1932299156983433, + "angularVelocity": -0.008665750906604456, + "velocityX": 1.6432557856074201, + "velocityY": -2.485596606725612, + "timestamp": 8.5537190060424 + }, + { + "x": 4.523606377596732, + "y": 4.515827070408729, + "heading": 0.19189285353451518, + "angularVelocity": -0.021006208530833268, + "velocityX": 1.9633099299049899, + "velocityY": -2.421450508639348, + "timestamp": 8.617369814890916 + }, + { + "x": 4.667843818664551, + "y": 4.369466304779053, + "heading": 0.18988972149801628, + "angularVelocity": -0.0314706454283432, + "velocityX": 2.2660739694776426, + "velocityY": -2.2994329259507698, + "timestamp": 8.681020623739432 + }, + { + "x": 4.871797892715673, + "y": 4.205621418602988, + "heading": 0.1865920524335519, + "angularVelocity": -0.0422409120042009, + "velocityX": 2.6125138473502396, + "velocityY": -2.098742258245844, + "timestamp": 8.759088755036796 + }, + { + "x": 5.101719412723405, + "y": 4.059172590207619, + "heading": 0.1823462410927036, + "angularVelocity": -0.05438597376791099, + "velocityX": 2.945139280098198, + "velocityY": -1.8759105151055673, + "timestamp": 8.83715688633416 + }, + { + "x": 5.355857297295401, + "y": 3.932483913538177, + "heading": 0.17700453688749862, + "angularVelocity": -0.06842362070712561, + "velocityX": 3.2553345436689742, + "velocityY": -1.6227963262868412, + "timestamp": 8.915225017631524 + }, + { + "x": 5.631115809033472, + "y": 3.828833403933396, + "heading": 0.17035974396289696, + "angularVelocity": -0.0851153065172188, + "velocityX": 3.525875503406118, + "velocityY": -1.327692976407643, + "timestamp": 8.993293148928888 + }, + { + "x": 5.921560736313624, + "y": 3.7524980506854146, + "heading": 0.16213464835819472, + "angularVelocity": -0.10535791581038999, + "velocityX": 3.720403222844351, + "velocityY": -0.9778042842759619, + "timestamp": 9.071361280226252 + }, + { + "x": 6.215996410886688, + "y": 3.707158097711821, + "heading": 0.15206765627308344, + "angularVelocity": -0.12895136488877526, + "velocityX": 3.771521998541844, + "velocityY": -0.580774154832675, + "timestamp": 9.149429411523617 + }, + { + "x": 6.499201446177462, + "y": 3.690982108951251, + "heading": 0.14021370017373183, + "angularVelocity": -0.1518411662013455, + "velocityX": 3.62766509950179, + "velocityY": -0.2072034835694342, + "timestamp": 9.22749754282098 + }, + { + "x": 6.760144156179077, + "y": 3.6967423609871095, + "heading": 0.12696695962397309, + "angularVelocity": -0.16968179370531306, + "velocityX": 3.342499758418362, + "velocityY": 0.07378493554453382, + "timestamp": 9.305565674118345 + }, + { + "x": 6.993747301290997, + "y": 3.717650756831888, + "heading": 0.11271543576980789, + "angularVelocity": -0.18255238875746302, + "velocityX": 2.9922984094766716, + "velocityY": 0.2678224199467244, + "timestamp": 9.383633805415709 + }, + { + "x": 7.197885514439911, + "y": 3.7489894618571475, + "heading": 0.09773384035236395, + "angularVelocity": -0.19190411206819374, + "velocityX": 2.614872544743554, + "velocityY": 0.40142763128130604, + "timestamp": 9.461701936713073 + }, + { + "x": 7.371619435690451, + "y": 3.787579396090815, + "heading": 0.0822090924111378, + "angularVelocity": -0.19886152881118324, + "velocityX": 2.2254141140996357, + "velocityY": 0.49431097673744373, + "timestamp": 9.539770068010437 + }, + { + "x": 7.514504734103524, + "y": 3.831207022230382, + "heading": 0.06627209980833938, + "angularVelocity": -0.2041421043126261, + "velocityX": 1.8302641044246033, + "velocityY": 0.5588404053555219, + "timestamp": 9.617838199307801 + }, + { + "x": 7.626321599036744, + "y": 3.878266327671348, + "heading": 0.050018209226889945, + "angularVelocity": -0.20820135324538117, + "velocityX": 1.432298468978392, + "velocityY": 0.6027978979247636, + "timestamp": 9.695906330605165 + }, + { + "x": 7.706960109890584, + "y": 3.9275480062281813, + "heading": 0.033519413765036976, + "angularVelocity": -0.21133841924572758, + "velocityX": 1.032924824941496, + "velocityY": 0.6312649955603196, + "timestamp": 9.77397446190253 + }, + { + "x": 7.75636745475808, + "y": 3.9781125797320316, + "heading": 0.016831759030145377, + "angularVelocity": -0.21375757889384633, + "velocityX": 0.6328746960690229, + "velocityY": 0.647698012794074, + "timestamp": 9.852042593199894 + }, + { + "x": 7.774521827697754, + "y": 4.029211044311523, + "heading": -2.3205962182381023e-21, + "angularVelocity": -0.21560345752394805, + "velocityX": 0.23254524782363484, + "velocityY": 0.6545367966456909, + "timestamp": 9.930110724497258 + }, + { + "x": 7.767154710406391, + "y": 4.072900928949108, + "heading": -0.014488654781856458, + "angularVelocity": -0.216783406299003, + "velocityX": -0.11022892083989355, + "velocityY": 0.6537005784972164, + "timestamp": 9.99694542844998 + }, + { + "x": 7.736878414259794, + "y": 4.116522125330073, + "heading": -0.029046314724269887, + "angularVelocity": -0.21781588129291915, + "velocityX": -0.45300262223071897, + "velocityY": 0.6526728451108802, + "timestamp": 10.063780132402702 + }, + { + "x": 7.683692986765261, + "y": 4.160059290918648, + "heading": -0.04366116547987685, + "angularVelocity": -0.2186715866347725, + "velocityX": -0.7957756128037357, + "velocityY": 0.6514155523060602, + "timestamp": 10.130614836355424 + }, + { + "x": 7.607598500792507, + "y": 4.203493699341211, + "heading": -0.0583187869642347, + "angularVelocity": -0.2193115345393992, + "velocityX": -1.1385475130791645, + "velocityY": 0.6498780701308696, + "timestamp": 10.197449540308146 + }, + { + "x": 7.508595070224757, + "y": 4.246801982220053, + "heading": -0.07300118446700099, + "angularVelocity": -0.2196822404293508, + "velocityX": -1.4813177094011665, + "velocityY": 0.6479909435893982, + "timestamp": 10.264284244260867 + }, + { + "x": 7.3866828784850584, + "y": 4.289954159064308, + "heading": -0.08768527148039744, + "angularVelocity": -0.21970751937173005, + "velocityX": -1.8240851612949218, + "velocityY": 0.6456552403490899, + "timestamp": 10.33111894821359 + }, + { + "x": 7.241862234402131, + "y": 4.3329103687170365, + "heading": -0.10234035253177223, + "angularVelocity": -0.21927352385284243, + "velocityX": -2.166847992404854, + "velocityY": 0.6427231230516847, + "timestamp": 10.397953652166311 + }, + { + "x": 7.07413369246623, + "y": 4.375615021772806, + "heading": -0.1169236196715288, + "angularVelocity": -0.21819902352036502, + "velocityX": -2.5096025270726274, + "velocityY": 0.6389592611344215, + "timestamp": 10.464788356119033 + }, + { + "x": 6.883498347675479, + "y": 4.417985205751851, + "heading": -0.13137122210873817, + "angularVelocity": -0.21616916934994543, + "velocityX": -2.852340678064573, + "velocityY": 0.6339548389264723, + "timestamp": 10.531623060071755 + }, + { + "x": 6.669958711115492, + "y": 4.459883985157583, + "heading": -0.14557769926414693, + "angularVelocity": -0.21256138376042305, + "velocityX": -3.195041257473706, + "velocityY": 0.6269015485633134, + "timestamp": 10.598457764024477 + }, + { + "x": 6.433522272731176, + "y": 4.501042143745589, + "heading": -0.15933568232019976, + "angularVelocity": -0.2058508864763596, + "velocityX": -3.5376297701800143, + "velocityY": 0.6158201675752218, + "timestamp": 10.6652924679772 + }, + { + "x": 6.174229264575733, + "y": 4.540688400614103, + "heading": -0.17205071918548479, + "angularVelocity": -0.19024602658941284, + "velocityX": -3.879616319373006, + "velocityY": 0.5931986606323556, + "timestamp": 10.732127171929921 + }, + { + "x": 5.899813652038574, + "y": 4.563681602478027, + "heading": -0.1720507217902465, + "angularVelocity": -3.897319119513182e-8, + "velocityX": -4.105885061319011, + "velocityY": 0.3440308777336659, + "timestamp": 10.798961875882643 + }, + { + "x": 5.6382505881182885, + "y": 4.595249515536772, + "heading": -0.17409645748158847, + "angularVelocity": -0.03126690554583913, + "velocityX": -3.9977146844962266, + "velocityY": 0.48248215058493454, + "timestamp": 10.864390022852378 + }, + { + "x": 5.398484436113205, + "y": 4.624186785267214, + "heading": -0.1759717239534531, + "angularVelocity": -0.028661463891558173, + "velocityX": -3.664571948155486, + "velocityY": 0.44227555067129126, + "timestamp": 10.929818169822113 + }, + { + "x": 5.1805152028201515, + "y": 4.650493400816042, + "heading": -0.1776765154239882, + "angularVelocity": -0.026055933867785288, + "velocityX": -3.331429107932396, + "velocityY": 0.40206878487627273, + "timestamp": 10.995246316791848 + }, + { + "x": 4.984342890504657, + "y": 4.674169358565494, + "heading": -0.1792108298775417, + "angularVelocity": -0.023450373036901073, + "velocityX": -2.998286233083113, + "velocityY": 0.36186196378760377, + "timestamp": 11.060674463761583 + }, + { + "x": 4.809967500299472, + "y": 4.695214656706689, + "heading": -0.1805746662928034, + "angularVelocity": -0.020844796596372648, + "velocityX": -2.665143340920935, + "velocityY": 0.32165511505210137, + "timestamp": 11.126102610731317 + }, + { + "x": 4.657389032884244, + "y": 4.7136292941543, + "heading": -0.18176802405360484, + "angularVelocity": -0.018239210738361194, + "velocityX": -2.3320004383710753, + "velocityY": 0.281448249728481, + "timestamp": 11.191530757701052 + }, + { + "x": 4.526607488712068, + "y": 4.729413270184769, + "heading": -0.18279090274809942, + "angularVelocity": -0.015633618585709556, + "velocityX": -1.9988575288961132, + "velocityY": 0.24124137334610185, + "timestamp": 11.256958904670787 + }, + { + "x": 4.417622868106585, + "y": 4.742566584281272, + "heading": -0.1836433020817022, + "angularVelocity": -0.0130280219306395, + "velocityX": -1.665714614474658, + "velocityY": 0.20103448906460197, + "timestamp": 11.322387051640522 + }, + { + "x": 4.330435171310525, + "y": 4.753089236056193, + "heading": -0.18432522183325692, + "angularVelocity": -0.010422421895428998, + "velocityX": -1.3325716963433365, + "velocityY": 0.1608275988587593, + "timestamp": 11.387815198610257 + }, + { + "x": 4.265044398512677, + "y": 4.760981225208049, + "heading": -0.18483666183057199, + "angularVelocity": -0.007816819228453033, + "velocityX": -0.9994287753265666, + "velocityY": 0.1206207040450968, + "timestamp": 11.453243345579992 + }, + { + "x": 4.2214505498640715, + "y": 4.766242551495655, + "heading": -0.18517762193569534, + "angularVelocity": -0.005211214453024929, + "velocityX": -0.6662858520014394, + "velocityY": 0.08041380554518446, + "timestamp": 11.518671492549727 + }, + { + "x": 4.199653625488281, + "y": 4.76887321472168, + "heading": -0.1853481020355219, + "angularVelocity": -0.0026056079489066492, + "velocityX": -0.333142926787658, + "velocityY": 0.04020690402925863, + "timestamp": 11.584099639519462 + }, + { + "x": 4.199653625488281, + "y": 4.76887321472168, + "heading": -0.1853481020355219, + "angularVelocity": -7.946596899257776e-22, + "velocityX": -2.528747116740365e-22, + "velocityY": -1.6438334985949743e-21, + "timestamp": 11.649527786489196 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/Amp4NoteFar.traj b/src/main/deploy/choreo/Amp4NoteFar.traj index f26f679..295698b 100644 --- a/src/main/deploy/choreo/Amp4NoteFar.traj +++ b/src/main/deploy/choreo/Amp4NoteFar.traj @@ -1,1508 +1,1508 @@ -{ - "samples": [ - { - "x": 0.7328706979751587, - "y": 6.609785556793213, - "heading": 1.0789872785859569, - "angularVelocity": 1.0130524956425154e-21, - "velocityX": 6.391561318798467e-22, - "velocityY": 3.1627763991179065e-21, - "timestamp": 0 - }, - { - "x": 0.7442922596904098, - "y": 6.607484693492832, - "heading": 1.0680322161337672, - "angularVelocity": -0.22455214188308412, - "velocityX": 0.23411424243381077, - "velocityY": -0.04716210286663648, - "timestamp": 0.04878627458335965 - }, - { - "x": 0.7671593544585043, - "y": 6.60289224668038, - "heading": 1.0463644335259636, - "angularVelocity": -0.44413685596715274, - "velocityX": 0.4687198389994303, - "velocityY": -0.09413399263774451, - "timestamp": 0.0975725491667193 - }, - { - "x": 0.8015018910283972, - "y": 6.59601954471661, - "heading": 1.0142955583551334, - "angularVelocity": -0.6573339621584579, - "velocityX": 0.7039384921923673, - "velocityY": -0.14087367855945515, - "timestamp": 0.14635882375007894 - }, - { - "x": 0.8473557442136884, - "y": 6.586881998575734, - "heading": 0.9722044979930776, - "angularVelocity": -0.862764388580973, - "velocityX": 0.939892491830722, - "velocityY": -0.18729747698326368, - "timestamp": 0.1951450983334386 - }, - { - "x": 0.9047623296596092, - "y": 6.575501144351355, - "heading": 0.9205301893221267, - "angularVelocity": -1.0591976762369206, - "velocityX": 1.176695411489809, - "velocityY": -0.23327983785547873, - "timestamp": 0.24393137291679826 - }, - { - "x": 0.973767621217994, - "y": 6.561906156637783, - "heading": 0.8597586319551783, - "angularVelocity": -1.2456691535876518, - "velocityX": 1.4144406833211989, - "velocityY": -0.27866419048542307, - "timestamp": 0.2927176475001579 - }, - { - "x": 1.0544208484071813, - "y": 6.546134234731941, - "heading": 0.790408245746391, - "angularVelocity": -1.421514284520544, - "velocityX": 1.6531950405718783, - "velocityY": -0.3232860479824803, - "timestamp": 0.34150392208351754 - }, - { - "x": 1.1467736219789397, - "y": 6.52822958744161, - "heading": 0.7130246680019623, - "angularVelocity": -1.5861751774508972, - "velocityX": 1.8930072927367672, - "velocityY": -0.3670017324183618, - "timestamp": 0.3902901966668772 - }, - { - "x": 1.2508806763107996, - "y": 6.508241685857064, - "heading": 0.6282040373314669, - "angularVelocity": -1.7386166784587103, - "velocityX": 2.1339414665486536, - "velocityY": -0.4097033797977843, - "timestamp": 0.43907647125023685 - }, - { - "x": 1.3668033191753501, - "y": 6.486225040750028, - "heading": 0.5366697764006988, - "angularVelocity": -1.8762297738960634, - "velocityX": 2.376132300622291, - "velocityY": -0.4512876889055711, - "timestamp": 0.4878627458335965 - }, - { - "x": 1.494615387358709, - "y": 6.462244761643902, - "heading": 0.43943111627914694, - "angularVelocity": -1.993156086460405, - "velocityX": 2.6198366092695133, - "velocityY": -0.4915374111042586, - "timestamp": 0.5366490204169562 - }, - { - "x": 1.6344077245837227, - "y": 6.436394442604198, - "heading": 0.33805944296831114, - "angularVelocity": -2.077872806984372, - "velocityX": 2.865402993338927, - "velocityY": -0.5298686825437922, - "timestamp": 0.5854352950003158 - }, - { - "x": 1.7862758061457733, - "y": 6.408836740007201, - "heading": 0.23516941127167912, - "angularVelocity": -2.108995461845051, - "velocityX": 3.1129263888054926, - "velocityY": -0.5648658937855514, - "timestamp": 0.6342215695836754 - }, - { - "x": 1.9502202654428336, - "y": 6.379899377284357, - "heading": 0.1355865924332727, - "angularVelocity": -2.0412056400874032, - "velocityX": 3.360462767390291, - "velocityY": -0.5931455715766921, - "timestamp": 0.683007844167035 - }, - { - "x": 2.125024102640001, - "y": 6.350556213798447, - "heading": 0.05370061556801829, - "angularVelocity": -1.6784634113707182, - "velocityX": 3.5830536086227656, - "velocityY": -0.6014635004723082, - "timestamp": 0.7317941187503946 - }, - { - "x": 2.308874750217541, - "y": 6.32134206913622, - "heading": 0.000075594383193927, - "angularVelocity": -1.0991825394086383, - "velocityX": 3.768491223149237, - "velocityY": -0.598818928309628, - "timestamp": 0.7805803933337542 - }, - { - "x": 2.5013992294410428, - "y": 6.29284664925505, - "heading": -0.023825217387144004, - "angularVelocity": -0.489908523953788, - "velocityX": 3.9462836805573493, - "velocityY": -0.5840868179528854, - "timestamp": 0.8293666679171138 - }, - { - "x": 2.701090535408383, - "y": 6.269836071588193, - "heading": -0.023825516555088938, - "angularVelocity": -0.000006132215412864256, - "velocityX": 4.093186201912882, - "velocityY": -0.47166088953028434, - "timestamp": 0.8781529425004734 - }, - { - "x": 2.90181040763855, - "y": 6.258988857269287, - "heading": -0.023825563731718707, - "angularVelocity": -9.67006195283952e-7, - "velocityX": 4.114269309233729, - "velocityY": -0.22234151739485744, - "timestamp": 0.926939217083833 - }, - { - "x": 3.2228289165768107, - "y": 6.272839746260762, - "heading": -0.02382556485366325, - "angularVelocity": -1.43867746295835e-8, - "velocityX": 4.1164431535362835, - "velocityY": 0.17761093386148183, - "timestamp": 1.0049236558249548 - }, - { - "x": 3.5409920733834666, - "y": 6.3177500583059505, - "heading": -0.02382556591897316, - "angularVelocity": -1.3660544662719426e-8, - "velocityX": 4.079828770234975, - "velocityY": 0.575888122940443, - "timestamp": 1.0829080945660767 - }, - { - "x": 3.8543794985421305, - "y": 6.3886940665508725, - "heading": -0.023825566968556106, - "angularVelocity": -1.3458876738271386e-8, - "velocityX": 4.018589223921825, - "velocityY": 0.9097200594137623, - "timestamp": 1.1608925333071987 - }, - { - "x": 4.167766704285708, - "y": 6.4596390440310785, - "heading": -0.023825568018138833, - "angularVelocity": -1.3458873884787475e-8, - "velocityX": 4.018586410346573, - "velocityY": 0.9097324879866878, - "timestamp": 1.2388769720483206 - }, - { - "x": 4.4811539100323, - "y": 6.530584021497964, - "heading": -0.023825569067721552, - "angularVelocity": -1.3458873806018203e-8, - "velocityX": 4.018586410385244, - "velocityY": 0.9097324878158669, - "timestamp": 1.3168614107894425 - }, - { - "x": 4.79454111577784, - "y": 6.601528998969501, - "heading": -0.023825570117304313, - "angularVelocity": -1.3458874365967017e-8, - "velocityX": 4.018586410371737, - "velocityY": 0.909732487875532, - "timestamp": 1.3948458495305645 - }, - { - "x": 5.107928321523374, - "y": 6.672473976441061, - "heading": -0.023825571166887022, - "angularVelocity": -1.3458873644091302e-8, - "velocityX": 4.01858641037167, - "velocityY": 0.9097324878758241, - "timestamp": 1.4728302882716864 - }, - { - "x": 5.421315527268906, - "y": 6.743418953912637, - "heading": -0.0238255722164697, - "angularVelocity": -1.3458873232782846e-8, - "velocityX": 4.018586410371626, - "velocityY": 0.9097324878760211, - "timestamp": 1.5508147270128083 - }, - { - "x": 5.73470273301373, - "y": 6.814363931387334, - "heading": -0.02382557326605232, - "angularVelocity": -1.3458872602650603e-8, - "velocityX": 4.018586410362565, - "velocityY": 0.9097324879160451, - "timestamp": 1.6287991657539302 - }, - { - "x": 6.048089938761083, - "y": 6.885308908850857, - "heading": -0.023825574315635045, - "angularVelocity": -1.3458873837681842e-8, - "velocityX": 4.018586410395003, - "velocityY": 0.9097324877727555, - "timestamp": 1.7067836044950522 - }, - { - "x": 6.361476996805373, - "y": 6.956254538763802, - "heading": -0.023825575365233685, - "angularVelocity": -1.345907790933033e-8, - "velocityX": 4.0185845163881115, - "velocityY": 0.9097408541780642, - "timestamp": 1.784768043236174 - }, - { - "x": 6.648907366789074, - "y": 7.036067884976394, - "heading": -0.025930488860655996, - "angularVelocity": -0.026991455339055646, - "velocityX": 3.685740060755692, - "velocityY": 1.0234522104793284, - "timestamp": 1.862752481977296 - }, - { - "x": 6.905918727178058, - "y": 7.1089950068101935, - "heading": -0.027038195926471695, - "angularVelocity": -0.014204206424987693, - "velocityX": 3.295674938972906, - "velocityY": 0.9351496658954087, - "timestamp": 1.940736920718418 - }, - { - "x": 7.13251107745946, - "y": 7.175035870578235, - "heading": -0.027148690455274044, - "angularVelocity": -0.0014168791952089838, - "velocityX": 2.905609810613645, - "velocityY": 0.8468466893410759, - "timestamp": 2.0187213594595397 - }, - { - "x": 7.328684417474841, - "y": 7.234190465002728, - "heading": -0.0262619699118654, - "angularVelocity": 0.011370480543589091, - "velocityX": 2.5155446802226953, - "velocityY": 0.7585435681708689, - "timestamp": 2.0967057982006616 - }, - { - "x": 7.494438747151227, - "y": 7.286458784427156, - "heading": -0.024378032258793446, - "angularVelocity": 0.024157866408783164, - "velocityX": 2.1254795488959726, - "velocityY": 0.6702403744667375, - "timestamp": 2.1746902369417835 - }, - { - "x": 7.62977406644956, - "y": 7.331840825448755, - "heading": -0.021496875343877238, - "angularVelocity": 0.036945279871546305, - "velocityX": 1.7354144170684294, - "velocityY": 0.5819371371287247, - "timestamp": 2.2526746756829055 - }, - { - "x": 7.7346903753480705, - "y": 7.370336585793465, - "heading": -0.01761849670534105, - "angularVelocity": 0.04973272490183463, - "velocityX": 1.3453492849617374, - "velocityY": 0.49363387063029207, - "timestamp": 2.3306591144240274 - }, - { - "x": 7.809187673835323, - "y": 7.401946063832849, - "heading": -0.012742893499969495, - "angularVelocity": 0.06252020639087588, - "velocityX": 0.9552841527084046, - "velocityY": 0.4053305832502589, - "timestamp": 2.4086435531651493 - }, - { - "x": 7.853265961906796, - "y": 7.426669258342117, - "heading": -0.00687006248076722, - "angularVelocity": 0.07530772951636928, - "velocityX": 0.5652190203970796, - "velocityY": 0.3170272801646988, - "timestamp": 2.4866279919062713 - }, - { - "x": 7.866925239562988, - "y": 7.4445061683654785, - "heading": 1.1019724128852254e-21, - "angularVelocity": 0.08809529941701788, - "velocityX": 0.17515388809214882, - "velocityY": 0.22872396482294302, - "timestamp": 2.564612430647393 - }, - { - "x": 7.839415996512796, - "y": 7.455996330276693, - "heading": 0.00969522621841501, - "angularVelocity": 0.10346134162219067, - "velocityX": -0.29356129798992386, - "velocityY": 0.1226157636768162, - "timestamp": 2.6583211151318746 - }, - { - "x": 7.767984159154146, - "y": 7.4575409240302655, - "heading": 0.02071171654104976, - "angularVelocity": 0.1175610391207565, - "velocityX": -0.7622755324292112, - "velocityY": 0.016482930713085247, - "timestamp": 2.752029799616356 - }, - { - "x": 7.652629894962392, - "y": 7.449136985555429, - "heading": 0.03289647896885643, - "angularVelocity": 0.13002810246284618, - "velocityX": -1.2309879796771361, - "velocityY": -0.08968153294509411, - "timestamp": 2.8457384841008375 - }, - { - "x": 7.493353520570736, - "y": 7.430780569230724, - "heading": 0.04604478809468858, - "angularVelocity": 0.14031046533376074, - "velocityX": -1.6996970480151585, - "velocityY": -0.19588810178787341, - "timestamp": 2.939447168585319 - }, - { - "x": 7.290155660806777, - "y": 7.402466163933872, - "heading": 0.059868605999832875, - "angularVelocity": 0.1475190691363679, - "velocityX": -2.1683994485869587, - "velocityY": -0.30215348185302415, - "timestamp": 3.0331558530698004 - }, - { - "x": 7.043037657446755, - "y": 7.364185531976726, - "heading": 0.07393272399831907, - "angularVelocity": 0.1500834002297331, - "velocityX": -2.637087530568694, - "velocityY": -0.4085067693324192, - "timestamp": 3.126864537554282 - }, - { - "x": 6.752002857171037, - "y": 7.315925026351502, - "heading": 0.087503185209202, - "angularVelocity": 0.14481540622982755, - "velocityX": -3.1057398988875438, - "velocityY": -0.5150056890748022, - "timestamp": 3.2205732220387633 - }, - { - "x": 6.417062343367086, - "y": 7.25765770262344, - "heading": 0.09907823596032714, - "angularVelocity": 0.12352164385620025, - "velocityX": -3.5742739922831674, - "velocityY": -0.621792142837213, - "timestamp": 3.3142819065232447 - }, - { - "x": 6.038289731061863, - "y": 7.189306639433363, - "heading": 0.10384589626013921, - "angularVelocity": 0.05087746483733441, - "velocityX": -4.042022512523361, - "velocityY": -0.7293994528478953, - "timestamp": 3.407990591007726 - }, - { - "x": 5.6616794795490195, - "y": 7.104206263101145, - "heading": 0.10384589809069947, - "angularVelocity": 1.9534585058108795e-8, - "velocityX": -4.018947161457723, - "velocityY": -0.9081375627070208, - "timestamp": 3.5016992754922076 - }, - { - "x": 5.295621370465586, - "y": 6.981410624019321, - "heading": 0.10384599746908699, - "angularVelocity": 0.0000010605034961434597, - "velocityX": -3.906341350294527, - "velocityY": -1.3103976409161844, - "timestamp": 3.595407959976689 - }, - { - "x": 4.973743620370178, - "y": 6.867130189671141, - "heading": 0.10964047142974673, - "angularVelocity": 0.061834972847360024, - "velocityX": -3.4348764137086154, - "velocityY": -1.2195287446075023, - "timestamp": 3.6891166444611705 - }, - { - "x": 4.695925858929357, - "y": 6.762170123163068, - "heading": 0.11660456960418608, - "angularVelocity": 0.07431646504004273, - "velocityX": -2.9646959934308894, - "velocityY": -1.1200676552604343, - "timestamp": 3.782825328945652 - }, - { - "x": 4.462122805625061, - "y": 6.666750260320637, - "heading": 0.12346623798759834, - "angularVelocity": 0.07322339888944424, - "velocityX": -2.494998778293757, - "velocityY": -1.0182606165838868, - "timestamp": 3.8765340134301334 - }, - { - "x": 4.272311472149189, - "y": 6.580973181865323, - "heading": 0.1296297222155145, - "angularVelocity": 0.0657728177684199, - "velocityX": -2.025546879887157, - "velocityY": -0.9153589011221137, - "timestamp": 3.970242697914615 - }, - { - "x": 4.126478005598546, - "y": 6.504898268884928, - "heading": 0.13474943633917122, - "angularVelocity": 0.05463436128488802, - "velocityX": -1.5562428109295867, - "velocityY": -0.811823508129526, - "timestamp": 4.063951382399096 - }, - { - "x": 4.024613155788809, - "y": 6.438564244025636, - "heading": 0.13859971910248803, - "angularVelocity": 0.04108779014984924, - "velocityX": -1.0870374541071166, - "velocityY": -0.7078748914704718, - "timestamp": 4.157660066883577 - }, - { - "x": 3.9667103110145354, - "y": 6.381998354264439, - "heading": 0.1410216361623699, - "angularVelocity": 0.02584517190915161, - "velocityX": -0.6179026532366133, - "velocityY": -0.6036355122514226, - "timestamp": 4.251368751368058 - }, - { - "x": 3.9527645111083984, - "y": 6.335220813751221, - "heading": 0.14189719500937054, - "angularVelocity": 0.00934341199876338, - "velocityX": -0.14882078414457217, - "velocityY": -0.4991804203693128, - "timestamp": 4.345077435852539 - }, - { - "x": 3.964115076159712, - "y": 6.3075785150519685, - "heading": 0.1417203583468928, - "angularVelocity": -0.0027309287472943606, - "velocityX": 0.17528935438132787, - "velocityY": -0.4268862977924431, - "timestamp": 4.409830740988352 - }, - { - "x": 3.9964710164043287, - "y": 6.284535579351715, - "heading": 0.14077745477905462, - "angularVelocity": -0.01456147397975356, - "velocityX": 0.49968013488660173, - "velocityY": -0.3558572902483248, - "timestamp": 4.474584046124165 - }, - { - "x": 4.049853424217872, - "y": 6.265994962228474, - "heading": 0.13908718250809055, - "angularVelocity": -0.026103258627785963, - "velocityX": 0.8243966497397879, - "velocityY": -0.28632696175669053, - "timestamp": 4.539337351259978 - }, - { - "x": 4.124287056549126, - "y": 6.251839889602118, - "heading": 0.13667203697092578, - "angularVelocity": -0.03729764113351832, - "velocityX": 1.1494954917766365, - "velocityY": -0.2186000019098195, - "timestamp": 4.604090656395791 - }, - { - "x": 4.219801343483193, - "y": 6.241927175601898, - "heading": 0.1335595952579679, - "angularVelocity": -0.048066144367918166, - "velocityX": 1.4750488293027817, - "velocityY": -0.15308429398975482, - "timestamp": 4.668843961531604 - }, - { - "x": 4.336431776777692, - "y": 6.236077148786002, - "heading": 0.12978445160876886, - "angularVelocity": -0.0583004009027969, - "velocityX": 1.8011502741038279, - "velocityY": -0.09034329295819071, - "timestamp": 4.7335972666674175 - }, - { - "x": 4.474221844581992, - "y": 6.234057731464995, - "heading": 0.12539127460739471, - "angularVelocity": -0.06784483034742277, - "velocityX": 2.127923316273961, - "velocityY": -0.031186320401267092, - "timestamp": 4.798350571803231 - }, - { - "x": 4.6332257178085845, - "y": 6.23555773593313, - "heading": 0.120439931450763, - "angularVelocity": -0.07646471707114837, - "velocityX": 2.4555329321506916, - "velocityY": 0.02316490972912503, - "timestamp": 4.863103876939044 - }, - { - "x": 4.813511768295512, - "y": 6.240138470161825, - "heading": 0.11501476601933941, - "angularVelocity": -0.08378206209003339, - "velocityX": 2.7841984298530575, - "velocityY": 0.07074131921279452, - "timestamp": 4.927857182074857 - }, - { - "x": 5.015165820732933, - "y": 6.247136346300476, - "heading": 0.10924324745866247, - "angularVelocity": -0.08913087213960412, - "velocityX": 3.1141893377407177, - "velocityY": 0.10806979078476878, - "timestamp": 4.99261048721067 - }, - { - "x": 5.238285037327109, - "y": 6.25543524564352, - "heading": 0.10333948067978445, - "angularVelocity": -0.09117321141361788, - "velocityX": 3.4456807436501733, - "velocityY": 0.12816178765915376, - "timestamp": 5.057363792346483 - }, - { - "x": 5.4828882134200585, - "y": 6.262797588596474, - "heading": 0.09773171682329804, - "angularVelocity": -0.08660197104572066, - "velocityX": 3.7774624102958136, - "velocityY": 0.11369833458712587, - "timestamp": 5.122117097482296 - }, - { - "x": 5.74778413772583, - "y": 6.263060569763184, - "heading": 0.0935931028078498, - "angularVelocity": -0.06391355633149408, - "velocityX": 4.090847930467482, - "velocityY": 0.004061277893979396, - "timestamp": 5.186870402618109 - }, - { - "x": 6.013605641460004, - "y": 6.24191400772151, - "heading": 0.09359309638909583, - "angularVelocity": -9.917831510727641e-8, - "velocityX": 4.107296989323786, - "velocityY": -0.3267426050496276, - "timestamp": 5.251589731272729 - }, - { - "x": 6.276862418631435, - "y": 6.199439095939525, - "heading": 0.09359309077806317, - "angularVelocity": -8.669794285084282e-8, - "velocityX": 4.067668541129722, - "velocityY": -0.6562940726511032, - "timestamp": 5.316309059927348 - }, - { - "x": 6.527399691827839, - "y": 6.139917818463067, - "heading": 0.08476203699028893, - "angularVelocity": -0.13645156665487035, - "velocityX": 3.8711352296841666, - "velocityY": -0.9196831721493709, - "timestamp": 5.381028388581967 - }, - { - "x": 6.75663042562249, - "y": 6.083119284382794, - "heading": 0.07502326158910995, - "angularVelocity": -0.15047707699736645, - "velocityX": 3.541920760920773, - "velocityY": -0.8776131529945856, - "timestamp": 5.4457477172365865 - }, - { - "x": 6.964873739000207, - "y": 6.030903984882642, - "heading": 0.06524316275048915, - "angularVelocity": -0.151115579254742, - "velocityX": 3.217637106358551, - "velocityY": -0.8067960620976766, - "timestamp": 5.510467045891206 - }, - { - "x": 7.152282068970079, - "y": 5.983920652029787, - "heading": 0.05572785541591898, - "angularVelocity": -0.1470241971351326, - "velocityX": 2.89570880702416, - "velocityY": -0.7259551949864277, - "timestamp": 5.575186374545825 - }, - { - "x": 7.318941079653386, - "y": 5.942498197854015, - "heading": 0.04663339243937562, - "angularVelocity": -0.14052159015858803, - "velocityX": 2.5751041326880646, - "velocityY": -0.640032198059834, - "timestamp": 5.639905703200444 - }, - { - "x": 7.464905286734277, - "y": 5.90683529811683, - "heading": 0.03805432099740102, - "angularVelocity": -0.13255810312492006, - "velocityX": 2.2553417984269095, - "velocityY": -0.5510393954718356, - "timestamp": 5.7046250318550635 - }, - { - "x": 7.590212353553613, - "y": 5.877064925500585, - "heading": 0.03005404341529432, - "angularVelocity": -0.12361496555072342, - "velocityX": 1.9361614130463123, - "velocityY": -0.4599919874805364, - "timestamp": 5.769344360509683 - }, - { - "x": 7.694889835090688, - "y": 5.853282305980581, - "heading": 0.02267802548127335, - "angularVelocity": -0.11396932087141666, - "velocityX": 1.6174067888697665, - "velocityY": -0.3674732110853869, - "timestamp": 5.834063689164302 - }, - { - "x": 7.778958756807613, - "y": 5.835558989260669, - "heading": 0.015960462943441833, - "angularVelocity": -0.10379530624738742, - "velocityX": 1.2989770361427408, - "velocityY": -0.2738488962778864, - "timestamp": 5.898783017818921 - }, - { - "x": 7.842435685723995, - "y": 5.823950700480821, - "heading": 0.00992800913391407, - "angularVelocity": -0.09320946207153233, - "velocityX": 0.9808032659784228, - "velocityY": -0.1793635536888167, - "timestamp": 5.963502346473541 - }, - { - "x": 7.885334010682854, - "y": 5.818502066351385, - "heading": 0.004602022140728806, - "angularVelocity": -0.0822936069316772, - "velocityX": 0.662836371307088, - "velocityY": -0.08418866886758089, - "timestamp": 6.02822167512816 - }, - { - "x": 7.907664775848389, - "y": 5.819249629974365, - "heading": -8.861041564511578e-22, - "angularVelocity": -0.07110738378155824, - "velocityX": 0.3450401237118033, - "velocityY": 0.011550855648858615, - "timestamp": 6.092941003782779 - }, - { - "x": 7.906635252791002, - "y": 5.828052827441592, - "heading": -0.004258720886347518, - "angularVelocity": -0.058206213678033504, - "velocityX": -0.014071041672826983, - "velocityY": 0.12031800310510214, - "timestamp": 6.166107090652895 - }, - { - "x": 7.879238228976632, - "y": 5.84450093290686, - "heading": -0.0075552483463681396, - "angularVelocity": -0.04505540204538491, - "velocityX": -0.3744497619915793, - "velocityY": 0.2248050451907733, - "timestamp": 6.239273177523011 - }, - { - "x": 7.825367300152994, - "y": 5.868216578468005, - "heading": -0.009867835041262768, - "angularVelocity": -0.03160735791432891, - "velocityX": -0.7362827660753383, - "velocityY": 0.32413439853965875, - "timestamp": 6.312439264393127 - }, - { - "x": 7.744899750012138, - "y": 5.898736517545598, - "heading": -0.0111701723547619, - "angularVelocity": -0.01779973986870499, - "velocityX": -1.099792999504015, - "velocityY": 0.4171323133868237, - "timestamp": 6.385605351263243 - }, - { - "x": 7.637693676502783, - "y": 5.935479180350757, - "heading": -0.011429828096899505, - "angularVelocity": -0.003548853755135836, - "velocityX": -1.4652426840821369, - "velocityY": 0.5021816032116673, - "timestamp": 6.458771438133359 - }, - { - "x": 7.5035856277872615, - "y": 5.977694002563694, - "heading": -0.010605910687451307, - "angularVelocity": 0.01126091943267124, - "velocityX": -1.8329263522537513, - "velocityY": 0.5769725294708757, - "timestamp": 6.5319375250034755 - }, - { - "x": 7.342391196877079, - "y": 6.024378165489895, - "heading": -0.00864545101291993, - "angularVelocity": 0.026794649794673078, - "velocityX": -2.203130409260973, - "velocityY": 0.6380573968520984, - "timestamp": 6.6051036118735915 - }, - { - "x": 7.153916552611085, - "y": 6.0741311609152655, - "heading": -0.0054775986870561925, - "angularVelocity": 0.04329673023906966, - "velocityX": -2.575983660306647, - "velocityY": 0.6800007702160148, - "timestamp": 6.678269698743708 - }, - { - "x": 6.938008284848595, - "y": 6.124881823735959, - "heading": -0.0010041218542462327, - "angularVelocity": 0.0611413979368784, - "velocityX": -2.9509336497080865, - "velocityY": 0.6936364235357523, - "timestamp": 6.751435785613824 - }, - { - "x": 6.694745254080875, - "y": 6.173336610452631, - "heading": 0.004915269857105422, - "angularVelocity": 0.08090348909679626, - "velocityX": -3.324805810642302, - "velocityY": 0.6622574581949259, - "timestamp": 6.82460187248394 - }, - { - "x": 6.425208704257528, - "y": 6.213842395524965, - "heading": 0.0124744715476749, - "angularVelocity": 0.10331564819078756, - "velocityX": -3.6839000328366214, - "velocityY": 0.5536142057759702, - "timestamp": 6.897767959354056 - }, - { - "x": 6.134481864578053, - "y": 6.236901401740381, - "heading": 0.021837510116483112, - "angularVelocity": 0.1279696505490236, - "velocityX": -3.973519045723652, - "velocityY": 0.3151597577761656, - "timestamp": 6.970934046224172 - }, - { - "x": 5.836546421051025, - "y": 6.233473300933838, - "heading": 0.03271319444227894, - "angularVelocity": 0.14864378827724267, - "velocityX": -4.072042885878557, - "velocityY": -0.046853685268537476, - "timestamp": 7.044100133094288 - }, - { - "x": 5.568966710651099, - "y": 6.207960444496648, - "heading": 0.04338386716334799, - "angularVelocity": 0.15887874464776466, - "velocityX": -3.984072006782857, - "velocityY": -0.37986832780616103, - "timestamp": 7.111262501129899 - }, - { - "x": 5.317346915723196, - "y": 6.165700463545233, - "heading": 0.05445378266970707, - "angularVelocity": 0.16482318640834032, - "velocityX": -3.746440190948723, - "velocityY": -0.6292211276560161, - "timestamp": 7.178424869165511 - }, - { - "x": 5.087007251124614, - "y": 6.1143653077879145, - "heading": 0.06561369928254893, - "angularVelocity": 0.16616323901689406, - "velocityX": -3.429594151243304, - "velocityY": -0.7643440405510867, - "timestamp": 7.245587237201122 - }, - { - "x": 4.879543884126957, - "y": 6.059583812060162, - "heading": 0.07665980181981738, - "angularVelocity": 0.1644686281968431, - "velocityX": -3.088982313542825, - "velocityY": -0.8156575971041716, - "timestamp": 7.312749605236734 - }, - { - "x": 4.6952145650122015, - "y": 6.004917216734493, - "heading": 0.08747065927409489, - "angularVelocity": 0.16096599584674173, - "velocityX": -2.744532757049604, - "velocityY": -0.81394681165327, - "timestamp": 7.379911973272345 - }, - { - "x": 4.533893228023684, - "y": 5.952664203225111, - "heading": 0.0979708120981826, - "angularVelocity": 0.15633982438677985, - "velocityX": -2.4019602302137435, - "velocityY": -0.7780102911451432, - "timestamp": 7.447074341307957 - }, - { - "x": 4.39536164205183, - "y": 5.904388121866292, - "heading": 0.10811026318188136, - "angularVelocity": 0.15096923143511817, - "velocityX": -2.0626370097373927, - "velocityY": -0.7187965935510374, - "timestamp": 7.514236709343568 - }, - { - "x": 4.2793961801584235, - "y": 5.861206716024424, - "heading": 0.1178539418618899, - "angularVelocity": 0.14507646119389675, - "velocityX": -1.7266434356799014, - "velocityY": -0.6429404904093345, - "timestamp": 7.58139907737918 - }, - { - "x": 4.185792366980932, - "y": 5.823953202461205, - "heading": 0.12717608254691332, - "angularVelocity": 0.13880005958218405, - "velocityX": -1.393694354669862, - "velocityY": -0.5546783809568239, - "timestamp": 7.648561445414791 - }, - { - "x": 4.114369863428615, - "y": 5.7932701366868775, - "heading": 0.1360570420074184, - "angularVelocity": 0.1322311842220364, - "velocityX": -1.0634303947479564, - "velocityY": -0.4568490759298204, - "timestamp": 7.715723813450403 - }, - { - "x": 4.0649713345283995, - "y": 5.7696669169336205, - "heading": 0.14448139137724897, - "angularVelocity": 0.12543258399352125, - "velocityX": -0.7355090409263635, - "velocityY": -0.3514351927070385, - "timestamp": 7.782886181486014 - }, - { - "x": 4.037459651013235, - "y": 5.7535566504811975, - "heading": 0.15243671363190991, - "angularVelocity": 0.11844910308169677, - "velocityX": -0.4096294445808958, - "velocityY": -0.23987043523958734, - "timestamp": 7.850048549521626 - }, - { - "x": 4.031714916229248, - "y": 5.745280742645264, - "heading": 0.15991281260240592, - "angularVelocity": 0.11131380844898156, - "velocityX": -0.08553502432999834, - "velocityY": -0.12322239489151882, - "timestamp": 7.917210917557237 - }, - { - "x": 4.028733574124723, - "y": 5.716806207328283, - "heading": 0.16648713095695195, - "angularVelocity": 0.10328727118287491, - "velocityX": -0.04683902936129348, - "velocityY": -0.4473554355726786, - "timestamp": 7.980861726405753 - }, - { - "x": 4.029303269349349, - "y": 5.667859664319208, - "heading": 0.17250743991031525, - "angularVelocity": 0.09458338491331914, - "velocityX": 0.008950321840875176, - "velocityY": -0.7689854048133818, - "timestamp": 8.04451253525427 - }, - { - "x": 4.034773095532229, - "y": 5.598721670530651, - "heading": 0.177921913214448, - "angularVelocity": 0.08506527100101363, - "velocityX": 0.0859349045492505, - "velocityY": -1.0862076231128457, - "timestamp": 8.108163344102786 - }, - { - "x": 4.04683331391786, - "y": 5.509879274518647, - "heading": 0.18266829184010208, - "angularVelocity": 0.07456902294753398, - "velocityX": 0.1894747074516172, - "velocityY": -1.3957779581944039, - "timestamp": 8.171814152951303 - }, - { - "x": 4.067606933697682, - "y": 5.402175243088082, - "heading": 0.1866729466072294, - "angularVelocity": 0.06291600750366072, - "velocityX": 0.3263685121309602, - "velocityY": -1.692107820450355, - "timestamp": 8.235464961799819 - }, - { - "x": 4.099716828344451, - "y": 5.277059766569589, - "heading": 0.18985302153969794, - "angularVelocity": 0.04996126506478306, - "velocityX": 0.504469546069523, - "velocityY": -1.9656541492859476, - "timestamp": 8.299115770648335 - }, - { - "x": 4.146220491607715, - "y": 5.136961885287488, - "heading": 0.19212655579157403, - "angularVelocity": 0.03571885877030929, - "velocityX": 0.7306060064992874, - "velocityY": -2.2010385070757232, - "timestamp": 8.362766579496851 - }, - { - "x": 4.210214706803066, - "y": 4.985651459769157, - "heading": 0.193436287646545, - "angularVelocity": 0.02057682971614746, - "velocityX": 1.0053951607693359, - "velocityY": -2.3771956437888795, - "timestamp": 8.426417388345367 - }, - { - "x": 4.294045552639039, - "y": 4.828164588359487, - "heading": 0.19378149775282844, - "angularVelocity": 0.005423499127953307, - "velocityX": 1.3170428994151997, - "velocityY": -2.4742320523290933, - "timestamp": 8.490068197193883 - }, - { - "x": 4.398640112537955, - "y": 4.669954353870274, - "heading": 0.1932299156983433, - "angularVelocity": -0.008665750906604456, - "velocityX": 1.6432557856074201, - "velocityY": -2.485596606725612, - "timestamp": 8.5537190060424 - }, - { - "x": 4.523606377596732, - "y": 4.515827070408729, - "heading": 0.19189285353451518, - "angularVelocity": -0.021006208530833268, - "velocityX": 1.9633099299049899, - "velocityY": -2.421450508639348, - "timestamp": 8.617369814890916 - }, - { - "x": 4.667843818664551, - "y": 4.369466304779053, - "heading": 0.18988972149801628, - "angularVelocity": -0.0314706454283432, - "velocityX": 2.2660739694776426, - "velocityY": -2.2994329259507698, - "timestamp": 8.681020623739432 - }, - { - "x": 4.871797892715673, - "y": 4.205621418602988, - "heading": 0.1865920524335519, - "angularVelocity": -0.0422409120042009, - "velocityX": 2.6125138473502396, - "velocityY": -2.098742258245844, - "timestamp": 8.759088755036796 - }, - { - "x": 5.101719412723405, - "y": 4.059172590207619, - "heading": 0.1823462410927036, - "angularVelocity": -0.05438597376791099, - "velocityX": 2.945139280098198, - "velocityY": -1.8759105151055673, - "timestamp": 8.83715688633416 - }, - { - "x": 5.355857297295401, - "y": 3.932483913538177, - "heading": 0.17700453688749862, - "angularVelocity": -0.06842362070712561, - "velocityX": 3.2553345436689742, - "velocityY": -1.6227963262868412, - "timestamp": 8.915225017631524 - }, - { - "x": 5.631115809033472, - "y": 3.828833403933396, - "heading": 0.17035974396289696, - "angularVelocity": -0.0851153065172188, - "velocityX": 3.525875503406118, - "velocityY": -1.327692976407643, - "timestamp": 8.993293148928888 - }, - { - "x": 5.921560736313624, - "y": 3.7524980506854146, - "heading": 0.16213464835819472, - "angularVelocity": -0.10535791581038999, - "velocityX": 3.720403222844351, - "velocityY": -0.9778042842759619, - "timestamp": 9.071361280226252 - }, - { - "x": 6.215996410886688, - "y": 3.707158097711821, - "heading": 0.15206765627308344, - "angularVelocity": -0.12895136488877526, - "velocityX": 3.771521998541844, - "velocityY": -0.580774154832675, - "timestamp": 9.149429411523617 - }, - { - "x": 6.499201446177462, - "y": 3.690982108951251, - "heading": 0.14021370017373183, - "angularVelocity": -0.1518411662013455, - "velocityX": 3.62766509950179, - "velocityY": -0.2072034835694342, - "timestamp": 9.22749754282098 - }, - { - "x": 6.760144156179077, - "y": 3.6967423609871095, - "heading": 0.12696695962397309, - "angularVelocity": -0.16968179370531306, - "velocityX": 3.342499758418362, - "velocityY": 0.07378493554453382, - "timestamp": 9.305565674118345 - }, - { - "x": 6.993747301290997, - "y": 3.717650756831888, - "heading": 0.11271543576980789, - "angularVelocity": -0.18255238875746302, - "velocityX": 2.9922984094766716, - "velocityY": 0.2678224199467244, - "timestamp": 9.383633805415709 - }, - { - "x": 7.197885514439911, - "y": 3.7489894618571475, - "heading": 0.09773384035236395, - "angularVelocity": -0.19190411206819374, - "velocityX": 2.614872544743554, - "velocityY": 0.40142763128130604, - "timestamp": 9.461701936713073 - }, - { - "x": 7.371619435690451, - "y": 3.787579396090815, - "heading": 0.0822090924111378, - "angularVelocity": -0.19886152881118324, - "velocityX": 2.2254141140996357, - "velocityY": 0.49431097673744373, - "timestamp": 9.539770068010437 - }, - { - "x": 7.514504734103524, - "y": 3.831207022230382, - "heading": 0.06627209980833938, - "angularVelocity": -0.2041421043126261, - "velocityX": 1.8302641044246033, - "velocityY": 0.5588404053555219, - "timestamp": 9.617838199307801 - }, - { - "x": 7.626321599036744, - "y": 3.878266327671348, - "heading": 0.050018209226889945, - "angularVelocity": -0.20820135324538117, - "velocityX": 1.432298468978392, - "velocityY": 0.6027978979247636, - "timestamp": 9.695906330605165 - }, - { - "x": 7.706960109890584, - "y": 3.9275480062281813, - "heading": 0.033519413765036976, - "angularVelocity": -0.21133841924572758, - "velocityX": 1.032924824941496, - "velocityY": 0.6312649955603196, - "timestamp": 9.77397446190253 - }, - { - "x": 7.75636745475808, - "y": 3.9781125797320316, - "heading": 0.016831759030145377, - "angularVelocity": -0.21375757889384633, - "velocityX": 0.6328746960690229, - "velocityY": 0.647698012794074, - "timestamp": 9.852042593199894 - }, - { - "x": 7.774521827697754, - "y": 4.029211044311523, - "heading": -2.3205962182381023e-21, - "angularVelocity": -0.21560345752394805, - "velocityX": 0.23254524782363484, - "velocityY": 0.6545367966456909, - "timestamp": 9.930110724497258 - }, - { - "x": 7.767154710406391, - "y": 4.072900928949108, - "heading": -0.014488654781856458, - "angularVelocity": -0.216783406299003, - "velocityX": -0.11022892083989355, - "velocityY": 0.6537005784972164, - "timestamp": 9.99694542844998 - }, - { - "x": 7.736878414259794, - "y": 4.116522125330073, - "heading": -0.029046314724269887, - "angularVelocity": -0.21781588129291915, - "velocityX": -0.45300262223071897, - "velocityY": 0.6526728451108802, - "timestamp": 10.063780132402702 - }, - { - "x": 7.683692986765261, - "y": 4.160059290918648, - "heading": -0.04366116547987685, - "angularVelocity": -0.2186715866347725, - "velocityX": -0.7957756128037357, - "velocityY": 0.6514155523060602, - "timestamp": 10.130614836355424 - }, - { - "x": 7.607598500792507, - "y": 4.203493699341211, - "heading": -0.0583187869642347, - "angularVelocity": -0.2193115345393992, - "velocityX": -1.1385475130791645, - "velocityY": 0.6498780701308696, - "timestamp": 10.197449540308146 - }, - { - "x": 7.508595070224757, - "y": 4.246801982220053, - "heading": -0.07300118446700099, - "angularVelocity": -0.2196822404293508, - "velocityX": -1.4813177094011665, - "velocityY": 0.6479909435893982, - "timestamp": 10.264284244260867 - }, - { - "x": 7.3866828784850584, - "y": 4.289954159064308, - "heading": -0.08768527148039744, - "angularVelocity": -0.21970751937173005, - "velocityX": -1.8240851612949218, - "velocityY": 0.6456552403490899, - "timestamp": 10.33111894821359 - }, - { - "x": 7.241862234402131, - "y": 4.3329103687170365, - "heading": -0.10234035253177223, - "angularVelocity": -0.21927352385284243, - "velocityX": -2.166847992404854, - "velocityY": 0.6427231230516847, - "timestamp": 10.397953652166311 - }, - { - "x": 7.07413369246623, - "y": 4.375615021772806, - "heading": -0.1169236196715288, - "angularVelocity": -0.21819902352036502, - "velocityX": -2.5096025270726274, - "velocityY": 0.6389592611344215, - "timestamp": 10.464788356119033 - }, - { - "x": 6.883498347675479, - "y": 4.417985205751851, - "heading": -0.13137122210873817, - "angularVelocity": -0.21616916934994543, - "velocityX": -2.852340678064573, - "velocityY": 0.6339548389264723, - "timestamp": 10.531623060071755 - }, - { - "x": 6.669958711115492, - "y": 4.459883985157583, - "heading": -0.14557769926414693, - "angularVelocity": -0.21256138376042305, - "velocityX": -3.195041257473706, - "velocityY": 0.6269015485633134, - "timestamp": 10.598457764024477 - }, - { - "x": 6.433522272731176, - "y": 4.501042143745589, - "heading": -0.15933568232019976, - "angularVelocity": -0.2058508864763596, - "velocityX": -3.5376297701800143, - "velocityY": 0.6158201675752218, - "timestamp": 10.6652924679772 - }, - { - "x": 6.174229264575733, - "y": 4.540688400614103, - "heading": -0.17205071918548479, - "angularVelocity": -0.19024602658941284, - "velocityX": -3.879616319373006, - "velocityY": 0.5931986606323556, - "timestamp": 10.732127171929921 - }, - { - "x": 5.899813652038574, - "y": 4.563681602478027, - "heading": -0.1720507217902465, - "angularVelocity": -3.897319119513182e-8, - "velocityX": -4.105885061319011, - "velocityY": 0.3440308777336659, - "timestamp": 10.798961875882643 - }, - { - "x": 5.6382505881182885, - "y": 4.595249515536772, - "heading": -0.17409645748158847, - "angularVelocity": -0.03126690554583913, - "velocityX": -3.9977146844962266, - "velocityY": 0.48248215058493454, - "timestamp": 10.864390022852378 - }, - { - "x": 5.398484436113205, - "y": 4.624186785267214, - "heading": -0.1759717239534531, - "angularVelocity": -0.028661463891558173, - "velocityX": -3.664571948155486, - "velocityY": 0.44227555067129126, - "timestamp": 10.929818169822113 - }, - { - "x": 5.1805152028201515, - "y": 4.650493400816042, - "heading": -0.1776765154239882, - "angularVelocity": -0.026055933867785288, - "velocityX": -3.331429107932396, - "velocityY": 0.40206878487627273, - "timestamp": 10.995246316791848 - }, - { - "x": 4.984342890504657, - "y": 4.674169358565494, - "heading": -0.1792108298775417, - "angularVelocity": -0.023450373036901073, - "velocityX": -2.998286233083113, - "velocityY": 0.36186196378760377, - "timestamp": 11.060674463761583 - }, - { - "x": 4.809967500299472, - "y": 4.695214656706689, - "heading": -0.1805746662928034, - "angularVelocity": -0.020844796596372648, - "velocityX": -2.665143340920935, - "velocityY": 0.32165511505210137, - "timestamp": 11.126102610731317 - }, - { - "x": 4.657389032884244, - "y": 4.7136292941543, - "heading": -0.18176802405360484, - "angularVelocity": -0.018239210738361194, - "velocityX": -2.3320004383710753, - "velocityY": 0.281448249728481, - "timestamp": 11.191530757701052 - }, - { - "x": 4.526607488712068, - "y": 4.729413270184769, - "heading": -0.18279090274809942, - "angularVelocity": -0.015633618585709556, - "velocityX": -1.9988575288961132, - "velocityY": 0.24124137334610185, - "timestamp": 11.256958904670787 - }, - { - "x": 4.417622868106585, - "y": 4.742566584281272, - "heading": -0.1836433020817022, - "angularVelocity": -0.0130280219306395, - "velocityX": -1.665714614474658, - "velocityY": 0.20103448906460197, - "timestamp": 11.322387051640522 - }, - { - "x": 4.330435171310525, - "y": 4.753089236056193, - "heading": -0.18432522183325692, - "angularVelocity": -0.010422421895428998, - "velocityX": -1.3325716963433365, - "velocityY": 0.1608275988587593, - "timestamp": 11.387815198610257 - }, - { - "x": 4.265044398512677, - "y": 4.760981225208049, - "heading": -0.18483666183057199, - "angularVelocity": -0.007816819228453033, - "velocityX": -0.9994287753265666, - "velocityY": 0.1206207040450968, - "timestamp": 11.453243345579992 - }, - { - "x": 4.2214505498640715, - "y": 4.766242551495655, - "heading": -0.18517762193569534, - "angularVelocity": -0.005211214453024929, - "velocityX": -0.6662858520014394, - "velocityY": 0.08041380554518446, - "timestamp": 11.518671492549727 - }, - { - "x": 4.199653625488281, - "y": 4.76887321472168, - "heading": -0.1853481020355219, - "angularVelocity": -0.0026056079489066492, - "velocityX": -0.333142926787658, - "velocityY": 0.04020690402925863, - "timestamp": 11.584099639519462 - }, - { - "x": 4.199653625488281, - "y": 4.76887321472168, - "heading": -0.1853481020355219, - "angularVelocity": -7.946596899257776e-22, - "velocityX": -2.528747116740365e-22, - "velocityY": -1.6438334985949743e-21, - "timestamp": 11.649527786489196 - } - ], - "eventMarkers": [] +{ + "samples": [ + { + "x": 0.7328706979751587, + "y": 6.609785556793213, + "heading": 1.0789872785859569, + "angularVelocity": 1.0130524956425154e-21, + "velocityX": 6.391561318798467e-22, + "velocityY": 3.1627763991179065e-21, + "timestamp": 0 + }, + { + "x": 0.7442922596904098, + "y": 6.607484693492832, + "heading": 1.0680322161337672, + "angularVelocity": -0.22455214188308412, + "velocityX": 0.23411424243381077, + "velocityY": -0.04716210286663648, + "timestamp": 0.04878627458335965 + }, + { + "x": 0.7671593544585043, + "y": 6.60289224668038, + "heading": 1.0463644335259636, + "angularVelocity": -0.44413685596715274, + "velocityX": 0.4687198389994303, + "velocityY": -0.09413399263774451, + "timestamp": 0.0975725491667193 + }, + { + "x": 0.8015018910283972, + "y": 6.59601954471661, + "heading": 1.0142955583551334, + "angularVelocity": -0.6573339621584579, + "velocityX": 0.7039384921923673, + "velocityY": -0.14087367855945515, + "timestamp": 0.14635882375007894 + }, + { + "x": 0.8473557442136884, + "y": 6.586881998575734, + "heading": 0.9722044979930776, + "angularVelocity": -0.862764388580973, + "velocityX": 0.939892491830722, + "velocityY": -0.18729747698326368, + "timestamp": 0.1951450983334386 + }, + { + "x": 0.9047623296596092, + "y": 6.575501144351355, + "heading": 0.9205301893221267, + "angularVelocity": -1.0591976762369206, + "velocityX": 1.176695411489809, + "velocityY": -0.23327983785547873, + "timestamp": 0.24393137291679826 + }, + { + "x": 0.973767621217994, + "y": 6.561906156637783, + "heading": 0.8597586319551783, + "angularVelocity": -1.2456691535876518, + "velocityX": 1.4144406833211989, + "velocityY": -0.27866419048542307, + "timestamp": 0.2927176475001579 + }, + { + "x": 1.0544208484071813, + "y": 6.546134234731941, + "heading": 0.790408245746391, + "angularVelocity": -1.421514284520544, + "velocityX": 1.6531950405718783, + "velocityY": -0.3232860479824803, + "timestamp": 0.34150392208351754 + }, + { + "x": 1.1467736219789397, + "y": 6.52822958744161, + "heading": 0.7130246680019623, + "angularVelocity": -1.5861751774508972, + "velocityX": 1.8930072927367672, + "velocityY": -0.3670017324183618, + "timestamp": 0.3902901966668772 + }, + { + "x": 1.2508806763107996, + "y": 6.508241685857064, + "heading": 0.6282040373314669, + "angularVelocity": -1.7386166784587103, + "velocityX": 2.1339414665486536, + "velocityY": -0.4097033797977843, + "timestamp": 0.43907647125023685 + }, + { + "x": 1.3668033191753501, + "y": 6.486225040750028, + "heading": 0.5366697764006988, + "angularVelocity": -1.8762297738960634, + "velocityX": 2.376132300622291, + "velocityY": -0.4512876889055711, + "timestamp": 0.4878627458335965 + }, + { + "x": 1.494615387358709, + "y": 6.462244761643902, + "heading": 0.43943111627914694, + "angularVelocity": -1.993156086460405, + "velocityX": 2.6198366092695133, + "velocityY": -0.4915374111042586, + "timestamp": 0.5366490204169562 + }, + { + "x": 1.6344077245837227, + "y": 6.436394442604198, + "heading": 0.33805944296831114, + "angularVelocity": -2.077872806984372, + "velocityX": 2.865402993338927, + "velocityY": -0.5298686825437922, + "timestamp": 0.5854352950003158 + }, + { + "x": 1.7862758061457733, + "y": 6.408836740007201, + "heading": 0.23516941127167912, + "angularVelocity": -2.108995461845051, + "velocityX": 3.1129263888054926, + "velocityY": -0.5648658937855514, + "timestamp": 0.6342215695836754 + }, + { + "x": 1.9502202654428336, + "y": 6.379899377284357, + "heading": 0.1355865924332727, + "angularVelocity": -2.0412056400874032, + "velocityX": 3.360462767390291, + "velocityY": -0.5931455715766921, + "timestamp": 0.683007844167035 + }, + { + "x": 2.125024102640001, + "y": 6.350556213798447, + "heading": 0.05370061556801829, + "angularVelocity": -1.6784634113707182, + "velocityX": 3.5830536086227656, + "velocityY": -0.6014635004723082, + "timestamp": 0.7317941187503946 + }, + { + "x": 2.308874750217541, + "y": 6.32134206913622, + "heading": 0.000075594383193927, + "angularVelocity": -1.0991825394086383, + "velocityX": 3.768491223149237, + "velocityY": -0.598818928309628, + "timestamp": 0.7805803933337542 + }, + { + "x": 2.5013992294410428, + "y": 6.29284664925505, + "heading": -0.023825217387144004, + "angularVelocity": -0.489908523953788, + "velocityX": 3.9462836805573493, + "velocityY": -0.5840868179528854, + "timestamp": 0.8293666679171138 + }, + { + "x": 2.701090535408383, + "y": 6.269836071588193, + "heading": -0.023825516555088938, + "angularVelocity": -0.000006132215412864256, + "velocityX": 4.093186201912882, + "velocityY": -0.47166088953028434, + "timestamp": 0.8781529425004734 + }, + { + "x": 2.90181040763855, + "y": 6.258988857269287, + "heading": -0.023825563731718707, + "angularVelocity": -9.67006195283952e-7, + "velocityX": 4.114269309233729, + "velocityY": -0.22234151739485744, + "timestamp": 0.926939217083833 + }, + { + "x": 3.2228289165768107, + "y": 6.272839746260762, + "heading": -0.02382556485366325, + "angularVelocity": -1.43867746295835e-8, + "velocityX": 4.1164431535362835, + "velocityY": 0.17761093386148183, + "timestamp": 1.0049236558249548 + }, + { + "x": 3.5409920733834666, + "y": 6.3177500583059505, + "heading": -0.02382556591897316, + "angularVelocity": -1.3660544662719426e-8, + "velocityX": 4.079828770234975, + "velocityY": 0.575888122940443, + "timestamp": 1.0829080945660767 + }, + { + "x": 3.8543794985421305, + "y": 6.3886940665508725, + "heading": -0.023825566968556106, + "angularVelocity": -1.3458876738271386e-8, + "velocityX": 4.018589223921825, + "velocityY": 0.9097200594137623, + "timestamp": 1.1608925333071987 + }, + { + "x": 4.167766704285708, + "y": 6.4596390440310785, + "heading": -0.023825568018138833, + "angularVelocity": -1.3458873884787475e-8, + "velocityX": 4.018586410346573, + "velocityY": 0.9097324879866878, + "timestamp": 1.2388769720483206 + }, + { + "x": 4.4811539100323, + "y": 6.530584021497964, + "heading": -0.023825569067721552, + "angularVelocity": -1.3458873806018203e-8, + "velocityX": 4.018586410385244, + "velocityY": 0.9097324878158669, + "timestamp": 1.3168614107894425 + }, + { + "x": 4.79454111577784, + "y": 6.601528998969501, + "heading": -0.023825570117304313, + "angularVelocity": -1.3458874365967017e-8, + "velocityX": 4.018586410371737, + "velocityY": 0.909732487875532, + "timestamp": 1.3948458495305645 + }, + { + "x": 5.107928321523374, + "y": 6.672473976441061, + "heading": -0.023825571166887022, + "angularVelocity": -1.3458873644091302e-8, + "velocityX": 4.01858641037167, + "velocityY": 0.9097324878758241, + "timestamp": 1.4728302882716864 + }, + { + "x": 5.421315527268906, + "y": 6.743418953912637, + "heading": -0.0238255722164697, + "angularVelocity": -1.3458873232782846e-8, + "velocityX": 4.018586410371626, + "velocityY": 0.9097324878760211, + "timestamp": 1.5508147270128083 + }, + { + "x": 5.73470273301373, + "y": 6.814363931387334, + "heading": -0.02382557326605232, + "angularVelocity": -1.3458872602650603e-8, + "velocityX": 4.018586410362565, + "velocityY": 0.9097324879160451, + "timestamp": 1.6287991657539302 + }, + { + "x": 6.048089938761083, + "y": 6.885308908850857, + "heading": -0.023825574315635045, + "angularVelocity": -1.3458873837681842e-8, + "velocityX": 4.018586410395003, + "velocityY": 0.9097324877727555, + "timestamp": 1.7067836044950522 + }, + { + "x": 6.361476996805373, + "y": 6.956254538763802, + "heading": -0.023825575365233685, + "angularVelocity": -1.345907790933033e-8, + "velocityX": 4.0185845163881115, + "velocityY": 0.9097408541780642, + "timestamp": 1.784768043236174 + }, + { + "x": 6.648907366789074, + "y": 7.036067884976394, + "heading": -0.025930488860655996, + "angularVelocity": -0.026991455339055646, + "velocityX": 3.685740060755692, + "velocityY": 1.0234522104793284, + "timestamp": 1.862752481977296 + }, + { + "x": 6.905918727178058, + "y": 7.1089950068101935, + "heading": -0.027038195926471695, + "angularVelocity": -0.014204206424987693, + "velocityX": 3.295674938972906, + "velocityY": 0.9351496658954087, + "timestamp": 1.940736920718418 + }, + { + "x": 7.13251107745946, + "y": 7.175035870578235, + "heading": -0.027148690455274044, + "angularVelocity": -0.0014168791952089838, + "velocityX": 2.905609810613645, + "velocityY": 0.8468466893410759, + "timestamp": 2.0187213594595397 + }, + { + "x": 7.328684417474841, + "y": 7.234190465002728, + "heading": -0.0262619699118654, + "angularVelocity": 0.011370480543589091, + "velocityX": 2.5155446802226953, + "velocityY": 0.7585435681708689, + "timestamp": 2.0967057982006616 + }, + { + "x": 7.494438747151227, + "y": 7.286458784427156, + "heading": -0.024378032258793446, + "angularVelocity": 0.024157866408783164, + "velocityX": 2.1254795488959726, + "velocityY": 0.6702403744667375, + "timestamp": 2.1746902369417835 + }, + { + "x": 7.62977406644956, + "y": 7.331840825448755, + "heading": -0.021496875343877238, + "angularVelocity": 0.036945279871546305, + "velocityX": 1.7354144170684294, + "velocityY": 0.5819371371287247, + "timestamp": 2.2526746756829055 + }, + { + "x": 7.7346903753480705, + "y": 7.370336585793465, + "heading": -0.01761849670534105, + "angularVelocity": 0.04973272490183463, + "velocityX": 1.3453492849617374, + "velocityY": 0.49363387063029207, + "timestamp": 2.3306591144240274 + }, + { + "x": 7.809187673835323, + "y": 7.401946063832849, + "heading": -0.012742893499969495, + "angularVelocity": 0.06252020639087588, + "velocityX": 0.9552841527084046, + "velocityY": 0.4053305832502589, + "timestamp": 2.4086435531651493 + }, + { + "x": 7.853265961906796, + "y": 7.426669258342117, + "heading": -0.00687006248076722, + "angularVelocity": 0.07530772951636928, + "velocityX": 0.5652190203970796, + "velocityY": 0.3170272801646988, + "timestamp": 2.4866279919062713 + }, + { + "x": 7.866925239562988, + "y": 7.4445061683654785, + "heading": 1.1019724128852254e-21, + "angularVelocity": 0.08809529941701788, + "velocityX": 0.17515388809214882, + "velocityY": 0.22872396482294302, + "timestamp": 2.564612430647393 + }, + { + "x": 7.839415996512796, + "y": 7.455996330276693, + "heading": 0.00969522621841501, + "angularVelocity": 0.10346134162219067, + "velocityX": -0.29356129798992386, + "velocityY": 0.1226157636768162, + "timestamp": 2.6583211151318746 + }, + { + "x": 7.767984159154146, + "y": 7.4575409240302655, + "heading": 0.02071171654104976, + "angularVelocity": 0.1175610391207565, + "velocityX": -0.7622755324292112, + "velocityY": 0.016482930713085247, + "timestamp": 2.752029799616356 + }, + { + "x": 7.652629894962392, + "y": 7.449136985555429, + "heading": 0.03289647896885643, + "angularVelocity": 0.13002810246284618, + "velocityX": -1.2309879796771361, + "velocityY": -0.08968153294509411, + "timestamp": 2.8457384841008375 + }, + { + "x": 7.493353520570736, + "y": 7.430780569230724, + "heading": 0.04604478809468858, + "angularVelocity": 0.14031046533376074, + "velocityX": -1.6996970480151585, + "velocityY": -0.19588810178787341, + "timestamp": 2.939447168585319 + }, + { + "x": 7.290155660806777, + "y": 7.402466163933872, + "heading": 0.059868605999832875, + "angularVelocity": 0.1475190691363679, + "velocityX": -2.1683994485869587, + "velocityY": -0.30215348185302415, + "timestamp": 3.0331558530698004 + }, + { + "x": 7.043037657446755, + "y": 7.364185531976726, + "heading": 0.07393272399831907, + "angularVelocity": 0.1500834002297331, + "velocityX": -2.637087530568694, + "velocityY": -0.4085067693324192, + "timestamp": 3.126864537554282 + }, + { + "x": 6.752002857171037, + "y": 7.315925026351502, + "heading": 0.087503185209202, + "angularVelocity": 0.14481540622982755, + "velocityX": -3.1057398988875438, + "velocityY": -0.5150056890748022, + "timestamp": 3.2205732220387633 + }, + { + "x": 6.417062343367086, + "y": 7.25765770262344, + "heading": 0.09907823596032714, + "angularVelocity": 0.12352164385620025, + "velocityX": -3.5742739922831674, + "velocityY": -0.621792142837213, + "timestamp": 3.3142819065232447 + }, + { + "x": 6.038289731061863, + "y": 7.189306639433363, + "heading": 0.10384589626013921, + "angularVelocity": 0.05087746483733441, + "velocityX": -4.042022512523361, + "velocityY": -0.7293994528478953, + "timestamp": 3.407990591007726 + }, + { + "x": 5.6616794795490195, + "y": 7.104206263101145, + "heading": 0.10384589809069947, + "angularVelocity": 1.9534585058108795e-8, + "velocityX": -4.018947161457723, + "velocityY": -0.9081375627070208, + "timestamp": 3.5016992754922076 + }, + { + "x": 5.295621370465586, + "y": 6.981410624019321, + "heading": 0.10384599746908699, + "angularVelocity": 0.0000010605034961434597, + "velocityX": -3.906341350294527, + "velocityY": -1.3103976409161844, + "timestamp": 3.595407959976689 + }, + { + "x": 4.973743620370178, + "y": 6.867130189671141, + "heading": 0.10964047142974673, + "angularVelocity": 0.061834972847360024, + "velocityX": -3.4348764137086154, + "velocityY": -1.2195287446075023, + "timestamp": 3.6891166444611705 + }, + { + "x": 4.695925858929357, + "y": 6.762170123163068, + "heading": 0.11660456960418608, + "angularVelocity": 0.07431646504004273, + "velocityX": -2.9646959934308894, + "velocityY": -1.1200676552604343, + "timestamp": 3.782825328945652 + }, + { + "x": 4.462122805625061, + "y": 6.666750260320637, + "heading": 0.12346623798759834, + "angularVelocity": 0.07322339888944424, + "velocityX": -2.494998778293757, + "velocityY": -1.0182606165838868, + "timestamp": 3.8765340134301334 + }, + { + "x": 4.272311472149189, + "y": 6.580973181865323, + "heading": 0.1296297222155145, + "angularVelocity": 0.0657728177684199, + "velocityX": -2.025546879887157, + "velocityY": -0.9153589011221137, + "timestamp": 3.970242697914615 + }, + { + "x": 4.126478005598546, + "y": 6.504898268884928, + "heading": 0.13474943633917122, + "angularVelocity": 0.05463436128488802, + "velocityX": -1.5562428109295867, + "velocityY": -0.811823508129526, + "timestamp": 4.063951382399096 + }, + { + "x": 4.024613155788809, + "y": 6.438564244025636, + "heading": 0.13859971910248803, + "angularVelocity": 0.04108779014984924, + "velocityX": -1.0870374541071166, + "velocityY": -0.7078748914704718, + "timestamp": 4.157660066883577 + }, + { + "x": 3.9667103110145354, + "y": 6.381998354264439, + "heading": 0.1410216361623699, + "angularVelocity": 0.02584517190915161, + "velocityX": -0.6179026532366133, + "velocityY": -0.6036355122514226, + "timestamp": 4.251368751368058 + }, + { + "x": 3.9527645111083984, + "y": 6.335220813751221, + "heading": 0.14189719500937054, + "angularVelocity": 0.00934341199876338, + "velocityX": -0.14882078414457217, + "velocityY": -0.4991804203693128, + "timestamp": 4.345077435852539 + }, + { + "x": 3.964115076159712, + "y": 6.3075785150519685, + "heading": 0.1417203583468928, + "angularVelocity": -0.0027309287472943606, + "velocityX": 0.17528935438132787, + "velocityY": -0.4268862977924431, + "timestamp": 4.409830740988352 + }, + { + "x": 3.9964710164043287, + "y": 6.284535579351715, + "heading": 0.14077745477905462, + "angularVelocity": -0.01456147397975356, + "velocityX": 0.49968013488660173, + "velocityY": -0.3558572902483248, + "timestamp": 4.474584046124165 + }, + { + "x": 4.049853424217872, + "y": 6.265994962228474, + "heading": 0.13908718250809055, + "angularVelocity": -0.026103258627785963, + "velocityX": 0.8243966497397879, + "velocityY": -0.28632696175669053, + "timestamp": 4.539337351259978 + }, + { + "x": 4.124287056549126, + "y": 6.251839889602118, + "heading": 0.13667203697092578, + "angularVelocity": -0.03729764113351832, + "velocityX": 1.1494954917766365, + "velocityY": -0.2186000019098195, + "timestamp": 4.604090656395791 + }, + { + "x": 4.219801343483193, + "y": 6.241927175601898, + "heading": 0.1335595952579679, + "angularVelocity": -0.048066144367918166, + "velocityX": 1.4750488293027817, + "velocityY": -0.15308429398975482, + "timestamp": 4.668843961531604 + }, + { + "x": 4.336431776777692, + "y": 6.236077148786002, + "heading": 0.12978445160876886, + "angularVelocity": -0.0583004009027969, + "velocityX": 1.8011502741038279, + "velocityY": -0.09034329295819071, + "timestamp": 4.7335972666674175 + }, + { + "x": 4.474221844581992, + "y": 6.234057731464995, + "heading": 0.12539127460739471, + "angularVelocity": -0.06784483034742277, + "velocityX": 2.127923316273961, + "velocityY": -0.031186320401267092, + "timestamp": 4.798350571803231 + }, + { + "x": 4.6332257178085845, + "y": 6.23555773593313, + "heading": 0.120439931450763, + "angularVelocity": -0.07646471707114837, + "velocityX": 2.4555329321506916, + "velocityY": 0.02316490972912503, + "timestamp": 4.863103876939044 + }, + { + "x": 4.813511768295512, + "y": 6.240138470161825, + "heading": 0.11501476601933941, + "angularVelocity": -0.08378206209003339, + "velocityX": 2.7841984298530575, + "velocityY": 0.07074131921279452, + "timestamp": 4.927857182074857 + }, + { + "x": 5.015165820732933, + "y": 6.247136346300476, + "heading": 0.10924324745866247, + "angularVelocity": -0.08913087213960412, + "velocityX": 3.1141893377407177, + "velocityY": 0.10806979078476878, + "timestamp": 4.99261048721067 + }, + { + "x": 5.238285037327109, + "y": 6.25543524564352, + "heading": 0.10333948067978445, + "angularVelocity": -0.09117321141361788, + "velocityX": 3.4456807436501733, + "velocityY": 0.12816178765915376, + "timestamp": 5.057363792346483 + }, + { + "x": 5.4828882134200585, + "y": 6.262797588596474, + "heading": 0.09773171682329804, + "angularVelocity": -0.08660197104572066, + "velocityX": 3.7774624102958136, + "velocityY": 0.11369833458712587, + "timestamp": 5.122117097482296 + }, + { + "x": 5.74778413772583, + "y": 6.263060569763184, + "heading": 0.0935931028078498, + "angularVelocity": -0.06391355633149408, + "velocityX": 4.090847930467482, + "velocityY": 0.004061277893979396, + "timestamp": 5.186870402618109 + }, + { + "x": 6.013605641460004, + "y": 6.24191400772151, + "heading": 0.09359309638909583, + "angularVelocity": -9.917831510727641e-8, + "velocityX": 4.107296989323786, + "velocityY": -0.3267426050496276, + "timestamp": 5.251589731272729 + }, + { + "x": 6.276862418631435, + "y": 6.199439095939525, + "heading": 0.09359309077806317, + "angularVelocity": -8.669794285084282e-8, + "velocityX": 4.067668541129722, + "velocityY": -0.6562940726511032, + "timestamp": 5.316309059927348 + }, + { + "x": 6.527399691827839, + "y": 6.139917818463067, + "heading": 0.08476203699028893, + "angularVelocity": -0.13645156665487035, + "velocityX": 3.8711352296841666, + "velocityY": -0.9196831721493709, + "timestamp": 5.381028388581967 + }, + { + "x": 6.75663042562249, + "y": 6.083119284382794, + "heading": 0.07502326158910995, + "angularVelocity": -0.15047707699736645, + "velocityX": 3.541920760920773, + "velocityY": -0.8776131529945856, + "timestamp": 5.4457477172365865 + }, + { + "x": 6.964873739000207, + "y": 6.030903984882642, + "heading": 0.06524316275048915, + "angularVelocity": -0.151115579254742, + "velocityX": 3.217637106358551, + "velocityY": -0.8067960620976766, + "timestamp": 5.510467045891206 + }, + { + "x": 7.152282068970079, + "y": 5.983920652029787, + "heading": 0.05572785541591898, + "angularVelocity": -0.1470241971351326, + "velocityX": 2.89570880702416, + "velocityY": -0.7259551949864277, + "timestamp": 5.575186374545825 + }, + { + "x": 7.318941079653386, + "y": 5.942498197854015, + "heading": 0.04663339243937562, + "angularVelocity": -0.14052159015858803, + "velocityX": 2.5751041326880646, + "velocityY": -0.640032198059834, + "timestamp": 5.639905703200444 + }, + { + "x": 7.464905286734277, + "y": 5.90683529811683, + "heading": 0.03805432099740102, + "angularVelocity": -0.13255810312492006, + "velocityX": 2.2553417984269095, + "velocityY": -0.5510393954718356, + "timestamp": 5.7046250318550635 + }, + { + "x": 7.590212353553613, + "y": 5.877064925500585, + "heading": 0.03005404341529432, + "angularVelocity": -0.12361496555072342, + "velocityX": 1.9361614130463123, + "velocityY": -0.4599919874805364, + "timestamp": 5.769344360509683 + }, + { + "x": 7.694889835090688, + "y": 5.853282305980581, + "heading": 0.02267802548127335, + "angularVelocity": -0.11396932087141666, + "velocityX": 1.6174067888697665, + "velocityY": -0.3674732110853869, + "timestamp": 5.834063689164302 + }, + { + "x": 7.778958756807613, + "y": 5.835558989260669, + "heading": 0.015960462943441833, + "angularVelocity": -0.10379530624738742, + "velocityX": 1.2989770361427408, + "velocityY": -0.2738488962778864, + "timestamp": 5.898783017818921 + }, + { + "x": 7.842435685723995, + "y": 5.823950700480821, + "heading": 0.00992800913391407, + "angularVelocity": -0.09320946207153233, + "velocityX": 0.9808032659784228, + "velocityY": -0.1793635536888167, + "timestamp": 5.963502346473541 + }, + { + "x": 7.885334010682854, + "y": 5.818502066351385, + "heading": 0.004602022140728806, + "angularVelocity": -0.0822936069316772, + "velocityX": 0.662836371307088, + "velocityY": -0.08418866886758089, + "timestamp": 6.02822167512816 + }, + { + "x": 7.907664775848389, + "y": 5.819249629974365, + "heading": -8.861041564511578e-22, + "angularVelocity": -0.07110738378155824, + "velocityX": 0.3450401237118033, + "velocityY": 0.011550855648858615, + "timestamp": 6.092941003782779 + }, + { + "x": 7.906635252791002, + "y": 5.828052827441592, + "heading": -0.004258720886347518, + "angularVelocity": -0.058206213678033504, + "velocityX": -0.014071041672826983, + "velocityY": 0.12031800310510214, + "timestamp": 6.166107090652895 + }, + { + "x": 7.879238228976632, + "y": 5.84450093290686, + "heading": -0.0075552483463681396, + "angularVelocity": -0.04505540204538491, + "velocityX": -0.3744497619915793, + "velocityY": 0.2248050451907733, + "timestamp": 6.239273177523011 + }, + { + "x": 7.825367300152994, + "y": 5.868216578468005, + "heading": -0.009867835041262768, + "angularVelocity": -0.03160735791432891, + "velocityX": -0.7362827660753383, + "velocityY": 0.32413439853965875, + "timestamp": 6.312439264393127 + }, + { + "x": 7.744899750012138, + "y": 5.898736517545598, + "heading": -0.0111701723547619, + "angularVelocity": -0.01779973986870499, + "velocityX": -1.099792999504015, + "velocityY": 0.4171323133868237, + "timestamp": 6.385605351263243 + }, + { + "x": 7.637693676502783, + "y": 5.935479180350757, + "heading": -0.011429828096899505, + "angularVelocity": -0.003548853755135836, + "velocityX": -1.4652426840821369, + "velocityY": 0.5021816032116673, + "timestamp": 6.458771438133359 + }, + { + "x": 7.5035856277872615, + "y": 5.977694002563694, + "heading": -0.010605910687451307, + "angularVelocity": 0.01126091943267124, + "velocityX": -1.8329263522537513, + "velocityY": 0.5769725294708757, + "timestamp": 6.5319375250034755 + }, + { + "x": 7.342391196877079, + "y": 6.024378165489895, + "heading": -0.00864545101291993, + "angularVelocity": 0.026794649794673078, + "velocityX": -2.203130409260973, + "velocityY": 0.6380573968520984, + "timestamp": 6.6051036118735915 + }, + { + "x": 7.153916552611085, + "y": 6.0741311609152655, + "heading": -0.0054775986870561925, + "angularVelocity": 0.04329673023906966, + "velocityX": -2.575983660306647, + "velocityY": 0.6800007702160148, + "timestamp": 6.678269698743708 + }, + { + "x": 6.938008284848595, + "y": 6.124881823735959, + "heading": -0.0010041218542462327, + "angularVelocity": 0.0611413979368784, + "velocityX": -2.9509336497080865, + "velocityY": 0.6936364235357523, + "timestamp": 6.751435785613824 + }, + { + "x": 6.694745254080875, + "y": 6.173336610452631, + "heading": 0.004915269857105422, + "angularVelocity": 0.08090348909679626, + "velocityX": -3.324805810642302, + "velocityY": 0.6622574581949259, + "timestamp": 6.82460187248394 + }, + { + "x": 6.425208704257528, + "y": 6.213842395524965, + "heading": 0.0124744715476749, + "angularVelocity": 0.10331564819078756, + "velocityX": -3.6839000328366214, + "velocityY": 0.5536142057759702, + "timestamp": 6.897767959354056 + }, + { + "x": 6.134481864578053, + "y": 6.236901401740381, + "heading": 0.021837510116483112, + "angularVelocity": 0.1279696505490236, + "velocityX": -3.973519045723652, + "velocityY": 0.3151597577761656, + "timestamp": 6.970934046224172 + }, + { + "x": 5.836546421051025, + "y": 6.233473300933838, + "heading": 0.03271319444227894, + "angularVelocity": 0.14864378827724267, + "velocityX": -4.072042885878557, + "velocityY": -0.046853685268537476, + "timestamp": 7.044100133094288 + }, + { + "x": 5.568966710651099, + "y": 6.207960444496648, + "heading": 0.04338386716334799, + "angularVelocity": 0.15887874464776466, + "velocityX": -3.984072006782857, + "velocityY": -0.37986832780616103, + "timestamp": 7.111262501129899 + }, + { + "x": 5.317346915723196, + "y": 6.165700463545233, + "heading": 0.05445378266970707, + "angularVelocity": 0.16482318640834032, + "velocityX": -3.746440190948723, + "velocityY": -0.6292211276560161, + "timestamp": 7.178424869165511 + }, + { + "x": 5.087007251124614, + "y": 6.1143653077879145, + "heading": 0.06561369928254893, + "angularVelocity": 0.16616323901689406, + "velocityX": -3.429594151243304, + "velocityY": -0.7643440405510867, + "timestamp": 7.245587237201122 + }, + { + "x": 4.879543884126957, + "y": 6.059583812060162, + "heading": 0.07665980181981738, + "angularVelocity": 0.1644686281968431, + "velocityX": -3.088982313542825, + "velocityY": -0.8156575971041716, + "timestamp": 7.312749605236734 + }, + { + "x": 4.6952145650122015, + "y": 6.004917216734493, + "heading": 0.08747065927409489, + "angularVelocity": 0.16096599584674173, + "velocityX": -2.744532757049604, + "velocityY": -0.81394681165327, + "timestamp": 7.379911973272345 + }, + { + "x": 4.533893228023684, + "y": 5.952664203225111, + "heading": 0.0979708120981826, + "angularVelocity": 0.15633982438677985, + "velocityX": -2.4019602302137435, + "velocityY": -0.7780102911451432, + "timestamp": 7.447074341307957 + }, + { + "x": 4.39536164205183, + "y": 5.904388121866292, + "heading": 0.10811026318188136, + "angularVelocity": 0.15096923143511817, + "velocityX": -2.0626370097373927, + "velocityY": -0.7187965935510374, + "timestamp": 7.514236709343568 + }, + { + "x": 4.2793961801584235, + "y": 5.861206716024424, + "heading": 0.1178539418618899, + "angularVelocity": 0.14507646119389675, + "velocityX": -1.7266434356799014, + "velocityY": -0.6429404904093345, + "timestamp": 7.58139907737918 + }, + { + "x": 4.185792366980932, + "y": 5.823953202461205, + "heading": 0.12717608254691332, + "angularVelocity": 0.13880005958218405, + "velocityX": -1.393694354669862, + "velocityY": -0.5546783809568239, + "timestamp": 7.648561445414791 + }, + { + "x": 4.114369863428615, + "y": 5.7932701366868775, + "heading": 0.1360570420074184, + "angularVelocity": 0.1322311842220364, + "velocityX": -1.0634303947479564, + "velocityY": -0.4568490759298204, + "timestamp": 7.715723813450403 + }, + { + "x": 4.0649713345283995, + "y": 5.7696669169336205, + "heading": 0.14448139137724897, + "angularVelocity": 0.12543258399352125, + "velocityX": -0.7355090409263635, + "velocityY": -0.3514351927070385, + "timestamp": 7.782886181486014 + }, + { + "x": 4.037459651013235, + "y": 5.7535566504811975, + "heading": 0.15243671363190991, + "angularVelocity": 0.11844910308169677, + "velocityX": -0.4096294445808958, + "velocityY": -0.23987043523958734, + "timestamp": 7.850048549521626 + }, + { + "x": 4.031714916229248, + "y": 5.745280742645264, + "heading": 0.15991281260240592, + "angularVelocity": 0.11131380844898156, + "velocityX": -0.08553502432999834, + "velocityY": -0.12322239489151882, + "timestamp": 7.917210917557237 + }, + { + "x": 4.028733574124723, + "y": 5.716806207328283, + "heading": 0.16648713095695195, + "angularVelocity": 0.10328727118287491, + "velocityX": -0.04683902936129348, + "velocityY": -0.4473554355726786, + "timestamp": 7.980861726405753 + }, + { + "x": 4.029303269349349, + "y": 5.667859664319208, + "heading": 0.17250743991031525, + "angularVelocity": 0.09458338491331914, + "velocityX": 0.008950321840875176, + "velocityY": -0.7689854048133818, + "timestamp": 8.04451253525427 + }, + { + "x": 4.034773095532229, + "y": 5.598721670530651, + "heading": 0.177921913214448, + "angularVelocity": 0.08506527100101363, + "velocityX": 0.0859349045492505, + "velocityY": -1.0862076231128457, + "timestamp": 8.108163344102786 + }, + { + "x": 4.04683331391786, + "y": 5.509879274518647, + "heading": 0.18266829184010208, + "angularVelocity": 0.07456902294753398, + "velocityX": 0.1894747074516172, + "velocityY": -1.3957779581944039, + "timestamp": 8.171814152951303 + }, + { + "x": 4.067606933697682, + "y": 5.402175243088082, + "heading": 0.1866729466072294, + "angularVelocity": 0.06291600750366072, + "velocityX": 0.3263685121309602, + "velocityY": -1.692107820450355, + "timestamp": 8.235464961799819 + }, + { + "x": 4.099716828344451, + "y": 5.277059766569589, + "heading": 0.18985302153969794, + "angularVelocity": 0.04996126506478306, + "velocityX": 0.504469546069523, + "velocityY": -1.9656541492859476, + "timestamp": 8.299115770648335 + }, + { + "x": 4.146220491607715, + "y": 5.136961885287488, + "heading": 0.19212655579157403, + "angularVelocity": 0.03571885877030929, + "velocityX": 0.7306060064992874, + "velocityY": -2.2010385070757232, + "timestamp": 8.362766579496851 + }, + { + "x": 4.210214706803066, + "y": 4.985651459769157, + "heading": 0.193436287646545, + "angularVelocity": 0.02057682971614746, + "velocityX": 1.0053951607693359, + "velocityY": -2.3771956437888795, + "timestamp": 8.426417388345367 + }, + { + "x": 4.294045552639039, + "y": 4.828164588359487, + "heading": 0.19378149775282844, + "angularVelocity": 0.005423499127953307, + "velocityX": 1.3170428994151997, + "velocityY": -2.4742320523290933, + "timestamp": 8.490068197193883 + }, + { + "x": 4.398640112537955, + "y": 4.669954353870274, + "heading": 0.1932299156983433, + "angularVelocity": -0.008665750906604456, + "velocityX": 1.6432557856074201, + "velocityY": -2.485596606725612, + "timestamp": 8.5537190060424 + }, + { + "x": 4.523606377596732, + "y": 4.515827070408729, + "heading": 0.19189285353451518, + "angularVelocity": -0.021006208530833268, + "velocityX": 1.9633099299049899, + "velocityY": -2.421450508639348, + "timestamp": 8.617369814890916 + }, + { + "x": 4.667843818664551, + "y": 4.369466304779053, + "heading": 0.18988972149801628, + "angularVelocity": -0.0314706454283432, + "velocityX": 2.2660739694776426, + "velocityY": -2.2994329259507698, + "timestamp": 8.681020623739432 + }, + { + "x": 4.871797892715673, + "y": 4.205621418602988, + "heading": 0.1865920524335519, + "angularVelocity": -0.0422409120042009, + "velocityX": 2.6125138473502396, + "velocityY": -2.098742258245844, + "timestamp": 8.759088755036796 + }, + { + "x": 5.101719412723405, + "y": 4.059172590207619, + "heading": 0.1823462410927036, + "angularVelocity": -0.05438597376791099, + "velocityX": 2.945139280098198, + "velocityY": -1.8759105151055673, + "timestamp": 8.83715688633416 + }, + { + "x": 5.355857297295401, + "y": 3.932483913538177, + "heading": 0.17700453688749862, + "angularVelocity": -0.06842362070712561, + "velocityX": 3.2553345436689742, + "velocityY": -1.6227963262868412, + "timestamp": 8.915225017631524 + }, + { + "x": 5.631115809033472, + "y": 3.828833403933396, + "heading": 0.17035974396289696, + "angularVelocity": -0.0851153065172188, + "velocityX": 3.525875503406118, + "velocityY": -1.327692976407643, + "timestamp": 8.993293148928888 + }, + { + "x": 5.921560736313624, + "y": 3.7524980506854146, + "heading": 0.16213464835819472, + "angularVelocity": -0.10535791581038999, + "velocityX": 3.720403222844351, + "velocityY": -0.9778042842759619, + "timestamp": 9.071361280226252 + }, + { + "x": 6.215996410886688, + "y": 3.707158097711821, + "heading": 0.15206765627308344, + "angularVelocity": -0.12895136488877526, + "velocityX": 3.771521998541844, + "velocityY": -0.580774154832675, + "timestamp": 9.149429411523617 + }, + { + "x": 6.499201446177462, + "y": 3.690982108951251, + "heading": 0.14021370017373183, + "angularVelocity": -0.1518411662013455, + "velocityX": 3.62766509950179, + "velocityY": -0.2072034835694342, + "timestamp": 9.22749754282098 + }, + { + "x": 6.760144156179077, + "y": 3.6967423609871095, + "heading": 0.12696695962397309, + "angularVelocity": -0.16968179370531306, + "velocityX": 3.342499758418362, + "velocityY": 0.07378493554453382, + "timestamp": 9.305565674118345 + }, + { + "x": 6.993747301290997, + "y": 3.717650756831888, + "heading": 0.11271543576980789, + "angularVelocity": -0.18255238875746302, + "velocityX": 2.9922984094766716, + "velocityY": 0.2678224199467244, + "timestamp": 9.383633805415709 + }, + { + "x": 7.197885514439911, + "y": 3.7489894618571475, + "heading": 0.09773384035236395, + "angularVelocity": -0.19190411206819374, + "velocityX": 2.614872544743554, + "velocityY": 0.40142763128130604, + "timestamp": 9.461701936713073 + }, + { + "x": 7.371619435690451, + "y": 3.787579396090815, + "heading": 0.0822090924111378, + "angularVelocity": -0.19886152881118324, + "velocityX": 2.2254141140996357, + "velocityY": 0.49431097673744373, + "timestamp": 9.539770068010437 + }, + { + "x": 7.514504734103524, + "y": 3.831207022230382, + "heading": 0.06627209980833938, + "angularVelocity": -0.2041421043126261, + "velocityX": 1.8302641044246033, + "velocityY": 0.5588404053555219, + "timestamp": 9.617838199307801 + }, + { + "x": 7.626321599036744, + "y": 3.878266327671348, + "heading": 0.050018209226889945, + "angularVelocity": -0.20820135324538117, + "velocityX": 1.432298468978392, + "velocityY": 0.6027978979247636, + "timestamp": 9.695906330605165 + }, + { + "x": 7.706960109890584, + "y": 3.9275480062281813, + "heading": 0.033519413765036976, + "angularVelocity": -0.21133841924572758, + "velocityX": 1.032924824941496, + "velocityY": 0.6312649955603196, + "timestamp": 9.77397446190253 + }, + { + "x": 7.75636745475808, + "y": 3.9781125797320316, + "heading": 0.016831759030145377, + "angularVelocity": -0.21375757889384633, + "velocityX": 0.6328746960690229, + "velocityY": 0.647698012794074, + "timestamp": 9.852042593199894 + }, + { + "x": 7.774521827697754, + "y": 4.029211044311523, + "heading": -2.3205962182381023e-21, + "angularVelocity": -0.21560345752394805, + "velocityX": 0.23254524782363484, + "velocityY": 0.6545367966456909, + "timestamp": 9.930110724497258 + }, + { + "x": 7.767154710406391, + "y": 4.072900928949108, + "heading": -0.014488654781856458, + "angularVelocity": -0.216783406299003, + "velocityX": -0.11022892083989355, + "velocityY": 0.6537005784972164, + "timestamp": 9.99694542844998 + }, + { + "x": 7.736878414259794, + "y": 4.116522125330073, + "heading": -0.029046314724269887, + "angularVelocity": -0.21781588129291915, + "velocityX": -0.45300262223071897, + "velocityY": 0.6526728451108802, + "timestamp": 10.063780132402702 + }, + { + "x": 7.683692986765261, + "y": 4.160059290918648, + "heading": -0.04366116547987685, + "angularVelocity": -0.2186715866347725, + "velocityX": -0.7957756128037357, + "velocityY": 0.6514155523060602, + "timestamp": 10.130614836355424 + }, + { + "x": 7.607598500792507, + "y": 4.203493699341211, + "heading": -0.0583187869642347, + "angularVelocity": -0.2193115345393992, + "velocityX": -1.1385475130791645, + "velocityY": 0.6498780701308696, + "timestamp": 10.197449540308146 + }, + { + "x": 7.508595070224757, + "y": 4.246801982220053, + "heading": -0.07300118446700099, + "angularVelocity": -0.2196822404293508, + "velocityX": -1.4813177094011665, + "velocityY": 0.6479909435893982, + "timestamp": 10.264284244260867 + }, + { + "x": 7.3866828784850584, + "y": 4.289954159064308, + "heading": -0.08768527148039744, + "angularVelocity": -0.21970751937173005, + "velocityX": -1.8240851612949218, + "velocityY": 0.6456552403490899, + "timestamp": 10.33111894821359 + }, + { + "x": 7.241862234402131, + "y": 4.3329103687170365, + "heading": -0.10234035253177223, + "angularVelocity": -0.21927352385284243, + "velocityX": -2.166847992404854, + "velocityY": 0.6427231230516847, + "timestamp": 10.397953652166311 + }, + { + "x": 7.07413369246623, + "y": 4.375615021772806, + "heading": -0.1169236196715288, + "angularVelocity": -0.21819902352036502, + "velocityX": -2.5096025270726274, + "velocityY": 0.6389592611344215, + "timestamp": 10.464788356119033 + }, + { + "x": 6.883498347675479, + "y": 4.417985205751851, + "heading": -0.13137122210873817, + "angularVelocity": -0.21616916934994543, + "velocityX": -2.852340678064573, + "velocityY": 0.6339548389264723, + "timestamp": 10.531623060071755 + }, + { + "x": 6.669958711115492, + "y": 4.459883985157583, + "heading": -0.14557769926414693, + "angularVelocity": -0.21256138376042305, + "velocityX": -3.195041257473706, + "velocityY": 0.6269015485633134, + "timestamp": 10.598457764024477 + }, + { + "x": 6.433522272731176, + "y": 4.501042143745589, + "heading": -0.15933568232019976, + "angularVelocity": -0.2058508864763596, + "velocityX": -3.5376297701800143, + "velocityY": 0.6158201675752218, + "timestamp": 10.6652924679772 + }, + { + "x": 6.174229264575733, + "y": 4.540688400614103, + "heading": -0.17205071918548479, + "angularVelocity": -0.19024602658941284, + "velocityX": -3.879616319373006, + "velocityY": 0.5931986606323556, + "timestamp": 10.732127171929921 + }, + { + "x": 5.899813652038574, + "y": 4.563681602478027, + "heading": -0.1720507217902465, + "angularVelocity": -3.897319119513182e-8, + "velocityX": -4.105885061319011, + "velocityY": 0.3440308777336659, + "timestamp": 10.798961875882643 + }, + { + "x": 5.6382505881182885, + "y": 4.595249515536772, + "heading": -0.17409645748158847, + "angularVelocity": -0.03126690554583913, + "velocityX": -3.9977146844962266, + "velocityY": 0.48248215058493454, + "timestamp": 10.864390022852378 + }, + { + "x": 5.398484436113205, + "y": 4.624186785267214, + "heading": -0.1759717239534531, + "angularVelocity": -0.028661463891558173, + "velocityX": -3.664571948155486, + "velocityY": 0.44227555067129126, + "timestamp": 10.929818169822113 + }, + { + "x": 5.1805152028201515, + "y": 4.650493400816042, + "heading": -0.1776765154239882, + "angularVelocity": -0.026055933867785288, + "velocityX": -3.331429107932396, + "velocityY": 0.40206878487627273, + "timestamp": 10.995246316791848 + }, + { + "x": 4.984342890504657, + "y": 4.674169358565494, + "heading": -0.1792108298775417, + "angularVelocity": -0.023450373036901073, + "velocityX": -2.998286233083113, + "velocityY": 0.36186196378760377, + "timestamp": 11.060674463761583 + }, + { + "x": 4.809967500299472, + "y": 4.695214656706689, + "heading": -0.1805746662928034, + "angularVelocity": -0.020844796596372648, + "velocityX": -2.665143340920935, + "velocityY": 0.32165511505210137, + "timestamp": 11.126102610731317 + }, + { + "x": 4.657389032884244, + "y": 4.7136292941543, + "heading": -0.18176802405360484, + "angularVelocity": -0.018239210738361194, + "velocityX": -2.3320004383710753, + "velocityY": 0.281448249728481, + "timestamp": 11.191530757701052 + }, + { + "x": 4.526607488712068, + "y": 4.729413270184769, + "heading": -0.18279090274809942, + "angularVelocity": -0.015633618585709556, + "velocityX": -1.9988575288961132, + "velocityY": 0.24124137334610185, + "timestamp": 11.256958904670787 + }, + { + "x": 4.417622868106585, + "y": 4.742566584281272, + "heading": -0.1836433020817022, + "angularVelocity": -0.0130280219306395, + "velocityX": -1.665714614474658, + "velocityY": 0.20103448906460197, + "timestamp": 11.322387051640522 + }, + { + "x": 4.330435171310525, + "y": 4.753089236056193, + "heading": -0.18432522183325692, + "angularVelocity": -0.010422421895428998, + "velocityX": -1.3325716963433365, + "velocityY": 0.1608275988587593, + "timestamp": 11.387815198610257 + }, + { + "x": 4.265044398512677, + "y": 4.760981225208049, + "heading": -0.18483666183057199, + "angularVelocity": -0.007816819228453033, + "velocityX": -0.9994287753265666, + "velocityY": 0.1206207040450968, + "timestamp": 11.453243345579992 + }, + { + "x": 4.2214505498640715, + "y": 4.766242551495655, + "heading": -0.18517762193569534, + "angularVelocity": -0.005211214453024929, + "velocityX": -0.6662858520014394, + "velocityY": 0.08041380554518446, + "timestamp": 11.518671492549727 + }, + { + "x": 4.199653625488281, + "y": 4.76887321472168, + "heading": -0.1853481020355219, + "angularVelocity": -0.0026056079489066492, + "velocityX": -0.333142926787658, + "velocityY": 0.04020690402925863, + "timestamp": 11.584099639519462 + }, + { + "x": 4.199653625488281, + "y": 4.76887321472168, + "heading": -0.1853481020355219, + "angularVelocity": -7.946596899257776e-22, + "velocityX": -2.528747116740365e-22, + "velocityY": -1.6438334985949743e-21, + "timestamp": 11.649527786489196 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/North3Note.1.traj b/src/main/deploy/choreo/North3Note.1.traj index 0dec7b3..fa15056 100644 --- a/src/main/deploy/choreo/North3Note.1.traj +++ b/src/main/deploy/choreo/North3Note.1.traj @@ -1,545 +1,545 @@ -{ - "samples": [ - { - "x": 1.527046799659729, - "y": 6.424683570861816, - "heading": 0, - "angularVelocity": 0, - "velocityX": 0, - "velocityY": 0, - "timestamp": 0 - }, - { - "x": 1.5803778722762798, - "y": 6.431613307648725, - "heading": -7.238976046606308e-20, - "angularVelocity": -7.704500795241715e-19, - "velocityX": 0.5675202526066888, - "velocityY": 0.07374248780027282, - "timestamp": 0.09397210473418934 - }, - { - "x": 1.68704001649222, - "y": 6.445472781090374, - "heading": -7.766412640921261e-19, - "angularVelocity": -7.494484321596982e-18, - "velocityX": 1.135040494389377, - "velocityY": 0.1474849741940998, - "timestamp": 0.18794420946837867 - }, - { - "x": 1.8470332308835264, - "y": 6.466261991001732, - "heading": 5.341232520337701e-18, - "angularVelocity": 6.510278815728929e-17, - "velocityX": 1.7025607210184963, - "velocityY": 0.22122745861890658, - "timestamp": 0.281916314202568 - }, - { - "x": 2.060357513314171, - "y": 6.4939809371052455, - "heading": 1.0374456143775375e-17, - "angularVelocity": 5.356041194946413e-17, - "velocityX": 2.2700809249173326, - "velocityY": 0.2949699400901919, - "timestamp": 0.37588841893675734 - }, - { - "x": 2.3270128602241256, - "y": 6.528629618938332, - "heading": 1.5622472868888807e-17, - "angularVelocity": 5.584612294643159e-17, - "velocityX": 2.83760109093256, - "velocityY": 0.36871241663896615, - "timestamp": 0.46986052367094666 - }, - { - "x": 2.646999264493404, - "y": 6.570208035575839, - "heading": 1.828783002953645e-17, - "angularVelocity": 2.83627951640822e-17, - "velocityX": 3.4051211811813413, - "velocityY": 0.44245488334281696, - "timestamp": 0.563832628405136 - }, - { - "x": 3.020316704762692, - "y": 6.618716184242384, - "heading": 2.4259927284441674e-17, - "angularVelocity": 6.355118340467644e-17, - "velocityX": 3.9726410441377396, - "velocityY": 0.516197320512797, - "timestamp": 0.6578047331393254 - }, - { - "x": 3.4232251231318087, - "y": 6.671069327570229, - "heading": 1.2251203345153583e-17, - "angularVelocity": -1.2779030516969416e-16, - "velocityX": 4.287532129976935, - "velocityY": 0.5571136612926704, - "timestamp": 0.7517768378735148 - }, - { - "x": 3.826133541501536, - "y": 6.72342247089821, - "heading": -3.0725420146816944e-17, - "angularVelocity": -4.57333839797614e-16, - "velocityX": 4.287532129983888, - "velocityY": 0.5571136612941865, - "timestamp": 0.8457489426077042 - }, - { - "x": 4.229041959871261, - "y": 6.775775614226211, - "heading": -3.609315802714011e-17, - "angularVelocity": -5.712054546204108e-17, - "velocityX": 4.287532129983866, - "velocityY": 0.5571136612943784, - "timestamp": 0.9397210473418935 - }, - { - "x": 4.631950378240786, - "y": 6.8281287575557545, - "heading": -1.1924499875293168e-16, - "angularVelocity": -8.848566386893959e-16, - "velocityX": 4.28753212998173, - "velocityY": 0.5571136613108173, - "timestamp": 1.0336931520760828 - }, - { - "x": 5.034858796597671, - "y": 6.8804819009825735, - "heading": -2.1295278854430073e-16, - "angularVelocity": -9.971871592067265e-16, - "velocityX": 4.287532129847148, - "velocityY": 0.5571136623465057, - "timestamp": 1.127665256810272 - }, - { - "x": 5.437767215061566, - "y": 6.932835043626118, - "heading": -2.6699372248080257e-16, - "angularVelocity": -5.75074210471511e-16, - "velocityX": 4.287532130981454, - "velocityY": 0.557113654045475, - "timestamp": 1.2216373615444613 - }, - { - "x": 5.840675581043441, - "y": 6.985188591149217, - "heading": -3.5238377372764894e-16, - "angularVelocity": -9.086744571589023e-16, - "velocityX": 4.287531572521534, - "velocityY": 0.5571179623462049, - "timestamp": 1.3156094662786506 - }, - { - "x": 6.2391489941190015, - "y": 7.064529363238017, - "heading": -2.7972321354431857e-16, - "angularVelocity": 7.732141403951283e-16, - "velocityX": 4.240337217115807, - "velocityY": 0.8443013202155537, - "timestamp": 1.4095815710128399 - }, - { - "x": 6.583885426153462, - "y": 7.141736757688093, - "heading": -2.25728641853031e-16, - "angularVelocity": 5.74581096050356e-16, - "velocityX": 3.6684975079247897, - "velocityY": 0.8215990763489747, - "timestamp": 1.5035536757470291 - }, - { - "x": 6.875123486119249, - "y": 7.213453599944083, - "heading": -1.755249032552149e-16, - "angularVelocity": 5.3424129243203e-16, - "velocityX": 3.0991969455886323, - "velocityY": 0.7631716077921338, - "timestamp": 1.5975257804812184 - }, - { - "x": 7.112927337691344, - "y": 7.279086965742181, - "heading": -1.3031574273926836e-16, - "angularVelocity": 4.810917183158117e-16, - "velocityX": 2.5305791781660814, - "velocityY": 0.6984345618843045, - "timestamp": 1.6914978852154077 - }, - { - "x": 7.297325668269741, - "y": 7.338389913207113, - "heading": -9.321690493625898e-17, - "angularVelocity": 3.9478604538397664e-16, - "velocityX": 1.9622666864433715, - "velocityY": 0.6310696949237226, - "timestamp": 1.785469989949597 - }, - { - "x": 7.4283346967199675, - "y": 7.3912270589200295, - "heading": -5.778917139368449e-17, - "angularVelocity": 3.770030216563795e-16, - "velocityX": 1.3941267870617549, - "velocityY": 0.5622641512944202, - "timestamp": 1.8794420946837862 - }, - { - "x": 7.50596484417342, - "y": 7.437512912371683, - "heading": -2.877604697913188e-17, - "angularVelocity": 3.0874215564557075e-16, - "velocityX": 0.8260977836895133, - "velocityY": 0.49254886418904925, - "timestamp": 1.9734141994179755 - }, - { - "x": 7.530223369598389, - "y": 7.477188587188721, - "heading": 0, - "angularVelocity": 3.0621931871228367e-16, - "velocityX": 0.25814602630766825, - "velocityY": 0.42220694034401873, - "timestamp": 2.0673863041521647 - }, - { - "x": 7.500103329393163, - "y": 7.510531194938532, - "heading": 1.779046728903491e-17, - "angularVelocity": 1.8703842501578197e-16, - "velocityX": -0.31666471019917375, - "velocityY": 0.3505449246412241, - "timestamp": 2.1625028082142728 - }, - { - "x": 7.415463776975628, - "y": 7.535915868379189, - "heading": 2.4375199309402564e-17, - "angularVelocity": 6.922836439091234e-17, - "velocityX": -0.8898513800734154, - "velocityY": 0.2668797985169528, - "timestamp": 2.257619312276381 - }, - { - "x": 7.276591240327495, - "y": 7.5515799895791, - "heading": 3.036787917564806e-17, - "angularVelocity": 6.300375885015102e-17, - "velocityX": -1.460025660199517, - "velocityY": 0.16468352526083074, - "timestamp": 2.352735816338489 - }, - { - "x": 7.084125232551265, - "y": 7.55445954230526, - "heading": 3.032865591238689e-17, - "angularVelocity": -4.1256799084456108e-19, - "velocityX": -2.023476468844192, - "velocityY": 0.030273954607956743, - "timestamp": 2.447852320400597 - }, - { - "x": 6.840054992354522, - "y": 7.538033455103224, - "heading": 1.9251688156136728e-17, - "angularVelocity": -1.1645684985322104e-16, - "velocityX": -2.566013570378538, - "velocityY": -0.1726943958053017, - "timestamp": 2.542968824462705 - }, - { - "x": 6.556978957286809, - "y": 7.4826940016714385, - "heading": 1.168333713259459e-17, - "angularVelocity": -7.956942087581419e-17, - "velocityX": -2.9760979743487863, - "velocityY": -0.5818070583102407, - "timestamp": 2.638085328524813 - }, - { - "x": 6.309433732631585, - "y": 7.385244419108981, - "heading": 1.7429590751971742e-18, - "angularVelocity": -1.0450697704099872e-16, - "velocityX": -2.6025475504932367, - "velocityY": -1.0245286401220972, - "timestamp": 2.733201832586921 - }, - { - "x": 6.113965558529466, - "y": 7.269803584420074, - "heading": 5.511711951137295e-19, - "angularVelocity": -1.2529970637265847e-17, - "velocityX": -2.0550395121449547, - "velocityY": -1.2136782761902432, - "timestamp": 2.828318336649029 - }, - { - "x": 5.972598051076002, - "y": 7.143930917175248, - "heading": 3.9507181654559564e-19, - "angularVelocity": -1.6412388481640138e-18, - "velocityX": -1.486256342672709, - "velocityY": -1.3233525399690549, - "timestamp": 2.923434840711137 - }, - { - "x": 5.885876308034012, - "y": 7.011019350436582, - "heading": -1.2473375757596908e-19, - "angularVelocity": -5.46489063548754e-18, - "velocityX": -0.9117423300801472, - "velocityY": -1.3973554647335724, - "timestamp": 3.018551344773245 - }, - { - "x": 5.8540120124816895, - "y": 6.8729729652404785, - "heading": 0, - "angularVelocity": 1.3113676254288102e-18, - "velocityX": -0.3350028038363674, - "velocityY": -1.4513399809659164, - "timestamp": 3.113667848835353 - }, - { - "x": 5.876847778987881, - "y": 6.731488948754559, - "heading": -6.062838132168256e-20, - "angularVelocity": -6.395243271042044e-19, - "velocityX": 0.24087875528506464, - "velocityY": -1.4924173346526775, - "timestamp": 3.2084697606069428 - }, - { - "x": 5.954325811159231, - "y": 6.586848059484525, - "heading": 7.478073155132048e-19, - "angularVelocity": 8.527632110701656e-18, - "velocityX": 0.8172623391613877, - "velocityY": -1.5257170089433227, - "timestamp": 3.3032716723785325 - }, - { - "x": 6.086499328065735, - "y": 6.440170804019068, - "heading": 1.4363797703536666e-18, - "angularVelocity": 7.263274930401322e-18, - "velocityX": 1.3942072943118622, - "velocityY": -1.5471972318351441, - "timestamp": 3.398073584150122 - }, - { - "x": 6.273406060259042, - "y": 6.293360751925273, - "heading": 2.311285716611774e-18, - "angularVelocity": 9.22878498013423e-18, - "velocityX": 1.9715502430360803, - "velocityY": -1.5485980119022507, - "timestamp": 3.492875495921712 - }, - { - "x": 6.514914861463926, - "y": 6.1503396100077445, - "heading": -6.2949945446815836e-18, - "angularVelocity": -9.078179443488146e-17, - "velocityX": 2.5475098201304753, - "velocityY": -1.5086314109602783, - "timestamp": 3.5876774076933016 - }, - { - "x": 6.808786265563555, - "y": 6.023252627813635, - "heading": -8.361768144777607e-18, - "angularVelocity": -2.1801082921246504e-17, - "velocityX": 3.099846813302867, - "velocityY": -1.3405529468673267, - "timestamp": 3.6824793194648913 - }, - { - "x": 7.087207051909614, - "y": 5.948672912588583, - "heading": -4.419183708326357e-18, - "angularVelocity": 4.158764914156809e-17, - "velocityX": 2.936868900035097, - "velocityY": -0.7866899921229229, - "timestamp": 3.777281231236481 - }, - { - "x": 7.31638283607853, - "y": 5.897981907722374, - "heading": -1.1654088636534015e-18, - "angularVelocity": 3.4321857421642983e-17, - "velocityX": 2.417417327202346, - "velocityY": -0.5347044581556282, - "timestamp": 3.8720831430080707 - }, - { - "x": 7.493445610240801, - "y": 5.864023394695471, - "heading": 3.540512884513429e-18, - "angularVelocity": 4.963960527569517e-17, - "velocityX": 1.8677131173093207, - "velocityY": -0.3582049390356209, - "timestamp": 3.9668850547796604 - }, - { - "x": 7.6175649999735855, - "y": 5.843947989360528, - "heading": 1.3700368118154038e-18, - "angularVelocity": -2.28948415454817e-17, - "velocityX": 1.3092498601850082, - "velocityY": -0.211761608594753, - "timestamp": 4.06168696655125 - }, - { - "x": 7.688366440099985, - "y": 5.836239441706774, - "heading": 2.2068386463659204e-19, - "angularVelocity": -1.2123711772300208e-17, - "velocityX": 0.7468355732777747, - "velocityY": -0.0813121540414055, - "timestamp": 4.156488878322839 - }, - { - "x": 7.70564079284668, - "y": 5.839958667755127, - "heading": 0, - "angularVelocity": -2.327848859137068e-18, - "velocityX": 0.1822152362033504, - "velocityY": 0.0392315511284381, - "timestamp": 4.251290790094428 - }, - { - "x": 7.666755003045207, - "y": 5.85516685330475, - "heading": 6.870828582257685e-19, - "angularVelocity": 7.054828772599489e-18, - "velocityX": -0.39926835330188015, - "velocityY": 0.1561533720162553, - "timestamp": 4.348683407061851 - }, - { - "x": 7.571237005587491, - "y": 5.8817623602715665, - "heading": 2.2883038209312854e-18, - "angularVelocity": 1.644082969308034e-17, - "velocityX": -0.9807519340878659, - "velocityY": 0.2730751857199539, - "timestamp": 4.446076024029274 - }, - { - "x": 7.419086801662762, - "y": 5.919745187677906, - "heading": 3.101214925430452e-18, - "angularVelocity": 8.346688736165507e-18, - "velocityX": -1.5622355026631383, - "velocityY": 0.3899969893849836, - "timestamp": 4.543468640996697 - }, - { - "x": 7.210304393055825, - "y": 5.969115334062128, - "heading": 4.8294974273863036e-18, - "angularVelocity": 1.7745451453583443e-17, - "velocityX": -2.1437190529124375, - "velocityY": 0.5069187780419899, - "timestamp": 4.64086125796412 - }, - { - "x": 6.944889782743743, - "y": 6.029872797000189, - "heading": 1.1027082338991211e-17, - "angularVelocity": 6.363492534943682e-17, - "velocityX": -2.725202572593995, - "velocityY": 0.6238405418090931, - "timestamp": 4.7382538749315435 - }, - { - "x": 6.622842976687566, - "y": 6.10201757167907, - "heading": 1.8144210010315694e-17, - "angularVelocity": 7.307651508437439e-17, - "velocityX": -3.3066860310689554, - "velocityY": 0.7407622561564634, - "timestamp": 4.835646491898967 - }, - { - "x": 6.244163992803297, - "y": 6.185549643827075, - "heading": 2.6195414899111268e-17, - "angularVelocity": 8.266733840029285e-17, - "velocityX": -3.8881693055870428, - "velocityY": 0.8576838239632234, - "timestamp": 4.93303910886639 - }, - { - "x": 5.904370819071749, - "y": 6.2538736316180685, - "heading": 2.3122125773435226e-17, - "angularVelocity": -3.1555675659560407e-17, - "velocityX": -3.48890074331621, - "velocityY": 0.7015314909925873, - "timestamp": 5.030431725833813 - }, - { - "x": 5.6212098149661305, - "y": 6.310810281162716, - "heading": 1.980566671869573e-17, - "angularVelocity": -3.4052407882747414e-17, - "velocityX": -2.9074175530194926, - "velocityY": 0.5846095044853901, - "timestamp": 5.127824342801236 - }, - { - "x": 5.394681002455137, - "y": 6.356359598333385, - "heading": 1.6213849271933517e-17, - "angularVelocity": -3.6879655779404135e-17, - "velocityX": -2.325934137151687, - "velocityY": 0.46768757827677154, - "timestamp": 5.225216959768659 - }, - { - "x": 5.224784388861421, - "y": 6.390521585086604, - "heading": 1.1716654425896829e-17, - "angularVelocity": -4.6175799547016584e-17, - "velocityX": -1.7444506460961258, - "velocityY": 0.3507656721581154, - "timestamp": 5.322609576736082 - }, - { - "x": 5.111519977846271, - "y": 6.413296242400476, - "heading": 6.31238056070833e-18, - "angularVelocity": -5.54894105440847e-17, - "velocityX": -1.162967117447121, - "velocityY": 0.2338437760828003, - "timestamp": 5.420002193703505 - }, - { - "x": 5.054887771606445, - "y": 6.424683570861816, - "heading": 0, - "angularVelocity": -6.481362807675258e-17, - "velocityX": -0.58148356624218, - "velocityY": 0.11692188603299503, - "timestamp": 5.517394810670928 - }, - { - "x": 5.054887771606445, - "y": 6.424683570861816, - "heading": 0, - "angularVelocity": 0, - "velocityX": 1.6558987478358535e-31, - "velocityY": -3.8185471679149395e-31, - "timestamp": 5.614787427638351 - } - ], - "eventMarkers": [] +{ + "samples": [ + { + "x": 1.527046799659729, + "y": 6.424683570861816, + "heading": 0, + "angularVelocity": 0, + "velocityX": 0, + "velocityY": 0, + "timestamp": 0 + }, + { + "x": 1.5803778722762798, + "y": 6.431613307648725, + "heading": -7.238976046606308e-20, + "angularVelocity": -7.704500795241715e-19, + "velocityX": 0.5675202526066888, + "velocityY": 0.07374248780027282, + "timestamp": 0.09397210473418934 + }, + { + "x": 1.68704001649222, + "y": 6.445472781090374, + "heading": -7.766412640921261e-19, + "angularVelocity": -7.494484321596982e-18, + "velocityX": 1.135040494389377, + "velocityY": 0.1474849741940998, + "timestamp": 0.18794420946837867 + }, + { + "x": 1.8470332308835264, + "y": 6.466261991001732, + "heading": 5.341232520337701e-18, + "angularVelocity": 6.510278815728929e-17, + "velocityX": 1.7025607210184963, + "velocityY": 0.22122745861890658, + "timestamp": 0.281916314202568 + }, + { + "x": 2.060357513314171, + "y": 6.4939809371052455, + "heading": 1.0374456143775375e-17, + "angularVelocity": 5.356041194946413e-17, + "velocityX": 2.2700809249173326, + "velocityY": 0.2949699400901919, + "timestamp": 0.37588841893675734 + }, + { + "x": 2.3270128602241256, + "y": 6.528629618938332, + "heading": 1.5622472868888807e-17, + "angularVelocity": 5.584612294643159e-17, + "velocityX": 2.83760109093256, + "velocityY": 0.36871241663896615, + "timestamp": 0.46986052367094666 + }, + { + "x": 2.646999264493404, + "y": 6.570208035575839, + "heading": 1.828783002953645e-17, + "angularVelocity": 2.83627951640822e-17, + "velocityX": 3.4051211811813413, + "velocityY": 0.44245488334281696, + "timestamp": 0.563832628405136 + }, + { + "x": 3.020316704762692, + "y": 6.618716184242384, + "heading": 2.4259927284441674e-17, + "angularVelocity": 6.355118340467644e-17, + "velocityX": 3.9726410441377396, + "velocityY": 0.516197320512797, + "timestamp": 0.6578047331393254 + }, + { + "x": 3.4232251231318087, + "y": 6.671069327570229, + "heading": 1.2251203345153583e-17, + "angularVelocity": -1.2779030516969416e-16, + "velocityX": 4.287532129976935, + "velocityY": 0.5571136612926704, + "timestamp": 0.7517768378735148 + }, + { + "x": 3.826133541501536, + "y": 6.72342247089821, + "heading": -3.0725420146816944e-17, + "angularVelocity": -4.57333839797614e-16, + "velocityX": 4.287532129983888, + "velocityY": 0.5571136612941865, + "timestamp": 0.8457489426077042 + }, + { + "x": 4.229041959871261, + "y": 6.775775614226211, + "heading": -3.609315802714011e-17, + "angularVelocity": -5.712054546204108e-17, + "velocityX": 4.287532129983866, + "velocityY": 0.5571136612943784, + "timestamp": 0.9397210473418935 + }, + { + "x": 4.631950378240786, + "y": 6.8281287575557545, + "heading": -1.1924499875293168e-16, + "angularVelocity": -8.848566386893959e-16, + "velocityX": 4.28753212998173, + "velocityY": 0.5571136613108173, + "timestamp": 1.0336931520760828 + }, + { + "x": 5.034858796597671, + "y": 6.8804819009825735, + "heading": -2.1295278854430073e-16, + "angularVelocity": -9.971871592067265e-16, + "velocityX": 4.287532129847148, + "velocityY": 0.5571136623465057, + "timestamp": 1.127665256810272 + }, + { + "x": 5.437767215061566, + "y": 6.932835043626118, + "heading": -2.6699372248080257e-16, + "angularVelocity": -5.75074210471511e-16, + "velocityX": 4.287532130981454, + "velocityY": 0.557113654045475, + "timestamp": 1.2216373615444613 + }, + { + "x": 5.840675581043441, + "y": 6.985188591149217, + "heading": -3.5238377372764894e-16, + "angularVelocity": -9.086744571589023e-16, + "velocityX": 4.287531572521534, + "velocityY": 0.5571179623462049, + "timestamp": 1.3156094662786506 + }, + { + "x": 6.2391489941190015, + "y": 7.064529363238017, + "heading": -2.7972321354431857e-16, + "angularVelocity": 7.732141403951283e-16, + "velocityX": 4.240337217115807, + "velocityY": 0.8443013202155537, + "timestamp": 1.4095815710128399 + }, + { + "x": 6.583885426153462, + "y": 7.141736757688093, + "heading": -2.25728641853031e-16, + "angularVelocity": 5.74581096050356e-16, + "velocityX": 3.6684975079247897, + "velocityY": 0.8215990763489747, + "timestamp": 1.5035536757470291 + }, + { + "x": 6.875123486119249, + "y": 7.213453599944083, + "heading": -1.755249032552149e-16, + "angularVelocity": 5.3424129243203e-16, + "velocityX": 3.0991969455886323, + "velocityY": 0.7631716077921338, + "timestamp": 1.5975257804812184 + }, + { + "x": 7.112927337691344, + "y": 7.279086965742181, + "heading": -1.3031574273926836e-16, + "angularVelocity": 4.810917183158117e-16, + "velocityX": 2.5305791781660814, + "velocityY": 0.6984345618843045, + "timestamp": 1.6914978852154077 + }, + { + "x": 7.297325668269741, + "y": 7.338389913207113, + "heading": -9.321690493625898e-17, + "angularVelocity": 3.9478604538397664e-16, + "velocityX": 1.9622666864433715, + "velocityY": 0.6310696949237226, + "timestamp": 1.785469989949597 + }, + { + "x": 7.4283346967199675, + "y": 7.3912270589200295, + "heading": -5.778917139368449e-17, + "angularVelocity": 3.770030216563795e-16, + "velocityX": 1.3941267870617549, + "velocityY": 0.5622641512944202, + "timestamp": 1.8794420946837862 + }, + { + "x": 7.50596484417342, + "y": 7.437512912371683, + "heading": -2.877604697913188e-17, + "angularVelocity": 3.0874215564557075e-16, + "velocityX": 0.8260977836895133, + "velocityY": 0.49254886418904925, + "timestamp": 1.9734141994179755 + }, + { + "x": 7.530223369598389, + "y": 7.477188587188721, + "heading": 0, + "angularVelocity": 3.0621931871228367e-16, + "velocityX": 0.25814602630766825, + "velocityY": 0.42220694034401873, + "timestamp": 2.0673863041521647 + }, + { + "x": 7.500103329393163, + "y": 7.510531194938532, + "heading": 1.779046728903491e-17, + "angularVelocity": 1.8703842501578197e-16, + "velocityX": -0.31666471019917375, + "velocityY": 0.3505449246412241, + "timestamp": 2.1625028082142728 + }, + { + "x": 7.415463776975628, + "y": 7.535915868379189, + "heading": 2.4375199309402564e-17, + "angularVelocity": 6.922836439091234e-17, + "velocityX": -0.8898513800734154, + "velocityY": 0.2668797985169528, + "timestamp": 2.257619312276381 + }, + { + "x": 7.276591240327495, + "y": 7.5515799895791, + "heading": 3.036787917564806e-17, + "angularVelocity": 6.300375885015102e-17, + "velocityX": -1.460025660199517, + "velocityY": 0.16468352526083074, + "timestamp": 2.352735816338489 + }, + { + "x": 7.084125232551265, + "y": 7.55445954230526, + "heading": 3.032865591238689e-17, + "angularVelocity": -4.1256799084456108e-19, + "velocityX": -2.023476468844192, + "velocityY": 0.030273954607956743, + "timestamp": 2.447852320400597 + }, + { + "x": 6.840054992354522, + "y": 7.538033455103224, + "heading": 1.9251688156136728e-17, + "angularVelocity": -1.1645684985322104e-16, + "velocityX": -2.566013570378538, + "velocityY": -0.1726943958053017, + "timestamp": 2.542968824462705 + }, + { + "x": 6.556978957286809, + "y": 7.4826940016714385, + "heading": 1.168333713259459e-17, + "angularVelocity": -7.956942087581419e-17, + "velocityX": -2.9760979743487863, + "velocityY": -0.5818070583102407, + "timestamp": 2.638085328524813 + }, + { + "x": 6.309433732631585, + "y": 7.385244419108981, + "heading": 1.7429590751971742e-18, + "angularVelocity": -1.0450697704099872e-16, + "velocityX": -2.6025475504932367, + "velocityY": -1.0245286401220972, + "timestamp": 2.733201832586921 + }, + { + "x": 6.113965558529466, + "y": 7.269803584420074, + "heading": 5.511711951137295e-19, + "angularVelocity": -1.2529970637265847e-17, + "velocityX": -2.0550395121449547, + "velocityY": -1.2136782761902432, + "timestamp": 2.828318336649029 + }, + { + "x": 5.972598051076002, + "y": 7.143930917175248, + "heading": 3.9507181654559564e-19, + "angularVelocity": -1.6412388481640138e-18, + "velocityX": -1.486256342672709, + "velocityY": -1.3233525399690549, + "timestamp": 2.923434840711137 + }, + { + "x": 5.885876308034012, + "y": 7.011019350436582, + "heading": -1.2473375757596908e-19, + "angularVelocity": -5.46489063548754e-18, + "velocityX": -0.9117423300801472, + "velocityY": -1.3973554647335724, + "timestamp": 3.018551344773245 + }, + { + "x": 5.8540120124816895, + "y": 6.8729729652404785, + "heading": 0, + "angularVelocity": 1.3113676254288102e-18, + "velocityX": -0.3350028038363674, + "velocityY": -1.4513399809659164, + "timestamp": 3.113667848835353 + }, + { + "x": 5.876847778987881, + "y": 6.731488948754559, + "heading": -6.062838132168256e-20, + "angularVelocity": -6.395243271042044e-19, + "velocityX": 0.24087875528506464, + "velocityY": -1.4924173346526775, + "timestamp": 3.2084697606069428 + }, + { + "x": 5.954325811159231, + "y": 6.586848059484525, + "heading": 7.478073155132048e-19, + "angularVelocity": 8.527632110701656e-18, + "velocityX": 0.8172623391613877, + "velocityY": -1.5257170089433227, + "timestamp": 3.3032716723785325 + }, + { + "x": 6.086499328065735, + "y": 6.440170804019068, + "heading": 1.4363797703536666e-18, + "angularVelocity": 7.263274930401322e-18, + "velocityX": 1.3942072943118622, + "velocityY": -1.5471972318351441, + "timestamp": 3.398073584150122 + }, + { + "x": 6.273406060259042, + "y": 6.293360751925273, + "heading": 2.311285716611774e-18, + "angularVelocity": 9.22878498013423e-18, + "velocityX": 1.9715502430360803, + "velocityY": -1.5485980119022507, + "timestamp": 3.492875495921712 + }, + { + "x": 6.514914861463926, + "y": 6.1503396100077445, + "heading": -6.2949945446815836e-18, + "angularVelocity": -9.078179443488146e-17, + "velocityX": 2.5475098201304753, + "velocityY": -1.5086314109602783, + "timestamp": 3.5876774076933016 + }, + { + "x": 6.808786265563555, + "y": 6.023252627813635, + "heading": -8.361768144777607e-18, + "angularVelocity": -2.1801082921246504e-17, + "velocityX": 3.099846813302867, + "velocityY": -1.3405529468673267, + "timestamp": 3.6824793194648913 + }, + { + "x": 7.087207051909614, + "y": 5.948672912588583, + "heading": -4.419183708326357e-18, + "angularVelocity": 4.158764914156809e-17, + "velocityX": 2.936868900035097, + "velocityY": -0.7866899921229229, + "timestamp": 3.777281231236481 + }, + { + "x": 7.31638283607853, + "y": 5.897981907722374, + "heading": -1.1654088636534015e-18, + "angularVelocity": 3.4321857421642983e-17, + "velocityX": 2.417417327202346, + "velocityY": -0.5347044581556282, + "timestamp": 3.8720831430080707 + }, + { + "x": 7.493445610240801, + "y": 5.864023394695471, + "heading": 3.540512884513429e-18, + "angularVelocity": 4.963960527569517e-17, + "velocityX": 1.8677131173093207, + "velocityY": -0.3582049390356209, + "timestamp": 3.9668850547796604 + }, + { + "x": 7.6175649999735855, + "y": 5.843947989360528, + "heading": 1.3700368118154038e-18, + "angularVelocity": -2.28948415454817e-17, + "velocityX": 1.3092498601850082, + "velocityY": -0.211761608594753, + "timestamp": 4.06168696655125 + }, + { + "x": 7.688366440099985, + "y": 5.836239441706774, + "heading": 2.2068386463659204e-19, + "angularVelocity": -1.2123711772300208e-17, + "velocityX": 0.7468355732777747, + "velocityY": -0.0813121540414055, + "timestamp": 4.156488878322839 + }, + { + "x": 7.70564079284668, + "y": 5.839958667755127, + "heading": 0, + "angularVelocity": -2.327848859137068e-18, + "velocityX": 0.1822152362033504, + "velocityY": 0.0392315511284381, + "timestamp": 4.251290790094428 + }, + { + "x": 7.666755003045207, + "y": 5.85516685330475, + "heading": 6.870828582257685e-19, + "angularVelocity": 7.054828772599489e-18, + "velocityX": -0.39926835330188015, + "velocityY": 0.1561533720162553, + "timestamp": 4.348683407061851 + }, + { + "x": 7.571237005587491, + "y": 5.8817623602715665, + "heading": 2.2883038209312854e-18, + "angularVelocity": 1.644082969308034e-17, + "velocityX": -0.9807519340878659, + "velocityY": 0.2730751857199539, + "timestamp": 4.446076024029274 + }, + { + "x": 7.419086801662762, + "y": 5.919745187677906, + "heading": 3.101214925430452e-18, + "angularVelocity": 8.346688736165507e-18, + "velocityX": -1.5622355026631383, + "velocityY": 0.3899969893849836, + "timestamp": 4.543468640996697 + }, + { + "x": 7.210304393055825, + "y": 5.969115334062128, + "heading": 4.8294974273863036e-18, + "angularVelocity": 1.7745451453583443e-17, + "velocityX": -2.1437190529124375, + "velocityY": 0.5069187780419899, + "timestamp": 4.64086125796412 + }, + { + "x": 6.944889782743743, + "y": 6.029872797000189, + "heading": 1.1027082338991211e-17, + "angularVelocity": 6.363492534943682e-17, + "velocityX": -2.725202572593995, + "velocityY": 0.6238405418090931, + "timestamp": 4.7382538749315435 + }, + { + "x": 6.622842976687566, + "y": 6.10201757167907, + "heading": 1.8144210010315694e-17, + "angularVelocity": 7.307651508437439e-17, + "velocityX": -3.3066860310689554, + "velocityY": 0.7407622561564634, + "timestamp": 4.835646491898967 + }, + { + "x": 6.244163992803297, + "y": 6.185549643827075, + "heading": 2.6195414899111268e-17, + "angularVelocity": 8.266733840029285e-17, + "velocityX": -3.8881693055870428, + "velocityY": 0.8576838239632234, + "timestamp": 4.93303910886639 + }, + { + "x": 5.904370819071749, + "y": 6.2538736316180685, + "heading": 2.3122125773435226e-17, + "angularVelocity": -3.1555675659560407e-17, + "velocityX": -3.48890074331621, + "velocityY": 0.7015314909925873, + "timestamp": 5.030431725833813 + }, + { + "x": 5.6212098149661305, + "y": 6.310810281162716, + "heading": 1.980566671869573e-17, + "angularVelocity": -3.4052407882747414e-17, + "velocityX": -2.9074175530194926, + "velocityY": 0.5846095044853901, + "timestamp": 5.127824342801236 + }, + { + "x": 5.394681002455137, + "y": 6.356359598333385, + "heading": 1.6213849271933517e-17, + "angularVelocity": -3.6879655779404135e-17, + "velocityX": -2.325934137151687, + "velocityY": 0.46768757827677154, + "timestamp": 5.225216959768659 + }, + { + "x": 5.224784388861421, + "y": 6.390521585086604, + "heading": 1.1716654425896829e-17, + "angularVelocity": -4.6175799547016584e-17, + "velocityX": -1.7444506460961258, + "velocityY": 0.3507656721581154, + "timestamp": 5.322609576736082 + }, + { + "x": 5.111519977846271, + "y": 6.413296242400476, + "heading": 6.31238056070833e-18, + "angularVelocity": -5.54894105440847e-17, + "velocityX": -1.162967117447121, + "velocityY": 0.2338437760828003, + "timestamp": 5.420002193703505 + }, + { + "x": 5.054887771606445, + "y": 6.424683570861816, + "heading": 0, + "angularVelocity": -6.481362807675258e-17, + "velocityX": -0.58148356624218, + "velocityY": 0.11692188603299503, + "timestamp": 5.517394810670928 + }, + { + "x": 5.054887771606445, + "y": 6.424683570861816, + "heading": 0, + "angularVelocity": 0, + "velocityX": 1.6558987478358535e-31, + "velocityY": -3.8185471679149395e-31, + "timestamp": 5.614787427638351 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/North3Note.traj b/src/main/deploy/choreo/North3Note.traj index 0dec7b3..fa15056 100644 --- a/src/main/deploy/choreo/North3Note.traj +++ b/src/main/deploy/choreo/North3Note.traj @@ -1,545 +1,545 @@ -{ - "samples": [ - { - "x": 1.527046799659729, - "y": 6.424683570861816, - "heading": 0, - "angularVelocity": 0, - "velocityX": 0, - "velocityY": 0, - "timestamp": 0 - }, - { - "x": 1.5803778722762798, - "y": 6.431613307648725, - "heading": -7.238976046606308e-20, - "angularVelocity": -7.704500795241715e-19, - "velocityX": 0.5675202526066888, - "velocityY": 0.07374248780027282, - "timestamp": 0.09397210473418934 - }, - { - "x": 1.68704001649222, - "y": 6.445472781090374, - "heading": -7.766412640921261e-19, - "angularVelocity": -7.494484321596982e-18, - "velocityX": 1.135040494389377, - "velocityY": 0.1474849741940998, - "timestamp": 0.18794420946837867 - }, - { - "x": 1.8470332308835264, - "y": 6.466261991001732, - "heading": 5.341232520337701e-18, - "angularVelocity": 6.510278815728929e-17, - "velocityX": 1.7025607210184963, - "velocityY": 0.22122745861890658, - "timestamp": 0.281916314202568 - }, - { - "x": 2.060357513314171, - "y": 6.4939809371052455, - "heading": 1.0374456143775375e-17, - "angularVelocity": 5.356041194946413e-17, - "velocityX": 2.2700809249173326, - "velocityY": 0.2949699400901919, - "timestamp": 0.37588841893675734 - }, - { - "x": 2.3270128602241256, - "y": 6.528629618938332, - "heading": 1.5622472868888807e-17, - "angularVelocity": 5.584612294643159e-17, - "velocityX": 2.83760109093256, - "velocityY": 0.36871241663896615, - "timestamp": 0.46986052367094666 - }, - { - "x": 2.646999264493404, - "y": 6.570208035575839, - "heading": 1.828783002953645e-17, - "angularVelocity": 2.83627951640822e-17, - "velocityX": 3.4051211811813413, - "velocityY": 0.44245488334281696, - "timestamp": 0.563832628405136 - }, - { - "x": 3.020316704762692, - "y": 6.618716184242384, - "heading": 2.4259927284441674e-17, - "angularVelocity": 6.355118340467644e-17, - "velocityX": 3.9726410441377396, - "velocityY": 0.516197320512797, - "timestamp": 0.6578047331393254 - }, - { - "x": 3.4232251231318087, - "y": 6.671069327570229, - "heading": 1.2251203345153583e-17, - "angularVelocity": -1.2779030516969416e-16, - "velocityX": 4.287532129976935, - "velocityY": 0.5571136612926704, - "timestamp": 0.7517768378735148 - }, - { - "x": 3.826133541501536, - "y": 6.72342247089821, - "heading": -3.0725420146816944e-17, - "angularVelocity": -4.57333839797614e-16, - "velocityX": 4.287532129983888, - "velocityY": 0.5571136612941865, - "timestamp": 0.8457489426077042 - }, - { - "x": 4.229041959871261, - "y": 6.775775614226211, - "heading": -3.609315802714011e-17, - "angularVelocity": -5.712054546204108e-17, - "velocityX": 4.287532129983866, - "velocityY": 0.5571136612943784, - "timestamp": 0.9397210473418935 - }, - { - "x": 4.631950378240786, - "y": 6.8281287575557545, - "heading": -1.1924499875293168e-16, - "angularVelocity": -8.848566386893959e-16, - "velocityX": 4.28753212998173, - "velocityY": 0.5571136613108173, - "timestamp": 1.0336931520760828 - }, - { - "x": 5.034858796597671, - "y": 6.8804819009825735, - "heading": -2.1295278854430073e-16, - "angularVelocity": -9.971871592067265e-16, - "velocityX": 4.287532129847148, - "velocityY": 0.5571136623465057, - "timestamp": 1.127665256810272 - }, - { - "x": 5.437767215061566, - "y": 6.932835043626118, - "heading": -2.6699372248080257e-16, - "angularVelocity": -5.75074210471511e-16, - "velocityX": 4.287532130981454, - "velocityY": 0.557113654045475, - "timestamp": 1.2216373615444613 - }, - { - "x": 5.840675581043441, - "y": 6.985188591149217, - "heading": -3.5238377372764894e-16, - "angularVelocity": -9.086744571589023e-16, - "velocityX": 4.287531572521534, - "velocityY": 0.5571179623462049, - "timestamp": 1.3156094662786506 - }, - { - "x": 6.2391489941190015, - "y": 7.064529363238017, - "heading": -2.7972321354431857e-16, - "angularVelocity": 7.732141403951283e-16, - "velocityX": 4.240337217115807, - "velocityY": 0.8443013202155537, - "timestamp": 1.4095815710128399 - }, - { - "x": 6.583885426153462, - "y": 7.141736757688093, - "heading": -2.25728641853031e-16, - "angularVelocity": 5.74581096050356e-16, - "velocityX": 3.6684975079247897, - "velocityY": 0.8215990763489747, - "timestamp": 1.5035536757470291 - }, - { - "x": 6.875123486119249, - "y": 7.213453599944083, - "heading": -1.755249032552149e-16, - "angularVelocity": 5.3424129243203e-16, - "velocityX": 3.0991969455886323, - "velocityY": 0.7631716077921338, - "timestamp": 1.5975257804812184 - }, - { - "x": 7.112927337691344, - "y": 7.279086965742181, - "heading": -1.3031574273926836e-16, - "angularVelocity": 4.810917183158117e-16, - "velocityX": 2.5305791781660814, - "velocityY": 0.6984345618843045, - "timestamp": 1.6914978852154077 - }, - { - "x": 7.297325668269741, - "y": 7.338389913207113, - "heading": -9.321690493625898e-17, - "angularVelocity": 3.9478604538397664e-16, - "velocityX": 1.9622666864433715, - "velocityY": 0.6310696949237226, - "timestamp": 1.785469989949597 - }, - { - "x": 7.4283346967199675, - "y": 7.3912270589200295, - "heading": -5.778917139368449e-17, - "angularVelocity": 3.770030216563795e-16, - "velocityX": 1.3941267870617549, - "velocityY": 0.5622641512944202, - "timestamp": 1.8794420946837862 - }, - { - "x": 7.50596484417342, - "y": 7.437512912371683, - "heading": -2.877604697913188e-17, - "angularVelocity": 3.0874215564557075e-16, - "velocityX": 0.8260977836895133, - "velocityY": 0.49254886418904925, - "timestamp": 1.9734141994179755 - }, - { - "x": 7.530223369598389, - "y": 7.477188587188721, - "heading": 0, - "angularVelocity": 3.0621931871228367e-16, - "velocityX": 0.25814602630766825, - "velocityY": 0.42220694034401873, - "timestamp": 2.0673863041521647 - }, - { - "x": 7.500103329393163, - "y": 7.510531194938532, - "heading": 1.779046728903491e-17, - "angularVelocity": 1.8703842501578197e-16, - "velocityX": -0.31666471019917375, - "velocityY": 0.3505449246412241, - "timestamp": 2.1625028082142728 - }, - { - "x": 7.415463776975628, - "y": 7.535915868379189, - "heading": 2.4375199309402564e-17, - "angularVelocity": 6.922836439091234e-17, - "velocityX": -0.8898513800734154, - "velocityY": 0.2668797985169528, - "timestamp": 2.257619312276381 - }, - { - "x": 7.276591240327495, - "y": 7.5515799895791, - "heading": 3.036787917564806e-17, - "angularVelocity": 6.300375885015102e-17, - "velocityX": -1.460025660199517, - "velocityY": 0.16468352526083074, - "timestamp": 2.352735816338489 - }, - { - "x": 7.084125232551265, - "y": 7.55445954230526, - "heading": 3.032865591238689e-17, - "angularVelocity": -4.1256799084456108e-19, - "velocityX": -2.023476468844192, - "velocityY": 0.030273954607956743, - "timestamp": 2.447852320400597 - }, - { - "x": 6.840054992354522, - "y": 7.538033455103224, - "heading": 1.9251688156136728e-17, - "angularVelocity": -1.1645684985322104e-16, - "velocityX": -2.566013570378538, - "velocityY": -0.1726943958053017, - "timestamp": 2.542968824462705 - }, - { - "x": 6.556978957286809, - "y": 7.4826940016714385, - "heading": 1.168333713259459e-17, - "angularVelocity": -7.956942087581419e-17, - "velocityX": -2.9760979743487863, - "velocityY": -0.5818070583102407, - "timestamp": 2.638085328524813 - }, - { - "x": 6.309433732631585, - "y": 7.385244419108981, - "heading": 1.7429590751971742e-18, - "angularVelocity": -1.0450697704099872e-16, - "velocityX": -2.6025475504932367, - "velocityY": -1.0245286401220972, - "timestamp": 2.733201832586921 - }, - { - "x": 6.113965558529466, - "y": 7.269803584420074, - "heading": 5.511711951137295e-19, - "angularVelocity": -1.2529970637265847e-17, - "velocityX": -2.0550395121449547, - "velocityY": -1.2136782761902432, - "timestamp": 2.828318336649029 - }, - { - "x": 5.972598051076002, - "y": 7.143930917175248, - "heading": 3.9507181654559564e-19, - "angularVelocity": -1.6412388481640138e-18, - "velocityX": -1.486256342672709, - "velocityY": -1.3233525399690549, - "timestamp": 2.923434840711137 - }, - { - "x": 5.885876308034012, - "y": 7.011019350436582, - "heading": -1.2473375757596908e-19, - "angularVelocity": -5.46489063548754e-18, - "velocityX": -0.9117423300801472, - "velocityY": -1.3973554647335724, - "timestamp": 3.018551344773245 - }, - { - "x": 5.8540120124816895, - "y": 6.8729729652404785, - "heading": 0, - "angularVelocity": 1.3113676254288102e-18, - "velocityX": -0.3350028038363674, - "velocityY": -1.4513399809659164, - "timestamp": 3.113667848835353 - }, - { - "x": 5.876847778987881, - "y": 6.731488948754559, - "heading": -6.062838132168256e-20, - "angularVelocity": -6.395243271042044e-19, - "velocityX": 0.24087875528506464, - "velocityY": -1.4924173346526775, - "timestamp": 3.2084697606069428 - }, - { - "x": 5.954325811159231, - "y": 6.586848059484525, - "heading": 7.478073155132048e-19, - "angularVelocity": 8.527632110701656e-18, - "velocityX": 0.8172623391613877, - "velocityY": -1.5257170089433227, - "timestamp": 3.3032716723785325 - }, - { - "x": 6.086499328065735, - "y": 6.440170804019068, - "heading": 1.4363797703536666e-18, - "angularVelocity": 7.263274930401322e-18, - "velocityX": 1.3942072943118622, - "velocityY": -1.5471972318351441, - "timestamp": 3.398073584150122 - }, - { - "x": 6.273406060259042, - "y": 6.293360751925273, - "heading": 2.311285716611774e-18, - "angularVelocity": 9.22878498013423e-18, - "velocityX": 1.9715502430360803, - "velocityY": -1.5485980119022507, - "timestamp": 3.492875495921712 - }, - { - "x": 6.514914861463926, - "y": 6.1503396100077445, - "heading": -6.2949945446815836e-18, - "angularVelocity": -9.078179443488146e-17, - "velocityX": 2.5475098201304753, - "velocityY": -1.5086314109602783, - "timestamp": 3.5876774076933016 - }, - { - "x": 6.808786265563555, - "y": 6.023252627813635, - "heading": -8.361768144777607e-18, - "angularVelocity": -2.1801082921246504e-17, - "velocityX": 3.099846813302867, - "velocityY": -1.3405529468673267, - "timestamp": 3.6824793194648913 - }, - { - "x": 7.087207051909614, - "y": 5.948672912588583, - "heading": -4.419183708326357e-18, - "angularVelocity": 4.158764914156809e-17, - "velocityX": 2.936868900035097, - "velocityY": -0.7866899921229229, - "timestamp": 3.777281231236481 - }, - { - "x": 7.31638283607853, - "y": 5.897981907722374, - "heading": -1.1654088636534015e-18, - "angularVelocity": 3.4321857421642983e-17, - "velocityX": 2.417417327202346, - "velocityY": -0.5347044581556282, - "timestamp": 3.8720831430080707 - }, - { - "x": 7.493445610240801, - "y": 5.864023394695471, - "heading": 3.540512884513429e-18, - "angularVelocity": 4.963960527569517e-17, - "velocityX": 1.8677131173093207, - "velocityY": -0.3582049390356209, - "timestamp": 3.9668850547796604 - }, - { - "x": 7.6175649999735855, - "y": 5.843947989360528, - "heading": 1.3700368118154038e-18, - "angularVelocity": -2.28948415454817e-17, - "velocityX": 1.3092498601850082, - "velocityY": -0.211761608594753, - "timestamp": 4.06168696655125 - }, - { - "x": 7.688366440099985, - "y": 5.836239441706774, - "heading": 2.2068386463659204e-19, - "angularVelocity": -1.2123711772300208e-17, - "velocityX": 0.7468355732777747, - "velocityY": -0.0813121540414055, - "timestamp": 4.156488878322839 - }, - { - "x": 7.70564079284668, - "y": 5.839958667755127, - "heading": 0, - "angularVelocity": -2.327848859137068e-18, - "velocityX": 0.1822152362033504, - "velocityY": 0.0392315511284381, - "timestamp": 4.251290790094428 - }, - { - "x": 7.666755003045207, - "y": 5.85516685330475, - "heading": 6.870828582257685e-19, - "angularVelocity": 7.054828772599489e-18, - "velocityX": -0.39926835330188015, - "velocityY": 0.1561533720162553, - "timestamp": 4.348683407061851 - }, - { - "x": 7.571237005587491, - "y": 5.8817623602715665, - "heading": 2.2883038209312854e-18, - "angularVelocity": 1.644082969308034e-17, - "velocityX": -0.9807519340878659, - "velocityY": 0.2730751857199539, - "timestamp": 4.446076024029274 - }, - { - "x": 7.419086801662762, - "y": 5.919745187677906, - "heading": 3.101214925430452e-18, - "angularVelocity": 8.346688736165507e-18, - "velocityX": -1.5622355026631383, - "velocityY": 0.3899969893849836, - "timestamp": 4.543468640996697 - }, - { - "x": 7.210304393055825, - "y": 5.969115334062128, - "heading": 4.8294974273863036e-18, - "angularVelocity": 1.7745451453583443e-17, - "velocityX": -2.1437190529124375, - "velocityY": 0.5069187780419899, - "timestamp": 4.64086125796412 - }, - { - "x": 6.944889782743743, - "y": 6.029872797000189, - "heading": 1.1027082338991211e-17, - "angularVelocity": 6.363492534943682e-17, - "velocityX": -2.725202572593995, - "velocityY": 0.6238405418090931, - "timestamp": 4.7382538749315435 - }, - { - "x": 6.622842976687566, - "y": 6.10201757167907, - "heading": 1.8144210010315694e-17, - "angularVelocity": 7.307651508437439e-17, - "velocityX": -3.3066860310689554, - "velocityY": 0.7407622561564634, - "timestamp": 4.835646491898967 - }, - { - "x": 6.244163992803297, - "y": 6.185549643827075, - "heading": 2.6195414899111268e-17, - "angularVelocity": 8.266733840029285e-17, - "velocityX": -3.8881693055870428, - "velocityY": 0.8576838239632234, - "timestamp": 4.93303910886639 - }, - { - "x": 5.904370819071749, - "y": 6.2538736316180685, - "heading": 2.3122125773435226e-17, - "angularVelocity": -3.1555675659560407e-17, - "velocityX": -3.48890074331621, - "velocityY": 0.7015314909925873, - "timestamp": 5.030431725833813 - }, - { - "x": 5.6212098149661305, - "y": 6.310810281162716, - "heading": 1.980566671869573e-17, - "angularVelocity": -3.4052407882747414e-17, - "velocityX": -2.9074175530194926, - "velocityY": 0.5846095044853901, - "timestamp": 5.127824342801236 - }, - { - "x": 5.394681002455137, - "y": 6.356359598333385, - "heading": 1.6213849271933517e-17, - "angularVelocity": -3.6879655779404135e-17, - "velocityX": -2.325934137151687, - "velocityY": 0.46768757827677154, - "timestamp": 5.225216959768659 - }, - { - "x": 5.224784388861421, - "y": 6.390521585086604, - "heading": 1.1716654425896829e-17, - "angularVelocity": -4.6175799547016584e-17, - "velocityX": -1.7444506460961258, - "velocityY": 0.3507656721581154, - "timestamp": 5.322609576736082 - }, - { - "x": 5.111519977846271, - "y": 6.413296242400476, - "heading": 6.31238056070833e-18, - "angularVelocity": -5.54894105440847e-17, - "velocityX": -1.162967117447121, - "velocityY": 0.2338437760828003, - "timestamp": 5.420002193703505 - }, - { - "x": 5.054887771606445, - "y": 6.424683570861816, - "heading": 0, - "angularVelocity": -6.481362807675258e-17, - "velocityX": -0.58148356624218, - "velocityY": 0.11692188603299503, - "timestamp": 5.517394810670928 - }, - { - "x": 5.054887771606445, - "y": 6.424683570861816, - "heading": 0, - "angularVelocity": 0, - "velocityX": 1.6558987478358535e-31, - "velocityY": -3.8185471679149395e-31, - "timestamp": 5.614787427638351 - } - ], - "eventMarkers": [] +{ + "samples": [ + { + "x": 1.527046799659729, + "y": 6.424683570861816, + "heading": 0, + "angularVelocity": 0, + "velocityX": 0, + "velocityY": 0, + "timestamp": 0 + }, + { + "x": 1.5803778722762798, + "y": 6.431613307648725, + "heading": -7.238976046606308e-20, + "angularVelocity": -7.704500795241715e-19, + "velocityX": 0.5675202526066888, + "velocityY": 0.07374248780027282, + "timestamp": 0.09397210473418934 + }, + { + "x": 1.68704001649222, + "y": 6.445472781090374, + "heading": -7.766412640921261e-19, + "angularVelocity": -7.494484321596982e-18, + "velocityX": 1.135040494389377, + "velocityY": 0.1474849741940998, + "timestamp": 0.18794420946837867 + }, + { + "x": 1.8470332308835264, + "y": 6.466261991001732, + "heading": 5.341232520337701e-18, + "angularVelocity": 6.510278815728929e-17, + "velocityX": 1.7025607210184963, + "velocityY": 0.22122745861890658, + "timestamp": 0.281916314202568 + }, + { + "x": 2.060357513314171, + "y": 6.4939809371052455, + "heading": 1.0374456143775375e-17, + "angularVelocity": 5.356041194946413e-17, + "velocityX": 2.2700809249173326, + "velocityY": 0.2949699400901919, + "timestamp": 0.37588841893675734 + }, + { + "x": 2.3270128602241256, + "y": 6.528629618938332, + "heading": 1.5622472868888807e-17, + "angularVelocity": 5.584612294643159e-17, + "velocityX": 2.83760109093256, + "velocityY": 0.36871241663896615, + "timestamp": 0.46986052367094666 + }, + { + "x": 2.646999264493404, + "y": 6.570208035575839, + "heading": 1.828783002953645e-17, + "angularVelocity": 2.83627951640822e-17, + "velocityX": 3.4051211811813413, + "velocityY": 0.44245488334281696, + "timestamp": 0.563832628405136 + }, + { + "x": 3.020316704762692, + "y": 6.618716184242384, + "heading": 2.4259927284441674e-17, + "angularVelocity": 6.355118340467644e-17, + "velocityX": 3.9726410441377396, + "velocityY": 0.516197320512797, + "timestamp": 0.6578047331393254 + }, + { + "x": 3.4232251231318087, + "y": 6.671069327570229, + "heading": 1.2251203345153583e-17, + "angularVelocity": -1.2779030516969416e-16, + "velocityX": 4.287532129976935, + "velocityY": 0.5571136612926704, + "timestamp": 0.7517768378735148 + }, + { + "x": 3.826133541501536, + "y": 6.72342247089821, + "heading": -3.0725420146816944e-17, + "angularVelocity": -4.57333839797614e-16, + "velocityX": 4.287532129983888, + "velocityY": 0.5571136612941865, + "timestamp": 0.8457489426077042 + }, + { + "x": 4.229041959871261, + "y": 6.775775614226211, + "heading": -3.609315802714011e-17, + "angularVelocity": -5.712054546204108e-17, + "velocityX": 4.287532129983866, + "velocityY": 0.5571136612943784, + "timestamp": 0.9397210473418935 + }, + { + "x": 4.631950378240786, + "y": 6.8281287575557545, + "heading": -1.1924499875293168e-16, + "angularVelocity": -8.848566386893959e-16, + "velocityX": 4.28753212998173, + "velocityY": 0.5571136613108173, + "timestamp": 1.0336931520760828 + }, + { + "x": 5.034858796597671, + "y": 6.8804819009825735, + "heading": -2.1295278854430073e-16, + "angularVelocity": -9.971871592067265e-16, + "velocityX": 4.287532129847148, + "velocityY": 0.5571136623465057, + "timestamp": 1.127665256810272 + }, + { + "x": 5.437767215061566, + "y": 6.932835043626118, + "heading": -2.6699372248080257e-16, + "angularVelocity": -5.75074210471511e-16, + "velocityX": 4.287532130981454, + "velocityY": 0.557113654045475, + "timestamp": 1.2216373615444613 + }, + { + "x": 5.840675581043441, + "y": 6.985188591149217, + "heading": -3.5238377372764894e-16, + "angularVelocity": -9.086744571589023e-16, + "velocityX": 4.287531572521534, + "velocityY": 0.5571179623462049, + "timestamp": 1.3156094662786506 + }, + { + "x": 6.2391489941190015, + "y": 7.064529363238017, + "heading": -2.7972321354431857e-16, + "angularVelocity": 7.732141403951283e-16, + "velocityX": 4.240337217115807, + "velocityY": 0.8443013202155537, + "timestamp": 1.4095815710128399 + }, + { + "x": 6.583885426153462, + "y": 7.141736757688093, + "heading": -2.25728641853031e-16, + "angularVelocity": 5.74581096050356e-16, + "velocityX": 3.6684975079247897, + "velocityY": 0.8215990763489747, + "timestamp": 1.5035536757470291 + }, + { + "x": 6.875123486119249, + "y": 7.213453599944083, + "heading": -1.755249032552149e-16, + "angularVelocity": 5.3424129243203e-16, + "velocityX": 3.0991969455886323, + "velocityY": 0.7631716077921338, + "timestamp": 1.5975257804812184 + }, + { + "x": 7.112927337691344, + "y": 7.279086965742181, + "heading": -1.3031574273926836e-16, + "angularVelocity": 4.810917183158117e-16, + "velocityX": 2.5305791781660814, + "velocityY": 0.6984345618843045, + "timestamp": 1.6914978852154077 + }, + { + "x": 7.297325668269741, + "y": 7.338389913207113, + "heading": -9.321690493625898e-17, + "angularVelocity": 3.9478604538397664e-16, + "velocityX": 1.9622666864433715, + "velocityY": 0.6310696949237226, + "timestamp": 1.785469989949597 + }, + { + "x": 7.4283346967199675, + "y": 7.3912270589200295, + "heading": -5.778917139368449e-17, + "angularVelocity": 3.770030216563795e-16, + "velocityX": 1.3941267870617549, + "velocityY": 0.5622641512944202, + "timestamp": 1.8794420946837862 + }, + { + "x": 7.50596484417342, + "y": 7.437512912371683, + "heading": -2.877604697913188e-17, + "angularVelocity": 3.0874215564557075e-16, + "velocityX": 0.8260977836895133, + "velocityY": 0.49254886418904925, + "timestamp": 1.9734141994179755 + }, + { + "x": 7.530223369598389, + "y": 7.477188587188721, + "heading": 0, + "angularVelocity": 3.0621931871228367e-16, + "velocityX": 0.25814602630766825, + "velocityY": 0.42220694034401873, + "timestamp": 2.0673863041521647 + }, + { + "x": 7.500103329393163, + "y": 7.510531194938532, + "heading": 1.779046728903491e-17, + "angularVelocity": 1.8703842501578197e-16, + "velocityX": -0.31666471019917375, + "velocityY": 0.3505449246412241, + "timestamp": 2.1625028082142728 + }, + { + "x": 7.415463776975628, + "y": 7.535915868379189, + "heading": 2.4375199309402564e-17, + "angularVelocity": 6.922836439091234e-17, + "velocityX": -0.8898513800734154, + "velocityY": 0.2668797985169528, + "timestamp": 2.257619312276381 + }, + { + "x": 7.276591240327495, + "y": 7.5515799895791, + "heading": 3.036787917564806e-17, + "angularVelocity": 6.300375885015102e-17, + "velocityX": -1.460025660199517, + "velocityY": 0.16468352526083074, + "timestamp": 2.352735816338489 + }, + { + "x": 7.084125232551265, + "y": 7.55445954230526, + "heading": 3.032865591238689e-17, + "angularVelocity": -4.1256799084456108e-19, + "velocityX": -2.023476468844192, + "velocityY": 0.030273954607956743, + "timestamp": 2.447852320400597 + }, + { + "x": 6.840054992354522, + "y": 7.538033455103224, + "heading": 1.9251688156136728e-17, + "angularVelocity": -1.1645684985322104e-16, + "velocityX": -2.566013570378538, + "velocityY": -0.1726943958053017, + "timestamp": 2.542968824462705 + }, + { + "x": 6.556978957286809, + "y": 7.4826940016714385, + "heading": 1.168333713259459e-17, + "angularVelocity": -7.956942087581419e-17, + "velocityX": -2.9760979743487863, + "velocityY": -0.5818070583102407, + "timestamp": 2.638085328524813 + }, + { + "x": 6.309433732631585, + "y": 7.385244419108981, + "heading": 1.7429590751971742e-18, + "angularVelocity": -1.0450697704099872e-16, + "velocityX": -2.6025475504932367, + "velocityY": -1.0245286401220972, + "timestamp": 2.733201832586921 + }, + { + "x": 6.113965558529466, + "y": 7.269803584420074, + "heading": 5.511711951137295e-19, + "angularVelocity": -1.2529970637265847e-17, + "velocityX": -2.0550395121449547, + "velocityY": -1.2136782761902432, + "timestamp": 2.828318336649029 + }, + { + "x": 5.972598051076002, + "y": 7.143930917175248, + "heading": 3.9507181654559564e-19, + "angularVelocity": -1.6412388481640138e-18, + "velocityX": -1.486256342672709, + "velocityY": -1.3233525399690549, + "timestamp": 2.923434840711137 + }, + { + "x": 5.885876308034012, + "y": 7.011019350436582, + "heading": -1.2473375757596908e-19, + "angularVelocity": -5.46489063548754e-18, + "velocityX": -0.9117423300801472, + "velocityY": -1.3973554647335724, + "timestamp": 3.018551344773245 + }, + { + "x": 5.8540120124816895, + "y": 6.8729729652404785, + "heading": 0, + "angularVelocity": 1.3113676254288102e-18, + "velocityX": -0.3350028038363674, + "velocityY": -1.4513399809659164, + "timestamp": 3.113667848835353 + }, + { + "x": 5.876847778987881, + "y": 6.731488948754559, + "heading": -6.062838132168256e-20, + "angularVelocity": -6.395243271042044e-19, + "velocityX": 0.24087875528506464, + "velocityY": -1.4924173346526775, + "timestamp": 3.2084697606069428 + }, + { + "x": 5.954325811159231, + "y": 6.586848059484525, + "heading": 7.478073155132048e-19, + "angularVelocity": 8.527632110701656e-18, + "velocityX": 0.8172623391613877, + "velocityY": -1.5257170089433227, + "timestamp": 3.3032716723785325 + }, + { + "x": 6.086499328065735, + "y": 6.440170804019068, + "heading": 1.4363797703536666e-18, + "angularVelocity": 7.263274930401322e-18, + "velocityX": 1.3942072943118622, + "velocityY": -1.5471972318351441, + "timestamp": 3.398073584150122 + }, + { + "x": 6.273406060259042, + "y": 6.293360751925273, + "heading": 2.311285716611774e-18, + "angularVelocity": 9.22878498013423e-18, + "velocityX": 1.9715502430360803, + "velocityY": -1.5485980119022507, + "timestamp": 3.492875495921712 + }, + { + "x": 6.514914861463926, + "y": 6.1503396100077445, + "heading": -6.2949945446815836e-18, + "angularVelocity": -9.078179443488146e-17, + "velocityX": 2.5475098201304753, + "velocityY": -1.5086314109602783, + "timestamp": 3.5876774076933016 + }, + { + "x": 6.808786265563555, + "y": 6.023252627813635, + "heading": -8.361768144777607e-18, + "angularVelocity": -2.1801082921246504e-17, + "velocityX": 3.099846813302867, + "velocityY": -1.3405529468673267, + "timestamp": 3.6824793194648913 + }, + { + "x": 7.087207051909614, + "y": 5.948672912588583, + "heading": -4.419183708326357e-18, + "angularVelocity": 4.158764914156809e-17, + "velocityX": 2.936868900035097, + "velocityY": -0.7866899921229229, + "timestamp": 3.777281231236481 + }, + { + "x": 7.31638283607853, + "y": 5.897981907722374, + "heading": -1.1654088636534015e-18, + "angularVelocity": 3.4321857421642983e-17, + "velocityX": 2.417417327202346, + "velocityY": -0.5347044581556282, + "timestamp": 3.8720831430080707 + }, + { + "x": 7.493445610240801, + "y": 5.864023394695471, + "heading": 3.540512884513429e-18, + "angularVelocity": 4.963960527569517e-17, + "velocityX": 1.8677131173093207, + "velocityY": -0.3582049390356209, + "timestamp": 3.9668850547796604 + }, + { + "x": 7.6175649999735855, + "y": 5.843947989360528, + "heading": 1.3700368118154038e-18, + "angularVelocity": -2.28948415454817e-17, + "velocityX": 1.3092498601850082, + "velocityY": -0.211761608594753, + "timestamp": 4.06168696655125 + }, + { + "x": 7.688366440099985, + "y": 5.836239441706774, + "heading": 2.2068386463659204e-19, + "angularVelocity": -1.2123711772300208e-17, + "velocityX": 0.7468355732777747, + "velocityY": -0.0813121540414055, + "timestamp": 4.156488878322839 + }, + { + "x": 7.70564079284668, + "y": 5.839958667755127, + "heading": 0, + "angularVelocity": -2.327848859137068e-18, + "velocityX": 0.1822152362033504, + "velocityY": 0.0392315511284381, + "timestamp": 4.251290790094428 + }, + { + "x": 7.666755003045207, + "y": 5.85516685330475, + "heading": 6.870828582257685e-19, + "angularVelocity": 7.054828772599489e-18, + "velocityX": -0.39926835330188015, + "velocityY": 0.1561533720162553, + "timestamp": 4.348683407061851 + }, + { + "x": 7.571237005587491, + "y": 5.8817623602715665, + "heading": 2.2883038209312854e-18, + "angularVelocity": 1.644082969308034e-17, + "velocityX": -0.9807519340878659, + "velocityY": 0.2730751857199539, + "timestamp": 4.446076024029274 + }, + { + "x": 7.419086801662762, + "y": 5.919745187677906, + "heading": 3.101214925430452e-18, + "angularVelocity": 8.346688736165507e-18, + "velocityX": -1.5622355026631383, + "velocityY": 0.3899969893849836, + "timestamp": 4.543468640996697 + }, + { + "x": 7.210304393055825, + "y": 5.969115334062128, + "heading": 4.8294974273863036e-18, + "angularVelocity": 1.7745451453583443e-17, + "velocityX": -2.1437190529124375, + "velocityY": 0.5069187780419899, + "timestamp": 4.64086125796412 + }, + { + "x": 6.944889782743743, + "y": 6.029872797000189, + "heading": 1.1027082338991211e-17, + "angularVelocity": 6.363492534943682e-17, + "velocityX": -2.725202572593995, + "velocityY": 0.6238405418090931, + "timestamp": 4.7382538749315435 + }, + { + "x": 6.622842976687566, + "y": 6.10201757167907, + "heading": 1.8144210010315694e-17, + "angularVelocity": 7.307651508437439e-17, + "velocityX": -3.3066860310689554, + "velocityY": 0.7407622561564634, + "timestamp": 4.835646491898967 + }, + { + "x": 6.244163992803297, + "y": 6.185549643827075, + "heading": 2.6195414899111268e-17, + "angularVelocity": 8.266733840029285e-17, + "velocityX": -3.8881693055870428, + "velocityY": 0.8576838239632234, + "timestamp": 4.93303910886639 + }, + { + "x": 5.904370819071749, + "y": 6.2538736316180685, + "heading": 2.3122125773435226e-17, + "angularVelocity": -3.1555675659560407e-17, + "velocityX": -3.48890074331621, + "velocityY": 0.7015314909925873, + "timestamp": 5.030431725833813 + }, + { + "x": 5.6212098149661305, + "y": 6.310810281162716, + "heading": 1.980566671869573e-17, + "angularVelocity": -3.4052407882747414e-17, + "velocityX": -2.9074175530194926, + "velocityY": 0.5846095044853901, + "timestamp": 5.127824342801236 + }, + { + "x": 5.394681002455137, + "y": 6.356359598333385, + "heading": 1.6213849271933517e-17, + "angularVelocity": -3.6879655779404135e-17, + "velocityX": -2.325934137151687, + "velocityY": 0.46768757827677154, + "timestamp": 5.225216959768659 + }, + { + "x": 5.224784388861421, + "y": 6.390521585086604, + "heading": 1.1716654425896829e-17, + "angularVelocity": -4.6175799547016584e-17, + "velocityX": -1.7444506460961258, + "velocityY": 0.3507656721581154, + "timestamp": 5.322609576736082 + }, + { + "x": 5.111519977846271, + "y": 6.413296242400476, + "heading": 6.31238056070833e-18, + "angularVelocity": -5.54894105440847e-17, + "velocityX": -1.162967117447121, + "velocityY": 0.2338437760828003, + "timestamp": 5.420002193703505 + }, + { + "x": 5.054887771606445, + "y": 6.424683570861816, + "heading": 0, + "angularVelocity": -6.481362807675258e-17, + "velocityX": -0.58148356624218, + "velocityY": 0.11692188603299503, + "timestamp": 5.517394810670928 + }, + { + "x": 5.054887771606445, + "y": 6.424683570861816, + "heading": 0, + "angularVelocity": 0, + "velocityX": 1.6558987478358535e-31, + "velocityY": -3.8185471679149395e-31, + "timestamp": 5.614787427638351 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/Source4Note345.1.traj b/src/main/deploy/choreo/Source4Note345.1.traj index 1fc5f15..fcff0ff 100644 --- a/src/main/deploy/choreo/Source4Note345.1.traj +++ b/src/main/deploy/choreo/Source4Note345.1.traj @@ -1,1725 +1,1725 @@ -{ - "samples": [ - { - "x": 0.7012643218040466, - "y": 4.475527763366699, - "heading": -1.0584069524694912, - "angularVelocity": 1.35595729168612e-25, - "velocityX": 1.4664818087675264e-24, - "velocityY": -6.87247645585249e-24, - "timestamp": 0 - }, - { - "x": 0.7130752441042216, - "y": 4.47752481036138, - "heading": -1.047874914711513, - "angularVelocity": 0.2134496897391787, - "velocityX": 0.2393684639609371, - "velocityY": 0.04047355993251818, - "timestamp": 0.049342014836600986 - }, - { - "x": 0.7367161607859627, - "y": 4.4815156769193, - "heading": -1.0270238646876997, - "angularVelocity": 0.4225820549254573, - "velocityX": 0.4791234561464372, - "velocityY": 0.08088171046795564, - "timestamp": 0.09868402967320197 - }, - { - "x": 0.7722110412083123, - "y": 4.487495862541681, - "heading": -0.9961275558882633, - "angularVelocity": 0.6261663392091168, - "velocityX": 0.7193642282321278, - "velocityY": 0.12119865072768905, - "timestamp": 0.14802604450980295 - }, - { - "x": 0.8195885546525802, - "y": 4.495458383955774, - "heading": -0.9555170011670803, - "angularVelocity": 0.8230420840265095, - "velocityX": 0.9601860321505173, - "velocityY": 0.161374063066966, - "timestamp": 0.19736805934640395 - }, - { - "x": 0.8788815466573906, - "y": 4.505392734371882, - "heading": -0.9055732183825892, - "angularVelocity": 1.0121958527612376, - "velocityX": 1.2016735068716329, - "velocityY": 0.20133653741150442, - "timestamp": 0.24671007418300495 - }, - { - "x": 0.9501261855969747, - "y": 4.517284465001881, - "heading": -0.8467167723668201, - "angularVelocity": 1.1928261586130158, - "velocityX": 1.443893995320518, - "velocityY": 0.24100618244671507, - "timestamp": 0.29605208901960595 - }, - { - "x": 1.033361036653653, - "y": 4.531115857788243, - "heading": -0.7793984190016389, - "angularVelocity": 1.3643211285171442, - "velocityX": 1.6868960728968083, - "velocityY": 0.2803167408579883, - "timestamp": 0.34539410385620695 - }, - { - "x": 1.1286266721674085, - "y": 4.54686791226827, - "heading": -0.7041006841948274, - "angularVelocity": 1.526036888768416, - "velocityX": 1.9307204180703474, - "velocityY": 0.319242222519503, - "timestamp": 0.39473611869280795 - }, - { - "x": 1.2359667010079436, - "y": 4.564523241147516, - "heading": -0.6213665168496443, - "angularVelocity": 1.6767488644142756, - "velocityX": 2.1754285712895585, - "velocityY": 0.35781532103446856, - "timestamp": 0.44407813352940895 - }, - { - "x": 1.355430979413833, - "y": 4.584068485538284, - "heading": -0.5318769704940612, - "angularVelocity": 1.8136581299311139, - "velocityX": 2.421147146128966, - "velocityY": 0.3961176789292777, - "timestamp": 0.49342014836600995 - }, - { - "x": 1.4870807395767256, - "y": 4.6054937421516176, - "heading": -0.4366063356348723, - "angularVelocity": 1.9308217383234834, - "velocityX": 2.6681066956600508, - "velocityY": 0.43421932980007055, - "timestamp": 0.542762163202611 - }, - { - "x": 1.6309921142351658, - "y": 4.62878555774163, - "heading": -0.3371005041962886, - "angularVelocity": 2.0166552129681596, - "velocityX": 2.916609204853331, - "velocityY": 0.47204832772120586, - "timestamp": 0.5921041780392119 - }, - { - "x": 1.7872429405082741, - "y": 4.653909326955937, - "heading": -0.23600200862807216, - "angularVelocity": 2.0489332651495915, - "velocityX": 3.1666892158851314, - "velocityY": 0.5091759892153832, - "timestamp": 0.6414461928758128 - }, - { - "x": 1.955800488408387, - "y": 4.680764921549245, - "heading": -0.13845532328201524, - "angularVelocity": 1.9769497793936581, - "velocityX": 3.4161058979512955, - "velocityY": 0.5442743812193794, - "timestamp": 0.6907882077124138 - }, - { - "x": 2.1349342314386073, - "y": 4.7085203213980575, - "heading": -0.062226637634806285, - "angularVelocity": 1.5449041937108723, - "velocityX": 3.63045051207237, - "velocityY": 0.5625104678178738, - "timestamp": 0.7401302225490147 - }, - { - "x": 2.3231376691326124, - "y": 4.736959726934749, - "heading": -0.015556580058332851, - "angularVelocity": 0.9458482336204572, - "velocityX": 3.814263327455349, - "velocityY": 0.576373008497331, - "timestamp": 0.7894722373856157 - }, - { - "x": 2.5200586239997804, - "y": 4.766210325846585, - "heading": -1.8588553206774156e-7, - "angularVelocity": 0.31527683302590515, - "velocityX": 3.990938665947945, - "velocityY": 0.5928132243626654, - "timestamp": 0.8388142522222166 - }, - { - "x": 2.7206497519468917, - "y": 4.799302905772457, - "heading": -9.393965020101493e-8, - "angularVelocity": 0.0000018634399541893636, - "velocityX": 4.0653209766844896, - "velocityY": 0.6706775156113934, - "timestamp": 0.8881562670588176 - }, - { - "x": 2.922780752182007, - "y": 4.821096897125244, - "heading": -4.19415250912016e-24, - "angularVelocity": 0.0000019038470664828271, - "velocityX": 4.096529112248132, - "velocityY": 0.44169236754840535, - "timestamp": 0.9374982818954185 - }, - { - "x": 3.0661275875026526, - "y": 4.830285372388774, - "heading": -2.148856449581639e-9, - "angularVelocity": -6.163889009608376e-8, - "velocityX": 4.11183344968015, - "velocityY": 0.2635668925346567, - "timestamp": 0.9723603056312768 - }, - { - "x": 3.2097380850541177, - "y": 4.8332464823275085, - "heading": -4.33224269168314e-9, - "angularVelocity": -6.262936020709883e-8, - "velocityX": 4.119396471058866, - "velocityY": 0.08493798183290027, - "timestamp": 1.0072223293671352 - }, - { - "x": 3.353341836255061, - "y": 4.829974529249004, - "heading": -6.56801260797033e-9, - "angularVelocity": -6.413196013022978e-8, - "velocityX": 4.1192029553131055, - "velocityY": -0.09385436437355381, - "timestamp": 1.0420843531029935 - }, - { - "x": 3.4966684334444085, - "y": 4.820475614588101, - "heading": -8.875894016604602e-9, - "angularVelocity": -6.620044281194253e-8, - "velocityX": 4.111252928840291, - "velocityY": -0.27247169392327125, - "timestamp": 1.0769463768388519 - }, - { - "x": 3.639447986078635, - "y": 4.80476759303118, - "heading": -1.1278209094883865e-8, - "angularVelocity": -6.890922616773665e-8, - "velocityX": 4.095561224902915, - "velocityY": -0.4505768705780642, - "timestamp": 1.1118084005747102 - }, - { - "x": 3.781411631541406, - "y": 4.78288002470995, - "heading": -1.3800882207541757e-8, - "angularVelocity": -7.236163717205908e-8, - "velocityX": 4.072157329086734, - "velocityY": -0.6278341293972823, - "timestamp": 1.1466704243105685 - }, - { - "x": 3.922292042494357, - "y": 4.754854113329163, - "heading": -1.6474766217146496e-8, - "angularVelocity": -7.669904736065112e-8, - "velocityX": 4.041085280084993, - "velocityY": -0.8039094802164521, - "timestamp": 1.1815324480464269 - }, - { - "x": 4.061823930760296, - "y": 4.720742625602728, - "heading": -1.9337446361982888e-8, - "angularVelocity": -8.21145716188558e-8, - "velocityX": 4.002403570232772, - "velocityY": -0.978471243806441, - "timestamp": 1.2163944717822852 - }, - { - "x": 4.199744547121747, - "y": 4.680609790344849, - "heading": -2.2435766007654413e-8, - "angularVelocity": -8.887377477414376e-8, - "velocityX": 3.956185028340431, - "velocityY": -1.1511906354592945, - "timestamp": 1.2512564955181436 - }, - { - "x": 4.33579417622256, - "y": 4.634531176665304, - "heading": -2.582946430761559e-8, - "angularVelocity": -9.734656615675744e-8, - "velocityX": 3.902516679227518, - "velocityY": -1.321742364375404, - "timestamp": 1.286118519254002 - }, - { - "x": 4.4697166256951775, - "y": 4.582593551168475, - "heading": -2.9596575969164054e-8, - "angularVelocity": -1.0805774472793139e-7, - "velocityX": 3.8414995780886927, - "velocityY": -1.4898052359308736, - "timestamp": 1.3209805429898602 - }, - { - "x": 4.601259708404541, - "y": 4.524894714355469, - "heading": -3.3875027210293766e-8, - "angularVelocity": -1.2272526900751864e-7, - "velocityX": 3.7732486130477016, - "velocityY": -1.6550627482264968, - "timestamp": 1.3558425667257186 - }, - { - "x": 4.734562448878385, - "y": 4.459137464101324, - "heading": -3.767778619796302e-8, - "angularVelocity": -1.0541224327618212e-7, - "velocityX": 3.6951436979767838, - "velocityY": -1.822786898522628, - "timestamp": 1.3919176835193718 - }, - { - "x": 4.864778755280991, - "y": 4.387462142159452, - "heading": -4.075372355757089e-8, - "angularVelocity": -8.52647928266453e-8, - "velocityX": 3.6095879369548025, - "velocityY": -1.9868354786444253, - "timestamp": 1.4279928003130251 - }, - { - "x": 4.991646062524004, - "y": 4.31001328242291, - "heading": -4.331381117101593e-8, - "angularVelocity": -7.09654698580335e-8, - "velocityX": 3.5167538879689317, - "velocityY": -2.146877588215275, - "timestamp": 1.4640679171066784 - }, - { - "x": 5.114908569345276, - "y": 4.226947074075465, - "heading": -4.549487456287536e-8, - "angularVelocity": -6.045894194424784e-8, - "velocityX": 3.4168290438620974, - "velocityY": -2.3025901432995166, - "timestamp": 1.5001430339003317 - }, - { - "x": 5.240630837773264, - "y": 4.147652992068584, - "heading": -4.7796207316709824e-8, - "angularVelocity": -6.379280119861848e-8, - "velocityX": 3.4850134830362576, - "velocityY": -2.1980270351011604, - "timestamp": 1.536218150693985 - }, - { - "x": 5.369786083327096, - "y": 4.074082884476059, - "heading": -6.80330102112903e-8, - "angularVelocity": -5.609629210719787e-7, - "velocityX": 3.5801753960379097, - "velocityY": -2.0393588193585033, - "timestamp": 1.5722932674876382 - }, - { - "x": 5.501957932059618, - "y": 4.006463913536522, - "heading": -0.0005378526214979867, - "angularVelocity": -0.014907355437374207, - "velocityX": 3.6637954490496707, - "velocityY": -1.8743936804505115, - "timestamp": 1.6083683842812915 - }, - { - "x": 5.635122517131343, - "y": 3.9454444846864316, - "heading": -0.0013716068459818165, - "angularVelocity": -0.02311161538998856, - "velocityX": 3.6913140387989873, - "velocityY": -1.691454783060481, - "timestamp": 1.6444435010749447 - }, - { - "x": 5.7683672766770036, - "y": 3.891098891931583, - "heading": -0.0023714416580770926, - "angularVelocity": -0.027715358977609194, - "velocityX": 3.6935364702437306, - "velocityY": -1.506456460437835, - "timestamp": 1.680518617868598 - }, - { - "x": 5.901203439301723, - "y": 3.843415261868438, - "heading": -0.0034666226109464834, - "angularVelocity": -0.030358348086126495, - "velocityX": 3.6822101889380328, - "velocityY": -1.3217872678248526, - "timestamp": 1.7165937346622513 - }, - { - "x": 6.033331045967558, - "y": 3.8023684544753524, - "heading": -0.004613334740621083, - "angularVelocity": -0.03178678911100141, - "velocityX": 3.6625690617051805, - "velocityY": -1.13781495505254, - "timestamp": 1.7526688514559046 - }, - { - "x": 6.164548397064209, - "y": 3.767933845520019, - "heading": -0.005781939029622976, - "angularVelocity": -0.03239363840971651, - "velocityX": 3.6373368337850036, - "velocityY": -0.9545252244724934, - "timestamp": 1.7887439682495578 - }, - { - "x": 6.4238894349918905, - "y": 3.725356363013457, - "heading": -0.00813177146759458, - "angularVelocity": -0.03242490425559778, - "velocityX": 3.578599132630597, - "velocityY": -0.5875188253471295, - "timestamp": 1.8612139567327446 - }, - { - "x": 6.673459862679172, - "y": 3.7078796706091532, - "heading": -0.010324564143580333, - "angularVelocity": -0.030257941554585537, - "velocityX": 3.443776284650332, - "velocityY": -0.2411576539488291, - "timestamp": 1.9336839452159313 - }, - { - "x": 6.907667295296139, - "y": 3.712527250548902, - "heading": -0.012192160841527707, - "angularVelocity": -0.025770622253937055, - "velocityX": 3.231785150225377, - "velocityY": 0.06413109808658506, - "timestamp": 2.0061539336991183 - }, - { - "x": 7.121777473190393, - "y": 3.735107801887392, - "heading": -0.013584669209521207, - "angularVelocity": -0.019214966045103837, - "velocityX": 2.9544668403518353, - "velocityY": 0.31158486169386757, - "timestamp": 2.078623922182305 - }, - { - "x": 7.312475114645496, - "y": 3.7710048983952196, - "heading": -0.01438951581488395, - "angularVelocity": -0.011105929809130157, - "velocityX": 2.631401569759389, - "velocityY": 0.49533741151560723, - "timestamp": 2.151093910665492 - }, - { - "x": 7.477791781199064, - "y": 3.8159171301541095, - "heading": -0.014532784027010696, - "angularVelocity": -0.0019769316254270534, - "velocityX": 2.2811741800113965, - "velocityY": 0.6197355995069491, - "timestamp": 2.2235638991486786 - }, - { - "x": 7.616715815868345, - "y": 3.8662041653804877, - "heading": -0.01397001086601989, - "angularVelocity": 0.007765603014016935, - "velocityX": 1.9169871222141917, - "velocityY": 0.6939015208763943, - "timestamp": 2.2960338876318653 - }, - { - "x": 7.728815295702192, - "y": 3.9189199057655046, - "heading": -0.012675922533213273, - "angularVelocity": 0.017856886138554434, - "velocityX": 1.546840039306131, - "velocityY": 0.7274147752520648, - "timestamp": 2.368503876115052 - }, - { - "x": 7.813980652629695, - "y": 3.971713548083725, - "heading": -0.010636867255267548, - "angularVelocity": 0.028136547564358877, - "velocityX": 1.1751810468034207, - "velocityY": 0.7284897296550381, - "timestamp": 2.440973864598239 - }, - { - "x": 7.872272087271126, - "y": 4.022706026315587, - "heading": -0.007846030199376108, - "angularVelocity": 0.03851024561069059, - "velocityX": 0.8043527515525248, - "velocityY": 0.7036357987512754, - "timestamp": 2.5134438530814256 - }, - { - "x": 7.903834329466794, - "y": 4.070381624553785, - "heading": -0.004300580651813334, - "angularVelocity": 0.04892300415344109, - "velocityX": 0.4355215566646703, - "velocityY": 0.6578667836998284, - "timestamp": 2.5859138415646123 - }, - { - "x": 7.908850193023682, - "y": 4.1135029792785645, - "heading": -1.6431801399771578e-28, - "angularVelocity": 0.05934291893548571, - "velocityX": 0.06921297576928687, - "velocityY": 0.5950236177391367, - "timestamp": 2.658383830047799 - }, - { - "x": 7.887054284240868, - "y": 4.151354202426506, - "heading": 0.005110873422893934, - "angularVelocity": 0.0698517929802493, - "velocityX": -0.2978910221672904, - "velocityY": 0.5173236714365999, - "timestamp": 2.731551220673535 - }, - { - "x": 7.838422086854329, - "y": 4.183408720964089, - "heading": 0.010956523638740997, - "angularVelocity": 0.07989420103483798, - "velocityX": -0.6646703807615897, - "velocityY": 0.43809842422217044, - "timestamp": 2.804718611299271 - }, - { - "x": 7.762983079117002, - "y": 4.20953112778775, - "heading": 0.017495483260506317, - "angularVelocity": 0.0893698622548022, - "velocityX": -1.0310468515026154, - "velocityY": 0.35702252875576485, - "timestamp": 2.877886001925007 - }, - { - "x": 7.6607747790696985, - "y": 4.229553700517737, - "heading": 0.024676301083283603, - "angularVelocity": 0.09814232489864837, - "velocityX": -1.3969105522720728, - "velocityY": 0.2736543227625315, - "timestamp": 2.951053392550743 - }, - { - "x": 7.531846476247114, - "y": 4.243263296141889, - "heading": 0.03243345200765441, - "angularVelocity": 0.1060192369583057, - "velocityX": -1.7621005986406668, - "velocityY": 0.1873730292539564, - "timestamp": 3.024220783176479 - }, - { - "x": 7.376265637530863, - "y": 4.250380077226667, - "heading": 0.04068066701574086, - "angularVelocity": 0.11271708526920698, - "velocityX": -2.12636855552324, - "velocityY": 0.09726711618269603, - "timestamp": 3.097388173802215 - }, - { - "x": 7.194129836575373, - "y": 4.2505205649617634, - "heading": 0.04929927784816929, - "angularVelocity": 0.1177930599782374, - "velocityX": -2.489302944902695, - "velocityY": 0.0019200867202677822, - "timestamp": 3.170555564427951 - }, - { - "x": 6.985591556826913, - "y": 4.243127449410096, - "heading": 0.058115883718386635, - "angularVelocity": 0.12049911572377706, - "velocityX": -2.8501532986897105, - "velocityY": -0.10104385968175955, - "timestamp": 3.243722955053687 - }, - { - "x": 6.750918561222395, - "y": 4.227318493920163, - "heading": 0.06685364598436354, - "angularVelocity": 0.1194215372620311, - "velocityX": -3.2073440585699053, - "velocityY": -0.21606559089689018, - "timestamp": 3.3168903456794228 - }, - { - "x": 6.490681615003969, - "y": 4.20149483174933, - "heading": 0.07500318356778511, - "angularVelocity": 0.11138209950807054, - "velocityX": -3.5567340039442454, - "velocityY": -0.3529394987300426, - "timestamp": 3.3900577363051587 - }, - { - "x": 6.206657285518001, - "y": 4.161973294401296, - "heading": 0.08134950784100285, - "angularVelocity": 0.0867370589403728, - "velocityX": -3.8818430868855596, - "velocityY": -0.5401523412279929, - "timestamp": 3.4632251269308947 - }, - { - "x": 5.912244098516139, - "y": 4.097129027635956, - "heading": 0.08134954547532162, - "angularVelocity": 5.143591764598389e-7, - "velocityX": -4.023830622959322, - "velocityY": -0.8862454463769199, - "timestamp": 3.5363925175566306 - }, - { - "x": 5.624951460773946, - "y": 4.005767892260616, - "heading": 0.08134954969560343, - "angularVelocity": 5.7679818199590674e-8, - "velocityX": -3.926512006034829, - "velocityY": -1.248659199050422, - "timestamp": 3.6095599081823666 - }, - { - "x": 5.34716243038826, - "y": 3.8886477005465494, - "heading": 0.08134932634773633, - "angularVelocity": -0.0000030525602346483844, - "velocityX": -3.7966234412626005, - "velocityY": -1.6007157110898942, - "timestamp": 3.6827272988081026 - }, - { - "x": 5.08665788699048, - "y": 3.751669204716049, - "heading": 0.05865018500104508, - "angularVelocity": -0.3102357642190817, - "velocityX": -3.5603913323943255, - "velocityY": -1.8721249269523577, - "timestamp": 3.7558946894338385 - }, - { - "x": 4.848094463348389, - "y": 3.603376865386963, - "heading": 4.952640691345501e-28, - "angularVelocity": -0.8015891300682177, - "velocityX": -3.260515669642855, - "velocityY": -2.0267545153773168, - "timestamp": 3.8290620800595745 - }, - { - "x": 4.700641185060707, - "y": 3.501989185359569, - "heading": -0.05033264236108494, - "angularVelocity": -1.034189338076649, - "velocityX": -3.0297357960183557, - "velocityY": -2.0832217975849, - "timestamp": 3.8777307720562373 - }, - { - "x": 4.565095450985404, - "y": 3.3994717636903555, - "heading": -0.10698430014195474, - "angularVelocity": -1.1640267173145824, - "velocityX": -2.78507041209567, - "velocityY": -2.1064347009005995, - "timestamp": 3.9263994640529 - }, - { - "x": 4.441653890418588, - "y": 3.297081790312479, - "heading": -0.16664697326151523, - "angularVelocity": -1.2258943208017916, - "velocityX": -2.5363648683075435, - "velocityY": -2.103816009374109, - "timestamp": 3.975068156049563 - }, - { - "x": 4.330312579185749, - "y": 3.1957377001354463, - "heading": -0.22705933791477417, - "angularVelocity": -1.2412983002995335, - "velocityX": -2.2877399548866757, - "velocityY": -2.0823261530016506, - "timestamp": 4.023736848046226 - }, - { - "x": 4.230991842079205, - "y": 3.096120447000011, - "heading": -0.2865484532706337, - "angularVelocity": -1.222328213791707, - "velocityX": -2.0407521351376094, - "velocityY": -2.04684467670234, - "timestamp": 4.0724055400428885 - }, - { - "x": 4.143586352271879, - "y": 2.9987473125477595, - "heading": -0.34383093881747717, - "angularVelocity": -1.176988392266047, - "velocityX": -1.795928475195518, - "velocityY": -2.000734567901041, - "timestamp": 4.121074232039551 - }, - { - "x": 4.067986542673592, - "y": 2.904020815068955, - "heading": -0.3979071509877982, - "angularVelocity": -1.1111088042807706, - "velocityX": -1.5533561001284146, - "velocityY": -1.946353879518679, - "timestamp": 4.169742924036214 - }, - { - "x": 4.004087484152938, - "y": 2.8122616254817605, - "heading": -0.4479862468350588, - "angularVelocity": -1.0289796950099774, - "velocityX": -1.3129397133794922, - "velocityY": -1.8853843368851253, - "timestamp": 4.218411616032877 - }, - { - "x": 3.951791937745737, - "y": 2.7237308923491046, - "heading": -0.4934284100602779, - "angularVelocity": -0.9337042225900607, - "velocityX": -1.0745213043898287, - "velocityY": -1.8190489511969272, - "timestamp": 4.26708030802954 - }, - { - "x": 3.911010848659871, - "y": 2.63864542270439, - "heading": -0.5337018468885103, - "angularVelocity": -0.8275019355563128, - "velocityX": -0.83793271223855, - "velocityY": -1.7482588118568951, - "timestamp": 4.315749000026202 - }, - { - "x": 3.8816628893967526, - "y": 2.5571880974329804, - "heading": -0.5683528513458943, - "angularVelocity": -0.7119773109940992, - "velocityX": -0.6030151635291687, - "velocityY": -1.673711002485852, - "timestamp": 4.364417692022865 - }, - { - "x": 3.8636737772161385, - "y": 2.479515163260617, - "heading": -0.596986412368271, - "angularVelocity": -0.5883363585020978, - "velocityX": -0.36962390897720954, - "velocityY": -1.59595277756158, - "timestamp": 4.413086384019528 - }, - { - "x": 3.8569756412361254, - "y": 2.4057614953060065, - "heading": -0.6192545253880498, - "angularVelocity": -0.4575449248010541, - "velocityX": -0.1376272035515664, - "velocityY": -1.5154232614196375, - "timestamp": 4.461755076016191 - }, - { - "x": 3.8615065086139246, - "y": 2.3360445280133795, - "heading": -0.6348496428505993, - "angularVelocity": -0.32043428378183847, - "velocityX": 0.09309614028891178, - "velocityY": -1.4324808091700407, - "timestamp": 4.510423768012854 - }, - { - "x": 3.877209901809693, - "y": 2.2704672813415527, - "heading": -0.6435012536786778, - "angularVelocity": -0.17776542728273412, - "velocityX": 0.3226590350290306, - "velocityY": -1.3474215965434906, - "timestamp": 4.559092460009516 - }, - { - "x": 3.909263343483357, - "y": 2.2016193636983066, - "heading": -0.644092375367383, - "angularVelocity": -0.010723484805221098, - "velocityX": 0.5814785708430558, - "velocityY": -1.2489638137550592, - "timestamp": 4.6142164891327075 - }, - { - "x": 3.955582772404527, - "y": 2.1382378341857042, - "heading": -0.6356618580904682, - "angularVelocity": 0.1529372473495064, - "velocityX": 0.8402765483207932, - "velocityY": -1.1497985637253951, - "timestamp": 4.669340518255899 - }, - { - "x": 4.016167136041281, - "y": 2.080367813253358, - "heading": -0.6184384375905784, - "angularVelocity": 0.31244850519541656, - "velocityX": 1.0990554319126369, - "velocityY": -1.0498147877220347, - "timestamp": 4.72446454737909 - }, - { - "x": 4.091014879475756, - "y": 2.0280623219290286, - "heading": -0.5926967583319528, - "angularVelocity": 0.4669774627884684, - "velocityX": 1.357806107880926, - "velocityY": -0.9488691620751633, - "timestamp": 4.779588576502281 - }, - { - "x": 4.180123073013336, - "y": 1.9813847697374103, - "heading": -0.5587633107627968, - "angularVelocity": 0.6155835868477868, - "velocityX": 1.616503636525577, - "velocityY": -0.8467732300065234, - "timestamp": 4.834712605625472 - }, - { - "x": 4.283486205946313, - "y": 1.9404125575120503, - "heading": -0.5170273230433461, - "angularVelocity": 0.7571287582440518, - "velocityX": 1.8751011959227666, - "velocityY": -0.7432731764544123, - "timestamp": 4.889836634748663 - }, - { - "x": 4.401094459736751, - "y": 1.9052424011175209, - "heading": -0.4679609941418416, - "angularVelocity": 0.8901078110936128, - "velocityX": 2.133520638116034, - "velocityY": -0.6380186091972911, - "timestamp": 4.944960663871854 - }, - { - "x": 4.532931044009035, - "y": 1.8759983507167912, - "heading": -0.41215648957706635, - "angularVelocity": 1.0123444431114288, - "velocityX": 2.3916354876319863, - "velocityY": -0.5305136592133903, - "timestamp": 5.0000846929950455 - }, - { - "x": 4.678967556850721, - "y": 1.8528442484692669, - "heading": -0.35039255139162767, - "angularVelocity": 1.1204539865438439, - "velocityX": 2.6492351006368366, - "velocityY": -0.4200364635135716, - "timestamp": 5.055208722118237 - }, - { - "x": 4.839154591796641, - "y": 1.8360041394290154, - "heading": -0.2837549204318002, - "angularVelocity": 1.2088672040083555, - "velocityX": 2.9059384354495057, - "velocityY": -0.3054948868599071, - "timestamp": 5.110332751241428 - }, - { - "x": 5.013399484318381, - "y": 1.8257985791825269, - "heading": -0.2138636206895667, - "angularVelocity": 1.2678917135400287, - "velocityX": 3.160960751478034, - "velocityY": -0.18513814045923885, - "timestamp": 5.165456780364619 - }, - { - "x": 5.201503784665096, - "y": 1.8227165159855272, - "heading": -0.1433490902182715, - "angularVelocity": 1.2791976855267446, - "velocityX": 3.4123830086211457, - "velocityY": -0.05591142821058677, - "timestamp": 5.22058080948781 - }, - { - "x": 5.402944132086975, - "y": 1.827569567849425, - "heading": -0.07703772004409672, - "angularVelocity": 1.2029485367621076, - "velocityX": 3.6543110259901166, - "velocityY": 0.08803877258413399, - "timestamp": 5.275704838611001 - }, - { - "x": 5.61588559518895, - "y": 1.8417195630192391, - "heading": -0.024979311792846126, - "angularVelocity": 0.9443868505132368, - "velocityX": 3.8629517197680348, - "velocityY": 0.25669377574327124, - "timestamp": 5.330828867734192 - }, - { - "x": 5.834915427384757, - "y": 1.8670658701516258, - "heading": -7.407288610339414e-7, - "angularVelocity": 0.4531339864174827, - "velocityX": 3.9734002698953517, - "velocityY": 0.4598050529968118, - "timestamp": 5.3859528968573835 - }, - { - "x": 6.058884353100281, - "y": 1.904802816527938, - "heading": -7.957104132685767e-8, - "angularVelocity": 0.000011994003889474889, - "velocityX": 4.062999916334081, - "velocityY": 0.6845825128634481, - "timestamp": 5.441076925980575 - }, - { - "x": 6.279738426208496, - "y": 1.9578094482421875, - "heading": 8.562539103389725e-28, - "angularVelocity": 0.0000014434910254660835, - "velocityX": 4.006493658412549, - "velocityY": 0.9615884861353298, - "timestamp": 5.496200955103766 - }, - { - "x": 6.525487452777932, - "y": 2.0369981575550793, - "heading": -0.0011671855841354959, - "angularVelocity": -0.018096810491915055, - "velocityX": 3.81025401859607, - "velocityY": 1.227793664532095, - "timestamp": 5.560697711847555 - }, - { - "x": 6.750918598574351, - "y": 2.1096797802641643, - "heading": -0.0021799869715645073, - "angularVelocity": -0.015703136693405003, - "velocityX": 3.495232274886886, - "velocityY": 1.126903527844196, - "timestamp": 5.625194468591345 - }, - { - "x": 6.956282004435993, - "y": 2.175119637271968, - "heading": -0.0029917904615700073, - "angularVelocity": -0.012586733519490889, - "velocityX": 3.1840888787236112, - "velocityY": 1.0146224447806116, - "timestamp": 5.689691225335134 - }, - { - "x": 7.141668336167598, - "y": 2.233071278014614, - "heading": -0.0035868817340549562, - "angularVelocity": -0.009226685224637363, - "velocityX": 2.8743512246366985, - "velocityY": 0.8985202306040955, - "timestamp": 5.754187982078924 - }, - { - "x": 7.307124311509477, - "y": 2.2834112498174775, - "heading": -0.003957374193442598, - "angularVelocity": -0.00574435798158672, - "velocityX": 2.5653379130232326, - "velocityY": 0.7805039252258378, - "timestamp": 5.818684738822713 - }, - { - "x": 7.452678406281355, - "y": 2.3260654168990693, - "heading": -0.004098526951679239, - "angularVelocity": -0.0021885249020716494, - "velocityX": 2.2567661091872586, - "velocityY": 0.6613381700886771, - "timestamp": 5.883181495566503 - }, - { - "x": 7.578349790283282, - "y": 2.3609843306826193, - "heading": -0.004007175808745517, - "angularVelocity": 0.001416368008962219, - "velocityX": 1.9484915264987899, - "velocityY": 0.5414057317992576, - "timestamp": 5.9476782523102925 - }, - { - "x": 7.684152247420869, - "y": 2.388132659287924, - "heading": -0.003681058888279675, - "angularVelocity": 0.005056330533972877, - "velocityX": 1.6404306585195192, - "velocityY": 0.4209254848759383, - "timestamp": 6.012175009054082 - }, - { - "x": 7.770096165540853, - "y": 2.4074838977797546, - "heading": -0.0031184788458053087, - "angularVelocity": 0.00872260980050817, - "velocityX": 1.3325308505262228, - "velocityY": 0.3000342880604488, - "timestamp": 6.0766717657978715 - }, - { - "x": 7.836189653680543, - "y": 2.4190174277466903, - "heading": -0.0023181149719148936, - "angularVelocity": 0.012409366211541923, - "velocityX": 1.0247567703635636, - "velocityY": 0.1788234098770594, - "timestamp": 6.141168522541661 - }, - { - "x": 7.882439217728024, - "y": 2.422716752331528, - "heading": -0.0012789103505499641, - "angularVelocity": 0.016112509742049974, - "velocityX": 0.7170835617549867, - "velocityY": 0.05735675360441909, - "timestamp": 6.2056652792854505 - }, - { - "x": 7.908850193023682, - "y": 2.4185683727264404, - "heading": 8.461910012631763e-29, - "angularVelocity": 0.019829064516071505, - "velocityX": 0.40949307576154037, - "velocityY": -0.06431919703446601, - "timestamp": 6.27016203602924 - }, - { - "x": 7.9135037293511274, - "y": 2.404007500518451, - "heading": 0.001738681655620773, - "angularVelocity": 0.024013784718208257, - "velocityX": 0.06427227157104093, - "velocityY": -0.20110734439603808, - "timestamp": 6.342565519112956 - }, - { - "x": 7.893003638215416, - "y": 2.37995206083196, - "heading": 0.003710519645397934, - "angularVelocity": 0.02723402115195558, - "velocityX": -0.28313680865337726, - "velocityY": -0.3322414704645804, - "timestamp": 6.414969002196671 - }, - { - "x": 7.847170108256414, - "y": 2.346892602647919, - "heading": 0.005832318333489156, - "angularVelocity": 0.029305201873201705, - "velocityX": -0.6330293517234256, - "velocityY": -0.45660038407014847, - "timestamp": 6.487372485280387 - }, - { - "x": 7.775798531874128, - "y": 2.305426839443902, - "heading": 0.008003405006399665, - "angularVelocity": 0.029985942394514752, - "velocityX": -0.9857478306639489, - "velocityY": -0.5727039838134944, - "timestamp": 6.559775968364103 - }, - { - "x": 7.678656271538087, - "y": 2.256297576429558, - "heading": 0.010099710341735239, - "angularVelocity": 0.028953100680415525, - "velocityX": -1.3416793805861689, - "velocityY": -0.6785483366530749, - "timestamp": 6.6321794514478185 - }, - { - "x": 7.555481050531809, - "y": 2.2004499248115295, - "heading": 0.011964993253965835, - "angularVelocity": 0.02576233673832923, - "velocityX": -1.7012333628184586, - "velocityY": -0.7713392952857744, - "timestamp": 6.704582934531534 - }, - { - "x": 7.405984923055888, - "y": 2.139120846470309, - "heading": 0.013397410987870865, - "angularVelocity": 0.01978382355236724, - "velocityX": -2.064764305649063, - "velocityY": -0.8470459669779953, - "timestamp": 6.77698641761525 - }, - { - "x": 7.229874738830789, - "y": 2.073984847809468, - "heading": 0.014128316578010962, - "angularVelocity": 0.01009489542505847, - "velocityX": -2.4323440907045013, - "velocityY": -0.8996252098193818, - "timestamp": 6.849389900698966 - }, - { - "x": 7.0269201286198015, - "y": 2.007399297467021, - "heading": 0.013788101357936091, - "angularVelocity": -0.004698879191785616, - "velocityX": -2.803105618224542, - "velocityY": -0.9196456787231895, - "timestamp": 6.921793383782681 - }, - { - "x": 6.797160014432058, - "y": 1.9428204344097308, - "heading": 0.011852542100195443, - "angularVelocity": -0.02673295779849002, - "velocityX": -3.1733295747952837, - "velocityY": -0.8919303368682154, - "timestamp": 6.994196866866397 - }, - { - "x": 6.541507190710733, - "y": 1.8854379538761046, - "heading": 0.007575451762797331, - "angularVelocity": -0.05907299145336416, - "velocityX": -3.530946479822401, - "velocityY": -0.7925375698746232, - "timestamp": 7.066600349950113 - }, - { - "x": 6.263282775878906, - "y": 1.8426196575164795, - "heading": -6.194293765118798e-29, - "angularVelocity": -0.10462827809041095, - "velocityX": -3.842693790161092, - "velocityY": -0.5913844822923381, - "timestamp": 7.139003833033828 - }, - { - "x": 6.030681887766221, - "y": 1.8226833751631784, - "heading": -0.008718413948409906, - "angularVelocity": -0.15018242816156785, - "velocityX": -4.006757006034486, - "velocityY": -0.34342018055697493, - "timestamp": 7.1970559903676445 - }, - { - "x": 5.793532898564822, - "y": 1.8194210922714795, - "heading": -0.016941072562243253, - "angularVelocity": -0.14164260195449305, - "velocityX": -4.0851020891045495, - "velocityY": -0.05619572194259459, - "timestamp": 7.255108147701461 - }, - { - "x": 5.557627566049778, - "y": 1.8333576054296736, - "heading": -0.028629707625858477, - "angularVelocity": -0.20134712645392766, - "velocityX": -4.0636789974663925, - "velocityY": 0.24006882428253462, - "timestamp": 7.313160305035277 - }, - { - "x": 5.327908854137327, - "y": 1.8622622668920639, - "heading": -0.0585740879768532, - "angularVelocity": -0.5158185625868486, - "velocityX": -3.957108959646458, - "velocityY": 0.49790848075085625, - "timestamp": 7.371212462369093 - }, - { - "x": 5.11245324515911, - "y": 1.8994141855682116, - "heading": -0.10374863935649094, - "angularVelocity": -0.7781717933387261, - "velocityX": -3.7114143362370884, - "velocityY": 0.6399748154493845, - "timestamp": 7.429264619702909 - }, - { - "x": 4.913979790820032, - "y": 1.9388003080563143, - "heading": -0.15574493643193385, - "angularVelocity": -0.8956824253136624, - "velocityX": -3.4188816308375802, - "velocityY": 0.6784609616077044, - "timestamp": 7.4873167770367255 - }, - { - "x": 4.7327605113302145, - "y": 1.9775150228594818, - "heading": -0.2099745757997402, - "angularVelocity": -0.9341537310313989, - "velocityX": -3.121663135579195, - "velocityY": 0.6668953675665628, - "timestamp": 7.545368934370542 - }, - { - "x": 4.568684620360207, - "y": 2.014030214515865, - "heading": -0.2640485055959757, - "angularVelocity": -0.9314714952847509, - "velocityX": -2.8263530332994278, - "velocityY": 0.6290066266859055, - "timestamp": 7.603421091704358 - }, - { - "x": 4.421601069864, - "y": 2.0474310267692073, - "heading": -0.3165220186257055, - "angularVelocity": -0.9039028942196281, - "velocityX": -2.5336448678459034, - "velocityY": 0.5753586737746517, - "timestamp": 7.661473249038174 - }, - { - "x": 4.291374419034759, - "y": 2.0771146233430215, - "heading": -0.36642962736971124, - "angularVelocity": -0.8597029126242952, - "velocityX": -2.2432697906539487, - "velocityY": 0.511326330270982, - "timestamp": 7.71952540637199 - }, - { - "x": 4.177891381608033, - "y": 2.102655731782735, - "heading": -0.4130820297898137, - "angularVelocity": -0.8036290908508001, - "velocityX": -1.9548461700426851, - "velocityY": 0.4399682908051872, - "timestamp": 7.777577563705806 - }, - { - "x": 4.081058211075384, - "y": 2.1237389589368134, - "heading": -0.4559637520429508, - "angularVelocity": -0.738675774038079, - "velocityX": -1.6680374163501055, - "velocityY": 0.36317732401991576, - "timestamp": 7.835629721039623 - }, - { - "x": 4.000796937094782, - "y": 2.140121363134788, - "heading": -0.49467583838017426, - "angularVelocity": -0.6668500899048075, - "velocityX": -1.382571771089882, - "velocityY": 0.2822014710628498, - "timestamp": 7.893681878373439 - }, - { - "x": 3.9370420833786737, - "y": 2.1516101924347857, - "heading": -0.5289011019599401, - "angularVelocity": -0.5895605805476083, - "velocityX": -1.0982340130703443, - "velocityY": 0.1979052946117624, - "timestamp": 7.951734035707255 - }, - { - "x": 3.8897380782848177, - "y": 2.1580488572733114, - "heading": -0.5583816999879796, - "angularVelocity": -0.5078294999187984, - "velocityX": -0.8148535259739682, - "velocityY": 0.11091172377111619, - "timestamp": 8.009786193041071 - }, - { - "x": 3.8588372630557566, - "y": 2.1593076697609526, - "heading": -0.5829039334740946, - "angularVelocity": -0.4224172642733201, - "velocityX": -0.5322940033282947, - "velocityY": 0.02168416378400226, - "timestamp": 8.067838350374888 - }, - { - "x": 3.8442983627319336, - "y": 2.1552774906158447, - "heading": -0.602287538290654, - "angularVelocity": -0.3338998188318499, - "velocityX": -0.25044547854130556, - "velocityY": -0.06942341732337823, - "timestamp": 8.125890507708705 - }, - { - "x": 3.8576387146651134, - "y": 2.13806005595645, - "heading": -0.619278145531587, - "angularVelocity": -0.20143847160866324, - "velocityX": 0.1581615104177926, - "velocityY": -0.20412770854092552, - "timestamp": 8.210236894499909 - }, - { - "x": 3.905455453573714, - "y": 2.109481651185984, - "heading": -0.6254126059760678, - "angularVelocity": -0.07272938033097415, - "velocityX": 0.5669091555394026, - "velocityY": -0.33882192062608685, - "timestamp": 8.294583281291112 - }, - { - "x": 3.987762915374457, - "y": 2.0695435831389517, - "heading": -0.6210817382802795, - "angularVelocity": 0.05134621482375198, - "velocityX": 0.9758267654605434, - "velocityY": -0.4735006390480968, - "timestamp": 8.378929668082316 - }, - { - "x": 4.104578927032089, - "y": 2.0182477742847946, - "heading": -0.6067890663536344, - "angularVelocity": 0.16945209475334327, - "velocityX": 1.3849557296011592, - "velocityY": -0.6081565649176908, - "timestamp": 8.46327605487352 - }, - { - "x": 4.25592634256958, - "y": 1.955597106088846, - "heading": -0.5832156347231323, - "angularVelocity": 0.2794835976656285, - "velocityX": 1.794355648122163, - "velocityY": -0.7427783285019535, - "timestamp": 8.547622441664723 - }, - { - "x": 4.441835387458979, - "y": 1.8815962088865352, - "heading": -0.5513387484522754, - "angularVelocity": 0.37792829643986087, - "velocityX": 2.2041139159832754, - "velocityY": -0.877345195420139, - "timestamp": 8.631968828455927 - }, - { - "x": 4.66234711446509, - "y": 1.7962536064859413, - "heading": -0.5126769338910522, - "angularVelocity": 0.45836954055814433, - "velocityX": 2.614358900185992, - "velocityY": -1.011811005157306, - "timestamp": 8.71631521524713 - }, - { - "x": 4.917516613544415, - "y": 1.699589099451937, - "heading": -0.4698979469526159, - "angularVelocity": 0.5071822109503572, - "velocityX": 3.025257023884024, - "velocityY": -1.1460420619237055, - "timestamp": 8.800661602038334 - }, - { - "x": 5.207389212765179, - "y": 1.5916714767699458, - "heading": -0.42891919524045724, - "angularVelocity": 0.48583885180049724, - "velocityX": 3.436692551375497, - "velocityY": -1.2794575652557374, - "timestamp": 8.885007988829537 - }, - { - "x": 5.530829704025048, - "y": 1.4731326595685643, - "heading": -0.4168747641910295, - "angularVelocity": 0.14279723776720205, - "velocityX": 3.8346691964474693, - "velocityY": -1.405381092314254, - "timestamp": 8.96935437562074 - }, - { - "x": 5.860796817769712, - "y": 1.3640506417959732, - "heading": -0.4168747316984138, - "angularVelocity": 3.852283051108577e-7, - "velocityX": 3.91204799989226, - "velocityY": -1.2932624848841556, - "timestamp": 9.053700762411944 - }, - { - "x": 6.1907640358798846, - "y": 1.2549689397238482, - "heading": -0.4168746992057636, - "angularVelocity": 3.852287159927463e-7, - "velocityX": 3.9120492372364075, - "velocityY": -1.2932587419797106, - "timestamp": 9.138047149203148 - }, - { - "x": 6.5162512528388925, - "y": 1.1501619128296605, - "heading": -0.39522547264575847, - "angularVelocity": 0.25667046786007763, - "velocityX": 3.8589349151937298, - "velocityY": -1.242578738477967, - "timestamp": 9.222393535994351 - }, - { - "x": 6.809203485103097, - "y": 1.0566385263910887, - "heading": -0.3364658613691826, - "angularVelocity": 0.6966464541277111, - "velocityX": 3.4732042878066567, - "velocityY": -1.1088013369213576, - "timestamp": 9.306739922785555 - }, - { - "x": 7.0676023282548455, - "y": 0.9747449425291351, - "heading": -0.27342754168182104, - "angularVelocity": 0.7473742751234995, - "velocityX": 3.0635437151730858, - "velocityY": -0.9709198814251399, - "timestamp": 9.391086309576758 - }, - { - "x": 7.291404029843143, - "y": 0.9044159486596018, - "heading": -0.212686256942587, - "angularVelocity": 0.7201409218583059, - "velocityX": 2.6533644190629335, - "velocityY": -0.833811578006664, - "timestamp": 9.475432696367962 - }, - { - "x": 7.480631108632639, - "y": 0.8456084340013106, - "heading": -0.15716871325728424, - "angularVelocity": 0.658208914422557, - "velocityX": 2.2434521025532703, - "velocityY": -0.6972143905093124, - "timestamp": 9.559779083159166 - }, - { - "x": 7.635307728813632, - "y": 0.7982939214998752, - "heading": -0.10853495890594571, - "angularVelocity": 0.5765955863851053, - "velocityX": 1.83382627360068, - "velocityY": -0.5609548233353625, - "timestamp": 9.64412546995037 - }, - { - "x": 7.755453704764619, - "y": 0.7624523838325293, - "heading": -0.06785138236204946, - "angularVelocity": 0.48233929266712156, - "velocityX": 1.4244353613914185, - "velocityY": -0.4249326975448363, - "timestamp": 9.728471856741573 - }, - { - "x": 7.841084766649754, - "y": 0.7380690201261568, - "heading": -0.03585889712581951, - "angularVelocity": 0.3792988230239957, - "velocityX": 1.0152309440013383, - "velocityY": -0.2890860490175211, - "timestamp": 9.812818243532776 - }, - { - "x": 7.892213505293505, - "y": 0.7251324738070216, - "heading": -0.013102178881898748, - "angularVelocity": 0.2698007479591791, - "velocityX": 0.6061758018196838, - "velocityY": -0.15337404257943216, - "timestamp": 9.89716463032398 - }, - { - "x": 7.908850193023682, - "y": 0.7236337661743164, - "heading": -5.019107924718939e-28, - "angularVelocity": 0.15533776111041753, - "velocityX": 0.19724244704590402, - "velocityY": -0.017768486472517064, - "timestamp": 9.981511017115183 - }, - { - "x": 7.892189079958052, - "y": 0.733080197359647, - "heading": 0.0032660991416649378, - "angularVelocity": 0.03963429721823649, - "velocityX": -0.20218354636142255, - "velocityY": 0.11463297499908585, - "timestamp": 10.063916897145829 - }, - { - "x": 7.842604987925804, - "y": 0.7534362672637073, - "heading": -0.002772756670579444, - "angularVelocity": -0.07328185573649153, - "velocityX": -0.6017057522328306, - "velocityY": 0.24702205590778456, - "timestamp": 10.146322777176474 - }, - { - "x": 7.76008824404944, - "y": 0.7847005763866867, - "heading": -0.017830574368452534, - "angularVelocity": -0.18272746668409265, - "velocityX": -1.001345339018009, - "velocityY": 0.37939415380738334, - "timestamp": 10.22872865720712 - }, - { - "x": 7.644626694532573, - "y": 0.8268711306705374, - "heading": -0.04153713177121822, - "angularVelocity": -0.2876804105963022, - "velocityX": -1.4011324128075406, - "velocityY": 0.5117420537001512, - "timestamp": 10.311134537237765 - }, - { - "x": 7.496204565153335, - "y": 0.8799449205205542, - "heading": -0.07339105495914866, - "angularVelocity": -0.3865491537264634, - "velocityX": -1.8011109076687513, - "velocityY": 0.6440534319914972, - "timestamp": 10.39354041726841 - }, - { - "x": 7.314800632642625, - "y": 0.9439170229632209, - "heading": -0.11267436902090536, - "angularVelocity": -0.47670523082998323, - "velocityX": -2.2013469480970156, - "velocityY": 0.7763050697216819, - "timestamp": 10.475946297299055 - }, - { - "x": 7.1003852320289775, - "y": 1.0187784547123067, - "heading": -0.15827781834795562, - "angularVelocity": -0.5534004285870268, - "velocityX": -2.601942974626455, - "velocityY": 0.9084476947669995, - "timestamp": 10.5583521773297 - }, - { - "x": 6.852915852080657, - "y": 1.1045099286982563, - "heading": -0.20827432822470915, - "angularVelocity": -0.606710466026947, - "velocityX": -3.0030548773496584, - "velocityY": 1.0403562701359113, - "timestamp": 10.640758057360346 - }, - { - "x": 6.57234037138111, - "y": 1.2010554187463547, - "heading": -0.25850083223033166, - "angularVelocity": -0.6095014577472403, - "velocityX": -3.4047992764012145, - "velocityY": 1.171584964716045, - "timestamp": 10.723163937390991 - }, - { - "x": 6.258992137221064, - "y": 1.3080260402749817, - "heading": -0.2924105128425884, - "angularVelocity": -0.4114958859688932, - "velocityX": -3.8024984872865555, - "velocityY": 1.2980945229739238, - "timestamp": 10.805569817421636 - }, - { - "x": 5.936813239669241, - "y": 1.415192130467459, - "heading": -0.29241053972638326, - "angularVelocity": -3.2623636665893746e-7, - "velocityX": -3.9096590853954853, - "velocityY": 1.3004665462297604, - "timestamp": 10.887975697452282 - }, - { - "x": 5.614634321099526, - "y": 1.5223581574728795, - "heading": -0.29241056661001313, - "angularVelocity": -3.262343643621567e-7, - "velocityX": -3.9096593404487785, - "velocityY": 1.300465779451264, - "timestamp": 10.970381577482927 - }, - { - "x": 5.292534947574076, - "y": 1.6297629984771478, - "heading": -0.2924106310888177, - "angularVelocity": -7.824539278829055e-7, - "velocityX": -3.9086940568520956, - "velocityY": 1.3033638007909902, - "timestamp": 11.052787457513572 - }, - { - "x": 4.996115872359855, - "y": 1.7283189881306324, - "heading": -0.36622067840528416, - "angularVelocity": -0.8956890854028594, - "velocityX": -3.5970621890572314, - "velocityY": 1.1959824907741203, - "timestamp": 11.135193337544218 - }, - { - "x": 4.732736935087431, - "y": 1.8159057723600291, - "heading": -0.43711479002142123, - "angularVelocity": -0.8603040412865287, - "velocityX": -3.1961182524169116, - "velocityY": 1.0628705645376848, - "timestamp": 11.217599217574863 - }, - { - "x": 4.502338857203799, - "y": 1.8925327189091943, - "heading": -0.5013692608315433, - "angularVelocity": -0.7797316257799427, - "velocityX": -2.7958936643592733, - "velocityY": 0.9298723164010714, - "timestamp": 11.300005097605508 - }, - { - "x": 4.304889219129118, - "y": 1.9582062400500209, - "heading": -0.5576357524751158, - "angularVelocity": -0.6827970482524788, - "velocityX": -2.396062489730738, - "velocityY": 0.7969518815453914, - "timestamp": 11.382410977636154 - }, - { - "x": 4.140369092817658, - "y": 2.0129300491668727, - "heading": -0.6052252685128586, - "angularVelocity": -0.5775014600905304, - "velocityX": -1.9964610080042535, - "velocityY": 0.6640765088183144, - "timestamp": 11.464816857666799 - }, - { - "x": 4.008766269829904, - "y": 2.0567065014156403, - "heading": -0.6437229947806191, - "angularVelocity": -0.4671720786604532, - "velocityX": -1.5970076763795704, - "velocityY": 0.5312297160407456, - "timestamp": 11.547222737697444 - }, - { - "x": 3.9100722638712457, - "y": 2.0895372342089806, - "heading": -0.6728522708471012, - "angularVelocity": -0.3534854072992033, - "velocityX": -1.1976573264184043, - "velocityY": 0.3984027933580843, - "timestamp": 11.62962861772809 - }, - { - "x": 3.8442808143052742, - "y": 2.1114234734626223, - "heading": -0.6924141497397114, - "angularVelocity": -0.23738450320942417, - "velocityX": -0.7983829496330213, - "velocityY": 0.26559074723190373, - "timestamp": 11.712034497758735 - }, - { - "x": 3.811387062072754, - "y": 2.122366189956665, - "heading": -0.7022564818650576, - "angularVelocity": -0.11943725522603567, - "velocityX": -0.3991675378054077, - "velocityY": 0.1327904815769616, - "timestamp": 11.79444037778938 - }, - { - "x": 3.811387062072754, - "y": 2.122366189956665, - "heading": -0.7022564818650576, - "angularVelocity": 1.9181866499986056e-28, - "velocityX": 1.4721704576805681e-27, - "velocityY": -6.910528798867393e-28, - "timestamp": 11.876846257820025 - } - ], - "eventMarkers": [ - { - "timestamp": 11.876846257820025, - "command": { - "type": "named", - "data": { - "name": "" - } - } - } - ] +{ + "samples": [ + { + "x": 0.7012643218040466, + "y": 4.475527763366699, + "heading": -1.0584069524694912, + "angularVelocity": 1.35595729168612e-25, + "velocityX": 1.4664818087675264e-24, + "velocityY": -6.87247645585249e-24, + "timestamp": 0 + }, + { + "x": 0.7130752441042216, + "y": 4.47752481036138, + "heading": -1.047874914711513, + "angularVelocity": 0.2134496897391787, + "velocityX": 0.2393684639609371, + "velocityY": 0.04047355993251818, + "timestamp": 0.049342014836600986 + }, + { + "x": 0.7367161607859627, + "y": 4.4815156769193, + "heading": -1.0270238646876997, + "angularVelocity": 0.4225820549254573, + "velocityX": 0.4791234561464372, + "velocityY": 0.08088171046795564, + "timestamp": 0.09868402967320197 + }, + { + "x": 0.7722110412083123, + "y": 4.487495862541681, + "heading": -0.9961275558882633, + "angularVelocity": 0.6261663392091168, + "velocityX": 0.7193642282321278, + "velocityY": 0.12119865072768905, + "timestamp": 0.14802604450980295 + }, + { + "x": 0.8195885546525802, + "y": 4.495458383955774, + "heading": -0.9555170011670803, + "angularVelocity": 0.8230420840265095, + "velocityX": 0.9601860321505173, + "velocityY": 0.161374063066966, + "timestamp": 0.19736805934640395 + }, + { + "x": 0.8788815466573906, + "y": 4.505392734371882, + "heading": -0.9055732183825892, + "angularVelocity": 1.0121958527612376, + "velocityX": 1.2016735068716329, + "velocityY": 0.20133653741150442, + "timestamp": 0.24671007418300495 + }, + { + "x": 0.9501261855969747, + "y": 4.517284465001881, + "heading": -0.8467167723668201, + "angularVelocity": 1.1928261586130158, + "velocityX": 1.443893995320518, + "velocityY": 0.24100618244671507, + "timestamp": 0.29605208901960595 + }, + { + "x": 1.033361036653653, + "y": 4.531115857788243, + "heading": -0.7793984190016389, + "angularVelocity": 1.3643211285171442, + "velocityX": 1.6868960728968083, + "velocityY": 0.2803167408579883, + "timestamp": 0.34539410385620695 + }, + { + "x": 1.1286266721674085, + "y": 4.54686791226827, + "heading": -0.7041006841948274, + "angularVelocity": 1.526036888768416, + "velocityX": 1.9307204180703474, + "velocityY": 0.319242222519503, + "timestamp": 0.39473611869280795 + }, + { + "x": 1.2359667010079436, + "y": 4.564523241147516, + "heading": -0.6213665168496443, + "angularVelocity": 1.6767488644142756, + "velocityX": 2.1754285712895585, + "velocityY": 0.35781532103446856, + "timestamp": 0.44407813352940895 + }, + { + "x": 1.355430979413833, + "y": 4.584068485538284, + "heading": -0.5318769704940612, + "angularVelocity": 1.8136581299311139, + "velocityX": 2.421147146128966, + "velocityY": 0.3961176789292777, + "timestamp": 0.49342014836600995 + }, + { + "x": 1.4870807395767256, + "y": 4.6054937421516176, + "heading": -0.4366063356348723, + "angularVelocity": 1.9308217383234834, + "velocityX": 2.6681066956600508, + "velocityY": 0.43421932980007055, + "timestamp": 0.542762163202611 + }, + { + "x": 1.6309921142351658, + "y": 4.62878555774163, + "heading": -0.3371005041962886, + "angularVelocity": 2.0166552129681596, + "velocityX": 2.916609204853331, + "velocityY": 0.47204832772120586, + "timestamp": 0.5921041780392119 + }, + { + "x": 1.7872429405082741, + "y": 4.653909326955937, + "heading": -0.23600200862807216, + "angularVelocity": 2.0489332651495915, + "velocityX": 3.1666892158851314, + "velocityY": 0.5091759892153832, + "timestamp": 0.6414461928758128 + }, + { + "x": 1.955800488408387, + "y": 4.680764921549245, + "heading": -0.13845532328201524, + "angularVelocity": 1.9769497793936581, + "velocityX": 3.4161058979512955, + "velocityY": 0.5442743812193794, + "timestamp": 0.6907882077124138 + }, + { + "x": 2.1349342314386073, + "y": 4.7085203213980575, + "heading": -0.062226637634806285, + "angularVelocity": 1.5449041937108723, + "velocityX": 3.63045051207237, + "velocityY": 0.5625104678178738, + "timestamp": 0.7401302225490147 + }, + { + "x": 2.3231376691326124, + "y": 4.736959726934749, + "heading": -0.015556580058332851, + "angularVelocity": 0.9458482336204572, + "velocityX": 3.814263327455349, + "velocityY": 0.576373008497331, + "timestamp": 0.7894722373856157 + }, + { + "x": 2.5200586239997804, + "y": 4.766210325846585, + "heading": -1.8588553206774156e-7, + "angularVelocity": 0.31527683302590515, + "velocityX": 3.990938665947945, + "velocityY": 0.5928132243626654, + "timestamp": 0.8388142522222166 + }, + { + "x": 2.7206497519468917, + "y": 4.799302905772457, + "heading": -9.393965020101493e-8, + "angularVelocity": 0.0000018634399541893636, + "velocityX": 4.0653209766844896, + "velocityY": 0.6706775156113934, + "timestamp": 0.8881562670588176 + }, + { + "x": 2.922780752182007, + "y": 4.821096897125244, + "heading": -4.19415250912016e-24, + "angularVelocity": 0.0000019038470664828271, + "velocityX": 4.096529112248132, + "velocityY": 0.44169236754840535, + "timestamp": 0.9374982818954185 + }, + { + "x": 3.0661275875026526, + "y": 4.830285372388774, + "heading": -2.148856449581639e-9, + "angularVelocity": -6.163889009608376e-8, + "velocityX": 4.11183344968015, + "velocityY": 0.2635668925346567, + "timestamp": 0.9723603056312768 + }, + { + "x": 3.2097380850541177, + "y": 4.8332464823275085, + "heading": -4.33224269168314e-9, + "angularVelocity": -6.262936020709883e-8, + "velocityX": 4.119396471058866, + "velocityY": 0.08493798183290027, + "timestamp": 1.0072223293671352 + }, + { + "x": 3.353341836255061, + "y": 4.829974529249004, + "heading": -6.56801260797033e-9, + "angularVelocity": -6.413196013022978e-8, + "velocityX": 4.1192029553131055, + "velocityY": -0.09385436437355381, + "timestamp": 1.0420843531029935 + }, + { + "x": 3.4966684334444085, + "y": 4.820475614588101, + "heading": -8.875894016604602e-9, + "angularVelocity": -6.620044281194253e-8, + "velocityX": 4.111252928840291, + "velocityY": -0.27247169392327125, + "timestamp": 1.0769463768388519 + }, + { + "x": 3.639447986078635, + "y": 4.80476759303118, + "heading": -1.1278209094883865e-8, + "angularVelocity": -6.890922616773665e-8, + "velocityX": 4.095561224902915, + "velocityY": -0.4505768705780642, + "timestamp": 1.1118084005747102 + }, + { + "x": 3.781411631541406, + "y": 4.78288002470995, + "heading": -1.3800882207541757e-8, + "angularVelocity": -7.236163717205908e-8, + "velocityX": 4.072157329086734, + "velocityY": -0.6278341293972823, + "timestamp": 1.1466704243105685 + }, + { + "x": 3.922292042494357, + "y": 4.754854113329163, + "heading": -1.6474766217146496e-8, + "angularVelocity": -7.669904736065112e-8, + "velocityX": 4.041085280084993, + "velocityY": -0.8039094802164521, + "timestamp": 1.1815324480464269 + }, + { + "x": 4.061823930760296, + "y": 4.720742625602728, + "heading": -1.9337446361982888e-8, + "angularVelocity": -8.21145716188558e-8, + "velocityX": 4.002403570232772, + "velocityY": -0.978471243806441, + "timestamp": 1.2163944717822852 + }, + { + "x": 4.199744547121747, + "y": 4.680609790344849, + "heading": -2.2435766007654413e-8, + "angularVelocity": -8.887377477414376e-8, + "velocityX": 3.956185028340431, + "velocityY": -1.1511906354592945, + "timestamp": 1.2512564955181436 + }, + { + "x": 4.33579417622256, + "y": 4.634531176665304, + "heading": -2.582946430761559e-8, + "angularVelocity": -9.734656615675744e-8, + "velocityX": 3.902516679227518, + "velocityY": -1.321742364375404, + "timestamp": 1.286118519254002 + }, + { + "x": 4.4697166256951775, + "y": 4.582593551168475, + "heading": -2.9596575969164054e-8, + "angularVelocity": -1.0805774472793139e-7, + "velocityX": 3.8414995780886927, + "velocityY": -1.4898052359308736, + "timestamp": 1.3209805429898602 + }, + { + "x": 4.601259708404541, + "y": 4.524894714355469, + "heading": -3.3875027210293766e-8, + "angularVelocity": -1.2272526900751864e-7, + "velocityX": 3.7732486130477016, + "velocityY": -1.6550627482264968, + "timestamp": 1.3558425667257186 + }, + { + "x": 4.734562448878385, + "y": 4.459137464101324, + "heading": -3.767778619796302e-8, + "angularVelocity": -1.0541224327618212e-7, + "velocityX": 3.6951436979767838, + "velocityY": -1.822786898522628, + "timestamp": 1.3919176835193718 + }, + { + "x": 4.864778755280991, + "y": 4.387462142159452, + "heading": -4.075372355757089e-8, + "angularVelocity": -8.52647928266453e-8, + "velocityX": 3.6095879369548025, + "velocityY": -1.9868354786444253, + "timestamp": 1.4279928003130251 + }, + { + "x": 4.991646062524004, + "y": 4.31001328242291, + "heading": -4.331381117101593e-8, + "angularVelocity": -7.09654698580335e-8, + "velocityX": 3.5167538879689317, + "velocityY": -2.146877588215275, + "timestamp": 1.4640679171066784 + }, + { + "x": 5.114908569345276, + "y": 4.226947074075465, + "heading": -4.549487456287536e-8, + "angularVelocity": -6.045894194424784e-8, + "velocityX": 3.4168290438620974, + "velocityY": -2.3025901432995166, + "timestamp": 1.5001430339003317 + }, + { + "x": 5.240630837773264, + "y": 4.147652992068584, + "heading": -4.7796207316709824e-8, + "angularVelocity": -6.379280119861848e-8, + "velocityX": 3.4850134830362576, + "velocityY": -2.1980270351011604, + "timestamp": 1.536218150693985 + }, + { + "x": 5.369786083327096, + "y": 4.074082884476059, + "heading": -6.80330102112903e-8, + "angularVelocity": -5.609629210719787e-7, + "velocityX": 3.5801753960379097, + "velocityY": -2.0393588193585033, + "timestamp": 1.5722932674876382 + }, + { + "x": 5.501957932059618, + "y": 4.006463913536522, + "heading": -0.0005378526214979867, + "angularVelocity": -0.014907355437374207, + "velocityX": 3.6637954490496707, + "velocityY": -1.8743936804505115, + "timestamp": 1.6083683842812915 + }, + { + "x": 5.635122517131343, + "y": 3.9454444846864316, + "heading": -0.0013716068459818165, + "angularVelocity": -0.02311161538998856, + "velocityX": 3.6913140387989873, + "velocityY": -1.691454783060481, + "timestamp": 1.6444435010749447 + }, + { + "x": 5.7683672766770036, + "y": 3.891098891931583, + "heading": -0.0023714416580770926, + "angularVelocity": -0.027715358977609194, + "velocityX": 3.6935364702437306, + "velocityY": -1.506456460437835, + "timestamp": 1.680518617868598 + }, + { + "x": 5.901203439301723, + "y": 3.843415261868438, + "heading": -0.0034666226109464834, + "angularVelocity": -0.030358348086126495, + "velocityX": 3.6822101889380328, + "velocityY": -1.3217872678248526, + "timestamp": 1.7165937346622513 + }, + { + "x": 6.033331045967558, + "y": 3.8023684544753524, + "heading": -0.004613334740621083, + "angularVelocity": -0.03178678911100141, + "velocityX": 3.6625690617051805, + "velocityY": -1.13781495505254, + "timestamp": 1.7526688514559046 + }, + { + "x": 6.164548397064209, + "y": 3.767933845520019, + "heading": -0.005781939029622976, + "angularVelocity": -0.03239363840971651, + "velocityX": 3.6373368337850036, + "velocityY": -0.9545252244724934, + "timestamp": 1.7887439682495578 + }, + { + "x": 6.4238894349918905, + "y": 3.725356363013457, + "heading": -0.00813177146759458, + "angularVelocity": -0.03242490425559778, + "velocityX": 3.578599132630597, + "velocityY": -0.5875188253471295, + "timestamp": 1.8612139567327446 + }, + { + "x": 6.673459862679172, + "y": 3.7078796706091532, + "heading": -0.010324564143580333, + "angularVelocity": -0.030257941554585537, + "velocityX": 3.443776284650332, + "velocityY": -0.2411576539488291, + "timestamp": 1.9336839452159313 + }, + { + "x": 6.907667295296139, + "y": 3.712527250548902, + "heading": -0.012192160841527707, + "angularVelocity": -0.025770622253937055, + "velocityX": 3.231785150225377, + "velocityY": 0.06413109808658506, + "timestamp": 2.0061539336991183 + }, + { + "x": 7.121777473190393, + "y": 3.735107801887392, + "heading": -0.013584669209521207, + "angularVelocity": -0.019214966045103837, + "velocityX": 2.9544668403518353, + "velocityY": 0.31158486169386757, + "timestamp": 2.078623922182305 + }, + { + "x": 7.312475114645496, + "y": 3.7710048983952196, + "heading": -0.01438951581488395, + "angularVelocity": -0.011105929809130157, + "velocityX": 2.631401569759389, + "velocityY": 0.49533741151560723, + "timestamp": 2.151093910665492 + }, + { + "x": 7.477791781199064, + "y": 3.8159171301541095, + "heading": -0.014532784027010696, + "angularVelocity": -0.0019769316254270534, + "velocityX": 2.2811741800113965, + "velocityY": 0.6197355995069491, + "timestamp": 2.2235638991486786 + }, + { + "x": 7.616715815868345, + "y": 3.8662041653804877, + "heading": -0.01397001086601989, + "angularVelocity": 0.007765603014016935, + "velocityX": 1.9169871222141917, + "velocityY": 0.6939015208763943, + "timestamp": 2.2960338876318653 + }, + { + "x": 7.728815295702192, + "y": 3.9189199057655046, + "heading": -0.012675922533213273, + "angularVelocity": 0.017856886138554434, + "velocityX": 1.546840039306131, + "velocityY": 0.7274147752520648, + "timestamp": 2.368503876115052 + }, + { + "x": 7.813980652629695, + "y": 3.971713548083725, + "heading": -0.010636867255267548, + "angularVelocity": 0.028136547564358877, + "velocityX": 1.1751810468034207, + "velocityY": 0.7284897296550381, + "timestamp": 2.440973864598239 + }, + { + "x": 7.872272087271126, + "y": 4.022706026315587, + "heading": -0.007846030199376108, + "angularVelocity": 0.03851024561069059, + "velocityX": 0.8043527515525248, + "velocityY": 0.7036357987512754, + "timestamp": 2.5134438530814256 + }, + { + "x": 7.903834329466794, + "y": 4.070381624553785, + "heading": -0.004300580651813334, + "angularVelocity": 0.04892300415344109, + "velocityX": 0.4355215566646703, + "velocityY": 0.6578667836998284, + "timestamp": 2.5859138415646123 + }, + { + "x": 7.908850193023682, + "y": 4.1135029792785645, + "heading": -1.6431801399771578e-28, + "angularVelocity": 0.05934291893548571, + "velocityX": 0.06921297576928687, + "velocityY": 0.5950236177391367, + "timestamp": 2.658383830047799 + }, + { + "x": 7.887054284240868, + "y": 4.151354202426506, + "heading": 0.005110873422893934, + "angularVelocity": 0.0698517929802493, + "velocityX": -0.2978910221672904, + "velocityY": 0.5173236714365999, + "timestamp": 2.731551220673535 + }, + { + "x": 7.838422086854329, + "y": 4.183408720964089, + "heading": 0.010956523638740997, + "angularVelocity": 0.07989420103483798, + "velocityX": -0.6646703807615897, + "velocityY": 0.43809842422217044, + "timestamp": 2.804718611299271 + }, + { + "x": 7.762983079117002, + "y": 4.20953112778775, + "heading": 0.017495483260506317, + "angularVelocity": 0.0893698622548022, + "velocityX": -1.0310468515026154, + "velocityY": 0.35702252875576485, + "timestamp": 2.877886001925007 + }, + { + "x": 7.6607747790696985, + "y": 4.229553700517737, + "heading": 0.024676301083283603, + "angularVelocity": 0.09814232489864837, + "velocityX": -1.3969105522720728, + "velocityY": 0.2736543227625315, + "timestamp": 2.951053392550743 + }, + { + "x": 7.531846476247114, + "y": 4.243263296141889, + "heading": 0.03243345200765441, + "angularVelocity": 0.1060192369583057, + "velocityX": -1.7621005986406668, + "velocityY": 0.1873730292539564, + "timestamp": 3.024220783176479 + }, + { + "x": 7.376265637530863, + "y": 4.250380077226667, + "heading": 0.04068066701574086, + "angularVelocity": 0.11271708526920698, + "velocityX": -2.12636855552324, + "velocityY": 0.09726711618269603, + "timestamp": 3.097388173802215 + }, + { + "x": 7.194129836575373, + "y": 4.2505205649617634, + "heading": 0.04929927784816929, + "angularVelocity": 0.1177930599782374, + "velocityX": -2.489302944902695, + "velocityY": 0.0019200867202677822, + "timestamp": 3.170555564427951 + }, + { + "x": 6.985591556826913, + "y": 4.243127449410096, + "heading": 0.058115883718386635, + "angularVelocity": 0.12049911572377706, + "velocityX": -2.8501532986897105, + "velocityY": -0.10104385968175955, + "timestamp": 3.243722955053687 + }, + { + "x": 6.750918561222395, + "y": 4.227318493920163, + "heading": 0.06685364598436354, + "angularVelocity": 0.1194215372620311, + "velocityX": -3.2073440585699053, + "velocityY": -0.21606559089689018, + "timestamp": 3.3168903456794228 + }, + { + "x": 6.490681615003969, + "y": 4.20149483174933, + "heading": 0.07500318356778511, + "angularVelocity": 0.11138209950807054, + "velocityX": -3.5567340039442454, + "velocityY": -0.3529394987300426, + "timestamp": 3.3900577363051587 + }, + { + "x": 6.206657285518001, + "y": 4.161973294401296, + "heading": 0.08134950784100285, + "angularVelocity": 0.0867370589403728, + "velocityX": -3.8818430868855596, + "velocityY": -0.5401523412279929, + "timestamp": 3.4632251269308947 + }, + { + "x": 5.912244098516139, + "y": 4.097129027635956, + "heading": 0.08134954547532162, + "angularVelocity": 5.143591764598389e-7, + "velocityX": -4.023830622959322, + "velocityY": -0.8862454463769199, + "timestamp": 3.5363925175566306 + }, + { + "x": 5.624951460773946, + "y": 4.005767892260616, + "heading": 0.08134954969560343, + "angularVelocity": 5.7679818199590674e-8, + "velocityX": -3.926512006034829, + "velocityY": -1.248659199050422, + "timestamp": 3.6095599081823666 + }, + { + "x": 5.34716243038826, + "y": 3.8886477005465494, + "heading": 0.08134932634773633, + "angularVelocity": -0.0000030525602346483844, + "velocityX": -3.7966234412626005, + "velocityY": -1.6007157110898942, + "timestamp": 3.6827272988081026 + }, + { + "x": 5.08665788699048, + "y": 3.751669204716049, + "heading": 0.05865018500104508, + "angularVelocity": -0.3102357642190817, + "velocityX": -3.5603913323943255, + "velocityY": -1.8721249269523577, + "timestamp": 3.7558946894338385 + }, + { + "x": 4.848094463348389, + "y": 3.603376865386963, + "heading": 4.952640691345501e-28, + "angularVelocity": -0.8015891300682177, + "velocityX": -3.260515669642855, + "velocityY": -2.0267545153773168, + "timestamp": 3.8290620800595745 + }, + { + "x": 4.700641185060707, + "y": 3.501989185359569, + "heading": -0.05033264236108494, + "angularVelocity": -1.034189338076649, + "velocityX": -3.0297357960183557, + "velocityY": -2.0832217975849, + "timestamp": 3.8777307720562373 + }, + { + "x": 4.565095450985404, + "y": 3.3994717636903555, + "heading": -0.10698430014195474, + "angularVelocity": -1.1640267173145824, + "velocityX": -2.78507041209567, + "velocityY": -2.1064347009005995, + "timestamp": 3.9263994640529 + }, + { + "x": 4.441653890418588, + "y": 3.297081790312479, + "heading": -0.16664697326151523, + "angularVelocity": -1.2258943208017916, + "velocityX": -2.5363648683075435, + "velocityY": -2.103816009374109, + "timestamp": 3.975068156049563 + }, + { + "x": 4.330312579185749, + "y": 3.1957377001354463, + "heading": -0.22705933791477417, + "angularVelocity": -1.2412983002995335, + "velocityX": -2.2877399548866757, + "velocityY": -2.0823261530016506, + "timestamp": 4.023736848046226 + }, + { + "x": 4.230991842079205, + "y": 3.096120447000011, + "heading": -0.2865484532706337, + "angularVelocity": -1.222328213791707, + "velocityX": -2.0407521351376094, + "velocityY": -2.04684467670234, + "timestamp": 4.0724055400428885 + }, + { + "x": 4.143586352271879, + "y": 2.9987473125477595, + "heading": -0.34383093881747717, + "angularVelocity": -1.176988392266047, + "velocityX": -1.795928475195518, + "velocityY": -2.000734567901041, + "timestamp": 4.121074232039551 + }, + { + "x": 4.067986542673592, + "y": 2.904020815068955, + "heading": -0.3979071509877982, + "angularVelocity": -1.1111088042807706, + "velocityX": -1.5533561001284146, + "velocityY": -1.946353879518679, + "timestamp": 4.169742924036214 + }, + { + "x": 4.004087484152938, + "y": 2.8122616254817605, + "heading": -0.4479862468350588, + "angularVelocity": -1.0289796950099774, + "velocityX": -1.3129397133794922, + "velocityY": -1.8853843368851253, + "timestamp": 4.218411616032877 + }, + { + "x": 3.951791937745737, + "y": 2.7237308923491046, + "heading": -0.4934284100602779, + "angularVelocity": -0.9337042225900607, + "velocityX": -1.0745213043898287, + "velocityY": -1.8190489511969272, + "timestamp": 4.26708030802954 + }, + { + "x": 3.911010848659871, + "y": 2.63864542270439, + "heading": -0.5337018468885103, + "angularVelocity": -0.8275019355563128, + "velocityX": -0.83793271223855, + "velocityY": -1.7482588118568951, + "timestamp": 4.315749000026202 + }, + { + "x": 3.8816628893967526, + "y": 2.5571880974329804, + "heading": -0.5683528513458943, + "angularVelocity": -0.7119773109940992, + "velocityX": -0.6030151635291687, + "velocityY": -1.673711002485852, + "timestamp": 4.364417692022865 + }, + { + "x": 3.8636737772161385, + "y": 2.479515163260617, + "heading": -0.596986412368271, + "angularVelocity": -0.5883363585020978, + "velocityX": -0.36962390897720954, + "velocityY": -1.59595277756158, + "timestamp": 4.413086384019528 + }, + { + "x": 3.8569756412361254, + "y": 2.4057614953060065, + "heading": -0.6192545253880498, + "angularVelocity": -0.4575449248010541, + "velocityX": -0.1376272035515664, + "velocityY": -1.5154232614196375, + "timestamp": 4.461755076016191 + }, + { + "x": 3.8615065086139246, + "y": 2.3360445280133795, + "heading": -0.6348496428505993, + "angularVelocity": -0.32043428378183847, + "velocityX": 0.09309614028891178, + "velocityY": -1.4324808091700407, + "timestamp": 4.510423768012854 + }, + { + "x": 3.877209901809693, + "y": 2.2704672813415527, + "heading": -0.6435012536786778, + "angularVelocity": -0.17776542728273412, + "velocityX": 0.3226590350290306, + "velocityY": -1.3474215965434906, + "timestamp": 4.559092460009516 + }, + { + "x": 3.909263343483357, + "y": 2.2016193636983066, + "heading": -0.644092375367383, + "angularVelocity": -0.010723484805221098, + "velocityX": 0.5814785708430558, + "velocityY": -1.2489638137550592, + "timestamp": 4.6142164891327075 + }, + { + "x": 3.955582772404527, + "y": 2.1382378341857042, + "heading": -0.6356618580904682, + "angularVelocity": 0.1529372473495064, + "velocityX": 0.8402765483207932, + "velocityY": -1.1497985637253951, + "timestamp": 4.669340518255899 + }, + { + "x": 4.016167136041281, + "y": 2.080367813253358, + "heading": -0.6184384375905784, + "angularVelocity": 0.31244850519541656, + "velocityX": 1.0990554319126369, + "velocityY": -1.0498147877220347, + "timestamp": 4.72446454737909 + }, + { + "x": 4.091014879475756, + "y": 2.0280623219290286, + "heading": -0.5926967583319528, + "angularVelocity": 0.4669774627884684, + "velocityX": 1.357806107880926, + "velocityY": -0.9488691620751633, + "timestamp": 4.779588576502281 + }, + { + "x": 4.180123073013336, + "y": 1.9813847697374103, + "heading": -0.5587633107627968, + "angularVelocity": 0.6155835868477868, + "velocityX": 1.616503636525577, + "velocityY": -0.8467732300065234, + "timestamp": 4.834712605625472 + }, + { + "x": 4.283486205946313, + "y": 1.9404125575120503, + "heading": -0.5170273230433461, + "angularVelocity": 0.7571287582440518, + "velocityX": 1.8751011959227666, + "velocityY": -0.7432731764544123, + "timestamp": 4.889836634748663 + }, + { + "x": 4.401094459736751, + "y": 1.9052424011175209, + "heading": -0.4679609941418416, + "angularVelocity": 0.8901078110936128, + "velocityX": 2.133520638116034, + "velocityY": -0.6380186091972911, + "timestamp": 4.944960663871854 + }, + { + "x": 4.532931044009035, + "y": 1.8759983507167912, + "heading": -0.41215648957706635, + "angularVelocity": 1.0123444431114288, + "velocityX": 2.3916354876319863, + "velocityY": -0.5305136592133903, + "timestamp": 5.0000846929950455 + }, + { + "x": 4.678967556850721, + "y": 1.8528442484692669, + "heading": -0.35039255139162767, + "angularVelocity": 1.1204539865438439, + "velocityX": 2.6492351006368366, + "velocityY": -0.4200364635135716, + "timestamp": 5.055208722118237 + }, + { + "x": 4.839154591796641, + "y": 1.8360041394290154, + "heading": -0.2837549204318002, + "angularVelocity": 1.2088672040083555, + "velocityX": 2.9059384354495057, + "velocityY": -0.3054948868599071, + "timestamp": 5.110332751241428 + }, + { + "x": 5.013399484318381, + "y": 1.8257985791825269, + "heading": -0.2138636206895667, + "angularVelocity": 1.2678917135400287, + "velocityX": 3.160960751478034, + "velocityY": -0.18513814045923885, + "timestamp": 5.165456780364619 + }, + { + "x": 5.201503784665096, + "y": 1.8227165159855272, + "heading": -0.1433490902182715, + "angularVelocity": 1.2791976855267446, + "velocityX": 3.4123830086211457, + "velocityY": -0.05591142821058677, + "timestamp": 5.22058080948781 + }, + { + "x": 5.402944132086975, + "y": 1.827569567849425, + "heading": -0.07703772004409672, + "angularVelocity": 1.2029485367621076, + "velocityX": 3.6543110259901166, + "velocityY": 0.08803877258413399, + "timestamp": 5.275704838611001 + }, + { + "x": 5.61588559518895, + "y": 1.8417195630192391, + "heading": -0.024979311792846126, + "angularVelocity": 0.9443868505132368, + "velocityX": 3.8629517197680348, + "velocityY": 0.25669377574327124, + "timestamp": 5.330828867734192 + }, + { + "x": 5.834915427384757, + "y": 1.8670658701516258, + "heading": -7.407288610339414e-7, + "angularVelocity": 0.4531339864174827, + "velocityX": 3.9734002698953517, + "velocityY": 0.4598050529968118, + "timestamp": 5.3859528968573835 + }, + { + "x": 6.058884353100281, + "y": 1.904802816527938, + "heading": -7.957104132685767e-8, + "angularVelocity": 0.000011994003889474889, + "velocityX": 4.062999916334081, + "velocityY": 0.6845825128634481, + "timestamp": 5.441076925980575 + }, + { + "x": 6.279738426208496, + "y": 1.9578094482421875, + "heading": 8.562539103389725e-28, + "angularVelocity": 0.0000014434910254660835, + "velocityX": 4.006493658412549, + "velocityY": 0.9615884861353298, + "timestamp": 5.496200955103766 + }, + { + "x": 6.525487452777932, + "y": 2.0369981575550793, + "heading": -0.0011671855841354959, + "angularVelocity": -0.018096810491915055, + "velocityX": 3.81025401859607, + "velocityY": 1.227793664532095, + "timestamp": 5.560697711847555 + }, + { + "x": 6.750918598574351, + "y": 2.1096797802641643, + "heading": -0.0021799869715645073, + "angularVelocity": -0.015703136693405003, + "velocityX": 3.495232274886886, + "velocityY": 1.126903527844196, + "timestamp": 5.625194468591345 + }, + { + "x": 6.956282004435993, + "y": 2.175119637271968, + "heading": -0.0029917904615700073, + "angularVelocity": -0.012586733519490889, + "velocityX": 3.1840888787236112, + "velocityY": 1.0146224447806116, + "timestamp": 5.689691225335134 + }, + { + "x": 7.141668336167598, + "y": 2.233071278014614, + "heading": -0.0035868817340549562, + "angularVelocity": -0.009226685224637363, + "velocityX": 2.8743512246366985, + "velocityY": 0.8985202306040955, + "timestamp": 5.754187982078924 + }, + { + "x": 7.307124311509477, + "y": 2.2834112498174775, + "heading": -0.003957374193442598, + "angularVelocity": -0.00574435798158672, + "velocityX": 2.5653379130232326, + "velocityY": 0.7805039252258378, + "timestamp": 5.818684738822713 + }, + { + "x": 7.452678406281355, + "y": 2.3260654168990693, + "heading": -0.004098526951679239, + "angularVelocity": -0.0021885249020716494, + "velocityX": 2.2567661091872586, + "velocityY": 0.6613381700886771, + "timestamp": 5.883181495566503 + }, + { + "x": 7.578349790283282, + "y": 2.3609843306826193, + "heading": -0.004007175808745517, + "angularVelocity": 0.001416368008962219, + "velocityX": 1.9484915264987899, + "velocityY": 0.5414057317992576, + "timestamp": 5.9476782523102925 + }, + { + "x": 7.684152247420869, + "y": 2.388132659287924, + "heading": -0.003681058888279675, + "angularVelocity": 0.005056330533972877, + "velocityX": 1.6404306585195192, + "velocityY": 0.4209254848759383, + "timestamp": 6.012175009054082 + }, + { + "x": 7.770096165540853, + "y": 2.4074838977797546, + "heading": -0.0031184788458053087, + "angularVelocity": 0.00872260980050817, + "velocityX": 1.3325308505262228, + "velocityY": 0.3000342880604488, + "timestamp": 6.0766717657978715 + }, + { + "x": 7.836189653680543, + "y": 2.4190174277466903, + "heading": -0.0023181149719148936, + "angularVelocity": 0.012409366211541923, + "velocityX": 1.0247567703635636, + "velocityY": 0.1788234098770594, + "timestamp": 6.141168522541661 + }, + { + "x": 7.882439217728024, + "y": 2.422716752331528, + "heading": -0.0012789103505499641, + "angularVelocity": 0.016112509742049974, + "velocityX": 0.7170835617549867, + "velocityY": 0.05735675360441909, + "timestamp": 6.2056652792854505 + }, + { + "x": 7.908850193023682, + "y": 2.4185683727264404, + "heading": 8.461910012631763e-29, + "angularVelocity": 0.019829064516071505, + "velocityX": 0.40949307576154037, + "velocityY": -0.06431919703446601, + "timestamp": 6.27016203602924 + }, + { + "x": 7.9135037293511274, + "y": 2.404007500518451, + "heading": 0.001738681655620773, + "angularVelocity": 0.024013784718208257, + "velocityX": 0.06427227157104093, + "velocityY": -0.20110734439603808, + "timestamp": 6.342565519112956 + }, + { + "x": 7.893003638215416, + "y": 2.37995206083196, + "heading": 0.003710519645397934, + "angularVelocity": 0.02723402115195558, + "velocityX": -0.28313680865337726, + "velocityY": -0.3322414704645804, + "timestamp": 6.414969002196671 + }, + { + "x": 7.847170108256414, + "y": 2.346892602647919, + "heading": 0.005832318333489156, + "angularVelocity": 0.029305201873201705, + "velocityX": -0.6330293517234256, + "velocityY": -0.45660038407014847, + "timestamp": 6.487372485280387 + }, + { + "x": 7.775798531874128, + "y": 2.305426839443902, + "heading": 0.008003405006399665, + "angularVelocity": 0.029985942394514752, + "velocityX": -0.9857478306639489, + "velocityY": -0.5727039838134944, + "timestamp": 6.559775968364103 + }, + { + "x": 7.678656271538087, + "y": 2.256297576429558, + "heading": 0.010099710341735239, + "angularVelocity": 0.028953100680415525, + "velocityX": -1.3416793805861689, + "velocityY": -0.6785483366530749, + "timestamp": 6.6321794514478185 + }, + { + "x": 7.555481050531809, + "y": 2.2004499248115295, + "heading": 0.011964993253965835, + "angularVelocity": 0.02576233673832923, + "velocityX": -1.7012333628184586, + "velocityY": -0.7713392952857744, + "timestamp": 6.704582934531534 + }, + { + "x": 7.405984923055888, + "y": 2.139120846470309, + "heading": 0.013397410987870865, + "angularVelocity": 0.01978382355236724, + "velocityX": -2.064764305649063, + "velocityY": -0.8470459669779953, + "timestamp": 6.77698641761525 + }, + { + "x": 7.229874738830789, + "y": 2.073984847809468, + "heading": 0.014128316578010962, + "angularVelocity": 0.01009489542505847, + "velocityX": -2.4323440907045013, + "velocityY": -0.8996252098193818, + "timestamp": 6.849389900698966 + }, + { + "x": 7.0269201286198015, + "y": 2.007399297467021, + "heading": 0.013788101357936091, + "angularVelocity": -0.004698879191785616, + "velocityX": -2.803105618224542, + "velocityY": -0.9196456787231895, + "timestamp": 6.921793383782681 + }, + { + "x": 6.797160014432058, + "y": 1.9428204344097308, + "heading": 0.011852542100195443, + "angularVelocity": -0.02673295779849002, + "velocityX": -3.1733295747952837, + "velocityY": -0.8919303368682154, + "timestamp": 6.994196866866397 + }, + { + "x": 6.541507190710733, + "y": 1.8854379538761046, + "heading": 0.007575451762797331, + "angularVelocity": -0.05907299145336416, + "velocityX": -3.530946479822401, + "velocityY": -0.7925375698746232, + "timestamp": 7.066600349950113 + }, + { + "x": 6.263282775878906, + "y": 1.8426196575164795, + "heading": -6.194293765118798e-29, + "angularVelocity": -0.10462827809041095, + "velocityX": -3.842693790161092, + "velocityY": -0.5913844822923381, + "timestamp": 7.139003833033828 + }, + { + "x": 6.030681887766221, + "y": 1.8226833751631784, + "heading": -0.008718413948409906, + "angularVelocity": -0.15018242816156785, + "velocityX": -4.006757006034486, + "velocityY": -0.34342018055697493, + "timestamp": 7.1970559903676445 + }, + { + "x": 5.793532898564822, + "y": 1.8194210922714795, + "heading": -0.016941072562243253, + "angularVelocity": -0.14164260195449305, + "velocityX": -4.0851020891045495, + "velocityY": -0.05619572194259459, + "timestamp": 7.255108147701461 + }, + { + "x": 5.557627566049778, + "y": 1.8333576054296736, + "heading": -0.028629707625858477, + "angularVelocity": -0.20134712645392766, + "velocityX": -4.0636789974663925, + "velocityY": 0.24006882428253462, + "timestamp": 7.313160305035277 + }, + { + "x": 5.327908854137327, + "y": 1.8622622668920639, + "heading": -0.0585740879768532, + "angularVelocity": -0.5158185625868486, + "velocityX": -3.957108959646458, + "velocityY": 0.49790848075085625, + "timestamp": 7.371212462369093 + }, + { + "x": 5.11245324515911, + "y": 1.8994141855682116, + "heading": -0.10374863935649094, + "angularVelocity": -0.7781717933387261, + "velocityX": -3.7114143362370884, + "velocityY": 0.6399748154493845, + "timestamp": 7.429264619702909 + }, + { + "x": 4.913979790820032, + "y": 1.9388003080563143, + "heading": -0.15574493643193385, + "angularVelocity": -0.8956824253136624, + "velocityX": -3.4188816308375802, + "velocityY": 0.6784609616077044, + "timestamp": 7.4873167770367255 + }, + { + "x": 4.7327605113302145, + "y": 1.9775150228594818, + "heading": -0.2099745757997402, + "angularVelocity": -0.9341537310313989, + "velocityX": -3.121663135579195, + "velocityY": 0.6668953675665628, + "timestamp": 7.545368934370542 + }, + { + "x": 4.568684620360207, + "y": 2.014030214515865, + "heading": -0.2640485055959757, + "angularVelocity": -0.9314714952847509, + "velocityX": -2.8263530332994278, + "velocityY": 0.6290066266859055, + "timestamp": 7.603421091704358 + }, + { + "x": 4.421601069864, + "y": 2.0474310267692073, + "heading": -0.3165220186257055, + "angularVelocity": -0.9039028942196281, + "velocityX": -2.5336448678459034, + "velocityY": 0.5753586737746517, + "timestamp": 7.661473249038174 + }, + { + "x": 4.291374419034759, + "y": 2.0771146233430215, + "heading": -0.36642962736971124, + "angularVelocity": -0.8597029126242952, + "velocityX": -2.2432697906539487, + "velocityY": 0.511326330270982, + "timestamp": 7.71952540637199 + }, + { + "x": 4.177891381608033, + "y": 2.102655731782735, + "heading": -0.4130820297898137, + "angularVelocity": -0.8036290908508001, + "velocityX": -1.9548461700426851, + "velocityY": 0.4399682908051872, + "timestamp": 7.777577563705806 + }, + { + "x": 4.081058211075384, + "y": 2.1237389589368134, + "heading": -0.4559637520429508, + "angularVelocity": -0.738675774038079, + "velocityX": -1.6680374163501055, + "velocityY": 0.36317732401991576, + "timestamp": 7.835629721039623 + }, + { + "x": 4.000796937094782, + "y": 2.140121363134788, + "heading": -0.49467583838017426, + "angularVelocity": -0.6668500899048075, + "velocityX": -1.382571771089882, + "velocityY": 0.2822014710628498, + "timestamp": 7.893681878373439 + }, + { + "x": 3.9370420833786737, + "y": 2.1516101924347857, + "heading": -0.5289011019599401, + "angularVelocity": -0.5895605805476083, + "velocityX": -1.0982340130703443, + "velocityY": 0.1979052946117624, + "timestamp": 7.951734035707255 + }, + { + "x": 3.8897380782848177, + "y": 2.1580488572733114, + "heading": -0.5583816999879796, + "angularVelocity": -0.5078294999187984, + "velocityX": -0.8148535259739682, + "velocityY": 0.11091172377111619, + "timestamp": 8.009786193041071 + }, + { + "x": 3.8588372630557566, + "y": 2.1593076697609526, + "heading": -0.5829039334740946, + "angularVelocity": -0.4224172642733201, + "velocityX": -0.5322940033282947, + "velocityY": 0.02168416378400226, + "timestamp": 8.067838350374888 + }, + { + "x": 3.8442983627319336, + "y": 2.1552774906158447, + "heading": -0.602287538290654, + "angularVelocity": -0.3338998188318499, + "velocityX": -0.25044547854130556, + "velocityY": -0.06942341732337823, + "timestamp": 8.125890507708705 + }, + { + "x": 3.8576387146651134, + "y": 2.13806005595645, + "heading": -0.619278145531587, + "angularVelocity": -0.20143847160866324, + "velocityX": 0.1581615104177926, + "velocityY": -0.20412770854092552, + "timestamp": 8.210236894499909 + }, + { + "x": 3.905455453573714, + "y": 2.109481651185984, + "heading": -0.6254126059760678, + "angularVelocity": -0.07272938033097415, + "velocityX": 0.5669091555394026, + "velocityY": -0.33882192062608685, + "timestamp": 8.294583281291112 + }, + { + "x": 3.987762915374457, + "y": 2.0695435831389517, + "heading": -0.6210817382802795, + "angularVelocity": 0.05134621482375198, + "velocityX": 0.9758267654605434, + "velocityY": -0.4735006390480968, + "timestamp": 8.378929668082316 + }, + { + "x": 4.104578927032089, + "y": 2.0182477742847946, + "heading": -0.6067890663536344, + "angularVelocity": 0.16945209475334327, + "velocityX": 1.3849557296011592, + "velocityY": -0.6081565649176908, + "timestamp": 8.46327605487352 + }, + { + "x": 4.25592634256958, + "y": 1.955597106088846, + "heading": -0.5832156347231323, + "angularVelocity": 0.2794835976656285, + "velocityX": 1.794355648122163, + "velocityY": -0.7427783285019535, + "timestamp": 8.547622441664723 + }, + { + "x": 4.441835387458979, + "y": 1.8815962088865352, + "heading": -0.5513387484522754, + "angularVelocity": 0.37792829643986087, + "velocityX": 2.2041139159832754, + "velocityY": -0.877345195420139, + "timestamp": 8.631968828455927 + }, + { + "x": 4.66234711446509, + "y": 1.7962536064859413, + "heading": -0.5126769338910522, + "angularVelocity": 0.45836954055814433, + "velocityX": 2.614358900185992, + "velocityY": -1.011811005157306, + "timestamp": 8.71631521524713 + }, + { + "x": 4.917516613544415, + "y": 1.699589099451937, + "heading": -0.4698979469526159, + "angularVelocity": 0.5071822109503572, + "velocityX": 3.025257023884024, + "velocityY": -1.1460420619237055, + "timestamp": 8.800661602038334 + }, + { + "x": 5.207389212765179, + "y": 1.5916714767699458, + "heading": -0.42891919524045724, + "angularVelocity": 0.48583885180049724, + "velocityX": 3.436692551375497, + "velocityY": -1.2794575652557374, + "timestamp": 8.885007988829537 + }, + { + "x": 5.530829704025048, + "y": 1.4731326595685643, + "heading": -0.4168747641910295, + "angularVelocity": 0.14279723776720205, + "velocityX": 3.8346691964474693, + "velocityY": -1.405381092314254, + "timestamp": 8.96935437562074 + }, + { + "x": 5.860796817769712, + "y": 1.3640506417959732, + "heading": -0.4168747316984138, + "angularVelocity": 3.852283051108577e-7, + "velocityX": 3.91204799989226, + "velocityY": -1.2932624848841556, + "timestamp": 9.053700762411944 + }, + { + "x": 6.1907640358798846, + "y": 1.2549689397238482, + "heading": -0.4168746992057636, + "angularVelocity": 3.852287159927463e-7, + "velocityX": 3.9120492372364075, + "velocityY": -1.2932587419797106, + "timestamp": 9.138047149203148 + }, + { + "x": 6.5162512528388925, + "y": 1.1501619128296605, + "heading": -0.39522547264575847, + "angularVelocity": 0.25667046786007763, + "velocityX": 3.8589349151937298, + "velocityY": -1.242578738477967, + "timestamp": 9.222393535994351 + }, + { + "x": 6.809203485103097, + "y": 1.0566385263910887, + "heading": -0.3364658613691826, + "angularVelocity": 0.6966464541277111, + "velocityX": 3.4732042878066567, + "velocityY": -1.1088013369213576, + "timestamp": 9.306739922785555 + }, + { + "x": 7.0676023282548455, + "y": 0.9747449425291351, + "heading": -0.27342754168182104, + "angularVelocity": 0.7473742751234995, + "velocityX": 3.0635437151730858, + "velocityY": -0.9709198814251399, + "timestamp": 9.391086309576758 + }, + { + "x": 7.291404029843143, + "y": 0.9044159486596018, + "heading": -0.212686256942587, + "angularVelocity": 0.7201409218583059, + "velocityX": 2.6533644190629335, + "velocityY": -0.833811578006664, + "timestamp": 9.475432696367962 + }, + { + "x": 7.480631108632639, + "y": 0.8456084340013106, + "heading": -0.15716871325728424, + "angularVelocity": 0.658208914422557, + "velocityX": 2.2434521025532703, + "velocityY": -0.6972143905093124, + "timestamp": 9.559779083159166 + }, + { + "x": 7.635307728813632, + "y": 0.7982939214998752, + "heading": -0.10853495890594571, + "angularVelocity": 0.5765955863851053, + "velocityX": 1.83382627360068, + "velocityY": -0.5609548233353625, + "timestamp": 9.64412546995037 + }, + { + "x": 7.755453704764619, + "y": 0.7624523838325293, + "heading": -0.06785138236204946, + "angularVelocity": 0.48233929266712156, + "velocityX": 1.4244353613914185, + "velocityY": -0.4249326975448363, + "timestamp": 9.728471856741573 + }, + { + "x": 7.841084766649754, + "y": 0.7380690201261568, + "heading": -0.03585889712581951, + "angularVelocity": 0.3792988230239957, + "velocityX": 1.0152309440013383, + "velocityY": -0.2890860490175211, + "timestamp": 9.812818243532776 + }, + { + "x": 7.892213505293505, + "y": 0.7251324738070216, + "heading": -0.013102178881898748, + "angularVelocity": 0.2698007479591791, + "velocityX": 0.6061758018196838, + "velocityY": -0.15337404257943216, + "timestamp": 9.89716463032398 + }, + { + "x": 7.908850193023682, + "y": 0.7236337661743164, + "heading": -5.019107924718939e-28, + "angularVelocity": 0.15533776111041753, + "velocityX": 0.19724244704590402, + "velocityY": -0.017768486472517064, + "timestamp": 9.981511017115183 + }, + { + "x": 7.892189079958052, + "y": 0.733080197359647, + "heading": 0.0032660991416649378, + "angularVelocity": 0.03963429721823649, + "velocityX": -0.20218354636142255, + "velocityY": 0.11463297499908585, + "timestamp": 10.063916897145829 + }, + { + "x": 7.842604987925804, + "y": 0.7534362672637073, + "heading": -0.002772756670579444, + "angularVelocity": -0.07328185573649153, + "velocityX": -0.6017057522328306, + "velocityY": 0.24702205590778456, + "timestamp": 10.146322777176474 + }, + { + "x": 7.76008824404944, + "y": 0.7847005763866867, + "heading": -0.017830574368452534, + "angularVelocity": -0.18272746668409265, + "velocityX": -1.001345339018009, + "velocityY": 0.37939415380738334, + "timestamp": 10.22872865720712 + }, + { + "x": 7.644626694532573, + "y": 0.8268711306705374, + "heading": -0.04153713177121822, + "angularVelocity": -0.2876804105963022, + "velocityX": -1.4011324128075406, + "velocityY": 0.5117420537001512, + "timestamp": 10.311134537237765 + }, + { + "x": 7.496204565153335, + "y": 0.8799449205205542, + "heading": -0.07339105495914866, + "angularVelocity": -0.3865491537264634, + "velocityX": -1.8011109076687513, + "velocityY": 0.6440534319914972, + "timestamp": 10.39354041726841 + }, + { + "x": 7.314800632642625, + "y": 0.9439170229632209, + "heading": -0.11267436902090536, + "angularVelocity": -0.47670523082998323, + "velocityX": -2.2013469480970156, + "velocityY": 0.7763050697216819, + "timestamp": 10.475946297299055 + }, + { + "x": 7.1003852320289775, + "y": 1.0187784547123067, + "heading": -0.15827781834795562, + "angularVelocity": -0.5534004285870268, + "velocityX": -2.601942974626455, + "velocityY": 0.9084476947669995, + "timestamp": 10.5583521773297 + }, + { + "x": 6.852915852080657, + "y": 1.1045099286982563, + "heading": -0.20827432822470915, + "angularVelocity": -0.606710466026947, + "velocityX": -3.0030548773496584, + "velocityY": 1.0403562701359113, + "timestamp": 10.640758057360346 + }, + { + "x": 6.57234037138111, + "y": 1.2010554187463547, + "heading": -0.25850083223033166, + "angularVelocity": -0.6095014577472403, + "velocityX": -3.4047992764012145, + "velocityY": 1.171584964716045, + "timestamp": 10.723163937390991 + }, + { + "x": 6.258992137221064, + "y": 1.3080260402749817, + "heading": -0.2924105128425884, + "angularVelocity": -0.4114958859688932, + "velocityX": -3.8024984872865555, + "velocityY": 1.2980945229739238, + "timestamp": 10.805569817421636 + }, + { + "x": 5.936813239669241, + "y": 1.415192130467459, + "heading": -0.29241053972638326, + "angularVelocity": -3.2623636665893746e-7, + "velocityX": -3.9096590853954853, + "velocityY": 1.3004665462297604, + "timestamp": 10.887975697452282 + }, + { + "x": 5.614634321099526, + "y": 1.5223581574728795, + "heading": -0.29241056661001313, + "angularVelocity": -3.262343643621567e-7, + "velocityX": -3.9096593404487785, + "velocityY": 1.300465779451264, + "timestamp": 10.970381577482927 + }, + { + "x": 5.292534947574076, + "y": 1.6297629984771478, + "heading": -0.2924106310888177, + "angularVelocity": -7.824539278829055e-7, + "velocityX": -3.9086940568520956, + "velocityY": 1.3033638007909902, + "timestamp": 11.052787457513572 + }, + { + "x": 4.996115872359855, + "y": 1.7283189881306324, + "heading": -0.36622067840528416, + "angularVelocity": -0.8956890854028594, + "velocityX": -3.5970621890572314, + "velocityY": 1.1959824907741203, + "timestamp": 11.135193337544218 + }, + { + "x": 4.732736935087431, + "y": 1.8159057723600291, + "heading": -0.43711479002142123, + "angularVelocity": -0.8603040412865287, + "velocityX": -3.1961182524169116, + "velocityY": 1.0628705645376848, + "timestamp": 11.217599217574863 + }, + { + "x": 4.502338857203799, + "y": 1.8925327189091943, + "heading": -0.5013692608315433, + "angularVelocity": -0.7797316257799427, + "velocityX": -2.7958936643592733, + "velocityY": 0.9298723164010714, + "timestamp": 11.300005097605508 + }, + { + "x": 4.304889219129118, + "y": 1.9582062400500209, + "heading": -0.5576357524751158, + "angularVelocity": -0.6827970482524788, + "velocityX": -2.396062489730738, + "velocityY": 0.7969518815453914, + "timestamp": 11.382410977636154 + }, + { + "x": 4.140369092817658, + "y": 2.0129300491668727, + "heading": -0.6052252685128586, + "angularVelocity": -0.5775014600905304, + "velocityX": -1.9964610080042535, + "velocityY": 0.6640765088183144, + "timestamp": 11.464816857666799 + }, + { + "x": 4.008766269829904, + "y": 2.0567065014156403, + "heading": -0.6437229947806191, + "angularVelocity": -0.4671720786604532, + "velocityX": -1.5970076763795704, + "velocityY": 0.5312297160407456, + "timestamp": 11.547222737697444 + }, + { + "x": 3.9100722638712457, + "y": 2.0895372342089806, + "heading": -0.6728522708471012, + "angularVelocity": -0.3534854072992033, + "velocityX": -1.1976573264184043, + "velocityY": 0.3984027933580843, + "timestamp": 11.62962861772809 + }, + { + "x": 3.8442808143052742, + "y": 2.1114234734626223, + "heading": -0.6924141497397114, + "angularVelocity": -0.23738450320942417, + "velocityX": -0.7983829496330213, + "velocityY": 0.26559074723190373, + "timestamp": 11.712034497758735 + }, + { + "x": 3.811387062072754, + "y": 2.122366189956665, + "heading": -0.7022564818650576, + "angularVelocity": -0.11943725522603567, + "velocityX": -0.3991675378054077, + "velocityY": 0.1327904815769616, + "timestamp": 11.79444037778938 + }, + { + "x": 3.811387062072754, + "y": 2.122366189956665, + "heading": -0.7022564818650576, + "angularVelocity": 1.9181866499986056e-28, + "velocityX": 1.4721704576805681e-27, + "velocityY": -6.910528798867393e-28, + "timestamp": 11.876846257820025 + } + ], + "eventMarkers": [ + { + "timestamp": 11.876846257820025, + "command": { + "type": "named", + "data": { + "name": "" + } + } + } + ] } \ No newline at end of file diff --git a/src/main/deploy/choreo/Source4Note345.traj b/src/main/deploy/choreo/Source4Note345.traj index 1fc5f15..fcff0ff 100644 --- a/src/main/deploy/choreo/Source4Note345.traj +++ b/src/main/deploy/choreo/Source4Note345.traj @@ -1,1725 +1,1725 @@ -{ - "samples": [ - { - "x": 0.7012643218040466, - "y": 4.475527763366699, - "heading": -1.0584069524694912, - "angularVelocity": 1.35595729168612e-25, - "velocityX": 1.4664818087675264e-24, - "velocityY": -6.87247645585249e-24, - "timestamp": 0 - }, - { - "x": 0.7130752441042216, - "y": 4.47752481036138, - "heading": -1.047874914711513, - "angularVelocity": 0.2134496897391787, - "velocityX": 0.2393684639609371, - "velocityY": 0.04047355993251818, - "timestamp": 0.049342014836600986 - }, - { - "x": 0.7367161607859627, - "y": 4.4815156769193, - "heading": -1.0270238646876997, - "angularVelocity": 0.4225820549254573, - "velocityX": 0.4791234561464372, - "velocityY": 0.08088171046795564, - "timestamp": 0.09868402967320197 - }, - { - "x": 0.7722110412083123, - "y": 4.487495862541681, - "heading": -0.9961275558882633, - "angularVelocity": 0.6261663392091168, - "velocityX": 0.7193642282321278, - "velocityY": 0.12119865072768905, - "timestamp": 0.14802604450980295 - }, - { - "x": 0.8195885546525802, - "y": 4.495458383955774, - "heading": -0.9555170011670803, - "angularVelocity": 0.8230420840265095, - "velocityX": 0.9601860321505173, - "velocityY": 0.161374063066966, - "timestamp": 0.19736805934640395 - }, - { - "x": 0.8788815466573906, - "y": 4.505392734371882, - "heading": -0.9055732183825892, - "angularVelocity": 1.0121958527612376, - "velocityX": 1.2016735068716329, - "velocityY": 0.20133653741150442, - "timestamp": 0.24671007418300495 - }, - { - "x": 0.9501261855969747, - "y": 4.517284465001881, - "heading": -0.8467167723668201, - "angularVelocity": 1.1928261586130158, - "velocityX": 1.443893995320518, - "velocityY": 0.24100618244671507, - "timestamp": 0.29605208901960595 - }, - { - "x": 1.033361036653653, - "y": 4.531115857788243, - "heading": -0.7793984190016389, - "angularVelocity": 1.3643211285171442, - "velocityX": 1.6868960728968083, - "velocityY": 0.2803167408579883, - "timestamp": 0.34539410385620695 - }, - { - "x": 1.1286266721674085, - "y": 4.54686791226827, - "heading": -0.7041006841948274, - "angularVelocity": 1.526036888768416, - "velocityX": 1.9307204180703474, - "velocityY": 0.319242222519503, - "timestamp": 0.39473611869280795 - }, - { - "x": 1.2359667010079436, - "y": 4.564523241147516, - "heading": -0.6213665168496443, - "angularVelocity": 1.6767488644142756, - "velocityX": 2.1754285712895585, - "velocityY": 0.35781532103446856, - "timestamp": 0.44407813352940895 - }, - { - "x": 1.355430979413833, - "y": 4.584068485538284, - "heading": -0.5318769704940612, - "angularVelocity": 1.8136581299311139, - "velocityX": 2.421147146128966, - "velocityY": 0.3961176789292777, - "timestamp": 0.49342014836600995 - }, - { - "x": 1.4870807395767256, - "y": 4.6054937421516176, - "heading": -0.4366063356348723, - "angularVelocity": 1.9308217383234834, - "velocityX": 2.6681066956600508, - "velocityY": 0.43421932980007055, - "timestamp": 0.542762163202611 - }, - { - "x": 1.6309921142351658, - "y": 4.62878555774163, - "heading": -0.3371005041962886, - "angularVelocity": 2.0166552129681596, - "velocityX": 2.916609204853331, - "velocityY": 0.47204832772120586, - "timestamp": 0.5921041780392119 - }, - { - "x": 1.7872429405082741, - "y": 4.653909326955937, - "heading": -0.23600200862807216, - "angularVelocity": 2.0489332651495915, - "velocityX": 3.1666892158851314, - "velocityY": 0.5091759892153832, - "timestamp": 0.6414461928758128 - }, - { - "x": 1.955800488408387, - "y": 4.680764921549245, - "heading": -0.13845532328201524, - "angularVelocity": 1.9769497793936581, - "velocityX": 3.4161058979512955, - "velocityY": 0.5442743812193794, - "timestamp": 0.6907882077124138 - }, - { - "x": 2.1349342314386073, - "y": 4.7085203213980575, - "heading": -0.062226637634806285, - "angularVelocity": 1.5449041937108723, - "velocityX": 3.63045051207237, - "velocityY": 0.5625104678178738, - "timestamp": 0.7401302225490147 - }, - { - "x": 2.3231376691326124, - "y": 4.736959726934749, - "heading": -0.015556580058332851, - "angularVelocity": 0.9458482336204572, - "velocityX": 3.814263327455349, - "velocityY": 0.576373008497331, - "timestamp": 0.7894722373856157 - }, - { - "x": 2.5200586239997804, - "y": 4.766210325846585, - "heading": -1.8588553206774156e-7, - "angularVelocity": 0.31527683302590515, - "velocityX": 3.990938665947945, - "velocityY": 0.5928132243626654, - "timestamp": 0.8388142522222166 - }, - { - "x": 2.7206497519468917, - "y": 4.799302905772457, - "heading": -9.393965020101493e-8, - "angularVelocity": 0.0000018634399541893636, - "velocityX": 4.0653209766844896, - "velocityY": 0.6706775156113934, - "timestamp": 0.8881562670588176 - }, - { - "x": 2.922780752182007, - "y": 4.821096897125244, - "heading": -4.19415250912016e-24, - "angularVelocity": 0.0000019038470664828271, - "velocityX": 4.096529112248132, - "velocityY": 0.44169236754840535, - "timestamp": 0.9374982818954185 - }, - { - "x": 3.0661275875026526, - "y": 4.830285372388774, - "heading": -2.148856449581639e-9, - "angularVelocity": -6.163889009608376e-8, - "velocityX": 4.11183344968015, - "velocityY": 0.2635668925346567, - "timestamp": 0.9723603056312768 - }, - { - "x": 3.2097380850541177, - "y": 4.8332464823275085, - "heading": -4.33224269168314e-9, - "angularVelocity": -6.262936020709883e-8, - "velocityX": 4.119396471058866, - "velocityY": 0.08493798183290027, - "timestamp": 1.0072223293671352 - }, - { - "x": 3.353341836255061, - "y": 4.829974529249004, - "heading": -6.56801260797033e-9, - "angularVelocity": -6.413196013022978e-8, - "velocityX": 4.1192029553131055, - "velocityY": -0.09385436437355381, - "timestamp": 1.0420843531029935 - }, - { - "x": 3.4966684334444085, - "y": 4.820475614588101, - "heading": -8.875894016604602e-9, - "angularVelocity": -6.620044281194253e-8, - "velocityX": 4.111252928840291, - "velocityY": -0.27247169392327125, - "timestamp": 1.0769463768388519 - }, - { - "x": 3.639447986078635, - "y": 4.80476759303118, - "heading": -1.1278209094883865e-8, - "angularVelocity": -6.890922616773665e-8, - "velocityX": 4.095561224902915, - "velocityY": -0.4505768705780642, - "timestamp": 1.1118084005747102 - }, - { - "x": 3.781411631541406, - "y": 4.78288002470995, - "heading": -1.3800882207541757e-8, - "angularVelocity": -7.236163717205908e-8, - "velocityX": 4.072157329086734, - "velocityY": -0.6278341293972823, - "timestamp": 1.1466704243105685 - }, - { - "x": 3.922292042494357, - "y": 4.754854113329163, - "heading": -1.6474766217146496e-8, - "angularVelocity": -7.669904736065112e-8, - "velocityX": 4.041085280084993, - "velocityY": -0.8039094802164521, - "timestamp": 1.1815324480464269 - }, - { - "x": 4.061823930760296, - "y": 4.720742625602728, - "heading": -1.9337446361982888e-8, - "angularVelocity": -8.21145716188558e-8, - "velocityX": 4.002403570232772, - "velocityY": -0.978471243806441, - "timestamp": 1.2163944717822852 - }, - { - "x": 4.199744547121747, - "y": 4.680609790344849, - "heading": -2.2435766007654413e-8, - "angularVelocity": -8.887377477414376e-8, - "velocityX": 3.956185028340431, - "velocityY": -1.1511906354592945, - "timestamp": 1.2512564955181436 - }, - { - "x": 4.33579417622256, - "y": 4.634531176665304, - "heading": -2.582946430761559e-8, - "angularVelocity": -9.734656615675744e-8, - "velocityX": 3.902516679227518, - "velocityY": -1.321742364375404, - "timestamp": 1.286118519254002 - }, - { - "x": 4.4697166256951775, - "y": 4.582593551168475, - "heading": -2.9596575969164054e-8, - "angularVelocity": -1.0805774472793139e-7, - "velocityX": 3.8414995780886927, - "velocityY": -1.4898052359308736, - "timestamp": 1.3209805429898602 - }, - { - "x": 4.601259708404541, - "y": 4.524894714355469, - "heading": -3.3875027210293766e-8, - "angularVelocity": -1.2272526900751864e-7, - "velocityX": 3.7732486130477016, - "velocityY": -1.6550627482264968, - "timestamp": 1.3558425667257186 - }, - { - "x": 4.734562448878385, - "y": 4.459137464101324, - "heading": -3.767778619796302e-8, - "angularVelocity": -1.0541224327618212e-7, - "velocityX": 3.6951436979767838, - "velocityY": -1.822786898522628, - "timestamp": 1.3919176835193718 - }, - { - "x": 4.864778755280991, - "y": 4.387462142159452, - "heading": -4.075372355757089e-8, - "angularVelocity": -8.52647928266453e-8, - "velocityX": 3.6095879369548025, - "velocityY": -1.9868354786444253, - "timestamp": 1.4279928003130251 - }, - { - "x": 4.991646062524004, - "y": 4.31001328242291, - "heading": -4.331381117101593e-8, - "angularVelocity": -7.09654698580335e-8, - "velocityX": 3.5167538879689317, - "velocityY": -2.146877588215275, - "timestamp": 1.4640679171066784 - }, - { - "x": 5.114908569345276, - "y": 4.226947074075465, - "heading": -4.549487456287536e-8, - "angularVelocity": -6.045894194424784e-8, - "velocityX": 3.4168290438620974, - "velocityY": -2.3025901432995166, - "timestamp": 1.5001430339003317 - }, - { - "x": 5.240630837773264, - "y": 4.147652992068584, - "heading": -4.7796207316709824e-8, - "angularVelocity": -6.379280119861848e-8, - "velocityX": 3.4850134830362576, - "velocityY": -2.1980270351011604, - "timestamp": 1.536218150693985 - }, - { - "x": 5.369786083327096, - "y": 4.074082884476059, - "heading": -6.80330102112903e-8, - "angularVelocity": -5.609629210719787e-7, - "velocityX": 3.5801753960379097, - "velocityY": -2.0393588193585033, - "timestamp": 1.5722932674876382 - }, - { - "x": 5.501957932059618, - "y": 4.006463913536522, - "heading": -0.0005378526214979867, - "angularVelocity": -0.014907355437374207, - "velocityX": 3.6637954490496707, - "velocityY": -1.8743936804505115, - "timestamp": 1.6083683842812915 - }, - { - "x": 5.635122517131343, - "y": 3.9454444846864316, - "heading": -0.0013716068459818165, - "angularVelocity": -0.02311161538998856, - "velocityX": 3.6913140387989873, - "velocityY": -1.691454783060481, - "timestamp": 1.6444435010749447 - }, - { - "x": 5.7683672766770036, - "y": 3.891098891931583, - "heading": -0.0023714416580770926, - "angularVelocity": -0.027715358977609194, - "velocityX": 3.6935364702437306, - "velocityY": -1.506456460437835, - "timestamp": 1.680518617868598 - }, - { - "x": 5.901203439301723, - "y": 3.843415261868438, - "heading": -0.0034666226109464834, - "angularVelocity": -0.030358348086126495, - "velocityX": 3.6822101889380328, - "velocityY": -1.3217872678248526, - "timestamp": 1.7165937346622513 - }, - { - "x": 6.033331045967558, - "y": 3.8023684544753524, - "heading": -0.004613334740621083, - "angularVelocity": -0.03178678911100141, - "velocityX": 3.6625690617051805, - "velocityY": -1.13781495505254, - "timestamp": 1.7526688514559046 - }, - { - "x": 6.164548397064209, - "y": 3.767933845520019, - "heading": -0.005781939029622976, - "angularVelocity": -0.03239363840971651, - "velocityX": 3.6373368337850036, - "velocityY": -0.9545252244724934, - "timestamp": 1.7887439682495578 - }, - { - "x": 6.4238894349918905, - "y": 3.725356363013457, - "heading": -0.00813177146759458, - "angularVelocity": -0.03242490425559778, - "velocityX": 3.578599132630597, - "velocityY": -0.5875188253471295, - "timestamp": 1.8612139567327446 - }, - { - "x": 6.673459862679172, - "y": 3.7078796706091532, - "heading": -0.010324564143580333, - "angularVelocity": -0.030257941554585537, - "velocityX": 3.443776284650332, - "velocityY": -0.2411576539488291, - "timestamp": 1.9336839452159313 - }, - { - "x": 6.907667295296139, - "y": 3.712527250548902, - "heading": -0.012192160841527707, - "angularVelocity": -0.025770622253937055, - "velocityX": 3.231785150225377, - "velocityY": 0.06413109808658506, - "timestamp": 2.0061539336991183 - }, - { - "x": 7.121777473190393, - "y": 3.735107801887392, - "heading": -0.013584669209521207, - "angularVelocity": -0.019214966045103837, - "velocityX": 2.9544668403518353, - "velocityY": 0.31158486169386757, - "timestamp": 2.078623922182305 - }, - { - "x": 7.312475114645496, - "y": 3.7710048983952196, - "heading": -0.01438951581488395, - "angularVelocity": -0.011105929809130157, - "velocityX": 2.631401569759389, - "velocityY": 0.49533741151560723, - "timestamp": 2.151093910665492 - }, - { - "x": 7.477791781199064, - "y": 3.8159171301541095, - "heading": -0.014532784027010696, - "angularVelocity": -0.0019769316254270534, - "velocityX": 2.2811741800113965, - "velocityY": 0.6197355995069491, - "timestamp": 2.2235638991486786 - }, - { - "x": 7.616715815868345, - "y": 3.8662041653804877, - "heading": -0.01397001086601989, - "angularVelocity": 0.007765603014016935, - "velocityX": 1.9169871222141917, - "velocityY": 0.6939015208763943, - "timestamp": 2.2960338876318653 - }, - { - "x": 7.728815295702192, - "y": 3.9189199057655046, - "heading": -0.012675922533213273, - "angularVelocity": 0.017856886138554434, - "velocityX": 1.546840039306131, - "velocityY": 0.7274147752520648, - "timestamp": 2.368503876115052 - }, - { - "x": 7.813980652629695, - "y": 3.971713548083725, - "heading": -0.010636867255267548, - "angularVelocity": 0.028136547564358877, - "velocityX": 1.1751810468034207, - "velocityY": 0.7284897296550381, - "timestamp": 2.440973864598239 - }, - { - "x": 7.872272087271126, - "y": 4.022706026315587, - "heading": -0.007846030199376108, - "angularVelocity": 0.03851024561069059, - "velocityX": 0.8043527515525248, - "velocityY": 0.7036357987512754, - "timestamp": 2.5134438530814256 - }, - { - "x": 7.903834329466794, - "y": 4.070381624553785, - "heading": -0.004300580651813334, - "angularVelocity": 0.04892300415344109, - "velocityX": 0.4355215566646703, - "velocityY": 0.6578667836998284, - "timestamp": 2.5859138415646123 - }, - { - "x": 7.908850193023682, - "y": 4.1135029792785645, - "heading": -1.6431801399771578e-28, - "angularVelocity": 0.05934291893548571, - "velocityX": 0.06921297576928687, - "velocityY": 0.5950236177391367, - "timestamp": 2.658383830047799 - }, - { - "x": 7.887054284240868, - "y": 4.151354202426506, - "heading": 0.005110873422893934, - "angularVelocity": 0.0698517929802493, - "velocityX": -0.2978910221672904, - "velocityY": 0.5173236714365999, - "timestamp": 2.731551220673535 - }, - { - "x": 7.838422086854329, - "y": 4.183408720964089, - "heading": 0.010956523638740997, - "angularVelocity": 0.07989420103483798, - "velocityX": -0.6646703807615897, - "velocityY": 0.43809842422217044, - "timestamp": 2.804718611299271 - }, - { - "x": 7.762983079117002, - "y": 4.20953112778775, - "heading": 0.017495483260506317, - "angularVelocity": 0.0893698622548022, - "velocityX": -1.0310468515026154, - "velocityY": 0.35702252875576485, - "timestamp": 2.877886001925007 - }, - { - "x": 7.6607747790696985, - "y": 4.229553700517737, - "heading": 0.024676301083283603, - "angularVelocity": 0.09814232489864837, - "velocityX": -1.3969105522720728, - "velocityY": 0.2736543227625315, - "timestamp": 2.951053392550743 - }, - { - "x": 7.531846476247114, - "y": 4.243263296141889, - "heading": 0.03243345200765441, - "angularVelocity": 0.1060192369583057, - "velocityX": -1.7621005986406668, - "velocityY": 0.1873730292539564, - "timestamp": 3.024220783176479 - }, - { - "x": 7.376265637530863, - "y": 4.250380077226667, - "heading": 0.04068066701574086, - "angularVelocity": 0.11271708526920698, - "velocityX": -2.12636855552324, - "velocityY": 0.09726711618269603, - "timestamp": 3.097388173802215 - }, - { - "x": 7.194129836575373, - "y": 4.2505205649617634, - "heading": 0.04929927784816929, - "angularVelocity": 0.1177930599782374, - "velocityX": -2.489302944902695, - "velocityY": 0.0019200867202677822, - "timestamp": 3.170555564427951 - }, - { - "x": 6.985591556826913, - "y": 4.243127449410096, - "heading": 0.058115883718386635, - "angularVelocity": 0.12049911572377706, - "velocityX": -2.8501532986897105, - "velocityY": -0.10104385968175955, - "timestamp": 3.243722955053687 - }, - { - "x": 6.750918561222395, - "y": 4.227318493920163, - "heading": 0.06685364598436354, - "angularVelocity": 0.1194215372620311, - "velocityX": -3.2073440585699053, - "velocityY": -0.21606559089689018, - "timestamp": 3.3168903456794228 - }, - { - "x": 6.490681615003969, - "y": 4.20149483174933, - "heading": 0.07500318356778511, - "angularVelocity": 0.11138209950807054, - "velocityX": -3.5567340039442454, - "velocityY": -0.3529394987300426, - "timestamp": 3.3900577363051587 - }, - { - "x": 6.206657285518001, - "y": 4.161973294401296, - "heading": 0.08134950784100285, - "angularVelocity": 0.0867370589403728, - "velocityX": -3.8818430868855596, - "velocityY": -0.5401523412279929, - "timestamp": 3.4632251269308947 - }, - { - "x": 5.912244098516139, - "y": 4.097129027635956, - "heading": 0.08134954547532162, - "angularVelocity": 5.143591764598389e-7, - "velocityX": -4.023830622959322, - "velocityY": -0.8862454463769199, - "timestamp": 3.5363925175566306 - }, - { - "x": 5.624951460773946, - "y": 4.005767892260616, - "heading": 0.08134954969560343, - "angularVelocity": 5.7679818199590674e-8, - "velocityX": -3.926512006034829, - "velocityY": -1.248659199050422, - "timestamp": 3.6095599081823666 - }, - { - "x": 5.34716243038826, - "y": 3.8886477005465494, - "heading": 0.08134932634773633, - "angularVelocity": -0.0000030525602346483844, - "velocityX": -3.7966234412626005, - "velocityY": -1.6007157110898942, - "timestamp": 3.6827272988081026 - }, - { - "x": 5.08665788699048, - "y": 3.751669204716049, - "heading": 0.05865018500104508, - "angularVelocity": -0.3102357642190817, - "velocityX": -3.5603913323943255, - "velocityY": -1.8721249269523577, - "timestamp": 3.7558946894338385 - }, - { - "x": 4.848094463348389, - "y": 3.603376865386963, - "heading": 4.952640691345501e-28, - "angularVelocity": -0.8015891300682177, - "velocityX": -3.260515669642855, - "velocityY": -2.0267545153773168, - "timestamp": 3.8290620800595745 - }, - { - "x": 4.700641185060707, - "y": 3.501989185359569, - "heading": -0.05033264236108494, - "angularVelocity": -1.034189338076649, - "velocityX": -3.0297357960183557, - "velocityY": -2.0832217975849, - "timestamp": 3.8777307720562373 - }, - { - "x": 4.565095450985404, - "y": 3.3994717636903555, - "heading": -0.10698430014195474, - "angularVelocity": -1.1640267173145824, - "velocityX": -2.78507041209567, - "velocityY": -2.1064347009005995, - "timestamp": 3.9263994640529 - }, - { - "x": 4.441653890418588, - "y": 3.297081790312479, - "heading": -0.16664697326151523, - "angularVelocity": -1.2258943208017916, - "velocityX": -2.5363648683075435, - "velocityY": -2.103816009374109, - "timestamp": 3.975068156049563 - }, - { - "x": 4.330312579185749, - "y": 3.1957377001354463, - "heading": -0.22705933791477417, - "angularVelocity": -1.2412983002995335, - "velocityX": -2.2877399548866757, - "velocityY": -2.0823261530016506, - "timestamp": 4.023736848046226 - }, - { - "x": 4.230991842079205, - "y": 3.096120447000011, - "heading": -0.2865484532706337, - "angularVelocity": -1.222328213791707, - "velocityX": -2.0407521351376094, - "velocityY": -2.04684467670234, - "timestamp": 4.0724055400428885 - }, - { - "x": 4.143586352271879, - "y": 2.9987473125477595, - "heading": -0.34383093881747717, - "angularVelocity": -1.176988392266047, - "velocityX": -1.795928475195518, - "velocityY": -2.000734567901041, - "timestamp": 4.121074232039551 - }, - { - "x": 4.067986542673592, - "y": 2.904020815068955, - "heading": -0.3979071509877982, - "angularVelocity": -1.1111088042807706, - "velocityX": -1.5533561001284146, - "velocityY": -1.946353879518679, - "timestamp": 4.169742924036214 - }, - { - "x": 4.004087484152938, - "y": 2.8122616254817605, - "heading": -0.4479862468350588, - "angularVelocity": -1.0289796950099774, - "velocityX": -1.3129397133794922, - "velocityY": -1.8853843368851253, - "timestamp": 4.218411616032877 - }, - { - "x": 3.951791937745737, - "y": 2.7237308923491046, - "heading": -0.4934284100602779, - "angularVelocity": -0.9337042225900607, - "velocityX": -1.0745213043898287, - "velocityY": -1.8190489511969272, - "timestamp": 4.26708030802954 - }, - { - "x": 3.911010848659871, - "y": 2.63864542270439, - "heading": -0.5337018468885103, - "angularVelocity": -0.8275019355563128, - "velocityX": -0.83793271223855, - "velocityY": -1.7482588118568951, - "timestamp": 4.315749000026202 - }, - { - "x": 3.8816628893967526, - "y": 2.5571880974329804, - "heading": -0.5683528513458943, - "angularVelocity": -0.7119773109940992, - "velocityX": -0.6030151635291687, - "velocityY": -1.673711002485852, - "timestamp": 4.364417692022865 - }, - { - "x": 3.8636737772161385, - "y": 2.479515163260617, - "heading": -0.596986412368271, - "angularVelocity": -0.5883363585020978, - "velocityX": -0.36962390897720954, - "velocityY": -1.59595277756158, - "timestamp": 4.413086384019528 - }, - { - "x": 3.8569756412361254, - "y": 2.4057614953060065, - "heading": -0.6192545253880498, - "angularVelocity": -0.4575449248010541, - "velocityX": -0.1376272035515664, - "velocityY": -1.5154232614196375, - "timestamp": 4.461755076016191 - }, - { - "x": 3.8615065086139246, - "y": 2.3360445280133795, - "heading": -0.6348496428505993, - "angularVelocity": -0.32043428378183847, - "velocityX": 0.09309614028891178, - "velocityY": -1.4324808091700407, - "timestamp": 4.510423768012854 - }, - { - "x": 3.877209901809693, - "y": 2.2704672813415527, - "heading": -0.6435012536786778, - "angularVelocity": -0.17776542728273412, - "velocityX": 0.3226590350290306, - "velocityY": -1.3474215965434906, - "timestamp": 4.559092460009516 - }, - { - "x": 3.909263343483357, - "y": 2.2016193636983066, - "heading": -0.644092375367383, - "angularVelocity": -0.010723484805221098, - "velocityX": 0.5814785708430558, - "velocityY": -1.2489638137550592, - "timestamp": 4.6142164891327075 - }, - { - "x": 3.955582772404527, - "y": 2.1382378341857042, - "heading": -0.6356618580904682, - "angularVelocity": 0.1529372473495064, - "velocityX": 0.8402765483207932, - "velocityY": -1.1497985637253951, - "timestamp": 4.669340518255899 - }, - { - "x": 4.016167136041281, - "y": 2.080367813253358, - "heading": -0.6184384375905784, - "angularVelocity": 0.31244850519541656, - "velocityX": 1.0990554319126369, - "velocityY": -1.0498147877220347, - "timestamp": 4.72446454737909 - }, - { - "x": 4.091014879475756, - "y": 2.0280623219290286, - "heading": -0.5926967583319528, - "angularVelocity": 0.4669774627884684, - "velocityX": 1.357806107880926, - "velocityY": -0.9488691620751633, - "timestamp": 4.779588576502281 - }, - { - "x": 4.180123073013336, - "y": 1.9813847697374103, - "heading": -0.5587633107627968, - "angularVelocity": 0.6155835868477868, - "velocityX": 1.616503636525577, - "velocityY": -0.8467732300065234, - "timestamp": 4.834712605625472 - }, - { - "x": 4.283486205946313, - "y": 1.9404125575120503, - "heading": -0.5170273230433461, - "angularVelocity": 0.7571287582440518, - "velocityX": 1.8751011959227666, - "velocityY": -0.7432731764544123, - "timestamp": 4.889836634748663 - }, - { - "x": 4.401094459736751, - "y": 1.9052424011175209, - "heading": -0.4679609941418416, - "angularVelocity": 0.8901078110936128, - "velocityX": 2.133520638116034, - "velocityY": -0.6380186091972911, - "timestamp": 4.944960663871854 - }, - { - "x": 4.532931044009035, - "y": 1.8759983507167912, - "heading": -0.41215648957706635, - "angularVelocity": 1.0123444431114288, - "velocityX": 2.3916354876319863, - "velocityY": -0.5305136592133903, - "timestamp": 5.0000846929950455 - }, - { - "x": 4.678967556850721, - "y": 1.8528442484692669, - "heading": -0.35039255139162767, - "angularVelocity": 1.1204539865438439, - "velocityX": 2.6492351006368366, - "velocityY": -0.4200364635135716, - "timestamp": 5.055208722118237 - }, - { - "x": 4.839154591796641, - "y": 1.8360041394290154, - "heading": -0.2837549204318002, - "angularVelocity": 1.2088672040083555, - "velocityX": 2.9059384354495057, - "velocityY": -0.3054948868599071, - "timestamp": 5.110332751241428 - }, - { - "x": 5.013399484318381, - "y": 1.8257985791825269, - "heading": -0.2138636206895667, - "angularVelocity": 1.2678917135400287, - "velocityX": 3.160960751478034, - "velocityY": -0.18513814045923885, - "timestamp": 5.165456780364619 - }, - { - "x": 5.201503784665096, - "y": 1.8227165159855272, - "heading": -0.1433490902182715, - "angularVelocity": 1.2791976855267446, - "velocityX": 3.4123830086211457, - "velocityY": -0.05591142821058677, - "timestamp": 5.22058080948781 - }, - { - "x": 5.402944132086975, - "y": 1.827569567849425, - "heading": -0.07703772004409672, - "angularVelocity": 1.2029485367621076, - "velocityX": 3.6543110259901166, - "velocityY": 0.08803877258413399, - "timestamp": 5.275704838611001 - }, - { - "x": 5.61588559518895, - "y": 1.8417195630192391, - "heading": -0.024979311792846126, - "angularVelocity": 0.9443868505132368, - "velocityX": 3.8629517197680348, - "velocityY": 0.25669377574327124, - "timestamp": 5.330828867734192 - }, - { - "x": 5.834915427384757, - "y": 1.8670658701516258, - "heading": -7.407288610339414e-7, - "angularVelocity": 0.4531339864174827, - "velocityX": 3.9734002698953517, - "velocityY": 0.4598050529968118, - "timestamp": 5.3859528968573835 - }, - { - "x": 6.058884353100281, - "y": 1.904802816527938, - "heading": -7.957104132685767e-8, - "angularVelocity": 0.000011994003889474889, - "velocityX": 4.062999916334081, - "velocityY": 0.6845825128634481, - "timestamp": 5.441076925980575 - }, - { - "x": 6.279738426208496, - "y": 1.9578094482421875, - "heading": 8.562539103389725e-28, - "angularVelocity": 0.0000014434910254660835, - "velocityX": 4.006493658412549, - "velocityY": 0.9615884861353298, - "timestamp": 5.496200955103766 - }, - { - "x": 6.525487452777932, - "y": 2.0369981575550793, - "heading": -0.0011671855841354959, - "angularVelocity": -0.018096810491915055, - "velocityX": 3.81025401859607, - "velocityY": 1.227793664532095, - "timestamp": 5.560697711847555 - }, - { - "x": 6.750918598574351, - "y": 2.1096797802641643, - "heading": -0.0021799869715645073, - "angularVelocity": -0.015703136693405003, - "velocityX": 3.495232274886886, - "velocityY": 1.126903527844196, - "timestamp": 5.625194468591345 - }, - { - "x": 6.956282004435993, - "y": 2.175119637271968, - "heading": -0.0029917904615700073, - "angularVelocity": -0.012586733519490889, - "velocityX": 3.1840888787236112, - "velocityY": 1.0146224447806116, - "timestamp": 5.689691225335134 - }, - { - "x": 7.141668336167598, - "y": 2.233071278014614, - "heading": -0.0035868817340549562, - "angularVelocity": -0.009226685224637363, - "velocityX": 2.8743512246366985, - "velocityY": 0.8985202306040955, - "timestamp": 5.754187982078924 - }, - { - "x": 7.307124311509477, - "y": 2.2834112498174775, - "heading": -0.003957374193442598, - "angularVelocity": -0.00574435798158672, - "velocityX": 2.5653379130232326, - "velocityY": 0.7805039252258378, - "timestamp": 5.818684738822713 - }, - { - "x": 7.452678406281355, - "y": 2.3260654168990693, - "heading": -0.004098526951679239, - "angularVelocity": -0.0021885249020716494, - "velocityX": 2.2567661091872586, - "velocityY": 0.6613381700886771, - "timestamp": 5.883181495566503 - }, - { - "x": 7.578349790283282, - "y": 2.3609843306826193, - "heading": -0.004007175808745517, - "angularVelocity": 0.001416368008962219, - "velocityX": 1.9484915264987899, - "velocityY": 0.5414057317992576, - "timestamp": 5.9476782523102925 - }, - { - "x": 7.684152247420869, - "y": 2.388132659287924, - "heading": -0.003681058888279675, - "angularVelocity": 0.005056330533972877, - "velocityX": 1.6404306585195192, - "velocityY": 0.4209254848759383, - "timestamp": 6.012175009054082 - }, - { - "x": 7.770096165540853, - "y": 2.4074838977797546, - "heading": -0.0031184788458053087, - "angularVelocity": 0.00872260980050817, - "velocityX": 1.3325308505262228, - "velocityY": 0.3000342880604488, - "timestamp": 6.0766717657978715 - }, - { - "x": 7.836189653680543, - "y": 2.4190174277466903, - "heading": -0.0023181149719148936, - "angularVelocity": 0.012409366211541923, - "velocityX": 1.0247567703635636, - "velocityY": 0.1788234098770594, - "timestamp": 6.141168522541661 - }, - { - "x": 7.882439217728024, - "y": 2.422716752331528, - "heading": -0.0012789103505499641, - "angularVelocity": 0.016112509742049974, - "velocityX": 0.7170835617549867, - "velocityY": 0.05735675360441909, - "timestamp": 6.2056652792854505 - }, - { - "x": 7.908850193023682, - "y": 2.4185683727264404, - "heading": 8.461910012631763e-29, - "angularVelocity": 0.019829064516071505, - "velocityX": 0.40949307576154037, - "velocityY": -0.06431919703446601, - "timestamp": 6.27016203602924 - }, - { - "x": 7.9135037293511274, - "y": 2.404007500518451, - "heading": 0.001738681655620773, - "angularVelocity": 0.024013784718208257, - "velocityX": 0.06427227157104093, - "velocityY": -0.20110734439603808, - "timestamp": 6.342565519112956 - }, - { - "x": 7.893003638215416, - "y": 2.37995206083196, - "heading": 0.003710519645397934, - "angularVelocity": 0.02723402115195558, - "velocityX": -0.28313680865337726, - "velocityY": -0.3322414704645804, - "timestamp": 6.414969002196671 - }, - { - "x": 7.847170108256414, - "y": 2.346892602647919, - "heading": 0.005832318333489156, - "angularVelocity": 0.029305201873201705, - "velocityX": -0.6330293517234256, - "velocityY": -0.45660038407014847, - "timestamp": 6.487372485280387 - }, - { - "x": 7.775798531874128, - "y": 2.305426839443902, - "heading": 0.008003405006399665, - "angularVelocity": 0.029985942394514752, - "velocityX": -0.9857478306639489, - "velocityY": -0.5727039838134944, - "timestamp": 6.559775968364103 - }, - { - "x": 7.678656271538087, - "y": 2.256297576429558, - "heading": 0.010099710341735239, - "angularVelocity": 0.028953100680415525, - "velocityX": -1.3416793805861689, - "velocityY": -0.6785483366530749, - "timestamp": 6.6321794514478185 - }, - { - "x": 7.555481050531809, - "y": 2.2004499248115295, - "heading": 0.011964993253965835, - "angularVelocity": 0.02576233673832923, - "velocityX": -1.7012333628184586, - "velocityY": -0.7713392952857744, - "timestamp": 6.704582934531534 - }, - { - "x": 7.405984923055888, - "y": 2.139120846470309, - "heading": 0.013397410987870865, - "angularVelocity": 0.01978382355236724, - "velocityX": -2.064764305649063, - "velocityY": -0.8470459669779953, - "timestamp": 6.77698641761525 - }, - { - "x": 7.229874738830789, - "y": 2.073984847809468, - "heading": 0.014128316578010962, - "angularVelocity": 0.01009489542505847, - "velocityX": -2.4323440907045013, - "velocityY": -0.8996252098193818, - "timestamp": 6.849389900698966 - }, - { - "x": 7.0269201286198015, - "y": 2.007399297467021, - "heading": 0.013788101357936091, - "angularVelocity": -0.004698879191785616, - "velocityX": -2.803105618224542, - "velocityY": -0.9196456787231895, - "timestamp": 6.921793383782681 - }, - { - "x": 6.797160014432058, - "y": 1.9428204344097308, - "heading": 0.011852542100195443, - "angularVelocity": -0.02673295779849002, - "velocityX": -3.1733295747952837, - "velocityY": -0.8919303368682154, - "timestamp": 6.994196866866397 - }, - { - "x": 6.541507190710733, - "y": 1.8854379538761046, - "heading": 0.007575451762797331, - "angularVelocity": -0.05907299145336416, - "velocityX": -3.530946479822401, - "velocityY": -0.7925375698746232, - "timestamp": 7.066600349950113 - }, - { - "x": 6.263282775878906, - "y": 1.8426196575164795, - "heading": -6.194293765118798e-29, - "angularVelocity": -0.10462827809041095, - "velocityX": -3.842693790161092, - "velocityY": -0.5913844822923381, - "timestamp": 7.139003833033828 - }, - { - "x": 6.030681887766221, - "y": 1.8226833751631784, - "heading": -0.008718413948409906, - "angularVelocity": -0.15018242816156785, - "velocityX": -4.006757006034486, - "velocityY": -0.34342018055697493, - "timestamp": 7.1970559903676445 - }, - { - "x": 5.793532898564822, - "y": 1.8194210922714795, - "heading": -0.016941072562243253, - "angularVelocity": -0.14164260195449305, - "velocityX": -4.0851020891045495, - "velocityY": -0.05619572194259459, - "timestamp": 7.255108147701461 - }, - { - "x": 5.557627566049778, - "y": 1.8333576054296736, - "heading": -0.028629707625858477, - "angularVelocity": -0.20134712645392766, - "velocityX": -4.0636789974663925, - "velocityY": 0.24006882428253462, - "timestamp": 7.313160305035277 - }, - { - "x": 5.327908854137327, - "y": 1.8622622668920639, - "heading": -0.0585740879768532, - "angularVelocity": -0.5158185625868486, - "velocityX": -3.957108959646458, - "velocityY": 0.49790848075085625, - "timestamp": 7.371212462369093 - }, - { - "x": 5.11245324515911, - "y": 1.8994141855682116, - "heading": -0.10374863935649094, - "angularVelocity": -0.7781717933387261, - "velocityX": -3.7114143362370884, - "velocityY": 0.6399748154493845, - "timestamp": 7.429264619702909 - }, - { - "x": 4.913979790820032, - "y": 1.9388003080563143, - "heading": -0.15574493643193385, - "angularVelocity": -0.8956824253136624, - "velocityX": -3.4188816308375802, - "velocityY": 0.6784609616077044, - "timestamp": 7.4873167770367255 - }, - { - "x": 4.7327605113302145, - "y": 1.9775150228594818, - "heading": -0.2099745757997402, - "angularVelocity": -0.9341537310313989, - "velocityX": -3.121663135579195, - "velocityY": 0.6668953675665628, - "timestamp": 7.545368934370542 - }, - { - "x": 4.568684620360207, - "y": 2.014030214515865, - "heading": -0.2640485055959757, - "angularVelocity": -0.9314714952847509, - "velocityX": -2.8263530332994278, - "velocityY": 0.6290066266859055, - "timestamp": 7.603421091704358 - }, - { - "x": 4.421601069864, - "y": 2.0474310267692073, - "heading": -0.3165220186257055, - "angularVelocity": -0.9039028942196281, - "velocityX": -2.5336448678459034, - "velocityY": 0.5753586737746517, - "timestamp": 7.661473249038174 - }, - { - "x": 4.291374419034759, - "y": 2.0771146233430215, - "heading": -0.36642962736971124, - "angularVelocity": -0.8597029126242952, - "velocityX": -2.2432697906539487, - "velocityY": 0.511326330270982, - "timestamp": 7.71952540637199 - }, - { - "x": 4.177891381608033, - "y": 2.102655731782735, - "heading": -0.4130820297898137, - "angularVelocity": -0.8036290908508001, - "velocityX": -1.9548461700426851, - "velocityY": 0.4399682908051872, - "timestamp": 7.777577563705806 - }, - { - "x": 4.081058211075384, - "y": 2.1237389589368134, - "heading": -0.4559637520429508, - "angularVelocity": -0.738675774038079, - "velocityX": -1.6680374163501055, - "velocityY": 0.36317732401991576, - "timestamp": 7.835629721039623 - }, - { - "x": 4.000796937094782, - "y": 2.140121363134788, - "heading": -0.49467583838017426, - "angularVelocity": -0.6668500899048075, - "velocityX": -1.382571771089882, - "velocityY": 0.2822014710628498, - "timestamp": 7.893681878373439 - }, - { - "x": 3.9370420833786737, - "y": 2.1516101924347857, - "heading": -0.5289011019599401, - "angularVelocity": -0.5895605805476083, - "velocityX": -1.0982340130703443, - "velocityY": 0.1979052946117624, - "timestamp": 7.951734035707255 - }, - { - "x": 3.8897380782848177, - "y": 2.1580488572733114, - "heading": -0.5583816999879796, - "angularVelocity": -0.5078294999187984, - "velocityX": -0.8148535259739682, - "velocityY": 0.11091172377111619, - "timestamp": 8.009786193041071 - }, - { - "x": 3.8588372630557566, - "y": 2.1593076697609526, - "heading": -0.5829039334740946, - "angularVelocity": -0.4224172642733201, - "velocityX": -0.5322940033282947, - "velocityY": 0.02168416378400226, - "timestamp": 8.067838350374888 - }, - { - "x": 3.8442983627319336, - "y": 2.1552774906158447, - "heading": -0.602287538290654, - "angularVelocity": -0.3338998188318499, - "velocityX": -0.25044547854130556, - "velocityY": -0.06942341732337823, - "timestamp": 8.125890507708705 - }, - { - "x": 3.8576387146651134, - "y": 2.13806005595645, - "heading": -0.619278145531587, - "angularVelocity": -0.20143847160866324, - "velocityX": 0.1581615104177926, - "velocityY": -0.20412770854092552, - "timestamp": 8.210236894499909 - }, - { - "x": 3.905455453573714, - "y": 2.109481651185984, - "heading": -0.6254126059760678, - "angularVelocity": -0.07272938033097415, - "velocityX": 0.5669091555394026, - "velocityY": -0.33882192062608685, - "timestamp": 8.294583281291112 - }, - { - "x": 3.987762915374457, - "y": 2.0695435831389517, - "heading": -0.6210817382802795, - "angularVelocity": 0.05134621482375198, - "velocityX": 0.9758267654605434, - "velocityY": -0.4735006390480968, - "timestamp": 8.378929668082316 - }, - { - "x": 4.104578927032089, - "y": 2.0182477742847946, - "heading": -0.6067890663536344, - "angularVelocity": 0.16945209475334327, - "velocityX": 1.3849557296011592, - "velocityY": -0.6081565649176908, - "timestamp": 8.46327605487352 - }, - { - "x": 4.25592634256958, - "y": 1.955597106088846, - "heading": -0.5832156347231323, - "angularVelocity": 0.2794835976656285, - "velocityX": 1.794355648122163, - "velocityY": -0.7427783285019535, - "timestamp": 8.547622441664723 - }, - { - "x": 4.441835387458979, - "y": 1.8815962088865352, - "heading": -0.5513387484522754, - "angularVelocity": 0.37792829643986087, - "velocityX": 2.2041139159832754, - "velocityY": -0.877345195420139, - "timestamp": 8.631968828455927 - }, - { - "x": 4.66234711446509, - "y": 1.7962536064859413, - "heading": -0.5126769338910522, - "angularVelocity": 0.45836954055814433, - "velocityX": 2.614358900185992, - "velocityY": -1.011811005157306, - "timestamp": 8.71631521524713 - }, - { - "x": 4.917516613544415, - "y": 1.699589099451937, - "heading": -0.4698979469526159, - "angularVelocity": 0.5071822109503572, - "velocityX": 3.025257023884024, - "velocityY": -1.1460420619237055, - "timestamp": 8.800661602038334 - }, - { - "x": 5.207389212765179, - "y": 1.5916714767699458, - "heading": -0.42891919524045724, - "angularVelocity": 0.48583885180049724, - "velocityX": 3.436692551375497, - "velocityY": -1.2794575652557374, - "timestamp": 8.885007988829537 - }, - { - "x": 5.530829704025048, - "y": 1.4731326595685643, - "heading": -0.4168747641910295, - "angularVelocity": 0.14279723776720205, - "velocityX": 3.8346691964474693, - "velocityY": -1.405381092314254, - "timestamp": 8.96935437562074 - }, - { - "x": 5.860796817769712, - "y": 1.3640506417959732, - "heading": -0.4168747316984138, - "angularVelocity": 3.852283051108577e-7, - "velocityX": 3.91204799989226, - "velocityY": -1.2932624848841556, - "timestamp": 9.053700762411944 - }, - { - "x": 6.1907640358798846, - "y": 1.2549689397238482, - "heading": -0.4168746992057636, - "angularVelocity": 3.852287159927463e-7, - "velocityX": 3.9120492372364075, - "velocityY": -1.2932587419797106, - "timestamp": 9.138047149203148 - }, - { - "x": 6.5162512528388925, - "y": 1.1501619128296605, - "heading": -0.39522547264575847, - "angularVelocity": 0.25667046786007763, - "velocityX": 3.8589349151937298, - "velocityY": -1.242578738477967, - "timestamp": 9.222393535994351 - }, - { - "x": 6.809203485103097, - "y": 1.0566385263910887, - "heading": -0.3364658613691826, - "angularVelocity": 0.6966464541277111, - "velocityX": 3.4732042878066567, - "velocityY": -1.1088013369213576, - "timestamp": 9.306739922785555 - }, - { - "x": 7.0676023282548455, - "y": 0.9747449425291351, - "heading": -0.27342754168182104, - "angularVelocity": 0.7473742751234995, - "velocityX": 3.0635437151730858, - "velocityY": -0.9709198814251399, - "timestamp": 9.391086309576758 - }, - { - "x": 7.291404029843143, - "y": 0.9044159486596018, - "heading": -0.212686256942587, - "angularVelocity": 0.7201409218583059, - "velocityX": 2.6533644190629335, - "velocityY": -0.833811578006664, - "timestamp": 9.475432696367962 - }, - { - "x": 7.480631108632639, - "y": 0.8456084340013106, - "heading": -0.15716871325728424, - "angularVelocity": 0.658208914422557, - "velocityX": 2.2434521025532703, - "velocityY": -0.6972143905093124, - "timestamp": 9.559779083159166 - }, - { - "x": 7.635307728813632, - "y": 0.7982939214998752, - "heading": -0.10853495890594571, - "angularVelocity": 0.5765955863851053, - "velocityX": 1.83382627360068, - "velocityY": -0.5609548233353625, - "timestamp": 9.64412546995037 - }, - { - "x": 7.755453704764619, - "y": 0.7624523838325293, - "heading": -0.06785138236204946, - "angularVelocity": 0.48233929266712156, - "velocityX": 1.4244353613914185, - "velocityY": -0.4249326975448363, - "timestamp": 9.728471856741573 - }, - { - "x": 7.841084766649754, - "y": 0.7380690201261568, - "heading": -0.03585889712581951, - "angularVelocity": 0.3792988230239957, - "velocityX": 1.0152309440013383, - "velocityY": -0.2890860490175211, - "timestamp": 9.812818243532776 - }, - { - "x": 7.892213505293505, - "y": 0.7251324738070216, - "heading": -0.013102178881898748, - "angularVelocity": 0.2698007479591791, - "velocityX": 0.6061758018196838, - "velocityY": -0.15337404257943216, - "timestamp": 9.89716463032398 - }, - { - "x": 7.908850193023682, - "y": 0.7236337661743164, - "heading": -5.019107924718939e-28, - "angularVelocity": 0.15533776111041753, - "velocityX": 0.19724244704590402, - "velocityY": -0.017768486472517064, - "timestamp": 9.981511017115183 - }, - { - "x": 7.892189079958052, - "y": 0.733080197359647, - "heading": 0.0032660991416649378, - "angularVelocity": 0.03963429721823649, - "velocityX": -0.20218354636142255, - "velocityY": 0.11463297499908585, - "timestamp": 10.063916897145829 - }, - { - "x": 7.842604987925804, - "y": 0.7534362672637073, - "heading": -0.002772756670579444, - "angularVelocity": -0.07328185573649153, - "velocityX": -0.6017057522328306, - "velocityY": 0.24702205590778456, - "timestamp": 10.146322777176474 - }, - { - "x": 7.76008824404944, - "y": 0.7847005763866867, - "heading": -0.017830574368452534, - "angularVelocity": -0.18272746668409265, - "velocityX": -1.001345339018009, - "velocityY": 0.37939415380738334, - "timestamp": 10.22872865720712 - }, - { - "x": 7.644626694532573, - "y": 0.8268711306705374, - "heading": -0.04153713177121822, - "angularVelocity": -0.2876804105963022, - "velocityX": -1.4011324128075406, - "velocityY": 0.5117420537001512, - "timestamp": 10.311134537237765 - }, - { - "x": 7.496204565153335, - "y": 0.8799449205205542, - "heading": -0.07339105495914866, - "angularVelocity": -0.3865491537264634, - "velocityX": -1.8011109076687513, - "velocityY": 0.6440534319914972, - "timestamp": 10.39354041726841 - }, - { - "x": 7.314800632642625, - "y": 0.9439170229632209, - "heading": -0.11267436902090536, - "angularVelocity": -0.47670523082998323, - "velocityX": -2.2013469480970156, - "velocityY": 0.7763050697216819, - "timestamp": 10.475946297299055 - }, - { - "x": 7.1003852320289775, - "y": 1.0187784547123067, - "heading": -0.15827781834795562, - "angularVelocity": -0.5534004285870268, - "velocityX": -2.601942974626455, - "velocityY": 0.9084476947669995, - "timestamp": 10.5583521773297 - }, - { - "x": 6.852915852080657, - "y": 1.1045099286982563, - "heading": -0.20827432822470915, - "angularVelocity": -0.606710466026947, - "velocityX": -3.0030548773496584, - "velocityY": 1.0403562701359113, - "timestamp": 10.640758057360346 - }, - { - "x": 6.57234037138111, - "y": 1.2010554187463547, - "heading": -0.25850083223033166, - "angularVelocity": -0.6095014577472403, - "velocityX": -3.4047992764012145, - "velocityY": 1.171584964716045, - "timestamp": 10.723163937390991 - }, - { - "x": 6.258992137221064, - "y": 1.3080260402749817, - "heading": -0.2924105128425884, - "angularVelocity": -0.4114958859688932, - "velocityX": -3.8024984872865555, - "velocityY": 1.2980945229739238, - "timestamp": 10.805569817421636 - }, - { - "x": 5.936813239669241, - "y": 1.415192130467459, - "heading": -0.29241053972638326, - "angularVelocity": -3.2623636665893746e-7, - "velocityX": -3.9096590853954853, - "velocityY": 1.3004665462297604, - "timestamp": 10.887975697452282 - }, - { - "x": 5.614634321099526, - "y": 1.5223581574728795, - "heading": -0.29241056661001313, - "angularVelocity": -3.262343643621567e-7, - "velocityX": -3.9096593404487785, - "velocityY": 1.300465779451264, - "timestamp": 10.970381577482927 - }, - { - "x": 5.292534947574076, - "y": 1.6297629984771478, - "heading": -0.2924106310888177, - "angularVelocity": -7.824539278829055e-7, - "velocityX": -3.9086940568520956, - "velocityY": 1.3033638007909902, - "timestamp": 11.052787457513572 - }, - { - "x": 4.996115872359855, - "y": 1.7283189881306324, - "heading": -0.36622067840528416, - "angularVelocity": -0.8956890854028594, - "velocityX": -3.5970621890572314, - "velocityY": 1.1959824907741203, - "timestamp": 11.135193337544218 - }, - { - "x": 4.732736935087431, - "y": 1.8159057723600291, - "heading": -0.43711479002142123, - "angularVelocity": -0.8603040412865287, - "velocityX": -3.1961182524169116, - "velocityY": 1.0628705645376848, - "timestamp": 11.217599217574863 - }, - { - "x": 4.502338857203799, - "y": 1.8925327189091943, - "heading": -0.5013692608315433, - "angularVelocity": -0.7797316257799427, - "velocityX": -2.7958936643592733, - "velocityY": 0.9298723164010714, - "timestamp": 11.300005097605508 - }, - { - "x": 4.304889219129118, - "y": 1.9582062400500209, - "heading": -0.5576357524751158, - "angularVelocity": -0.6827970482524788, - "velocityX": -2.396062489730738, - "velocityY": 0.7969518815453914, - "timestamp": 11.382410977636154 - }, - { - "x": 4.140369092817658, - "y": 2.0129300491668727, - "heading": -0.6052252685128586, - "angularVelocity": -0.5775014600905304, - "velocityX": -1.9964610080042535, - "velocityY": 0.6640765088183144, - "timestamp": 11.464816857666799 - }, - { - "x": 4.008766269829904, - "y": 2.0567065014156403, - "heading": -0.6437229947806191, - "angularVelocity": -0.4671720786604532, - "velocityX": -1.5970076763795704, - "velocityY": 0.5312297160407456, - "timestamp": 11.547222737697444 - }, - { - "x": 3.9100722638712457, - "y": 2.0895372342089806, - "heading": -0.6728522708471012, - "angularVelocity": -0.3534854072992033, - "velocityX": -1.1976573264184043, - "velocityY": 0.3984027933580843, - "timestamp": 11.62962861772809 - }, - { - "x": 3.8442808143052742, - "y": 2.1114234734626223, - "heading": -0.6924141497397114, - "angularVelocity": -0.23738450320942417, - "velocityX": -0.7983829496330213, - "velocityY": 0.26559074723190373, - "timestamp": 11.712034497758735 - }, - { - "x": 3.811387062072754, - "y": 2.122366189956665, - "heading": -0.7022564818650576, - "angularVelocity": -0.11943725522603567, - "velocityX": -0.3991675378054077, - "velocityY": 0.1327904815769616, - "timestamp": 11.79444037778938 - }, - { - "x": 3.811387062072754, - "y": 2.122366189956665, - "heading": -0.7022564818650576, - "angularVelocity": 1.9181866499986056e-28, - "velocityX": 1.4721704576805681e-27, - "velocityY": -6.910528798867393e-28, - "timestamp": 11.876846257820025 - } - ], - "eventMarkers": [ - { - "timestamp": 11.876846257820025, - "command": { - "type": "named", - "data": { - "name": "" - } - } - } - ] +{ + "samples": [ + { + "x": 0.7012643218040466, + "y": 4.475527763366699, + "heading": -1.0584069524694912, + "angularVelocity": 1.35595729168612e-25, + "velocityX": 1.4664818087675264e-24, + "velocityY": -6.87247645585249e-24, + "timestamp": 0 + }, + { + "x": 0.7130752441042216, + "y": 4.47752481036138, + "heading": -1.047874914711513, + "angularVelocity": 0.2134496897391787, + "velocityX": 0.2393684639609371, + "velocityY": 0.04047355993251818, + "timestamp": 0.049342014836600986 + }, + { + "x": 0.7367161607859627, + "y": 4.4815156769193, + "heading": -1.0270238646876997, + "angularVelocity": 0.4225820549254573, + "velocityX": 0.4791234561464372, + "velocityY": 0.08088171046795564, + "timestamp": 0.09868402967320197 + }, + { + "x": 0.7722110412083123, + "y": 4.487495862541681, + "heading": -0.9961275558882633, + "angularVelocity": 0.6261663392091168, + "velocityX": 0.7193642282321278, + "velocityY": 0.12119865072768905, + "timestamp": 0.14802604450980295 + }, + { + "x": 0.8195885546525802, + "y": 4.495458383955774, + "heading": -0.9555170011670803, + "angularVelocity": 0.8230420840265095, + "velocityX": 0.9601860321505173, + "velocityY": 0.161374063066966, + "timestamp": 0.19736805934640395 + }, + { + "x": 0.8788815466573906, + "y": 4.505392734371882, + "heading": -0.9055732183825892, + "angularVelocity": 1.0121958527612376, + "velocityX": 1.2016735068716329, + "velocityY": 0.20133653741150442, + "timestamp": 0.24671007418300495 + }, + { + "x": 0.9501261855969747, + "y": 4.517284465001881, + "heading": -0.8467167723668201, + "angularVelocity": 1.1928261586130158, + "velocityX": 1.443893995320518, + "velocityY": 0.24100618244671507, + "timestamp": 0.29605208901960595 + }, + { + "x": 1.033361036653653, + "y": 4.531115857788243, + "heading": -0.7793984190016389, + "angularVelocity": 1.3643211285171442, + "velocityX": 1.6868960728968083, + "velocityY": 0.2803167408579883, + "timestamp": 0.34539410385620695 + }, + { + "x": 1.1286266721674085, + "y": 4.54686791226827, + "heading": -0.7041006841948274, + "angularVelocity": 1.526036888768416, + "velocityX": 1.9307204180703474, + "velocityY": 0.319242222519503, + "timestamp": 0.39473611869280795 + }, + { + "x": 1.2359667010079436, + "y": 4.564523241147516, + "heading": -0.6213665168496443, + "angularVelocity": 1.6767488644142756, + "velocityX": 2.1754285712895585, + "velocityY": 0.35781532103446856, + "timestamp": 0.44407813352940895 + }, + { + "x": 1.355430979413833, + "y": 4.584068485538284, + "heading": -0.5318769704940612, + "angularVelocity": 1.8136581299311139, + "velocityX": 2.421147146128966, + "velocityY": 0.3961176789292777, + "timestamp": 0.49342014836600995 + }, + { + "x": 1.4870807395767256, + "y": 4.6054937421516176, + "heading": -0.4366063356348723, + "angularVelocity": 1.9308217383234834, + "velocityX": 2.6681066956600508, + "velocityY": 0.43421932980007055, + "timestamp": 0.542762163202611 + }, + { + "x": 1.6309921142351658, + "y": 4.62878555774163, + "heading": -0.3371005041962886, + "angularVelocity": 2.0166552129681596, + "velocityX": 2.916609204853331, + "velocityY": 0.47204832772120586, + "timestamp": 0.5921041780392119 + }, + { + "x": 1.7872429405082741, + "y": 4.653909326955937, + "heading": -0.23600200862807216, + "angularVelocity": 2.0489332651495915, + "velocityX": 3.1666892158851314, + "velocityY": 0.5091759892153832, + "timestamp": 0.6414461928758128 + }, + { + "x": 1.955800488408387, + "y": 4.680764921549245, + "heading": -0.13845532328201524, + "angularVelocity": 1.9769497793936581, + "velocityX": 3.4161058979512955, + "velocityY": 0.5442743812193794, + "timestamp": 0.6907882077124138 + }, + { + "x": 2.1349342314386073, + "y": 4.7085203213980575, + "heading": -0.062226637634806285, + "angularVelocity": 1.5449041937108723, + "velocityX": 3.63045051207237, + "velocityY": 0.5625104678178738, + "timestamp": 0.7401302225490147 + }, + { + "x": 2.3231376691326124, + "y": 4.736959726934749, + "heading": -0.015556580058332851, + "angularVelocity": 0.9458482336204572, + "velocityX": 3.814263327455349, + "velocityY": 0.576373008497331, + "timestamp": 0.7894722373856157 + }, + { + "x": 2.5200586239997804, + "y": 4.766210325846585, + "heading": -1.8588553206774156e-7, + "angularVelocity": 0.31527683302590515, + "velocityX": 3.990938665947945, + "velocityY": 0.5928132243626654, + "timestamp": 0.8388142522222166 + }, + { + "x": 2.7206497519468917, + "y": 4.799302905772457, + "heading": -9.393965020101493e-8, + "angularVelocity": 0.0000018634399541893636, + "velocityX": 4.0653209766844896, + "velocityY": 0.6706775156113934, + "timestamp": 0.8881562670588176 + }, + { + "x": 2.922780752182007, + "y": 4.821096897125244, + "heading": -4.19415250912016e-24, + "angularVelocity": 0.0000019038470664828271, + "velocityX": 4.096529112248132, + "velocityY": 0.44169236754840535, + "timestamp": 0.9374982818954185 + }, + { + "x": 3.0661275875026526, + "y": 4.830285372388774, + "heading": -2.148856449581639e-9, + "angularVelocity": -6.163889009608376e-8, + "velocityX": 4.11183344968015, + "velocityY": 0.2635668925346567, + "timestamp": 0.9723603056312768 + }, + { + "x": 3.2097380850541177, + "y": 4.8332464823275085, + "heading": -4.33224269168314e-9, + "angularVelocity": -6.262936020709883e-8, + "velocityX": 4.119396471058866, + "velocityY": 0.08493798183290027, + "timestamp": 1.0072223293671352 + }, + { + "x": 3.353341836255061, + "y": 4.829974529249004, + "heading": -6.56801260797033e-9, + "angularVelocity": -6.413196013022978e-8, + "velocityX": 4.1192029553131055, + "velocityY": -0.09385436437355381, + "timestamp": 1.0420843531029935 + }, + { + "x": 3.4966684334444085, + "y": 4.820475614588101, + "heading": -8.875894016604602e-9, + "angularVelocity": -6.620044281194253e-8, + "velocityX": 4.111252928840291, + "velocityY": -0.27247169392327125, + "timestamp": 1.0769463768388519 + }, + { + "x": 3.639447986078635, + "y": 4.80476759303118, + "heading": -1.1278209094883865e-8, + "angularVelocity": -6.890922616773665e-8, + "velocityX": 4.095561224902915, + "velocityY": -0.4505768705780642, + "timestamp": 1.1118084005747102 + }, + { + "x": 3.781411631541406, + "y": 4.78288002470995, + "heading": -1.3800882207541757e-8, + "angularVelocity": -7.236163717205908e-8, + "velocityX": 4.072157329086734, + "velocityY": -0.6278341293972823, + "timestamp": 1.1466704243105685 + }, + { + "x": 3.922292042494357, + "y": 4.754854113329163, + "heading": -1.6474766217146496e-8, + "angularVelocity": -7.669904736065112e-8, + "velocityX": 4.041085280084993, + "velocityY": -0.8039094802164521, + "timestamp": 1.1815324480464269 + }, + { + "x": 4.061823930760296, + "y": 4.720742625602728, + "heading": -1.9337446361982888e-8, + "angularVelocity": -8.21145716188558e-8, + "velocityX": 4.002403570232772, + "velocityY": -0.978471243806441, + "timestamp": 1.2163944717822852 + }, + { + "x": 4.199744547121747, + "y": 4.680609790344849, + "heading": -2.2435766007654413e-8, + "angularVelocity": -8.887377477414376e-8, + "velocityX": 3.956185028340431, + "velocityY": -1.1511906354592945, + "timestamp": 1.2512564955181436 + }, + { + "x": 4.33579417622256, + "y": 4.634531176665304, + "heading": -2.582946430761559e-8, + "angularVelocity": -9.734656615675744e-8, + "velocityX": 3.902516679227518, + "velocityY": -1.321742364375404, + "timestamp": 1.286118519254002 + }, + { + "x": 4.4697166256951775, + "y": 4.582593551168475, + "heading": -2.9596575969164054e-8, + "angularVelocity": -1.0805774472793139e-7, + "velocityX": 3.8414995780886927, + "velocityY": -1.4898052359308736, + "timestamp": 1.3209805429898602 + }, + { + "x": 4.601259708404541, + "y": 4.524894714355469, + "heading": -3.3875027210293766e-8, + "angularVelocity": -1.2272526900751864e-7, + "velocityX": 3.7732486130477016, + "velocityY": -1.6550627482264968, + "timestamp": 1.3558425667257186 + }, + { + "x": 4.734562448878385, + "y": 4.459137464101324, + "heading": -3.767778619796302e-8, + "angularVelocity": -1.0541224327618212e-7, + "velocityX": 3.6951436979767838, + "velocityY": -1.822786898522628, + "timestamp": 1.3919176835193718 + }, + { + "x": 4.864778755280991, + "y": 4.387462142159452, + "heading": -4.075372355757089e-8, + "angularVelocity": -8.52647928266453e-8, + "velocityX": 3.6095879369548025, + "velocityY": -1.9868354786444253, + "timestamp": 1.4279928003130251 + }, + { + "x": 4.991646062524004, + "y": 4.31001328242291, + "heading": -4.331381117101593e-8, + "angularVelocity": -7.09654698580335e-8, + "velocityX": 3.5167538879689317, + "velocityY": -2.146877588215275, + "timestamp": 1.4640679171066784 + }, + { + "x": 5.114908569345276, + "y": 4.226947074075465, + "heading": -4.549487456287536e-8, + "angularVelocity": -6.045894194424784e-8, + "velocityX": 3.4168290438620974, + "velocityY": -2.3025901432995166, + "timestamp": 1.5001430339003317 + }, + { + "x": 5.240630837773264, + "y": 4.147652992068584, + "heading": -4.7796207316709824e-8, + "angularVelocity": -6.379280119861848e-8, + "velocityX": 3.4850134830362576, + "velocityY": -2.1980270351011604, + "timestamp": 1.536218150693985 + }, + { + "x": 5.369786083327096, + "y": 4.074082884476059, + "heading": -6.80330102112903e-8, + "angularVelocity": -5.609629210719787e-7, + "velocityX": 3.5801753960379097, + "velocityY": -2.0393588193585033, + "timestamp": 1.5722932674876382 + }, + { + "x": 5.501957932059618, + "y": 4.006463913536522, + "heading": -0.0005378526214979867, + "angularVelocity": -0.014907355437374207, + "velocityX": 3.6637954490496707, + "velocityY": -1.8743936804505115, + "timestamp": 1.6083683842812915 + }, + { + "x": 5.635122517131343, + "y": 3.9454444846864316, + "heading": -0.0013716068459818165, + "angularVelocity": -0.02311161538998856, + "velocityX": 3.6913140387989873, + "velocityY": -1.691454783060481, + "timestamp": 1.6444435010749447 + }, + { + "x": 5.7683672766770036, + "y": 3.891098891931583, + "heading": -0.0023714416580770926, + "angularVelocity": -0.027715358977609194, + "velocityX": 3.6935364702437306, + "velocityY": -1.506456460437835, + "timestamp": 1.680518617868598 + }, + { + "x": 5.901203439301723, + "y": 3.843415261868438, + "heading": -0.0034666226109464834, + "angularVelocity": -0.030358348086126495, + "velocityX": 3.6822101889380328, + "velocityY": -1.3217872678248526, + "timestamp": 1.7165937346622513 + }, + { + "x": 6.033331045967558, + "y": 3.8023684544753524, + "heading": -0.004613334740621083, + "angularVelocity": -0.03178678911100141, + "velocityX": 3.6625690617051805, + "velocityY": -1.13781495505254, + "timestamp": 1.7526688514559046 + }, + { + "x": 6.164548397064209, + "y": 3.767933845520019, + "heading": -0.005781939029622976, + "angularVelocity": -0.03239363840971651, + "velocityX": 3.6373368337850036, + "velocityY": -0.9545252244724934, + "timestamp": 1.7887439682495578 + }, + { + "x": 6.4238894349918905, + "y": 3.725356363013457, + "heading": -0.00813177146759458, + "angularVelocity": -0.03242490425559778, + "velocityX": 3.578599132630597, + "velocityY": -0.5875188253471295, + "timestamp": 1.8612139567327446 + }, + { + "x": 6.673459862679172, + "y": 3.7078796706091532, + "heading": -0.010324564143580333, + "angularVelocity": -0.030257941554585537, + "velocityX": 3.443776284650332, + "velocityY": -0.2411576539488291, + "timestamp": 1.9336839452159313 + }, + { + "x": 6.907667295296139, + "y": 3.712527250548902, + "heading": -0.012192160841527707, + "angularVelocity": -0.025770622253937055, + "velocityX": 3.231785150225377, + "velocityY": 0.06413109808658506, + "timestamp": 2.0061539336991183 + }, + { + "x": 7.121777473190393, + "y": 3.735107801887392, + "heading": -0.013584669209521207, + "angularVelocity": -0.019214966045103837, + "velocityX": 2.9544668403518353, + "velocityY": 0.31158486169386757, + "timestamp": 2.078623922182305 + }, + { + "x": 7.312475114645496, + "y": 3.7710048983952196, + "heading": -0.01438951581488395, + "angularVelocity": -0.011105929809130157, + "velocityX": 2.631401569759389, + "velocityY": 0.49533741151560723, + "timestamp": 2.151093910665492 + }, + { + "x": 7.477791781199064, + "y": 3.8159171301541095, + "heading": -0.014532784027010696, + "angularVelocity": -0.0019769316254270534, + "velocityX": 2.2811741800113965, + "velocityY": 0.6197355995069491, + "timestamp": 2.2235638991486786 + }, + { + "x": 7.616715815868345, + "y": 3.8662041653804877, + "heading": -0.01397001086601989, + "angularVelocity": 0.007765603014016935, + "velocityX": 1.9169871222141917, + "velocityY": 0.6939015208763943, + "timestamp": 2.2960338876318653 + }, + { + "x": 7.728815295702192, + "y": 3.9189199057655046, + "heading": -0.012675922533213273, + "angularVelocity": 0.017856886138554434, + "velocityX": 1.546840039306131, + "velocityY": 0.7274147752520648, + "timestamp": 2.368503876115052 + }, + { + "x": 7.813980652629695, + "y": 3.971713548083725, + "heading": -0.010636867255267548, + "angularVelocity": 0.028136547564358877, + "velocityX": 1.1751810468034207, + "velocityY": 0.7284897296550381, + "timestamp": 2.440973864598239 + }, + { + "x": 7.872272087271126, + "y": 4.022706026315587, + "heading": -0.007846030199376108, + "angularVelocity": 0.03851024561069059, + "velocityX": 0.8043527515525248, + "velocityY": 0.7036357987512754, + "timestamp": 2.5134438530814256 + }, + { + "x": 7.903834329466794, + "y": 4.070381624553785, + "heading": -0.004300580651813334, + "angularVelocity": 0.04892300415344109, + "velocityX": 0.4355215566646703, + "velocityY": 0.6578667836998284, + "timestamp": 2.5859138415646123 + }, + { + "x": 7.908850193023682, + "y": 4.1135029792785645, + "heading": -1.6431801399771578e-28, + "angularVelocity": 0.05934291893548571, + "velocityX": 0.06921297576928687, + "velocityY": 0.5950236177391367, + "timestamp": 2.658383830047799 + }, + { + "x": 7.887054284240868, + "y": 4.151354202426506, + "heading": 0.005110873422893934, + "angularVelocity": 0.0698517929802493, + "velocityX": -0.2978910221672904, + "velocityY": 0.5173236714365999, + "timestamp": 2.731551220673535 + }, + { + "x": 7.838422086854329, + "y": 4.183408720964089, + "heading": 0.010956523638740997, + "angularVelocity": 0.07989420103483798, + "velocityX": -0.6646703807615897, + "velocityY": 0.43809842422217044, + "timestamp": 2.804718611299271 + }, + { + "x": 7.762983079117002, + "y": 4.20953112778775, + "heading": 0.017495483260506317, + "angularVelocity": 0.0893698622548022, + "velocityX": -1.0310468515026154, + "velocityY": 0.35702252875576485, + "timestamp": 2.877886001925007 + }, + { + "x": 7.6607747790696985, + "y": 4.229553700517737, + "heading": 0.024676301083283603, + "angularVelocity": 0.09814232489864837, + "velocityX": -1.3969105522720728, + "velocityY": 0.2736543227625315, + "timestamp": 2.951053392550743 + }, + { + "x": 7.531846476247114, + "y": 4.243263296141889, + "heading": 0.03243345200765441, + "angularVelocity": 0.1060192369583057, + "velocityX": -1.7621005986406668, + "velocityY": 0.1873730292539564, + "timestamp": 3.024220783176479 + }, + { + "x": 7.376265637530863, + "y": 4.250380077226667, + "heading": 0.04068066701574086, + "angularVelocity": 0.11271708526920698, + "velocityX": -2.12636855552324, + "velocityY": 0.09726711618269603, + "timestamp": 3.097388173802215 + }, + { + "x": 7.194129836575373, + "y": 4.2505205649617634, + "heading": 0.04929927784816929, + "angularVelocity": 0.1177930599782374, + "velocityX": -2.489302944902695, + "velocityY": 0.0019200867202677822, + "timestamp": 3.170555564427951 + }, + { + "x": 6.985591556826913, + "y": 4.243127449410096, + "heading": 0.058115883718386635, + "angularVelocity": 0.12049911572377706, + "velocityX": -2.8501532986897105, + "velocityY": -0.10104385968175955, + "timestamp": 3.243722955053687 + }, + { + "x": 6.750918561222395, + "y": 4.227318493920163, + "heading": 0.06685364598436354, + "angularVelocity": 0.1194215372620311, + "velocityX": -3.2073440585699053, + "velocityY": -0.21606559089689018, + "timestamp": 3.3168903456794228 + }, + { + "x": 6.490681615003969, + "y": 4.20149483174933, + "heading": 0.07500318356778511, + "angularVelocity": 0.11138209950807054, + "velocityX": -3.5567340039442454, + "velocityY": -0.3529394987300426, + "timestamp": 3.3900577363051587 + }, + { + "x": 6.206657285518001, + "y": 4.161973294401296, + "heading": 0.08134950784100285, + "angularVelocity": 0.0867370589403728, + "velocityX": -3.8818430868855596, + "velocityY": -0.5401523412279929, + "timestamp": 3.4632251269308947 + }, + { + "x": 5.912244098516139, + "y": 4.097129027635956, + "heading": 0.08134954547532162, + "angularVelocity": 5.143591764598389e-7, + "velocityX": -4.023830622959322, + "velocityY": -0.8862454463769199, + "timestamp": 3.5363925175566306 + }, + { + "x": 5.624951460773946, + "y": 4.005767892260616, + "heading": 0.08134954969560343, + "angularVelocity": 5.7679818199590674e-8, + "velocityX": -3.926512006034829, + "velocityY": -1.248659199050422, + "timestamp": 3.6095599081823666 + }, + { + "x": 5.34716243038826, + "y": 3.8886477005465494, + "heading": 0.08134932634773633, + "angularVelocity": -0.0000030525602346483844, + "velocityX": -3.7966234412626005, + "velocityY": -1.6007157110898942, + "timestamp": 3.6827272988081026 + }, + { + "x": 5.08665788699048, + "y": 3.751669204716049, + "heading": 0.05865018500104508, + "angularVelocity": -0.3102357642190817, + "velocityX": -3.5603913323943255, + "velocityY": -1.8721249269523577, + "timestamp": 3.7558946894338385 + }, + { + "x": 4.848094463348389, + "y": 3.603376865386963, + "heading": 4.952640691345501e-28, + "angularVelocity": -0.8015891300682177, + "velocityX": -3.260515669642855, + "velocityY": -2.0267545153773168, + "timestamp": 3.8290620800595745 + }, + { + "x": 4.700641185060707, + "y": 3.501989185359569, + "heading": -0.05033264236108494, + "angularVelocity": -1.034189338076649, + "velocityX": -3.0297357960183557, + "velocityY": -2.0832217975849, + "timestamp": 3.8777307720562373 + }, + { + "x": 4.565095450985404, + "y": 3.3994717636903555, + "heading": -0.10698430014195474, + "angularVelocity": -1.1640267173145824, + "velocityX": -2.78507041209567, + "velocityY": -2.1064347009005995, + "timestamp": 3.9263994640529 + }, + { + "x": 4.441653890418588, + "y": 3.297081790312479, + "heading": -0.16664697326151523, + "angularVelocity": -1.2258943208017916, + "velocityX": -2.5363648683075435, + "velocityY": -2.103816009374109, + "timestamp": 3.975068156049563 + }, + { + "x": 4.330312579185749, + "y": 3.1957377001354463, + "heading": -0.22705933791477417, + "angularVelocity": -1.2412983002995335, + "velocityX": -2.2877399548866757, + "velocityY": -2.0823261530016506, + "timestamp": 4.023736848046226 + }, + { + "x": 4.230991842079205, + "y": 3.096120447000011, + "heading": -0.2865484532706337, + "angularVelocity": -1.222328213791707, + "velocityX": -2.0407521351376094, + "velocityY": -2.04684467670234, + "timestamp": 4.0724055400428885 + }, + { + "x": 4.143586352271879, + "y": 2.9987473125477595, + "heading": -0.34383093881747717, + "angularVelocity": -1.176988392266047, + "velocityX": -1.795928475195518, + "velocityY": -2.000734567901041, + "timestamp": 4.121074232039551 + }, + { + "x": 4.067986542673592, + "y": 2.904020815068955, + "heading": -0.3979071509877982, + "angularVelocity": -1.1111088042807706, + "velocityX": -1.5533561001284146, + "velocityY": -1.946353879518679, + "timestamp": 4.169742924036214 + }, + { + "x": 4.004087484152938, + "y": 2.8122616254817605, + "heading": -0.4479862468350588, + "angularVelocity": -1.0289796950099774, + "velocityX": -1.3129397133794922, + "velocityY": -1.8853843368851253, + "timestamp": 4.218411616032877 + }, + { + "x": 3.951791937745737, + "y": 2.7237308923491046, + "heading": -0.4934284100602779, + "angularVelocity": -0.9337042225900607, + "velocityX": -1.0745213043898287, + "velocityY": -1.8190489511969272, + "timestamp": 4.26708030802954 + }, + { + "x": 3.911010848659871, + "y": 2.63864542270439, + "heading": -0.5337018468885103, + "angularVelocity": -0.8275019355563128, + "velocityX": -0.83793271223855, + "velocityY": -1.7482588118568951, + "timestamp": 4.315749000026202 + }, + { + "x": 3.8816628893967526, + "y": 2.5571880974329804, + "heading": -0.5683528513458943, + "angularVelocity": -0.7119773109940992, + "velocityX": -0.6030151635291687, + "velocityY": -1.673711002485852, + "timestamp": 4.364417692022865 + }, + { + "x": 3.8636737772161385, + "y": 2.479515163260617, + "heading": -0.596986412368271, + "angularVelocity": -0.5883363585020978, + "velocityX": -0.36962390897720954, + "velocityY": -1.59595277756158, + "timestamp": 4.413086384019528 + }, + { + "x": 3.8569756412361254, + "y": 2.4057614953060065, + "heading": -0.6192545253880498, + "angularVelocity": -0.4575449248010541, + "velocityX": -0.1376272035515664, + "velocityY": -1.5154232614196375, + "timestamp": 4.461755076016191 + }, + { + "x": 3.8615065086139246, + "y": 2.3360445280133795, + "heading": -0.6348496428505993, + "angularVelocity": -0.32043428378183847, + "velocityX": 0.09309614028891178, + "velocityY": -1.4324808091700407, + "timestamp": 4.510423768012854 + }, + { + "x": 3.877209901809693, + "y": 2.2704672813415527, + "heading": -0.6435012536786778, + "angularVelocity": -0.17776542728273412, + "velocityX": 0.3226590350290306, + "velocityY": -1.3474215965434906, + "timestamp": 4.559092460009516 + }, + { + "x": 3.909263343483357, + "y": 2.2016193636983066, + "heading": -0.644092375367383, + "angularVelocity": -0.010723484805221098, + "velocityX": 0.5814785708430558, + "velocityY": -1.2489638137550592, + "timestamp": 4.6142164891327075 + }, + { + "x": 3.955582772404527, + "y": 2.1382378341857042, + "heading": -0.6356618580904682, + "angularVelocity": 0.1529372473495064, + "velocityX": 0.8402765483207932, + "velocityY": -1.1497985637253951, + "timestamp": 4.669340518255899 + }, + { + "x": 4.016167136041281, + "y": 2.080367813253358, + "heading": -0.6184384375905784, + "angularVelocity": 0.31244850519541656, + "velocityX": 1.0990554319126369, + "velocityY": -1.0498147877220347, + "timestamp": 4.72446454737909 + }, + { + "x": 4.091014879475756, + "y": 2.0280623219290286, + "heading": -0.5926967583319528, + "angularVelocity": 0.4669774627884684, + "velocityX": 1.357806107880926, + "velocityY": -0.9488691620751633, + "timestamp": 4.779588576502281 + }, + { + "x": 4.180123073013336, + "y": 1.9813847697374103, + "heading": -0.5587633107627968, + "angularVelocity": 0.6155835868477868, + "velocityX": 1.616503636525577, + "velocityY": -0.8467732300065234, + "timestamp": 4.834712605625472 + }, + { + "x": 4.283486205946313, + "y": 1.9404125575120503, + "heading": -0.5170273230433461, + "angularVelocity": 0.7571287582440518, + "velocityX": 1.8751011959227666, + "velocityY": -0.7432731764544123, + "timestamp": 4.889836634748663 + }, + { + "x": 4.401094459736751, + "y": 1.9052424011175209, + "heading": -0.4679609941418416, + "angularVelocity": 0.8901078110936128, + "velocityX": 2.133520638116034, + "velocityY": -0.6380186091972911, + "timestamp": 4.944960663871854 + }, + { + "x": 4.532931044009035, + "y": 1.8759983507167912, + "heading": -0.41215648957706635, + "angularVelocity": 1.0123444431114288, + "velocityX": 2.3916354876319863, + "velocityY": -0.5305136592133903, + "timestamp": 5.0000846929950455 + }, + { + "x": 4.678967556850721, + "y": 1.8528442484692669, + "heading": -0.35039255139162767, + "angularVelocity": 1.1204539865438439, + "velocityX": 2.6492351006368366, + "velocityY": -0.4200364635135716, + "timestamp": 5.055208722118237 + }, + { + "x": 4.839154591796641, + "y": 1.8360041394290154, + "heading": -0.2837549204318002, + "angularVelocity": 1.2088672040083555, + "velocityX": 2.9059384354495057, + "velocityY": -0.3054948868599071, + "timestamp": 5.110332751241428 + }, + { + "x": 5.013399484318381, + "y": 1.8257985791825269, + "heading": -0.2138636206895667, + "angularVelocity": 1.2678917135400287, + "velocityX": 3.160960751478034, + "velocityY": -0.18513814045923885, + "timestamp": 5.165456780364619 + }, + { + "x": 5.201503784665096, + "y": 1.8227165159855272, + "heading": -0.1433490902182715, + "angularVelocity": 1.2791976855267446, + "velocityX": 3.4123830086211457, + "velocityY": -0.05591142821058677, + "timestamp": 5.22058080948781 + }, + { + "x": 5.402944132086975, + "y": 1.827569567849425, + "heading": -0.07703772004409672, + "angularVelocity": 1.2029485367621076, + "velocityX": 3.6543110259901166, + "velocityY": 0.08803877258413399, + "timestamp": 5.275704838611001 + }, + { + "x": 5.61588559518895, + "y": 1.8417195630192391, + "heading": -0.024979311792846126, + "angularVelocity": 0.9443868505132368, + "velocityX": 3.8629517197680348, + "velocityY": 0.25669377574327124, + "timestamp": 5.330828867734192 + }, + { + "x": 5.834915427384757, + "y": 1.8670658701516258, + "heading": -7.407288610339414e-7, + "angularVelocity": 0.4531339864174827, + "velocityX": 3.9734002698953517, + "velocityY": 0.4598050529968118, + "timestamp": 5.3859528968573835 + }, + { + "x": 6.058884353100281, + "y": 1.904802816527938, + "heading": -7.957104132685767e-8, + "angularVelocity": 0.000011994003889474889, + "velocityX": 4.062999916334081, + "velocityY": 0.6845825128634481, + "timestamp": 5.441076925980575 + }, + { + "x": 6.279738426208496, + "y": 1.9578094482421875, + "heading": 8.562539103389725e-28, + "angularVelocity": 0.0000014434910254660835, + "velocityX": 4.006493658412549, + "velocityY": 0.9615884861353298, + "timestamp": 5.496200955103766 + }, + { + "x": 6.525487452777932, + "y": 2.0369981575550793, + "heading": -0.0011671855841354959, + "angularVelocity": -0.018096810491915055, + "velocityX": 3.81025401859607, + "velocityY": 1.227793664532095, + "timestamp": 5.560697711847555 + }, + { + "x": 6.750918598574351, + "y": 2.1096797802641643, + "heading": -0.0021799869715645073, + "angularVelocity": -0.015703136693405003, + "velocityX": 3.495232274886886, + "velocityY": 1.126903527844196, + "timestamp": 5.625194468591345 + }, + { + "x": 6.956282004435993, + "y": 2.175119637271968, + "heading": -0.0029917904615700073, + "angularVelocity": -0.012586733519490889, + "velocityX": 3.1840888787236112, + "velocityY": 1.0146224447806116, + "timestamp": 5.689691225335134 + }, + { + "x": 7.141668336167598, + "y": 2.233071278014614, + "heading": -0.0035868817340549562, + "angularVelocity": -0.009226685224637363, + "velocityX": 2.8743512246366985, + "velocityY": 0.8985202306040955, + "timestamp": 5.754187982078924 + }, + { + "x": 7.307124311509477, + "y": 2.2834112498174775, + "heading": -0.003957374193442598, + "angularVelocity": -0.00574435798158672, + "velocityX": 2.5653379130232326, + "velocityY": 0.7805039252258378, + "timestamp": 5.818684738822713 + }, + { + "x": 7.452678406281355, + "y": 2.3260654168990693, + "heading": -0.004098526951679239, + "angularVelocity": -0.0021885249020716494, + "velocityX": 2.2567661091872586, + "velocityY": 0.6613381700886771, + "timestamp": 5.883181495566503 + }, + { + "x": 7.578349790283282, + "y": 2.3609843306826193, + "heading": -0.004007175808745517, + "angularVelocity": 0.001416368008962219, + "velocityX": 1.9484915264987899, + "velocityY": 0.5414057317992576, + "timestamp": 5.9476782523102925 + }, + { + "x": 7.684152247420869, + "y": 2.388132659287924, + "heading": -0.003681058888279675, + "angularVelocity": 0.005056330533972877, + "velocityX": 1.6404306585195192, + "velocityY": 0.4209254848759383, + "timestamp": 6.012175009054082 + }, + { + "x": 7.770096165540853, + "y": 2.4074838977797546, + "heading": -0.0031184788458053087, + "angularVelocity": 0.00872260980050817, + "velocityX": 1.3325308505262228, + "velocityY": 0.3000342880604488, + "timestamp": 6.0766717657978715 + }, + { + "x": 7.836189653680543, + "y": 2.4190174277466903, + "heading": -0.0023181149719148936, + "angularVelocity": 0.012409366211541923, + "velocityX": 1.0247567703635636, + "velocityY": 0.1788234098770594, + "timestamp": 6.141168522541661 + }, + { + "x": 7.882439217728024, + "y": 2.422716752331528, + "heading": -0.0012789103505499641, + "angularVelocity": 0.016112509742049974, + "velocityX": 0.7170835617549867, + "velocityY": 0.05735675360441909, + "timestamp": 6.2056652792854505 + }, + { + "x": 7.908850193023682, + "y": 2.4185683727264404, + "heading": 8.461910012631763e-29, + "angularVelocity": 0.019829064516071505, + "velocityX": 0.40949307576154037, + "velocityY": -0.06431919703446601, + "timestamp": 6.27016203602924 + }, + { + "x": 7.9135037293511274, + "y": 2.404007500518451, + "heading": 0.001738681655620773, + "angularVelocity": 0.024013784718208257, + "velocityX": 0.06427227157104093, + "velocityY": -0.20110734439603808, + "timestamp": 6.342565519112956 + }, + { + "x": 7.893003638215416, + "y": 2.37995206083196, + "heading": 0.003710519645397934, + "angularVelocity": 0.02723402115195558, + "velocityX": -0.28313680865337726, + "velocityY": -0.3322414704645804, + "timestamp": 6.414969002196671 + }, + { + "x": 7.847170108256414, + "y": 2.346892602647919, + "heading": 0.005832318333489156, + "angularVelocity": 0.029305201873201705, + "velocityX": -0.6330293517234256, + "velocityY": -0.45660038407014847, + "timestamp": 6.487372485280387 + }, + { + "x": 7.775798531874128, + "y": 2.305426839443902, + "heading": 0.008003405006399665, + "angularVelocity": 0.029985942394514752, + "velocityX": -0.9857478306639489, + "velocityY": -0.5727039838134944, + "timestamp": 6.559775968364103 + }, + { + "x": 7.678656271538087, + "y": 2.256297576429558, + "heading": 0.010099710341735239, + "angularVelocity": 0.028953100680415525, + "velocityX": -1.3416793805861689, + "velocityY": -0.6785483366530749, + "timestamp": 6.6321794514478185 + }, + { + "x": 7.555481050531809, + "y": 2.2004499248115295, + "heading": 0.011964993253965835, + "angularVelocity": 0.02576233673832923, + "velocityX": -1.7012333628184586, + "velocityY": -0.7713392952857744, + "timestamp": 6.704582934531534 + }, + { + "x": 7.405984923055888, + "y": 2.139120846470309, + "heading": 0.013397410987870865, + "angularVelocity": 0.01978382355236724, + "velocityX": -2.064764305649063, + "velocityY": -0.8470459669779953, + "timestamp": 6.77698641761525 + }, + { + "x": 7.229874738830789, + "y": 2.073984847809468, + "heading": 0.014128316578010962, + "angularVelocity": 0.01009489542505847, + "velocityX": -2.4323440907045013, + "velocityY": -0.8996252098193818, + "timestamp": 6.849389900698966 + }, + { + "x": 7.0269201286198015, + "y": 2.007399297467021, + "heading": 0.013788101357936091, + "angularVelocity": -0.004698879191785616, + "velocityX": -2.803105618224542, + "velocityY": -0.9196456787231895, + "timestamp": 6.921793383782681 + }, + { + "x": 6.797160014432058, + "y": 1.9428204344097308, + "heading": 0.011852542100195443, + "angularVelocity": -0.02673295779849002, + "velocityX": -3.1733295747952837, + "velocityY": -0.8919303368682154, + "timestamp": 6.994196866866397 + }, + { + "x": 6.541507190710733, + "y": 1.8854379538761046, + "heading": 0.007575451762797331, + "angularVelocity": -0.05907299145336416, + "velocityX": -3.530946479822401, + "velocityY": -0.7925375698746232, + "timestamp": 7.066600349950113 + }, + { + "x": 6.263282775878906, + "y": 1.8426196575164795, + "heading": -6.194293765118798e-29, + "angularVelocity": -0.10462827809041095, + "velocityX": -3.842693790161092, + "velocityY": -0.5913844822923381, + "timestamp": 7.139003833033828 + }, + { + "x": 6.030681887766221, + "y": 1.8226833751631784, + "heading": -0.008718413948409906, + "angularVelocity": -0.15018242816156785, + "velocityX": -4.006757006034486, + "velocityY": -0.34342018055697493, + "timestamp": 7.1970559903676445 + }, + { + "x": 5.793532898564822, + "y": 1.8194210922714795, + "heading": -0.016941072562243253, + "angularVelocity": -0.14164260195449305, + "velocityX": -4.0851020891045495, + "velocityY": -0.05619572194259459, + "timestamp": 7.255108147701461 + }, + { + "x": 5.557627566049778, + "y": 1.8333576054296736, + "heading": -0.028629707625858477, + "angularVelocity": -0.20134712645392766, + "velocityX": -4.0636789974663925, + "velocityY": 0.24006882428253462, + "timestamp": 7.313160305035277 + }, + { + "x": 5.327908854137327, + "y": 1.8622622668920639, + "heading": -0.0585740879768532, + "angularVelocity": -0.5158185625868486, + "velocityX": -3.957108959646458, + "velocityY": 0.49790848075085625, + "timestamp": 7.371212462369093 + }, + { + "x": 5.11245324515911, + "y": 1.8994141855682116, + "heading": -0.10374863935649094, + "angularVelocity": -0.7781717933387261, + "velocityX": -3.7114143362370884, + "velocityY": 0.6399748154493845, + "timestamp": 7.429264619702909 + }, + { + "x": 4.913979790820032, + "y": 1.9388003080563143, + "heading": -0.15574493643193385, + "angularVelocity": -0.8956824253136624, + "velocityX": -3.4188816308375802, + "velocityY": 0.6784609616077044, + "timestamp": 7.4873167770367255 + }, + { + "x": 4.7327605113302145, + "y": 1.9775150228594818, + "heading": -0.2099745757997402, + "angularVelocity": -0.9341537310313989, + "velocityX": -3.121663135579195, + "velocityY": 0.6668953675665628, + "timestamp": 7.545368934370542 + }, + { + "x": 4.568684620360207, + "y": 2.014030214515865, + "heading": -0.2640485055959757, + "angularVelocity": -0.9314714952847509, + "velocityX": -2.8263530332994278, + "velocityY": 0.6290066266859055, + "timestamp": 7.603421091704358 + }, + { + "x": 4.421601069864, + "y": 2.0474310267692073, + "heading": -0.3165220186257055, + "angularVelocity": -0.9039028942196281, + "velocityX": -2.5336448678459034, + "velocityY": 0.5753586737746517, + "timestamp": 7.661473249038174 + }, + { + "x": 4.291374419034759, + "y": 2.0771146233430215, + "heading": -0.36642962736971124, + "angularVelocity": -0.8597029126242952, + "velocityX": -2.2432697906539487, + "velocityY": 0.511326330270982, + "timestamp": 7.71952540637199 + }, + { + "x": 4.177891381608033, + "y": 2.102655731782735, + "heading": -0.4130820297898137, + "angularVelocity": -0.8036290908508001, + "velocityX": -1.9548461700426851, + "velocityY": 0.4399682908051872, + "timestamp": 7.777577563705806 + }, + { + "x": 4.081058211075384, + "y": 2.1237389589368134, + "heading": -0.4559637520429508, + "angularVelocity": -0.738675774038079, + "velocityX": -1.6680374163501055, + "velocityY": 0.36317732401991576, + "timestamp": 7.835629721039623 + }, + { + "x": 4.000796937094782, + "y": 2.140121363134788, + "heading": -0.49467583838017426, + "angularVelocity": -0.6668500899048075, + "velocityX": -1.382571771089882, + "velocityY": 0.2822014710628498, + "timestamp": 7.893681878373439 + }, + { + "x": 3.9370420833786737, + "y": 2.1516101924347857, + "heading": -0.5289011019599401, + "angularVelocity": -0.5895605805476083, + "velocityX": -1.0982340130703443, + "velocityY": 0.1979052946117624, + "timestamp": 7.951734035707255 + }, + { + "x": 3.8897380782848177, + "y": 2.1580488572733114, + "heading": -0.5583816999879796, + "angularVelocity": -0.5078294999187984, + "velocityX": -0.8148535259739682, + "velocityY": 0.11091172377111619, + "timestamp": 8.009786193041071 + }, + { + "x": 3.8588372630557566, + "y": 2.1593076697609526, + "heading": -0.5829039334740946, + "angularVelocity": -0.4224172642733201, + "velocityX": -0.5322940033282947, + "velocityY": 0.02168416378400226, + "timestamp": 8.067838350374888 + }, + { + "x": 3.8442983627319336, + "y": 2.1552774906158447, + "heading": -0.602287538290654, + "angularVelocity": -0.3338998188318499, + "velocityX": -0.25044547854130556, + "velocityY": -0.06942341732337823, + "timestamp": 8.125890507708705 + }, + { + "x": 3.8576387146651134, + "y": 2.13806005595645, + "heading": -0.619278145531587, + "angularVelocity": -0.20143847160866324, + "velocityX": 0.1581615104177926, + "velocityY": -0.20412770854092552, + "timestamp": 8.210236894499909 + }, + { + "x": 3.905455453573714, + "y": 2.109481651185984, + "heading": -0.6254126059760678, + "angularVelocity": -0.07272938033097415, + "velocityX": 0.5669091555394026, + "velocityY": -0.33882192062608685, + "timestamp": 8.294583281291112 + }, + { + "x": 3.987762915374457, + "y": 2.0695435831389517, + "heading": -0.6210817382802795, + "angularVelocity": 0.05134621482375198, + "velocityX": 0.9758267654605434, + "velocityY": -0.4735006390480968, + "timestamp": 8.378929668082316 + }, + { + "x": 4.104578927032089, + "y": 2.0182477742847946, + "heading": -0.6067890663536344, + "angularVelocity": 0.16945209475334327, + "velocityX": 1.3849557296011592, + "velocityY": -0.6081565649176908, + "timestamp": 8.46327605487352 + }, + { + "x": 4.25592634256958, + "y": 1.955597106088846, + "heading": -0.5832156347231323, + "angularVelocity": 0.2794835976656285, + "velocityX": 1.794355648122163, + "velocityY": -0.7427783285019535, + "timestamp": 8.547622441664723 + }, + { + "x": 4.441835387458979, + "y": 1.8815962088865352, + "heading": -0.5513387484522754, + "angularVelocity": 0.37792829643986087, + "velocityX": 2.2041139159832754, + "velocityY": -0.877345195420139, + "timestamp": 8.631968828455927 + }, + { + "x": 4.66234711446509, + "y": 1.7962536064859413, + "heading": -0.5126769338910522, + "angularVelocity": 0.45836954055814433, + "velocityX": 2.614358900185992, + "velocityY": -1.011811005157306, + "timestamp": 8.71631521524713 + }, + { + "x": 4.917516613544415, + "y": 1.699589099451937, + "heading": -0.4698979469526159, + "angularVelocity": 0.5071822109503572, + "velocityX": 3.025257023884024, + "velocityY": -1.1460420619237055, + "timestamp": 8.800661602038334 + }, + { + "x": 5.207389212765179, + "y": 1.5916714767699458, + "heading": -0.42891919524045724, + "angularVelocity": 0.48583885180049724, + "velocityX": 3.436692551375497, + "velocityY": -1.2794575652557374, + "timestamp": 8.885007988829537 + }, + { + "x": 5.530829704025048, + "y": 1.4731326595685643, + "heading": -0.4168747641910295, + "angularVelocity": 0.14279723776720205, + "velocityX": 3.8346691964474693, + "velocityY": -1.405381092314254, + "timestamp": 8.96935437562074 + }, + { + "x": 5.860796817769712, + "y": 1.3640506417959732, + "heading": -0.4168747316984138, + "angularVelocity": 3.852283051108577e-7, + "velocityX": 3.91204799989226, + "velocityY": -1.2932624848841556, + "timestamp": 9.053700762411944 + }, + { + "x": 6.1907640358798846, + "y": 1.2549689397238482, + "heading": -0.4168746992057636, + "angularVelocity": 3.852287159927463e-7, + "velocityX": 3.9120492372364075, + "velocityY": -1.2932587419797106, + "timestamp": 9.138047149203148 + }, + { + "x": 6.5162512528388925, + "y": 1.1501619128296605, + "heading": -0.39522547264575847, + "angularVelocity": 0.25667046786007763, + "velocityX": 3.8589349151937298, + "velocityY": -1.242578738477967, + "timestamp": 9.222393535994351 + }, + { + "x": 6.809203485103097, + "y": 1.0566385263910887, + "heading": -0.3364658613691826, + "angularVelocity": 0.6966464541277111, + "velocityX": 3.4732042878066567, + "velocityY": -1.1088013369213576, + "timestamp": 9.306739922785555 + }, + { + "x": 7.0676023282548455, + "y": 0.9747449425291351, + "heading": -0.27342754168182104, + "angularVelocity": 0.7473742751234995, + "velocityX": 3.0635437151730858, + "velocityY": -0.9709198814251399, + "timestamp": 9.391086309576758 + }, + { + "x": 7.291404029843143, + "y": 0.9044159486596018, + "heading": -0.212686256942587, + "angularVelocity": 0.7201409218583059, + "velocityX": 2.6533644190629335, + "velocityY": -0.833811578006664, + "timestamp": 9.475432696367962 + }, + { + "x": 7.480631108632639, + "y": 0.8456084340013106, + "heading": -0.15716871325728424, + "angularVelocity": 0.658208914422557, + "velocityX": 2.2434521025532703, + "velocityY": -0.6972143905093124, + "timestamp": 9.559779083159166 + }, + { + "x": 7.635307728813632, + "y": 0.7982939214998752, + "heading": -0.10853495890594571, + "angularVelocity": 0.5765955863851053, + "velocityX": 1.83382627360068, + "velocityY": -0.5609548233353625, + "timestamp": 9.64412546995037 + }, + { + "x": 7.755453704764619, + "y": 0.7624523838325293, + "heading": -0.06785138236204946, + "angularVelocity": 0.48233929266712156, + "velocityX": 1.4244353613914185, + "velocityY": -0.4249326975448363, + "timestamp": 9.728471856741573 + }, + { + "x": 7.841084766649754, + "y": 0.7380690201261568, + "heading": -0.03585889712581951, + "angularVelocity": 0.3792988230239957, + "velocityX": 1.0152309440013383, + "velocityY": -0.2890860490175211, + "timestamp": 9.812818243532776 + }, + { + "x": 7.892213505293505, + "y": 0.7251324738070216, + "heading": -0.013102178881898748, + "angularVelocity": 0.2698007479591791, + "velocityX": 0.6061758018196838, + "velocityY": -0.15337404257943216, + "timestamp": 9.89716463032398 + }, + { + "x": 7.908850193023682, + "y": 0.7236337661743164, + "heading": -5.019107924718939e-28, + "angularVelocity": 0.15533776111041753, + "velocityX": 0.19724244704590402, + "velocityY": -0.017768486472517064, + "timestamp": 9.981511017115183 + }, + { + "x": 7.892189079958052, + "y": 0.733080197359647, + "heading": 0.0032660991416649378, + "angularVelocity": 0.03963429721823649, + "velocityX": -0.20218354636142255, + "velocityY": 0.11463297499908585, + "timestamp": 10.063916897145829 + }, + { + "x": 7.842604987925804, + "y": 0.7534362672637073, + "heading": -0.002772756670579444, + "angularVelocity": -0.07328185573649153, + "velocityX": -0.6017057522328306, + "velocityY": 0.24702205590778456, + "timestamp": 10.146322777176474 + }, + { + "x": 7.76008824404944, + "y": 0.7847005763866867, + "heading": -0.017830574368452534, + "angularVelocity": -0.18272746668409265, + "velocityX": -1.001345339018009, + "velocityY": 0.37939415380738334, + "timestamp": 10.22872865720712 + }, + { + "x": 7.644626694532573, + "y": 0.8268711306705374, + "heading": -0.04153713177121822, + "angularVelocity": -0.2876804105963022, + "velocityX": -1.4011324128075406, + "velocityY": 0.5117420537001512, + "timestamp": 10.311134537237765 + }, + { + "x": 7.496204565153335, + "y": 0.8799449205205542, + "heading": -0.07339105495914866, + "angularVelocity": -0.3865491537264634, + "velocityX": -1.8011109076687513, + "velocityY": 0.6440534319914972, + "timestamp": 10.39354041726841 + }, + { + "x": 7.314800632642625, + "y": 0.9439170229632209, + "heading": -0.11267436902090536, + "angularVelocity": -0.47670523082998323, + "velocityX": -2.2013469480970156, + "velocityY": 0.7763050697216819, + "timestamp": 10.475946297299055 + }, + { + "x": 7.1003852320289775, + "y": 1.0187784547123067, + "heading": -0.15827781834795562, + "angularVelocity": -0.5534004285870268, + "velocityX": -2.601942974626455, + "velocityY": 0.9084476947669995, + "timestamp": 10.5583521773297 + }, + { + "x": 6.852915852080657, + "y": 1.1045099286982563, + "heading": -0.20827432822470915, + "angularVelocity": -0.606710466026947, + "velocityX": -3.0030548773496584, + "velocityY": 1.0403562701359113, + "timestamp": 10.640758057360346 + }, + { + "x": 6.57234037138111, + "y": 1.2010554187463547, + "heading": -0.25850083223033166, + "angularVelocity": -0.6095014577472403, + "velocityX": -3.4047992764012145, + "velocityY": 1.171584964716045, + "timestamp": 10.723163937390991 + }, + { + "x": 6.258992137221064, + "y": 1.3080260402749817, + "heading": -0.2924105128425884, + "angularVelocity": -0.4114958859688932, + "velocityX": -3.8024984872865555, + "velocityY": 1.2980945229739238, + "timestamp": 10.805569817421636 + }, + { + "x": 5.936813239669241, + "y": 1.415192130467459, + "heading": -0.29241053972638326, + "angularVelocity": -3.2623636665893746e-7, + "velocityX": -3.9096590853954853, + "velocityY": 1.3004665462297604, + "timestamp": 10.887975697452282 + }, + { + "x": 5.614634321099526, + "y": 1.5223581574728795, + "heading": -0.29241056661001313, + "angularVelocity": -3.262343643621567e-7, + "velocityX": -3.9096593404487785, + "velocityY": 1.300465779451264, + "timestamp": 10.970381577482927 + }, + { + "x": 5.292534947574076, + "y": 1.6297629984771478, + "heading": -0.2924106310888177, + "angularVelocity": -7.824539278829055e-7, + "velocityX": -3.9086940568520956, + "velocityY": 1.3033638007909902, + "timestamp": 11.052787457513572 + }, + { + "x": 4.996115872359855, + "y": 1.7283189881306324, + "heading": -0.36622067840528416, + "angularVelocity": -0.8956890854028594, + "velocityX": -3.5970621890572314, + "velocityY": 1.1959824907741203, + "timestamp": 11.135193337544218 + }, + { + "x": 4.732736935087431, + "y": 1.8159057723600291, + "heading": -0.43711479002142123, + "angularVelocity": -0.8603040412865287, + "velocityX": -3.1961182524169116, + "velocityY": 1.0628705645376848, + "timestamp": 11.217599217574863 + }, + { + "x": 4.502338857203799, + "y": 1.8925327189091943, + "heading": -0.5013692608315433, + "angularVelocity": -0.7797316257799427, + "velocityX": -2.7958936643592733, + "velocityY": 0.9298723164010714, + "timestamp": 11.300005097605508 + }, + { + "x": 4.304889219129118, + "y": 1.9582062400500209, + "heading": -0.5576357524751158, + "angularVelocity": -0.6827970482524788, + "velocityX": -2.396062489730738, + "velocityY": 0.7969518815453914, + "timestamp": 11.382410977636154 + }, + { + "x": 4.140369092817658, + "y": 2.0129300491668727, + "heading": -0.6052252685128586, + "angularVelocity": -0.5775014600905304, + "velocityX": -1.9964610080042535, + "velocityY": 0.6640765088183144, + "timestamp": 11.464816857666799 + }, + { + "x": 4.008766269829904, + "y": 2.0567065014156403, + "heading": -0.6437229947806191, + "angularVelocity": -0.4671720786604532, + "velocityX": -1.5970076763795704, + "velocityY": 0.5312297160407456, + "timestamp": 11.547222737697444 + }, + { + "x": 3.9100722638712457, + "y": 2.0895372342089806, + "heading": -0.6728522708471012, + "angularVelocity": -0.3534854072992033, + "velocityX": -1.1976573264184043, + "velocityY": 0.3984027933580843, + "timestamp": 11.62962861772809 + }, + { + "x": 3.8442808143052742, + "y": 2.1114234734626223, + "heading": -0.6924141497397114, + "angularVelocity": -0.23738450320942417, + "velocityX": -0.7983829496330213, + "velocityY": 0.26559074723190373, + "timestamp": 11.712034497758735 + }, + { + "x": 3.811387062072754, + "y": 2.122366189956665, + "heading": -0.7022564818650576, + "angularVelocity": -0.11943725522603567, + "velocityX": -0.3991675378054077, + "velocityY": 0.1327904815769616, + "timestamp": 11.79444037778938 + }, + { + "x": 3.811387062072754, + "y": 2.122366189956665, + "heading": -0.7022564818650576, + "angularVelocity": 1.9181866499986056e-28, + "velocityX": 1.4721704576805681e-27, + "velocityY": -6.910528798867393e-28, + "timestamp": 11.876846257820025 + } + ], + "eventMarkers": [ + { + "timestamp": 11.876846257820025, + "command": { + "type": "named", + "data": { + "name": "" + } + } + } + ] } \ No newline at end of file diff --git a/src/main/deploy/choreo/Source4NoteFar.1.traj b/src/main/deploy/choreo/Source4NoteFar.1.traj index 07a1246..8d602fc 100644 --- a/src/main/deploy/choreo/Source4NoteFar.1.traj +++ b/src/main/deploy/choreo/Source4NoteFar.1.traj @@ -1,1778 +1,1778 @@ -{ - "samples": [ - { - "x": 0.6885567903518677, - "y": 4.453176975250244, - "heading": -1.0863186564678593, - "angularVelocity": 3.394120175036044e-27, - "velocityX": -2.1149346198916325e-25, - "velocityY": -3.6854833776665248e-25, - "timestamp": 0 - }, - { - "x": 0.701309503097222, - "y": 4.443900931648444, - "heading": -1.0829185789751592, - "angularVelocity": 0.06123493124721272, - "velocityX": 0.2296746147268097, - "velocityY": -0.16706027830890885, - "timestamp": 0.055525129586146055 - }, - { - "x": 0.7268154815552788, - "y": 4.425347913055752, - "heading": -1.0761583023507493, - "angularVelocity": 0.12175165865973384, - "velocityX": 0.45935918832003475, - "velocityY": -0.334137330808164, - "timestamp": 0.11105025917229211 - }, - { - "x": 0.7650753560299537, - "y": 4.3975168405520435, - "heading": -1.0660842521869078, - "angularVelocity": 0.18143226749631602, - "velocityX": 0.6890551136006906, - "velocityY": -0.5012338145114863, - "timestamp": 0.16657538875843816 - }, - { - "x": 0.8160898545753549, - "y": 4.3604064485110285, - "heading": -1.052751348041684, - "angularVelocity": 0.24012378259357745, - "velocityX": 0.9187641510363933, - "velocityY": -0.6683530919714367, - "timestamp": 0.22210051834458422 - }, - { - "x": 0.8798598296859603, - "y": 4.314015230291449, - "heading": -1.0362257436703786, - "angularVelocity": 0.2976238775934092, - "velocityX": 1.1484885417812079, - "velocityY": -0.8354995038346342, - "timestamp": 0.2776256479307303 - }, - { - "x": 0.9563862935427256, - "y": 4.258341360780349, - "heading": -1.0165888098402591, - "angularVelocity": 0.35365849618870837, - "velocityX": 1.3782311617667844, - "velocityY": -1.0026787857329247, - "timestamp": 0.3331507775168764 - }, - { - "x": 1.0456704648547377, - "y": 4.193382582363671, - "heading": -0.9939431496875328, - "angularVelocity": 0.4078452463148618, - "velocityX": 1.6079957305365589, - "velocityY": -1.169898726952011, - "timestamp": 0.38867590710302247 - }, - { - "x": 1.1477138307776387, - "y": 4.119136030759216, - "heading": -0.9684221265669595, - "angularVelocity": 0.45963014063709734, - "velocityX": 1.8377870827763283, - "velocityY": -1.3371702535023144, - "timestamp": 0.44420103668916855 - }, - { - "x": 1.2625182253193026, - "y": 4.035597957054578, - "heading": -0.9402059046034171, - "angularVelocity": 0.5081703036778226, - "velocityX": 2.0676114652474116, - "velocityY": -1.504509297452977, - "timestamp": 0.49972616627531463 - }, - { - "x": 1.3900859107662955, - "y": 3.9427632601540505, - "heading": -0.9095507354987135, - "angularVelocity": 0.5520954085688863, - "velocityX": 2.2974765911905615, - "velocityY": -1.671940211440602, - "timestamp": 0.5552512958614607 - }, - { - "x": 1.5304195680842245, - "y": 3.840624652337327, - "heading": -0.8768488312128728, - "angularVelocity": 0.588956829629805, - "velocityX": 2.527390000958115, - "velocityY": -1.8395023762755498, - "timestamp": 0.6107764254476068 - }, - { - "x": 1.6835216202036696, - "y": 3.729171108221817, - "heading": -0.8427733340930771, - "angularVelocity": 0.6136950489584778, - "velocityX": 2.7573470473744757, - "velocityY": -2.007263106745065, - "timestamp": 0.6663015550337529 - }, - { - "x": 1.8493882506818127, - "y": 3.608385664410105, - "heading": -0.808746208075466, - "angularVelocity": 0.612823892014852, - "velocityX": 2.9872353601769563, - "velocityY": -2.1753293456851024, - "timestamp": 0.721826684619899 - }, - { - "x": 2.027907239187379, - "y": 3.4782789596731347, - "heading": -0.7798687850274081, - "angularVelocity": 0.5200784449004344, - "velocityX": 3.2151026001406824, - "velocityY": -2.3432039818135415, - "timestamp": 0.777351814206045 - }, - { - "x": 2.212973382556378, - "y": 3.343779104303734, - "heading": -0.7798687767385638, - "angularVelocity": 1.4928095213230132e-7, - "velocityX": 3.333015964994242, - "velocityY": -2.4223240246693583, - "timestamp": 0.8328769437921911 - }, - { - "x": 2.3980395462614625, - "y": 3.209279276915848, - "heading": -0.7798687684499269, - "angularVelocity": 1.4927721668634784e-7, - "velocityX": 3.333016331244363, - "velocityY": -2.4223235207260925, - "timestamp": 0.8884020733783372 - }, - { - "x": 2.583105709967169, - "y": 3.074779449528818, - "heading": -0.7798687601612903, - "angularVelocity": 1.4927721505001108e-7, - "velocityX": 3.333016331255567, - "velocityY": -2.4223235207106772, - "timestamp": 0.9439272029644833 - }, - { - "x": 2.768171873672875, - "y": 2.940279622141788, - "heading": -0.7798687518726534, - "angularVelocity": 1.4927721772237764e-7, - "velocityX": 3.3330163312555676, - "velocityY": -2.422323520710677, - "timestamp": 0.9994523325506294 - }, - { - "x": 2.953238037378582, - "y": 2.8057797947547582, - "heading": -0.7798687435840165, - "angularVelocity": 1.4927721820085747e-7, - "velocityX": 3.333016331255571, - "velocityY": -2.4223235207106706, - "timestamp": 1.0549774621367753 - }, - { - "x": 3.138304201089101, - "y": 2.671279967374351, - "heading": -0.7798687352953797, - "angularVelocity": 1.4927721680994496e-7, - "velocityX": 3.333016331342246, - "velocityY": -2.4223235205914095, - "timestamp": 1.1105025917229214 - }, - { - "x": 3.323370522018546, - "y": 2.536780356320906, - "heading": -0.7798687270067427, - "angularVelocity": 1.4927722007479915e-7, - "velocityX": 3.3330191628336134, - "velocityY": -2.4223196245723564, - "timestamp": 1.1660277213090675 - }, - { - "x": 3.51247438849094, - "y": 2.408019274510783, - "heading": -0.779868718696711, - "angularVelocity": 1.49662535873164e-7, - "velocityX": 3.405734806597866, - "velocityY": -2.31896949669164, - "timestamp": 1.2215528508952136 - }, - { - "x": 3.710020303726196, - "y": 2.2926273345947266, - "heading": -0.779868710229491, - "angularVelocity": 1.5249347506293226e-7, - "velocityX": 3.5577749517678714, - "velocityY": -2.0781930771908943, - "timestamp": 1.2770779804813597 - }, - { - "x": 3.9581046340644135, - "y": 2.17413656564851, - "heading": -0.7798687023875752, - "angularVelocity": 1.1752432896230884e-7, - "velocityX": 3.7179619396532617, - "velocityY": -1.775783938234554, - "timestamp": 1.3438038734208 - }, - { - "x": 4.2151657327976855, - "y": 2.076640468884465, - "heading": -0.7798686946986859, - "angularVelocity": 1.1523096829074136e-7, - "velocityX": 3.8524939481376075, - "velocityY": -1.4611433803146185, - "timestamp": 1.4105297663602403 - }, - { - "x": 4.473273733448251, - "y": 1.981950673388302, - "heading": -0.779868687019788, - "angularVelocity": 1.1508123071029428e-7, - "velocityX": 3.8681835383577634, - "velocityY": -1.4190862246250013, - "timestamp": 1.4772556592996806 - }, - { - "x": 4.731381751981754, - "y": 1.8872609266379454, - "heading": -0.7798686793408901, - "angularVelocity": 1.1508123135598442e-7, - "velocityX": 3.8681838063637195, - "velocityY": -1.4190854940869202, - "timestamp": 1.543981552239121 - }, - { - "x": 4.989489770515562, - "y": 1.7925711798884192, - "heading": -0.7798686716619923, - "angularVelocity": 1.1508123122518e-7, - "velocityX": 3.868183806368286, - "velocityY": -1.4190854940744717, - "timestamp": 1.6107074451785612 - }, - { - "x": 5.247597789049369, - "y": 1.6978814331388932, - "heading": -0.7798686639830944, - "angularVelocity": 1.1508123020194597e-7, - "velocityX": 3.8681838063682856, - "velocityY": -1.419085494074472, - "timestamp": 1.6774333381180015 - }, - { - "x": 5.505705807583176, - "y": 1.6031916863893672, - "heading": -0.7798686563041966, - "angularVelocity": 1.1508122981029888e-7, - "velocityX": 3.868183806368286, - "velocityY": -1.419085494074472, - "timestamp": 1.7441592310574419 - }, - { - "x": 5.763813826116984, - "y": 1.5085019396398411, - "heading": -0.7798686486252987, - "angularVelocity": 1.150812311539268e-7, - "velocityX": 3.868183806368287, - "velocityY": -1.4190854940744704, - "timestamp": 1.8108851239968822 - }, - { - "x": 6.021921844652431, - "y": 1.413812192894788, - "heading": -0.7798686409464007, - "angularVelocity": 1.1508123149232243e-7, - "velocityX": 3.8681838063928784, - "velocityY": -1.419085494007436, - "timestamp": 1.8776110169363225 - }, - { - "x": 6.280029959502567, - "y": 1.319122708687512, - "heading": -0.7798686332674524, - "angularVelocity": 1.1508198682436301e-7, - "velocityX": 3.8681852498308413, - "velocityY": -1.4190815594362318, - "timestamp": 1.9443369098757628 - }, - { - "x": 6.535640541521234, - "y": 1.2363573105352137, - "heading": -0.7601601921076507, - "angularVelocity": 0.29536421757126274, - "velocityX": 3.830755509718786, - "velocityY": -1.240379026885639, - "timestamp": 2.011062802815203 - }, - { - "x": 6.770261917470024, - "y": 1.1616480507635125, - "heading": -0.7286485121958914, - "angularVelocity": 0.47225564954760224, - "velocityX": 3.5161968707069784, - "velocityY": -1.119644211273522, - "timestamp": 2.0777886957546436 - }, - { - "x": 6.98350443701307, - "y": 1.094927347846598, - "heading": -0.6949548329623987, - "angularVelocity": 0.5049565880530491, - "velocityX": 3.1957986644941965, - "velocityY": -0.9999222187625046, - "timestamp": 2.144514588694084 - }, - { - "x": 7.175340032760939, - "y": 1.036153040315015, - "heading": -0.6617196405184319, - "angularVelocity": 0.49808539054142775, - "velocityX": 2.874979821131458, - "velocityY": -0.8808320869519976, - "timestamp": 2.2112404816335247 - }, - { - "x": 7.345767051248528, - "y": 0.9853010621719508, - "heading": -0.630183689398933, - "angularVelocity": 0.47261939451481727, - "velocityX": 2.554136197806548, - "velocityY": -0.7621026246770035, - "timestamp": 2.2779663745729652 - }, - { - "x": 7.494787941521159, - "y": 0.9423562064943364, - "heading": -0.6010692809022818, - "angularVelocity": 0.43632849579210764, - "velocityX": 2.233329277554675, - "velocityY": -0.6436010637818008, - "timestamp": 2.344692267512406 - }, - { - "x": 7.6224056734264645, - "y": 0.9073080528508631, - "heading": -0.5748497275005627, - "angularVelocity": 0.3929442117097724, - "velocityX": 1.912566865476494, - "velocityY": -0.5252556706177386, - "timestamp": 2.4114181604518463 - }, - { - "x": 7.728622996709226, - "y": 0.8801490267496294, - "heading": -0.5518594737395791, - "angularVelocity": 0.3445477122629041, - "velocityX": 1.5918456629596907, - "velocityY": -0.4070237939847864, - "timestamp": 2.478144053391287 - }, - { - "x": 7.813442307646716, - "y": 0.8608733761969334, - "heading": -0.5323475063047407, - "angularVelocity": 0.29241972756433915, - "velocityX": 1.2711603726977772, - "velocityY": -0.28887812067483865, - "timestamp": 2.5448699463307274 - }, - { - "x": 7.876865663404102, - "y": 0.849476585375473, - "heading": -0.5165064137632613, - "angularVelocity": 0.23740547849777704, - "velocityX": 0.9505059125240666, - "velocityY": -0.17080012450045454, - "timestamp": 2.611595839270168 - }, - { - "x": 7.91889482908089, - "y": 0.8459550160486062, - "heading": -0.5044895665966007, - "angularVelocity": 0.18009271419667666, - "velocityX": 0.629877905342268, - "velocityY": -0.05277665343591268, - "timestamp": 2.6783217322096085 - }, - { - "x": 7.939531326293945, - "y": 0.8503056764602661, - "heading": -0.49642193244286464, - "angularVelocity": 0.12090709915352006, - "velocityX": 0.3092727021545489, - "velocityY": 0.06520198112011014, - "timestamp": 2.745047625149049 - }, - { - "x": 7.927180666475836, - "y": 0.8713586733936556, - "heading": -0.4930143763837493, - "angularVelocity": 0.036942190406947725, - "velocityX": -0.1338966751351047, - "velocityY": 0.22824094684214172, - "timestamp": 2.8372878529638696 - }, - { - "x": 7.87394900492315, - "y": 0.9074500624880938, - "heading": -0.49722150955455136, - "angularVelocity": -0.04561061123188263, - "velocityX": -0.5770981144967761, - "velocityY": 0.3912760186032336, - "timestamp": 2.9295280807786903 - }, - { - "x": 7.779832586973778, - "y": 0.9585793720111768, - "heading": -0.5088748847639726, - "angularVelocity": -0.1263372336071879, - "velocityX": -1.0203402591146986, - "velocityY": 0.5543059761921793, - "timestamp": 3.021768308593511 - }, - { - "x": 7.644826495037085, - "y": 1.0247459321009753, - "heading": -0.5277488943045168, - "angularVelocity": -0.20461798488220692, - "velocityX": -1.463635716595666, - "velocityY": 0.7173286716359051, - "timestamp": 3.1140085364083316 - }, - { - "x": 7.468924023316461, - "y": 1.1059487096578826, - "heading": -0.5535264419169841, - "angularVelocity": -0.2794610141707124, - "velocityX": -1.9070038733399683, - "velocityY": 0.8803401669814643, - "timestamp": 3.2062487642231523 - }, - { - "x": 7.252115520954535, - "y": 1.2021859450131016, - "heading": -0.5857297212655913, - "angularVelocity": -0.34912402225694766, - "velocityX": -2.350476657507682, - "velocityY": 1.04333258530565, - "timestamp": 3.298488992037973 - }, - { - "x": 6.994386027654477, - "y": 1.31345417318691, - "heading": -0.6235562220957586, - "angularVelocity": -0.4100868105628156, - "velocityX": -2.794111630095605, - "velocityY": 1.2062874388947544, - "timestamp": 3.3907292198527936 - }, - { - "x": 6.695710018451316, - "y": 1.439744501943248, - "heading": -0.6653719919030509, - "angularVelocity": -0.45333550011650886, - "velocityX": -3.238023325384417, - "velocityY": 1.369145889468917, - "timestamp": 3.4829694476676143 - }, - { - "x": 6.356050726739891, - "y": 1.5810125125479777, - "heading": -0.7059823103401129, - "angularVelocity": -0.44026689221312976, - "velocityX": -3.6823336168826186, - "velocityY": 1.5315227851381312, - "timestamp": 3.575209675482435 - }, - { - "x": 5.999398683183485, - "y": 1.7123177539849823, - "heading": -0.7059823175120675, - "angularVelocity": -7.775300131162323e-8, - "velocityX": -3.8665564039197022, - "velocityY": 1.4235138458310193, - "timestamp": 3.6674499032972556 - }, - { - "x": 5.642746522149845, - "y": 1.8436226763292314, - "heading": -0.7059823246840017, - "angularVelocity": -7.77527794510748e-8, - "velocityX": -3.866557677520564, - "velocityY": 1.4235103864645033, - "timestamp": 3.7596901311120763 - }, - { - "x": 5.28156245438674, - "y": 1.9537093318962377, - "heading": -0.7138474612609973, - "angularVelocity": -0.08526796565144627, - "velocityX": -3.915689242314218, - "velocityY": 1.1934777067985334, - "timestamp": 3.851930358926897 - }, - { - "x": 4.961235013550277, - "y": 2.048482673838497, - "heading": -0.723491200847142, - "angularVelocity": -0.10455025767613332, - "velocityX": -3.472752056505604, - "velocityY": 1.0274621408408044, - "timestamp": 3.9441705867417176 - }, - { - "x": 4.681796334872038, - "y": 2.1280729865083585, - "heading": -0.7292938799639851, - "angularVelocity": -0.06290833462046955, - "velocityX": -3.0294664843980423, - "velocityY": 0.8628590210081168, - "timestamp": 4.036410814556538 - }, - { - "x": 4.443240110455446, - "y": 2.1925269170063846, - "heading": -0.7294953062364742, - "angularVelocity": -0.002183713952804096, - "velocityX": -2.586249297817354, - "velocityY": 0.698761614373095, - "timestamp": 4.1286510423713585 - }, - { - "x": 4.245560384054017, - "y": 2.24186822032086, - "heading": -0.7232342713321199, - "angularVelocity": 0.06787748743339812, - "velocityX": -2.143096684434545, - "velocityY": 0.5349217416671156, - "timestamp": 4.220891270186179 - }, - { - "x": 4.0887527147976686, - "y": 2.2761112730627358, - "heading": -0.7099988392979812, - "angularVelocity": 0.1434887179670669, - "velocityX": -1.699992215664861, - "velocityY": 0.3712377294928318, - "timestamp": 4.313131498001 - }, - { - "x": 3.972813772950256, - "y": 2.2952657190650956, - "heading": -0.6894483842110904, - "angularVelocity": 0.22279276161532663, - "velocityX": -1.256923845419907, - "velocityY": 0.20765826858986366, - "timestamp": 4.4053717258158205 - }, - { - "x": 3.8977409855221326, - "y": 2.2993384931570473, - "heading": -0.6613385952715591, - "angularVelocity": 0.3047454413920573, - "velocityX": -0.8138833696165418, - "velocityY": 0.044153989950329355, - "timestamp": 4.497611953630641 - }, - { - "x": 3.863532304763794, - "y": 2.288334846496582, - "heading": -0.6254844943742653, - "angularVelocity": 0.3887035163147435, - "velocityX": -0.37086509399147366, - "velocityY": -0.11929335953675119, - "timestamp": 4.589852181445462 - }, - { - "x": 3.8588969628219925, - "y": 2.2742859384660616, - "heading": -0.5980545373887644, - "angularVelocity": 0.4457546351730898, - "velocityX": -0.07532732031852572, - "velocityY": -0.22830388968656506, - "timestamp": 4.651388180896931 - }, - { - "x": 3.87252307186548, - "y": 2.2537298660333667, - "heading": -0.5672227548547781, - "angularVelocity": 0.5010365121038134, - "velocityX": 0.22143313125569966, - "velocityY": -0.33404954199056636, - "timestamp": 4.7129241803484 - }, - { - "x": 3.904495293557158, - "y": 2.226901435332701, - "heading": -0.5331165435350333, - "angularVelocity": 0.5542481088105673, - "velocityX": 0.5195693898966114, - "velocityY": -0.4359794419496553, - "timestamp": 4.77446017979987 - }, - { - "x": 3.954909336055298, - "y": 2.1940785550728865, - "heading": -0.495886840771047, - "angularVelocity": 0.6050068755826099, - "velocityX": 0.8192609683360987, - "velocityY": -0.5333931447022372, - "timestamp": 4.835996179251339 - }, - { - "x": 4.02387381433517, - "y": 2.1555950274998867, - "heading": -0.45571503088966375, - "angularVelocity": 0.6528180291126203, - "velocityX": 1.120717610742014, - "velocityY": -0.6253823439294258, - "timestamp": 4.897532178702808 - }, - { - "x": 4.111512236956564, - "y": 2.1118588104756206, - "heading": -0.412822729802436, - "angularVelocity": 0.6970277799916975, - "velocityX": 1.4241813475461795, - "velocityY": -0.7107419626581243, - "timestamp": 4.959068178154277 - }, - { - "x": 4.217964742540069, - "y": 2.063378913974966, - "heading": -0.36748611131765924, - "angularVelocity": 0.7367495269258114, - "velocityX": 1.7299224280489682, - "velocityY": -0.7878298383515892, - "timestamp": 5.020604177605747 - }, - { - "x": 4.3433885040310445, - "y": 2.010806456684427, - "heading": -0.32005768718105704, - "angularVelocity": 0.7707427287990534, - "velocityX": 2.0382176711031144, - "velocityY": -0.854336612050985, - "timestamp": 5.082140177057216 - }, - { - "x": 4.487953805149203, - "y": 1.954999944894153, - "heading": -0.2710008539723626, - "angularVelocity": 0.7972054349646767, - "velocityX": 2.3492801353161026, - "velocityY": -0.9068921003596625, - "timestamp": 5.143676176508685 - }, - { - "x": 4.651827347820778, - "y": 1.8971338065315515, - "heading": -0.22094730911564786, - "angularVelocity": 0.8134026472778757, - "velocityX": 2.66305161421512, - "velocityY": -0.9403623712691659, - "timestamp": 5.205212175960154 - }, - { - "x": 4.835117881418664, - "y": 1.8388867617728581, - "heading": -0.17079707648624934, - "angularVelocity": 0.8149738864475594, - "velocityX": 2.978590341129327, - "velocityY": -0.9465523478598972, - "timestamp": 5.266748175411624 - }, - { - "x": 5.037706705982249, - "y": 1.7827750767858257, - "heading": -0.12189771533901265, - "angularVelocity": 0.7946464115822435, - "velocityX": 3.2922001165083703, - "velocityY": -0.9118513632217131, - "timestamp": 5.328284174863093 - }, - { - "x": 5.258723241665742, - "y": 1.7326877167097992, - "heading": -0.07633456189791264, - "angularVelocity": 0.7404308672524917, - "velocityX": 3.5916624033676507, - "velocityY": -0.8139521665773647, - "timestamp": 5.389820174314562 - }, - { - "x": 5.49513452171728, - "y": 1.6942432648547043, - "heading": -0.03706015615864722, - "angularVelocity": 0.6382346283371836, - "velocityX": 3.8418370085625435, - "velocityY": -0.6247473381075812, - "timestamp": 5.451356173766031 - }, - { - "x": 5.7400281736184455, - "y": 1.6729770610154633, - "heading": -0.007145484204979612, - "angularVelocity": 0.4861328688950628, - "velocityX": 3.9796810661099893, - "velocityY": -0.34558963905368534, - "timestamp": 5.512892173217501 - }, - { - "x": 5.9874771608430795, - "y": 1.6708818345855783, - "heading": 0.017579240823119676, - "angularVelocity": 0.40179285700232625, - "velocityX": 4.021206926520915, - "velocityY": -0.03404879174079811, - "timestamp": 5.57442817266897 - }, - { - "x": 6.234120845794678, - "y": 1.6881886720657349, - "heading": 0.04311790612474964, - "angularVelocity": 0.41501991564744656, - "velocityX": 4.008120241000007, - "velocityY": 0.28124736145393664, - "timestamp": 5.635964172120439 - }, - { - "x": 6.467272536529507, - "y": 1.7222668368059177, - "heading": 0.07140808783124676, - "angularVelocity": 0.4798746133284011, - "velocityX": 3.9548553840693117, - "velocityY": 0.5780537678158916, - "timestamp": 5.694917450582654 - }, - { - "x": 6.692584478408081, - "y": 1.7722919010776508, - "heading": 0.10380607474487556, - "angularVelocity": 0.5495536085307539, - "velocityX": 3.8218729773100346, - "velocityY": 0.8485544074329195, - "timestamp": 5.753870729044869 - }, - { - "x": 6.904741537320341, - "y": 1.8343117738412145, - "heading": 0.13881865410428046, - "angularVelocity": 0.5939038552681234, - "velocityX": 3.598732156146937, - "velocityY": 1.0520173666561004, - "timestamp": 5.812824007507084 - }, - { - "x": 7.100383513043178, - "y": 1.9030310585915293, - "heading": 0.17471896196074413, - "angularVelocity": 0.6089620254024232, - "velocityX": 3.318593652908188, - "velocityY": 1.1656567122786685, - "timestamp": 5.871777285969299 - }, - { - "x": 7.278323373731877, - "y": 1.973830348179141, - "heading": 0.21010738421181074, - "angularVelocity": 0.6002791222840638, - "velocityX": 3.0183200210442145, - "velocityY": 1.2009389712395522, - "timestamp": 5.930730564431514 - }, - { - "x": 7.4384871771356265, - "y": 2.0434113203538615, - "heading": 0.24403115598521166, - "angularVelocity": 0.5754348639854446, - "velocityX": 2.716792137461926, - "velocityY": 1.1802731585032522, - "timestamp": 5.9896838428937285 - }, - { - "x": 7.581181613697001, - "y": 2.1095234080577914, - "heading": 0.27585930904768985, - "angularVelocity": 0.5398877533651957, - "velocityX": 2.4204665165963752, - "velocityY": 1.1214319106324677, - "timestamp": 6.048637121355943 - }, - { - "x": 7.706797630897918, - "y": 2.1706045807896808, - "heading": 0.3051630458824759, - "angularVelocity": 0.49706712839672884, - "velocityX": 2.1307723756436663, - "velocityY": 1.0360945875306653, - "timestamp": 6.107590399818158 - }, - { - "x": 7.815712043569113, - "y": 2.2255333978794116, - "heading": 0.33163957385897364, - "angularVelocity": 0.4491103576787036, - "velocityX": 1.847469988306098, - "velocityY": 0.9317347316813903, - "timestamp": 6.166543678280373 - }, - { - "x": 7.908260582203949, - "y": 2.273476340322031, - "heading": 0.35506686665379467, - "angularVelocity": 0.3973874465664564, - "velocityX": 1.5698624580167049, - "velocityY": 0.8132362388182927, - "timestamp": 6.225496956742588 - }, - { - "x": 7.984734808626996, - "y": 2.3137943937734238, - "heading": 0.37527661607304347, - "angularVelocity": 0.34280959340033684, - "velocityX": 1.2972005699744291, - "velocityY": 0.6838984107937889, - "timestamp": 6.284450235204803 - }, - { - "x": 8.045386300065186, - "y": 2.3459844705884807, - "heading": 0.3921375822600176, - "angularVelocity": 0.2860055730027077, - "velocityX": 1.0288060820411038, - "velocityY": 0.5460269158005876, - "timestamp": 6.343403513667018 - }, - { - "x": 8.090432430021092, - "y": 2.369641472578161, - "heading": 0.40554498361648383, - "angularVelocity": 0.2274241858331832, - "velocityX": 0.76409881063319, - "velocityY": 0.40128390832145205, - "timestamp": 6.402356792129233 - }, - { - "x": 8.120061893982145, - "y": 2.3844329106489335, - "heading": 0.41541350240022923, - "angularVelocity": 0.1673955892049397, - "velocityX": 0.5025923024797195, - "velocityY": 0.25090102631447014, - "timestamp": 6.4613100705914475 - }, - { - "x": 8.134439468383789, - "y": 2.3900814056396484, - "heading": 0.4216725296119854, - "angularVelocity": 0.10616928142118104, - "velocityX": 0.24388082862701033, - "velocityY": 0.09581307669488197, - "timestamp": 6.520263349053662 - }, - { - "x": 8.132176285564572, - "y": 2.3851078879497147, - "heading": 0.42413738865593775, - "angularVelocity": 0.03838472583689847, - "velocityX": -0.03524406486753986, - "velocityY": -0.07745153356394213, - "timestamp": 6.58447792894739 - }, - { - "x": 8.111834551335587, - "y": 2.369262184782309, - "heading": 0.42223170348479205, - "angularVelocity": -0.029676830001840532, - "velocityX": -0.3167775022845199, - "velocityY": -0.24676176646533576, - "timestamp": 6.648692508841117 - }, - { - "x": 8.073236234054438, - "y": 2.3428469037837596, - "heading": 0.41593590278547166, - "angularVelocity": -0.09804316573805726, - "velocityX": -0.6010833886171775, - "velocityY": -0.41135955482797815, - "timestamp": 6.712907088734845 - }, - { - "x": 8.016174669315534, - "y": 2.3062284127277977, - "heading": 0.4052283935995224, - "angularVelocity": -0.16674576402539432, - "velocityX": -0.8886076157990642, - "velocityY": -0.5702519757438951, - "timestamp": 6.777121668628572 - }, - { - "x": 7.940407873057922, - "y": 2.259858654551234, - "heading": 0.3900854339256775, - "angularVelocity": -0.23581809145066257, - "velocityX": -1.1799002093138764, - "velocityY": -0.7221063853926085, - "timestamp": 6.8413362485223 - }, - { - "x": 7.845650198886334, - "y": 2.2043077633338255, - "heading": 0.37048131278322016, - "angularVelocity": -0.30529081051221507, - "velocityX": -1.4756411134108256, - "velocityY": -0.865082218233669, - "timestamp": 6.905550828416027 - }, - { - "x": 7.731562513102335, - "y": 2.140314722394816, - "heading": 0.34638932376904424, - "angularVelocity": -0.3751794227112801, - "velocityX": -1.776663274490152, - "velocityY": -0.9965500209596554, - "timestamp": 6.969765408309755 - }, - { - "x": 7.597742640115569, - "y": 2.0688695295905424, - "heading": 0.3177847679181409, - "angularVelocity": -0.44545266664117245, - "velocityX": -2.083948430531411, - "velocityY": -1.1126007975527197, - "timestamp": 7.033979988203482 - }, - { - "x": 7.443723347321437, - "y": 1.991352898659247, - "heading": 0.28465327704940796, - "angularVelocity": -0.5159496632005437, - "velocityX": -2.398509700585578, - "velocityY": -1.2071500126541717, - "timestamp": 7.09819456809721 - }, - { - "x": 7.2690042706160805, - "y": 1.909784448765435, - "heading": 0.24701367157934487, - "angularVelocity": -0.5861535734151859, - "velocityX": -2.7208630344465448, - "velocityY": -1.270248127898756, - "timestamp": 7.162409147990937 - }, - { - "x": 7.0732110345953325, - "y": 1.8272697519579237, - "heading": 0.20498160985555938, - "angularVelocity": -0.654556360772695, - "velocityX": -3.0490464368805132, - "velocityY": -1.2849838299038974, - "timestamp": 7.226623727884665 - }, - { - "x": 6.856687516382241, - "y": 1.7487095931314518, - "heading": 0.158939232751959, - "angularVelocity": -0.7170081495479512, - "velocityX": -3.3718747139891065, - "velocityY": -1.223400650700919, - "timestamp": 7.290838307778392 - }, - { - "x": 6.622137169577345, - "y": 1.6811594344762097, - "heading": 0.10987454919796363, - "angularVelocity": -0.7640738853262871, - "velocityX": -3.652602682958729, - "velocityY": -1.0519442588744687, - "timestamp": 7.3550528876721195 - }, - { - "x": 6.376228451811506, - "y": 1.6314432842511626, - "heading": 0.0595492132865963, - "angularVelocity": -0.783705756459888, - "velocityX": -3.829484179026162, - "velocityY": -0.7742190372860123, - "timestamp": 7.419267467565847 - }, - { - "x": 6.126649542350112, - "y": 1.602554470841584, - "heading": 0.00931766555509535, - "angularVelocity": -0.7822452130751675, - "velocityX": -3.886639293980256, - "velocityY": -0.4498793491663203, - "timestamp": 7.4834820474595745 - }, - { - "x": 5.877150893660191, - "y": 1.594782132459995, - "heading": -0.04431021757632018, - "angularVelocity": -0.8351356221619418, - "velocityX": -3.8853894100503816, - "velocityY": -0.12103697313681898, - "timestamp": 7.547696627353302 - }, - { - "x": 5.631840705871582, - "y": 1.6077326536178589, - "heading": -0.09946026915631453, - "angularVelocity": -0.8588400277828766, - "velocityX": -3.8201633989444104, - "velocityY": 0.20167571257643785, - "timestamp": 7.611911207247029 - }, - { - "x": 5.408191557035955, - "y": 1.6373943243488176, - "heading": -0.15130862691248864, - "angularVelocity": -0.8625486017123365, - "velocityX": -3.720624315807819, - "velocityY": 0.4934511664526841, - "timestamp": 7.672021858001369 - }, - { - "x": 5.193948054538076, - "y": 1.6830215447877035, - "heading": -0.20249256634286344, - "angularVelocity": -0.8514953471316359, - "velocityX": -3.5641521063122457, - "velocityY": 0.7590538426435499, - "timestamp": 7.732132508755708 - }, - { - "x": 4.992708519368323, - "y": 1.7418388706856198, - "heading": -0.2519810867857048, - "angularVelocity": -0.8232903790227013, - "velocityX": -3.347818275868942, - "velocityY": 0.9784842645988236, - "timestamp": 7.792243159510047 - }, - { - "x": 4.807476467472973, - "y": 1.8099478214565607, - "heading": -0.29877876502879425, - "angularVelocity": -0.778525563370499, - "velocityX": -3.0815179934144843, - "velocityY": 1.133059614498085, - "timestamp": 7.852353810264386 - }, - { - "x": 4.640051176081192, - "y": 1.8830509886189777, - "heading": -0.34211563798950406, - "angularVelocity": -0.7209516519430013, - "velocityX": -2.785284958501204, - "velocityY": 1.2161433330870974, - "timestamp": 7.912464461018725 - }, - { - "x": 4.491074408686971, - "y": 1.9572734446033506, - "heading": -0.38149861118808165, - "angularVelocity": -0.6551746271975682, - "velocityX": -2.4783755544929993, - "velocityY": 1.2347638072944158, - "timestamp": 7.9725751117730645 - }, - { - "x": 4.360467804854574, - "y": 2.0295250421816173, - "heading": -0.41665596351126605, - "angularVelocity": -0.5848772535646916, - "velocityX": -2.1727697536691237, - "velocityY": 1.2019766326194772, - "timestamp": 8.032685762527404 - }, - { - "x": 4.247824136670683, - "y": 2.0974690843884547, - "heading": -0.44745848671344385, - "angularVelocity": -0.5124303732471919, - "velocityX": -1.8739385910866808, - "velocityY": 1.1303161977818494, - "timestamp": 8.092796413281743 - }, - { - "x": 4.152630521964107, - "y": 2.1593575088225836, - "heading": -0.4738576897252565, - "angularVelocity": -0.4391767961338674, - "velocityX": -1.5836397295982356, - "velocityY": 1.0295750196925144, - "timestamp": 8.152907064036082 - }, - { - "x": 4.0743710372510344, - "y": 2.213869973094629, - "heading": -0.495847468032445, - "angularVelocity": -0.36582166440114666, - "velocityX": -1.3019237644407449, - "velocityY": 0.90686864287707, - "timestamp": 8.213017714790421 - }, - { - "x": 4.012566881536003, - "y": 2.259991535127209, - "heading": -0.5134428122609265, - "angularVelocity": -0.29271591652517925, - "velocityX": -1.0281731263834195, - "velocityY": 0.7672777029327102, - "timestamp": 8.27312836554476 - }, - { - "x": 3.9667882785861663, - "y": 2.296926593546496, - "heading": -0.5266685380504919, - "angularVelocity": -0.22002300130830899, - "velocityX": -0.7615722401163919, - "velocityY": 0.6144511489358724, - "timestamp": 8.3332390162991 - }, - { - "x": 3.9366546232582045, - "y": 2.3240395045135216, - "heading": -0.5355534491643124, - "angularVelocity": -0.14780926511894657, - "velocityX": -0.5013030960372105, - "velocityY": 0.4510500323450303, - "timestamp": 8.393349667053439 - }, - { - "x": 3.9218302529315436, - "y": 2.340813447733847, - "heading": -0.5401273706627876, - "angularVelocity": -0.07609169824442547, - "velocityX": -0.24661803092508605, - "velocityY": 0.2790511000933509, - "timestamp": 8.453460317807778 - }, - { - "x": 3.922019004821778, - "y": 2.3468215465545654, - "heading": -0.5404196941509068, - "angularVelocity": -0.00486308972621038, - "velocityX": 0.0031400739779980803, - "velocityY": 0.09995065342533552, - "timestamp": 8.513570968562117 - }, - { - "x": 3.9374653525267678, - "y": 2.343996586754968, - "heading": -0.5363170167809265, - "angularVelocity": 0.0699891910700783, - "velocityX": 0.26350533648336844, - "velocityY": -0.048192103192425555, - "timestamp": 8.572189696786488 - }, - { - "x": 3.9683552537421263, - "y": 2.3328180917591665, - "heading": -0.52776434309664, - "angularVelocity": 0.14590343297026154, - "velocityX": 0.5269630056988549, - "velocityY": -0.19069835416787767, - "timestamp": 8.630808425010859 - }, - { - "x": 4.014893571544688, - "y": 2.3136810117650746, - "heading": -0.5146908632348776, - "angularVelocity": 0.22302564824883497, - "velocityX": 0.7939155149260704, - "velocityY": -0.32646699397575807, - "timestamp": 8.68942715323523 - }, - { - "x": 4.077312296102222, - "y": 2.287064622569289, - "heading": -0.4970157041294251, - "angularVelocity": 0.30152750905476433, - "velocityX": 1.0648256359063084, - "velocityY": -0.4540594789758664, - "timestamp": 8.7480458814596 - }, - { - "x": 4.155873833381881, - "y": 2.253560682274067, - "heading": -0.47464638279152427, - "angularVelocity": 0.3816070736348903, - "velocityX": 1.3402122437551975, - "velocityY": -0.5715569291606204, - "timestamp": 8.80666460968397 - }, - { - "x": 4.250872712284989, - "y": 2.2139144425815496, - "heading": -0.4474776048037691, - "angularVelocity": 0.46348289720246916, - "velocityX": 1.6206233362738318, - "velocityY": -0.6763408366822088, - "timestamp": 8.865283337908341 - }, - { - "x": 4.362632375743991, - "y": 2.1690856862971724, - "heading": -0.4153914647840616, - "angularVelocity": 0.5473701151770817, - "velocityX": 1.9065521693208372, - "velocityY": -0.7647514308531158, - "timestamp": 8.923902066132712 - }, - { - "x": 4.4914888946742755, - "y": 2.120340950697993, - "heading": -0.3782617628527304, - "angularVelocity": 0.6334102266636167, - "velocityX": 2.1982141686368726, - "velocityY": -0.8315556661789609, - "timestamp": 8.982520794357082 - }, - { - "x": 4.637741905018974, - "y": 2.069392283286928, - "heading": -0.3359690811718077, - "angularVelocity": 0.7214875341382799, - "velocityX": 2.4949877756627052, - "velocityY": -0.869153408038005, - "timestamp": 9.041139522581453 - }, - { - "x": 4.801527199967717, - "y": 2.018594113204702, - "heading": -0.28844131507798226, - "angularVelocity": 0.8107949034975191, - "velocityX": 2.794077932258038, - "velocityY": -0.8665860147594886, - "timestamp": 9.099758250805824 - }, - { - "x": 4.982520910343412, - "y": 1.9711637668084108, - "heading": -0.23574369114733976, - "angularVelocity": 0.89898954697441, - "velocityX": 3.0876430768494463, - "velocityY": -0.8091329824616064, - "timestamp": 9.158376979030194 - }, - { - "x": 5.17938468342917, - "y": 1.9312172935307006, - "heading": -0.1782266556555277, - "angularVelocity": 0.9812057892429679, - "velocityX": 3.3583767346885973, - "velocityY": -0.6814626398036162, - "timestamp": 9.216995707254565 - }, - { - "x": 5.389185993172574, - "y": 1.9031572532827392, - "heading": -0.11666625659371352, - "angularVelocity": 1.0501831228099072, - "velocityX": 3.5790832742116896, - "velocityY": -0.47868729155225614, - "timestamp": 9.275614435478936 - }, - { - "x": 5.607648109126699, - "y": 1.8904140574345172, - "heading": -0.052238343106668465, - "angularVelocity": 1.099101182141647, - "velocityX": 3.726831382590488, - "velocityY": -0.21739120302040635, - "timestamp": 9.334233163703306 - }, - { - "x": 5.8303718087359035, - "y": 1.8947620924297608, - "heading": 0.013795227099602759, - "angularVelocity": 1.1264927132762073, - "velocityX": 3.7995314186398494, - "velocityY": 0.07417484355172438, - "timestamp": 9.392851891927677 - }, - { - "x": 6.053758144378662, - "y": 1.916719675064087, - "heading": 0.08038234053778825, - "angularVelocity": 1.135935825549055, - "velocityX": 3.810835588034616, - "velocityY": 0.37458306072900377, - "timestamp": 9.451470620152048 - }, - { - "x": 6.264479674099062, - "y": 1.9534587833223342, - "heading": 0.14352280822320104, - "angularVelocity": 1.1321628825027237, - "velocityX": 3.778418235390223, - "velocityY": 0.6587638044348276, - "timestamp": 9.507240393796133 - }, - { - "x": 6.471410323168012, - "y": 2.005691126005294, - "heading": 0.2060499040900196, - "angularVelocity": 1.1211645983334413, - "velocityX": 3.7104444853864718, - "velocityY": 0.9365708208948176, - "timestamp": 9.563010167440218 - }, - { - "x": 6.67221720068237, - "y": 2.0726457450879647, - "heading": 0.26723641438299095, - "angularVelocity": 1.0971267461735486, - "velocityX": 3.6006399953472306, - "velocityY": 1.2005538969902354, - "timestamp": 9.618779941084304 - }, - { - "x": 6.864483989652029, - "y": 2.1530541266402397, - "heading": 0.32631078239943323, - "angularVelocity": 1.059254218843449, - "velocityX": 3.4475088637919846, - "velocityY": 1.4417914274751908, - "timestamp": 9.67454971472839 - }, - { - "x": 7.04594464974176, - "y": 2.2451559533202436, - "heading": 0.3825309232468606, - "angularVelocity": 1.0080754712438957, - "velocityX": 3.2537456803713387, - "velocityY": 1.651464954256111, - "timestamp": 9.730319488372475 - }, - { - "x": 7.214709569426035, - "y": 2.346842107517073, - "heading": 0.4352629915349554, - "angularVelocity": 0.9455313307280512, - "velocityX": 3.0261001373487018, - "velocityY": 1.8233201885626171, - "timestamp": 9.78608926201656 - }, - { - "x": 7.3693846071392155, - "y": 2.4558832400596216, - "heading": 0.4840246615609249, - "angularVelocity": 0.8743386755908128, - "velocityX": 2.7734564371785453, - "velocityY": 1.9552012751285666, - "timestamp": 9.841859035660645 - }, - { - "x": 7.509056975127237, - "y": 2.570141200020485, - "heading": 0.5284810080472253, - "angularVelocity": 0.7971405222121561, - "velocityX": 2.504445667636898, - "velocityY": 2.0487434768884056, - "timestamp": 9.89762880930473 - }, - { - "x": 7.633199119801413, - "y": 2.6876980533080026, - "heading": 0.5684145092479561, - "angularVelocity": 0.7160420168742332, - "velocityX": 2.22597540858659, - "velocityY": 2.1078954710798543, - "timestamp": 9.953398582948816 - }, - { - "x": 7.741554690257944, - "y": 2.8069018359636293, - "heading": 0.603691839683821, - "angularVelocity": 0.6325528710408487, - "velocityX": 1.9429085573852172, - "velocityY": 2.1374263309076094, - "timestamp": 10.009168356592902 - }, - { - "x": 7.8340426189154515, - "y": 2.926359352059011, - "heading": 0.634236867715058, - "angularVelocity": 0.5476986194380259, - "velocityX": 1.6583880947366105, - "velocityY": 2.141975989677505, - "timestamp": 10.064938130236987 - }, - { - "x": 7.9106883703790265, - "y": 3.044905211891904, - "heading": 0.6600110520724907, - "angularVelocity": 0.4621532897357523, - "velocityX": 1.3743242343552553, - "velocityY": 2.125629208922992, - "timestamp": 10.120707903881073 - }, - { - "x": 7.971578677351933, - "y": 3.1615649052675256, - "heading": 0.6809999057835043, - "angularVelocity": 0.37634819615660037, - "velocityX": 1.0918155659282187, - "velocityY": 2.091808622357435, - "timestamp": 10.176477677525158 - }, - { - "x": 8.016833117191899, - "y": 3.2755201745089106, - "heading": 0.6972038977263983, - "angularVelocity": 0.29055150996856166, - "velocityX": 0.8114510223543884, - "velocityY": 2.043315971992817, - "timestamp": 10.232247451169243 - }, - { - "x": 8.046586768246696, - "y": 3.3860795222420745, - "heading": 0.7086324373644792, - "angularVelocity": 0.2049235435491652, - "velocityX": 0.5335085497151109, - "velocityY": 1.9824241790676127, - "timestamp": 10.288017224813329 - }, - { - "x": 8.060979854260694, - "y": 3.4926541817887737, - "heading": 0.715299943712957, - "angularVelocity": 0.11955412247194647, - "velocityX": 0.2580804093961653, - "velocityY": 1.910975293298518, - "timestamp": 10.343786998457414 - }, - { - "x": 8.060151705157804, - "y": 3.594738929349592, - "heading": 0.7172233049609025, - "angularVelocity": 0.034487521147568596, - "velocityX": -0.014849425571926141, - "velocityY": 1.8304673103446223, - "timestamp": 10.3995567721015 - }, - { - "x": 8.04423735574141, - "y": 3.6918968779622365, - "heading": 0.7144202648047442, - "angularVelocity": -0.05026092044136668, - "velocityX": -0.2853579703937069, - "velocityY": 1.7421255684610018, - "timestamp": 10.455326545745585 - }, - { - "x": 8.013365745544434, - "y": 3.783747434616089, - "heading": 0.706908432995524, - "angularVelocity": -0.13469360405081665, - "velocityX": -0.5535545185102473, - "velocityY": 1.6469594666105056, - "timestamp": 10.51109631938967 - }, - { - "x": 7.966240008450173, - "y": 3.8718311568256762, - "heading": 0.6943083666247631, - "angularVelocity": -0.22078504296141274, - "velocityX": -0.8257621494033686, - "velocityY": 1.5434496787551952, - "timestamp": 10.568165703265294 - }, - { - "x": 7.903637633551601, - "y": 3.953847701206782, - "heading": 0.6768953931750158, - "angularVelocity": -0.30511935239562316, - "velocityX": -1.0969520020578343, - "velocityY": 1.437137372287953, - "timestamp": 10.625235087140917 - }, - { - "x": 7.8256280875512765, - "y": 4.029612355077064, - "heading": 0.6547868801961407, - "angularVelocity": -0.38739708539798207, - "velocityX": -1.3669246223218023, - "velocityY": 1.3275884322739986, - "timestamp": 10.68230447101654 - }, - { - "x": 7.732295732907965, - "y": 4.098909485083783, - "heading": 0.6281225750310581, - "angularVelocity": -0.4672260913696688, - "velocityX": -1.6354189988579395, - "velocityY": 1.2142610503338351, - "timestamp": 10.739373854892163 - }, - { - "x": 7.623744896157086, - "y": 4.16148422694545, - "heading": 0.5970717835083564, - "angularVelocity": -0.5440884308541606, - "velocityX": -1.902085310531024, - "velocityY": 1.0964678013353422, - "timestamp": 10.796443238767786 - }, - { - "x": 7.500107414312447, - "y": 4.217031008030893, - "heading": 0.5618432556119679, - "angularVelocity": -0.6172929424499382, - "velocityX": -2.166441504153836, - "velocityY": 0.9733201466919875, - "timestamp": 10.853512622643409 - }, - { - "x": 7.361554289078083, - "y": 4.265177319785923, - "heading": 0.5226990910090863, - "angularVelocity": -0.6859048047231799, - "velocityX": -2.427801315260849, - "velocityY": 0.8436451996741265, - "timestamp": 10.910582006519032 - }, - { - "x": 7.208314472207239, - "y": 4.305460180951621, - "heading": 0.4799749331776388, - "angularVelocity": -0.748635344032456, - "velocityX": -2.6851493123670993, - "velocityY": 0.7058576495847575, - "timestamp": 10.967651390394655 - }, - { - "x": 7.04070672092061, - "y": 4.337291084304275, - "heading": 0.4341107031105424, - "angularVelocity": -0.8036573544766614, - "velocityX": -2.9369118764609987, - "velocityY": 0.5577579639203134, - "timestamp": 11.024720774270278 - }, - { - "x": 6.859196980023488, - "y": 4.359902561866159, - "heading": 0.38570049610139884, - "angularVelocity": -0.8482693122226175, - "velocityX": -3.1805099086526467, - "velocityY": 0.39621029747164144, - "timestamp": 11.081790158145902 - }, - { - "x": 6.664509345661969, - "y": 4.372266184440463, - "heading": 0.33558027930717554, - "angularVelocity": -0.8782330102503829, - "velocityX": -3.411419944287813, - "velocityY": 0.21664194940757758, - "timestamp": 11.138859542021525 - }, - { - "x": 6.457857876304668, - "y": 4.372974056751145, - "heading": 0.28499344198952337, - "angularVelocity": -0.8864093824440242, - "velocityX": -3.621056603794368, - "velocityY": 0.012403713911223541, - "timestamp": 11.195928925897148 - }, - { - "x": 6.241459304464819, - "y": 4.360126451607489, - "heading": 0.23589645193749556, - "angularVelocity": -0.8603034888028499, - "velocityX": -3.791850500987835, - "velocityY": -0.22512254857450334, - "timestamp": 11.25299830977277 - }, - { - "x": 6.019579657099656, - "y": 4.331576905992715, - "heading": 0.19136436588478378, - "angularVelocity": -0.7803148208111865, - "velocityX": -3.8878928121727503, - "velocityY": -0.5002602740025169, - "timestamp": 11.310067693648394 - }, - { - "x": 5.798551620924673, - "y": 4.286498911567636, - "heading": 0.15351127427729616, - "angularVelocity": -0.6632819392265463, - "velocityX": -3.872970429410807, - "velocityY": -0.789880516728909, - "timestamp": 11.367137077524017 - }, - { - "x": 5.582334432989124, - "y": 4.225425033971107, - "heading": 0.1155118535473049, - "angularVelocity": -0.665845995688459, - "velocityX": -3.788672196054744, - "velocityY": -1.0701688619879504, - "timestamp": 11.42420646139964 - }, - { - "x": 5.374024465313053, - "y": 4.149876189702931, - "heading": 0.0697446592710017, - "angularVelocity": -0.8019570419061819, - "velocityX": -3.650117690600284, - "velocityY": -1.3238069020129641, - "timestamp": 11.481275845275263 - }, - { - "x": 5.177992197827677, - "y": 4.063196905648788, - "heading": 0.017847542723990653, - "angularVelocity": -0.9093687897545091, - "velocityX": -3.43498131875068, - "velocityY": -1.5188403688228005, - "timestamp": 11.538345229150886 - }, - { - "x": 4.996804237365723, - "y": 3.968907356262207, - "heading": -0.036582580096447645, - "angularVelocity": -0.9537534685684189, - "velocityX": -3.174871501273511, - "velocityY": -1.6521914726129727, - "timestamp": 11.59541461302651 - }, - { - "x": 4.831701648512126, - "y": 3.869632531276603, - "heading": -0.09108789522014621, - "angularVelocity": -0.956247053450245, - "velocityX": -2.8965774025882935, - "velocityY": -1.74168810250575, - "timestamp": 11.652413811013094 - }, - { - "x": 4.683239484058957, - "y": 3.7696816729003366, - "heading": -0.14402851520145338, - "angularVelocity": -0.9287958752291116, - "velocityX": -2.604636024670233, - "velocityY": -1.7535485043103856, - "timestamp": 11.709413008999679 - }, - { - "x": 4.551166900503627, - "y": 3.672576162220203, - "heading": -0.19413777607531787, - "angularVelocity": -0.8791222095029895, - "velocityX": -2.317095471876902, - "velocityY": -1.7036294212944654, - "timestamp": 11.766412206986264 - }, - { - "x": 4.434814024677728, - "y": 3.580852424602329, - "heading": -0.240569995174145, - "angularVelocity": -0.8146117969897673, - "velocityX": -2.0413072452928884, - "velocityY": -1.6092110215210784, - "timestamp": 11.823411404972848 - }, - { - "x": 4.333433551144432, - "y": 3.4962968449308427, - "heading": -0.2827665728058861, - "angularVelocity": -0.7403012519873094, - "velocityX": -1.7786298248820436, - "velocityY": -1.4834520950871575, - "timestamp": 11.880410602959433 - }, - { - "x": 4.246331382415327, - "y": 3.420184326553122, - "heading": -0.32034046484185646, - "angularVelocity": -0.6592003635702718, - "velocityX": -1.5281297247306171, - "velocityY": -1.3353261285471856, - "timestamp": 11.937409800946018 - }, - { - "x": 4.172901382527213, - "y": 3.353448110684795, - "heading": -0.353008344600164, - "angularVelocity": -0.5731287616712845, - "velocityX": -1.2882637384721891, - "velocityY": -1.170827278728279, - "timestamp": 11.994408998932602 - }, - { - "x": 4.112625106867851, - "y": 3.296790361986866, - "heading": -0.38055433946809814, - "angularVelocity": -0.4832698676640572, - "velocityX": -1.0574933997062392, - "velocityY": -0.9940095773148284, - "timestamp": 12.051408196919187 - }, - { - "x": 4.065061021100414, - "y": 3.2507532442668188, - "heading": -0.4028098814387128, - "angularVelocity": -0.3904535985901558, - "velocityX": -0.8344693863698196, - "velocityY": -0.8076800963214009, - "timestamp": 12.108407394905772 - }, - { - "x": 4.029832043193561, - "y": 3.2157652112178092, - "heading": -0.41964145091513144, - "angularVelocity": -0.29529484748855805, - "velocityX": -0.6180609403512081, - "velocityY": -0.6138337781041129, - "timestamp": 12.165406592892356 - }, - { - "x": 4.006614252366996, - "y": 3.1921718341567256, - "heading": -0.43094241785407744, - "angularVelocity": -0.19826536755141405, - "velocityX": -0.40733539500027605, - "velocityY": -0.413924719899331, - "timestamp": 12.222405790878941 - }, - { - "x": 3.995127439498902, - "y": 3.1802568435668945, - "heading": -0.43662724907911504, - "angularVelocity": -0.09973528445743389, - "velocityX": -0.201525868325339, - "velocityY": -0.20903786387722884, - "timestamp": 12.279404988865526 - }, - { - "x": 3.995127439498902, - "y": 3.1802568435668945, - "heading": -0.43662724907911504, - "angularVelocity": 3.139708268480762e-27, - "velocityX": 2.985814455257795e-29, - "velocityY": -2.388166631545772e-27, - "timestamp": 12.33640418685211 - } - ], - "eventMarkers": [] +{ + "samples": [ + { + "x": 0.6885567903518677, + "y": 4.453176975250244, + "heading": -1.0863186564678593, + "angularVelocity": 3.394120175036044e-27, + "velocityX": -2.1149346198916325e-25, + "velocityY": -3.6854833776665248e-25, + "timestamp": 0 + }, + { + "x": 0.701309503097222, + "y": 4.443900931648444, + "heading": -1.0829185789751592, + "angularVelocity": 0.06123493124721272, + "velocityX": 0.2296746147268097, + "velocityY": -0.16706027830890885, + "timestamp": 0.055525129586146055 + }, + { + "x": 0.7268154815552788, + "y": 4.425347913055752, + "heading": -1.0761583023507493, + "angularVelocity": 0.12175165865973384, + "velocityX": 0.45935918832003475, + "velocityY": -0.334137330808164, + "timestamp": 0.11105025917229211 + }, + { + "x": 0.7650753560299537, + "y": 4.3975168405520435, + "heading": -1.0660842521869078, + "angularVelocity": 0.18143226749631602, + "velocityX": 0.6890551136006906, + "velocityY": -0.5012338145114863, + "timestamp": 0.16657538875843816 + }, + { + "x": 0.8160898545753549, + "y": 4.3604064485110285, + "heading": -1.052751348041684, + "angularVelocity": 0.24012378259357745, + "velocityX": 0.9187641510363933, + "velocityY": -0.6683530919714367, + "timestamp": 0.22210051834458422 + }, + { + "x": 0.8798598296859603, + "y": 4.314015230291449, + "heading": -1.0362257436703786, + "angularVelocity": 0.2976238775934092, + "velocityX": 1.1484885417812079, + "velocityY": -0.8354995038346342, + "timestamp": 0.2776256479307303 + }, + { + "x": 0.9563862935427256, + "y": 4.258341360780349, + "heading": -1.0165888098402591, + "angularVelocity": 0.35365849618870837, + "velocityX": 1.3782311617667844, + "velocityY": -1.0026787857329247, + "timestamp": 0.3331507775168764 + }, + { + "x": 1.0456704648547377, + "y": 4.193382582363671, + "heading": -0.9939431496875328, + "angularVelocity": 0.4078452463148618, + "velocityX": 1.6079957305365589, + "velocityY": -1.169898726952011, + "timestamp": 0.38867590710302247 + }, + { + "x": 1.1477138307776387, + "y": 4.119136030759216, + "heading": -0.9684221265669595, + "angularVelocity": 0.45963014063709734, + "velocityX": 1.8377870827763283, + "velocityY": -1.3371702535023144, + "timestamp": 0.44420103668916855 + }, + { + "x": 1.2625182253193026, + "y": 4.035597957054578, + "heading": -0.9402059046034171, + "angularVelocity": 0.5081703036778226, + "velocityX": 2.0676114652474116, + "velocityY": -1.504509297452977, + "timestamp": 0.49972616627531463 + }, + { + "x": 1.3900859107662955, + "y": 3.9427632601540505, + "heading": -0.9095507354987135, + "angularVelocity": 0.5520954085688863, + "velocityX": 2.2974765911905615, + "velocityY": -1.671940211440602, + "timestamp": 0.5552512958614607 + }, + { + "x": 1.5304195680842245, + "y": 3.840624652337327, + "heading": -0.8768488312128728, + "angularVelocity": 0.588956829629805, + "velocityX": 2.527390000958115, + "velocityY": -1.8395023762755498, + "timestamp": 0.6107764254476068 + }, + { + "x": 1.6835216202036696, + "y": 3.729171108221817, + "heading": -0.8427733340930771, + "angularVelocity": 0.6136950489584778, + "velocityX": 2.7573470473744757, + "velocityY": -2.007263106745065, + "timestamp": 0.6663015550337529 + }, + { + "x": 1.8493882506818127, + "y": 3.608385664410105, + "heading": -0.808746208075466, + "angularVelocity": 0.612823892014852, + "velocityX": 2.9872353601769563, + "velocityY": -2.1753293456851024, + "timestamp": 0.721826684619899 + }, + { + "x": 2.027907239187379, + "y": 3.4782789596731347, + "heading": -0.7798687850274081, + "angularVelocity": 0.5200784449004344, + "velocityX": 3.2151026001406824, + "velocityY": -2.3432039818135415, + "timestamp": 0.777351814206045 + }, + { + "x": 2.212973382556378, + "y": 3.343779104303734, + "heading": -0.7798687767385638, + "angularVelocity": 1.4928095213230132e-7, + "velocityX": 3.333015964994242, + "velocityY": -2.4223240246693583, + "timestamp": 0.8328769437921911 + }, + { + "x": 2.3980395462614625, + "y": 3.209279276915848, + "heading": -0.7798687684499269, + "angularVelocity": 1.4927721668634784e-7, + "velocityX": 3.333016331244363, + "velocityY": -2.4223235207260925, + "timestamp": 0.8884020733783372 + }, + { + "x": 2.583105709967169, + "y": 3.074779449528818, + "heading": -0.7798687601612903, + "angularVelocity": 1.4927721505001108e-7, + "velocityX": 3.333016331255567, + "velocityY": -2.4223235207106772, + "timestamp": 0.9439272029644833 + }, + { + "x": 2.768171873672875, + "y": 2.940279622141788, + "heading": -0.7798687518726534, + "angularVelocity": 1.4927721772237764e-7, + "velocityX": 3.3330163312555676, + "velocityY": -2.422323520710677, + "timestamp": 0.9994523325506294 + }, + { + "x": 2.953238037378582, + "y": 2.8057797947547582, + "heading": -0.7798687435840165, + "angularVelocity": 1.4927721820085747e-7, + "velocityX": 3.333016331255571, + "velocityY": -2.4223235207106706, + "timestamp": 1.0549774621367753 + }, + { + "x": 3.138304201089101, + "y": 2.671279967374351, + "heading": -0.7798687352953797, + "angularVelocity": 1.4927721680994496e-7, + "velocityX": 3.333016331342246, + "velocityY": -2.4223235205914095, + "timestamp": 1.1105025917229214 + }, + { + "x": 3.323370522018546, + "y": 2.536780356320906, + "heading": -0.7798687270067427, + "angularVelocity": 1.4927722007479915e-7, + "velocityX": 3.3330191628336134, + "velocityY": -2.4223196245723564, + "timestamp": 1.1660277213090675 + }, + { + "x": 3.51247438849094, + "y": 2.408019274510783, + "heading": -0.779868718696711, + "angularVelocity": 1.49662535873164e-7, + "velocityX": 3.405734806597866, + "velocityY": -2.31896949669164, + "timestamp": 1.2215528508952136 + }, + { + "x": 3.710020303726196, + "y": 2.2926273345947266, + "heading": -0.779868710229491, + "angularVelocity": 1.5249347506293226e-7, + "velocityX": 3.5577749517678714, + "velocityY": -2.0781930771908943, + "timestamp": 1.2770779804813597 + }, + { + "x": 3.9581046340644135, + "y": 2.17413656564851, + "heading": -0.7798687023875752, + "angularVelocity": 1.1752432896230884e-7, + "velocityX": 3.7179619396532617, + "velocityY": -1.775783938234554, + "timestamp": 1.3438038734208 + }, + { + "x": 4.2151657327976855, + "y": 2.076640468884465, + "heading": -0.7798686946986859, + "angularVelocity": 1.1523096829074136e-7, + "velocityX": 3.8524939481376075, + "velocityY": -1.4611433803146185, + "timestamp": 1.4105297663602403 + }, + { + "x": 4.473273733448251, + "y": 1.981950673388302, + "heading": -0.779868687019788, + "angularVelocity": 1.1508123071029428e-7, + "velocityX": 3.8681835383577634, + "velocityY": -1.4190862246250013, + "timestamp": 1.4772556592996806 + }, + { + "x": 4.731381751981754, + "y": 1.8872609266379454, + "heading": -0.7798686793408901, + "angularVelocity": 1.1508123135598442e-7, + "velocityX": 3.8681838063637195, + "velocityY": -1.4190854940869202, + "timestamp": 1.543981552239121 + }, + { + "x": 4.989489770515562, + "y": 1.7925711798884192, + "heading": -0.7798686716619923, + "angularVelocity": 1.1508123122518e-7, + "velocityX": 3.868183806368286, + "velocityY": -1.4190854940744717, + "timestamp": 1.6107074451785612 + }, + { + "x": 5.247597789049369, + "y": 1.6978814331388932, + "heading": -0.7798686639830944, + "angularVelocity": 1.1508123020194597e-7, + "velocityX": 3.8681838063682856, + "velocityY": -1.419085494074472, + "timestamp": 1.6774333381180015 + }, + { + "x": 5.505705807583176, + "y": 1.6031916863893672, + "heading": -0.7798686563041966, + "angularVelocity": 1.1508122981029888e-7, + "velocityX": 3.868183806368286, + "velocityY": -1.419085494074472, + "timestamp": 1.7441592310574419 + }, + { + "x": 5.763813826116984, + "y": 1.5085019396398411, + "heading": -0.7798686486252987, + "angularVelocity": 1.150812311539268e-7, + "velocityX": 3.868183806368287, + "velocityY": -1.4190854940744704, + "timestamp": 1.8108851239968822 + }, + { + "x": 6.021921844652431, + "y": 1.413812192894788, + "heading": -0.7798686409464007, + "angularVelocity": 1.1508123149232243e-7, + "velocityX": 3.8681838063928784, + "velocityY": -1.419085494007436, + "timestamp": 1.8776110169363225 + }, + { + "x": 6.280029959502567, + "y": 1.319122708687512, + "heading": -0.7798686332674524, + "angularVelocity": 1.1508198682436301e-7, + "velocityX": 3.8681852498308413, + "velocityY": -1.4190815594362318, + "timestamp": 1.9443369098757628 + }, + { + "x": 6.535640541521234, + "y": 1.2363573105352137, + "heading": -0.7601601921076507, + "angularVelocity": 0.29536421757126274, + "velocityX": 3.830755509718786, + "velocityY": -1.240379026885639, + "timestamp": 2.011062802815203 + }, + { + "x": 6.770261917470024, + "y": 1.1616480507635125, + "heading": -0.7286485121958914, + "angularVelocity": 0.47225564954760224, + "velocityX": 3.5161968707069784, + "velocityY": -1.119644211273522, + "timestamp": 2.0777886957546436 + }, + { + "x": 6.98350443701307, + "y": 1.094927347846598, + "heading": -0.6949548329623987, + "angularVelocity": 0.5049565880530491, + "velocityX": 3.1957986644941965, + "velocityY": -0.9999222187625046, + "timestamp": 2.144514588694084 + }, + { + "x": 7.175340032760939, + "y": 1.036153040315015, + "heading": -0.6617196405184319, + "angularVelocity": 0.49808539054142775, + "velocityX": 2.874979821131458, + "velocityY": -0.8808320869519976, + "timestamp": 2.2112404816335247 + }, + { + "x": 7.345767051248528, + "y": 0.9853010621719508, + "heading": -0.630183689398933, + "angularVelocity": 0.47261939451481727, + "velocityX": 2.554136197806548, + "velocityY": -0.7621026246770035, + "timestamp": 2.2779663745729652 + }, + { + "x": 7.494787941521159, + "y": 0.9423562064943364, + "heading": -0.6010692809022818, + "angularVelocity": 0.43632849579210764, + "velocityX": 2.233329277554675, + "velocityY": -0.6436010637818008, + "timestamp": 2.344692267512406 + }, + { + "x": 7.6224056734264645, + "y": 0.9073080528508631, + "heading": -0.5748497275005627, + "angularVelocity": 0.3929442117097724, + "velocityX": 1.912566865476494, + "velocityY": -0.5252556706177386, + "timestamp": 2.4114181604518463 + }, + { + "x": 7.728622996709226, + "y": 0.8801490267496294, + "heading": -0.5518594737395791, + "angularVelocity": 0.3445477122629041, + "velocityX": 1.5918456629596907, + "velocityY": -0.4070237939847864, + "timestamp": 2.478144053391287 + }, + { + "x": 7.813442307646716, + "y": 0.8608733761969334, + "heading": -0.5323475063047407, + "angularVelocity": 0.29241972756433915, + "velocityX": 1.2711603726977772, + "velocityY": -0.28887812067483865, + "timestamp": 2.5448699463307274 + }, + { + "x": 7.876865663404102, + "y": 0.849476585375473, + "heading": -0.5165064137632613, + "angularVelocity": 0.23740547849777704, + "velocityX": 0.9505059125240666, + "velocityY": -0.17080012450045454, + "timestamp": 2.611595839270168 + }, + { + "x": 7.91889482908089, + "y": 0.8459550160486062, + "heading": -0.5044895665966007, + "angularVelocity": 0.18009271419667666, + "velocityX": 0.629877905342268, + "velocityY": -0.05277665343591268, + "timestamp": 2.6783217322096085 + }, + { + "x": 7.939531326293945, + "y": 0.8503056764602661, + "heading": -0.49642193244286464, + "angularVelocity": 0.12090709915352006, + "velocityX": 0.3092727021545489, + "velocityY": 0.06520198112011014, + "timestamp": 2.745047625149049 + }, + { + "x": 7.927180666475836, + "y": 0.8713586733936556, + "heading": -0.4930143763837493, + "angularVelocity": 0.036942190406947725, + "velocityX": -0.1338966751351047, + "velocityY": 0.22824094684214172, + "timestamp": 2.8372878529638696 + }, + { + "x": 7.87394900492315, + "y": 0.9074500624880938, + "heading": -0.49722150955455136, + "angularVelocity": -0.04561061123188263, + "velocityX": -0.5770981144967761, + "velocityY": 0.3912760186032336, + "timestamp": 2.9295280807786903 + }, + { + "x": 7.779832586973778, + "y": 0.9585793720111768, + "heading": -0.5088748847639726, + "angularVelocity": -0.1263372336071879, + "velocityX": -1.0203402591146986, + "velocityY": 0.5543059761921793, + "timestamp": 3.021768308593511 + }, + { + "x": 7.644826495037085, + "y": 1.0247459321009753, + "heading": -0.5277488943045168, + "angularVelocity": -0.20461798488220692, + "velocityX": -1.463635716595666, + "velocityY": 0.7173286716359051, + "timestamp": 3.1140085364083316 + }, + { + "x": 7.468924023316461, + "y": 1.1059487096578826, + "heading": -0.5535264419169841, + "angularVelocity": -0.2794610141707124, + "velocityX": -1.9070038733399683, + "velocityY": 0.8803401669814643, + "timestamp": 3.2062487642231523 + }, + { + "x": 7.252115520954535, + "y": 1.2021859450131016, + "heading": -0.5857297212655913, + "angularVelocity": -0.34912402225694766, + "velocityX": -2.350476657507682, + "velocityY": 1.04333258530565, + "timestamp": 3.298488992037973 + }, + { + "x": 6.994386027654477, + "y": 1.31345417318691, + "heading": -0.6235562220957586, + "angularVelocity": -0.4100868105628156, + "velocityX": -2.794111630095605, + "velocityY": 1.2062874388947544, + "timestamp": 3.3907292198527936 + }, + { + "x": 6.695710018451316, + "y": 1.439744501943248, + "heading": -0.6653719919030509, + "angularVelocity": -0.45333550011650886, + "velocityX": -3.238023325384417, + "velocityY": 1.369145889468917, + "timestamp": 3.4829694476676143 + }, + { + "x": 6.356050726739891, + "y": 1.5810125125479777, + "heading": -0.7059823103401129, + "angularVelocity": -0.44026689221312976, + "velocityX": -3.6823336168826186, + "velocityY": 1.5315227851381312, + "timestamp": 3.575209675482435 + }, + { + "x": 5.999398683183485, + "y": 1.7123177539849823, + "heading": -0.7059823175120675, + "angularVelocity": -7.775300131162323e-8, + "velocityX": -3.8665564039197022, + "velocityY": 1.4235138458310193, + "timestamp": 3.6674499032972556 + }, + { + "x": 5.642746522149845, + "y": 1.8436226763292314, + "heading": -0.7059823246840017, + "angularVelocity": -7.77527794510748e-8, + "velocityX": -3.866557677520564, + "velocityY": 1.4235103864645033, + "timestamp": 3.7596901311120763 + }, + { + "x": 5.28156245438674, + "y": 1.9537093318962377, + "heading": -0.7138474612609973, + "angularVelocity": -0.08526796565144627, + "velocityX": -3.915689242314218, + "velocityY": 1.1934777067985334, + "timestamp": 3.851930358926897 + }, + { + "x": 4.961235013550277, + "y": 2.048482673838497, + "heading": -0.723491200847142, + "angularVelocity": -0.10455025767613332, + "velocityX": -3.472752056505604, + "velocityY": 1.0274621408408044, + "timestamp": 3.9441705867417176 + }, + { + "x": 4.681796334872038, + "y": 2.1280729865083585, + "heading": -0.7292938799639851, + "angularVelocity": -0.06290833462046955, + "velocityX": -3.0294664843980423, + "velocityY": 0.8628590210081168, + "timestamp": 4.036410814556538 + }, + { + "x": 4.443240110455446, + "y": 2.1925269170063846, + "heading": -0.7294953062364742, + "angularVelocity": -0.002183713952804096, + "velocityX": -2.586249297817354, + "velocityY": 0.698761614373095, + "timestamp": 4.1286510423713585 + }, + { + "x": 4.245560384054017, + "y": 2.24186822032086, + "heading": -0.7232342713321199, + "angularVelocity": 0.06787748743339812, + "velocityX": -2.143096684434545, + "velocityY": 0.5349217416671156, + "timestamp": 4.220891270186179 + }, + { + "x": 4.0887527147976686, + "y": 2.2761112730627358, + "heading": -0.7099988392979812, + "angularVelocity": 0.1434887179670669, + "velocityX": -1.699992215664861, + "velocityY": 0.3712377294928318, + "timestamp": 4.313131498001 + }, + { + "x": 3.972813772950256, + "y": 2.2952657190650956, + "heading": -0.6894483842110904, + "angularVelocity": 0.22279276161532663, + "velocityX": -1.256923845419907, + "velocityY": 0.20765826858986366, + "timestamp": 4.4053717258158205 + }, + { + "x": 3.8977409855221326, + "y": 2.2993384931570473, + "heading": -0.6613385952715591, + "angularVelocity": 0.3047454413920573, + "velocityX": -0.8138833696165418, + "velocityY": 0.044153989950329355, + "timestamp": 4.497611953630641 + }, + { + "x": 3.863532304763794, + "y": 2.288334846496582, + "heading": -0.6254844943742653, + "angularVelocity": 0.3887035163147435, + "velocityX": -0.37086509399147366, + "velocityY": -0.11929335953675119, + "timestamp": 4.589852181445462 + }, + { + "x": 3.8588969628219925, + "y": 2.2742859384660616, + "heading": -0.5980545373887644, + "angularVelocity": 0.4457546351730898, + "velocityX": -0.07532732031852572, + "velocityY": -0.22830388968656506, + "timestamp": 4.651388180896931 + }, + { + "x": 3.87252307186548, + "y": 2.2537298660333667, + "heading": -0.5672227548547781, + "angularVelocity": 0.5010365121038134, + "velocityX": 0.22143313125569966, + "velocityY": -0.33404954199056636, + "timestamp": 4.7129241803484 + }, + { + "x": 3.904495293557158, + "y": 2.226901435332701, + "heading": -0.5331165435350333, + "angularVelocity": 0.5542481088105673, + "velocityX": 0.5195693898966114, + "velocityY": -0.4359794419496553, + "timestamp": 4.77446017979987 + }, + { + "x": 3.954909336055298, + "y": 2.1940785550728865, + "heading": -0.495886840771047, + "angularVelocity": 0.6050068755826099, + "velocityX": 0.8192609683360987, + "velocityY": -0.5333931447022372, + "timestamp": 4.835996179251339 + }, + { + "x": 4.02387381433517, + "y": 2.1555950274998867, + "heading": -0.45571503088966375, + "angularVelocity": 0.6528180291126203, + "velocityX": 1.120717610742014, + "velocityY": -0.6253823439294258, + "timestamp": 4.897532178702808 + }, + { + "x": 4.111512236956564, + "y": 2.1118588104756206, + "heading": -0.412822729802436, + "angularVelocity": 0.6970277799916975, + "velocityX": 1.4241813475461795, + "velocityY": -0.7107419626581243, + "timestamp": 4.959068178154277 + }, + { + "x": 4.217964742540069, + "y": 2.063378913974966, + "heading": -0.36748611131765924, + "angularVelocity": 0.7367495269258114, + "velocityX": 1.7299224280489682, + "velocityY": -0.7878298383515892, + "timestamp": 5.020604177605747 + }, + { + "x": 4.3433885040310445, + "y": 2.010806456684427, + "heading": -0.32005768718105704, + "angularVelocity": 0.7707427287990534, + "velocityX": 2.0382176711031144, + "velocityY": -0.854336612050985, + "timestamp": 5.082140177057216 + }, + { + "x": 4.487953805149203, + "y": 1.954999944894153, + "heading": -0.2710008539723626, + "angularVelocity": 0.7972054349646767, + "velocityX": 2.3492801353161026, + "velocityY": -0.9068921003596625, + "timestamp": 5.143676176508685 + }, + { + "x": 4.651827347820778, + "y": 1.8971338065315515, + "heading": -0.22094730911564786, + "angularVelocity": 0.8134026472778757, + "velocityX": 2.66305161421512, + "velocityY": -0.9403623712691659, + "timestamp": 5.205212175960154 + }, + { + "x": 4.835117881418664, + "y": 1.8388867617728581, + "heading": -0.17079707648624934, + "angularVelocity": 0.8149738864475594, + "velocityX": 2.978590341129327, + "velocityY": -0.9465523478598972, + "timestamp": 5.266748175411624 + }, + { + "x": 5.037706705982249, + "y": 1.7827750767858257, + "heading": -0.12189771533901265, + "angularVelocity": 0.7946464115822435, + "velocityX": 3.2922001165083703, + "velocityY": -0.9118513632217131, + "timestamp": 5.328284174863093 + }, + { + "x": 5.258723241665742, + "y": 1.7326877167097992, + "heading": -0.07633456189791264, + "angularVelocity": 0.7404308672524917, + "velocityX": 3.5916624033676507, + "velocityY": -0.8139521665773647, + "timestamp": 5.389820174314562 + }, + { + "x": 5.49513452171728, + "y": 1.6942432648547043, + "heading": -0.03706015615864722, + "angularVelocity": 0.6382346283371836, + "velocityX": 3.8418370085625435, + "velocityY": -0.6247473381075812, + "timestamp": 5.451356173766031 + }, + { + "x": 5.7400281736184455, + "y": 1.6729770610154633, + "heading": -0.007145484204979612, + "angularVelocity": 0.4861328688950628, + "velocityX": 3.9796810661099893, + "velocityY": -0.34558963905368534, + "timestamp": 5.512892173217501 + }, + { + "x": 5.9874771608430795, + "y": 1.6708818345855783, + "heading": 0.017579240823119676, + "angularVelocity": 0.40179285700232625, + "velocityX": 4.021206926520915, + "velocityY": -0.03404879174079811, + "timestamp": 5.57442817266897 + }, + { + "x": 6.234120845794678, + "y": 1.6881886720657349, + "heading": 0.04311790612474964, + "angularVelocity": 0.41501991564744656, + "velocityX": 4.008120241000007, + "velocityY": 0.28124736145393664, + "timestamp": 5.635964172120439 + }, + { + "x": 6.467272536529507, + "y": 1.7222668368059177, + "heading": 0.07140808783124676, + "angularVelocity": 0.4798746133284011, + "velocityX": 3.9548553840693117, + "velocityY": 0.5780537678158916, + "timestamp": 5.694917450582654 + }, + { + "x": 6.692584478408081, + "y": 1.7722919010776508, + "heading": 0.10380607474487556, + "angularVelocity": 0.5495536085307539, + "velocityX": 3.8218729773100346, + "velocityY": 0.8485544074329195, + "timestamp": 5.753870729044869 + }, + { + "x": 6.904741537320341, + "y": 1.8343117738412145, + "heading": 0.13881865410428046, + "angularVelocity": 0.5939038552681234, + "velocityX": 3.598732156146937, + "velocityY": 1.0520173666561004, + "timestamp": 5.812824007507084 + }, + { + "x": 7.100383513043178, + "y": 1.9030310585915293, + "heading": 0.17471896196074413, + "angularVelocity": 0.6089620254024232, + "velocityX": 3.318593652908188, + "velocityY": 1.1656567122786685, + "timestamp": 5.871777285969299 + }, + { + "x": 7.278323373731877, + "y": 1.973830348179141, + "heading": 0.21010738421181074, + "angularVelocity": 0.6002791222840638, + "velocityX": 3.0183200210442145, + "velocityY": 1.2009389712395522, + "timestamp": 5.930730564431514 + }, + { + "x": 7.4384871771356265, + "y": 2.0434113203538615, + "heading": 0.24403115598521166, + "angularVelocity": 0.5754348639854446, + "velocityX": 2.716792137461926, + "velocityY": 1.1802731585032522, + "timestamp": 5.9896838428937285 + }, + { + "x": 7.581181613697001, + "y": 2.1095234080577914, + "heading": 0.27585930904768985, + "angularVelocity": 0.5398877533651957, + "velocityX": 2.4204665165963752, + "velocityY": 1.1214319106324677, + "timestamp": 6.048637121355943 + }, + { + "x": 7.706797630897918, + "y": 2.1706045807896808, + "heading": 0.3051630458824759, + "angularVelocity": 0.49706712839672884, + "velocityX": 2.1307723756436663, + "velocityY": 1.0360945875306653, + "timestamp": 6.107590399818158 + }, + { + "x": 7.815712043569113, + "y": 2.2255333978794116, + "heading": 0.33163957385897364, + "angularVelocity": 0.4491103576787036, + "velocityX": 1.847469988306098, + "velocityY": 0.9317347316813903, + "timestamp": 6.166543678280373 + }, + { + "x": 7.908260582203949, + "y": 2.273476340322031, + "heading": 0.35506686665379467, + "angularVelocity": 0.3973874465664564, + "velocityX": 1.5698624580167049, + "velocityY": 0.8132362388182927, + "timestamp": 6.225496956742588 + }, + { + "x": 7.984734808626996, + "y": 2.3137943937734238, + "heading": 0.37527661607304347, + "angularVelocity": 0.34280959340033684, + "velocityX": 1.2972005699744291, + "velocityY": 0.6838984107937889, + "timestamp": 6.284450235204803 + }, + { + "x": 8.045386300065186, + "y": 2.3459844705884807, + "heading": 0.3921375822600176, + "angularVelocity": 0.2860055730027077, + "velocityX": 1.0288060820411038, + "velocityY": 0.5460269158005876, + "timestamp": 6.343403513667018 + }, + { + "x": 8.090432430021092, + "y": 2.369641472578161, + "heading": 0.40554498361648383, + "angularVelocity": 0.2274241858331832, + "velocityX": 0.76409881063319, + "velocityY": 0.40128390832145205, + "timestamp": 6.402356792129233 + }, + { + "x": 8.120061893982145, + "y": 2.3844329106489335, + "heading": 0.41541350240022923, + "angularVelocity": 0.1673955892049397, + "velocityX": 0.5025923024797195, + "velocityY": 0.25090102631447014, + "timestamp": 6.4613100705914475 + }, + { + "x": 8.134439468383789, + "y": 2.3900814056396484, + "heading": 0.4216725296119854, + "angularVelocity": 0.10616928142118104, + "velocityX": 0.24388082862701033, + "velocityY": 0.09581307669488197, + "timestamp": 6.520263349053662 + }, + { + "x": 8.132176285564572, + "y": 2.3851078879497147, + "heading": 0.42413738865593775, + "angularVelocity": 0.03838472583689847, + "velocityX": -0.03524406486753986, + "velocityY": -0.07745153356394213, + "timestamp": 6.58447792894739 + }, + { + "x": 8.111834551335587, + "y": 2.369262184782309, + "heading": 0.42223170348479205, + "angularVelocity": -0.029676830001840532, + "velocityX": -0.3167775022845199, + "velocityY": -0.24676176646533576, + "timestamp": 6.648692508841117 + }, + { + "x": 8.073236234054438, + "y": 2.3428469037837596, + "heading": 0.41593590278547166, + "angularVelocity": -0.09804316573805726, + "velocityX": -0.6010833886171775, + "velocityY": -0.41135955482797815, + "timestamp": 6.712907088734845 + }, + { + "x": 8.016174669315534, + "y": 2.3062284127277977, + "heading": 0.4052283935995224, + "angularVelocity": -0.16674576402539432, + "velocityX": -0.8886076157990642, + "velocityY": -0.5702519757438951, + "timestamp": 6.777121668628572 + }, + { + "x": 7.940407873057922, + "y": 2.259858654551234, + "heading": 0.3900854339256775, + "angularVelocity": -0.23581809145066257, + "velocityX": -1.1799002093138764, + "velocityY": -0.7221063853926085, + "timestamp": 6.8413362485223 + }, + { + "x": 7.845650198886334, + "y": 2.2043077633338255, + "heading": 0.37048131278322016, + "angularVelocity": -0.30529081051221507, + "velocityX": -1.4756411134108256, + "velocityY": -0.865082218233669, + "timestamp": 6.905550828416027 + }, + { + "x": 7.731562513102335, + "y": 2.140314722394816, + "heading": 0.34638932376904424, + "angularVelocity": -0.3751794227112801, + "velocityX": -1.776663274490152, + "velocityY": -0.9965500209596554, + "timestamp": 6.969765408309755 + }, + { + "x": 7.597742640115569, + "y": 2.0688695295905424, + "heading": 0.3177847679181409, + "angularVelocity": -0.44545266664117245, + "velocityX": -2.083948430531411, + "velocityY": -1.1126007975527197, + "timestamp": 7.033979988203482 + }, + { + "x": 7.443723347321437, + "y": 1.991352898659247, + "heading": 0.28465327704940796, + "angularVelocity": -0.5159496632005437, + "velocityX": -2.398509700585578, + "velocityY": -1.2071500126541717, + "timestamp": 7.09819456809721 + }, + { + "x": 7.2690042706160805, + "y": 1.909784448765435, + "heading": 0.24701367157934487, + "angularVelocity": -0.5861535734151859, + "velocityX": -2.7208630344465448, + "velocityY": -1.270248127898756, + "timestamp": 7.162409147990937 + }, + { + "x": 7.0732110345953325, + "y": 1.8272697519579237, + "heading": 0.20498160985555938, + "angularVelocity": -0.654556360772695, + "velocityX": -3.0490464368805132, + "velocityY": -1.2849838299038974, + "timestamp": 7.226623727884665 + }, + { + "x": 6.856687516382241, + "y": 1.7487095931314518, + "heading": 0.158939232751959, + "angularVelocity": -0.7170081495479512, + "velocityX": -3.3718747139891065, + "velocityY": -1.223400650700919, + "timestamp": 7.290838307778392 + }, + { + "x": 6.622137169577345, + "y": 1.6811594344762097, + "heading": 0.10987454919796363, + "angularVelocity": -0.7640738853262871, + "velocityX": -3.652602682958729, + "velocityY": -1.0519442588744687, + "timestamp": 7.3550528876721195 + }, + { + "x": 6.376228451811506, + "y": 1.6314432842511626, + "heading": 0.0595492132865963, + "angularVelocity": -0.783705756459888, + "velocityX": -3.829484179026162, + "velocityY": -0.7742190372860123, + "timestamp": 7.419267467565847 + }, + { + "x": 6.126649542350112, + "y": 1.602554470841584, + "heading": 0.00931766555509535, + "angularVelocity": -0.7822452130751675, + "velocityX": -3.886639293980256, + "velocityY": -0.4498793491663203, + "timestamp": 7.4834820474595745 + }, + { + "x": 5.877150893660191, + "y": 1.594782132459995, + "heading": -0.04431021757632018, + "angularVelocity": -0.8351356221619418, + "velocityX": -3.8853894100503816, + "velocityY": -0.12103697313681898, + "timestamp": 7.547696627353302 + }, + { + "x": 5.631840705871582, + "y": 1.6077326536178589, + "heading": -0.09946026915631453, + "angularVelocity": -0.8588400277828766, + "velocityX": -3.8201633989444104, + "velocityY": 0.20167571257643785, + "timestamp": 7.611911207247029 + }, + { + "x": 5.408191557035955, + "y": 1.6373943243488176, + "heading": -0.15130862691248864, + "angularVelocity": -0.8625486017123365, + "velocityX": -3.720624315807819, + "velocityY": 0.4934511664526841, + "timestamp": 7.672021858001369 + }, + { + "x": 5.193948054538076, + "y": 1.6830215447877035, + "heading": -0.20249256634286344, + "angularVelocity": -0.8514953471316359, + "velocityX": -3.5641521063122457, + "velocityY": 0.7590538426435499, + "timestamp": 7.732132508755708 + }, + { + "x": 4.992708519368323, + "y": 1.7418388706856198, + "heading": -0.2519810867857048, + "angularVelocity": -0.8232903790227013, + "velocityX": -3.347818275868942, + "velocityY": 0.9784842645988236, + "timestamp": 7.792243159510047 + }, + { + "x": 4.807476467472973, + "y": 1.8099478214565607, + "heading": -0.29877876502879425, + "angularVelocity": -0.778525563370499, + "velocityX": -3.0815179934144843, + "velocityY": 1.133059614498085, + "timestamp": 7.852353810264386 + }, + { + "x": 4.640051176081192, + "y": 1.8830509886189777, + "heading": -0.34211563798950406, + "angularVelocity": -0.7209516519430013, + "velocityX": -2.785284958501204, + "velocityY": 1.2161433330870974, + "timestamp": 7.912464461018725 + }, + { + "x": 4.491074408686971, + "y": 1.9572734446033506, + "heading": -0.38149861118808165, + "angularVelocity": -0.6551746271975682, + "velocityX": -2.4783755544929993, + "velocityY": 1.2347638072944158, + "timestamp": 7.9725751117730645 + }, + { + "x": 4.360467804854574, + "y": 2.0295250421816173, + "heading": -0.41665596351126605, + "angularVelocity": -0.5848772535646916, + "velocityX": -2.1727697536691237, + "velocityY": 1.2019766326194772, + "timestamp": 8.032685762527404 + }, + { + "x": 4.247824136670683, + "y": 2.0974690843884547, + "heading": -0.44745848671344385, + "angularVelocity": -0.5124303732471919, + "velocityX": -1.8739385910866808, + "velocityY": 1.1303161977818494, + "timestamp": 8.092796413281743 + }, + { + "x": 4.152630521964107, + "y": 2.1593575088225836, + "heading": -0.4738576897252565, + "angularVelocity": -0.4391767961338674, + "velocityX": -1.5836397295982356, + "velocityY": 1.0295750196925144, + "timestamp": 8.152907064036082 + }, + { + "x": 4.0743710372510344, + "y": 2.213869973094629, + "heading": -0.495847468032445, + "angularVelocity": -0.36582166440114666, + "velocityX": -1.3019237644407449, + "velocityY": 0.90686864287707, + "timestamp": 8.213017714790421 + }, + { + "x": 4.012566881536003, + "y": 2.259991535127209, + "heading": -0.5134428122609265, + "angularVelocity": -0.29271591652517925, + "velocityX": -1.0281731263834195, + "velocityY": 0.7672777029327102, + "timestamp": 8.27312836554476 + }, + { + "x": 3.9667882785861663, + "y": 2.296926593546496, + "heading": -0.5266685380504919, + "angularVelocity": -0.22002300130830899, + "velocityX": -0.7615722401163919, + "velocityY": 0.6144511489358724, + "timestamp": 8.3332390162991 + }, + { + "x": 3.9366546232582045, + "y": 2.3240395045135216, + "heading": -0.5355534491643124, + "angularVelocity": -0.14780926511894657, + "velocityX": -0.5013030960372105, + "velocityY": 0.4510500323450303, + "timestamp": 8.393349667053439 + }, + { + "x": 3.9218302529315436, + "y": 2.340813447733847, + "heading": -0.5401273706627876, + "angularVelocity": -0.07609169824442547, + "velocityX": -0.24661803092508605, + "velocityY": 0.2790511000933509, + "timestamp": 8.453460317807778 + }, + { + "x": 3.922019004821778, + "y": 2.3468215465545654, + "heading": -0.5404196941509068, + "angularVelocity": -0.00486308972621038, + "velocityX": 0.0031400739779980803, + "velocityY": 0.09995065342533552, + "timestamp": 8.513570968562117 + }, + { + "x": 3.9374653525267678, + "y": 2.343996586754968, + "heading": -0.5363170167809265, + "angularVelocity": 0.0699891910700783, + "velocityX": 0.26350533648336844, + "velocityY": -0.048192103192425555, + "timestamp": 8.572189696786488 + }, + { + "x": 3.9683552537421263, + "y": 2.3328180917591665, + "heading": -0.52776434309664, + "angularVelocity": 0.14590343297026154, + "velocityX": 0.5269630056988549, + "velocityY": -0.19069835416787767, + "timestamp": 8.630808425010859 + }, + { + "x": 4.014893571544688, + "y": 2.3136810117650746, + "heading": -0.5146908632348776, + "angularVelocity": 0.22302564824883497, + "velocityX": 0.7939155149260704, + "velocityY": -0.32646699397575807, + "timestamp": 8.68942715323523 + }, + { + "x": 4.077312296102222, + "y": 2.287064622569289, + "heading": -0.4970157041294251, + "angularVelocity": 0.30152750905476433, + "velocityX": 1.0648256359063084, + "velocityY": -0.4540594789758664, + "timestamp": 8.7480458814596 + }, + { + "x": 4.155873833381881, + "y": 2.253560682274067, + "heading": -0.47464638279152427, + "angularVelocity": 0.3816070736348903, + "velocityX": 1.3402122437551975, + "velocityY": -0.5715569291606204, + "timestamp": 8.80666460968397 + }, + { + "x": 4.250872712284989, + "y": 2.2139144425815496, + "heading": -0.4474776048037691, + "angularVelocity": 0.46348289720246916, + "velocityX": 1.6206233362738318, + "velocityY": -0.6763408366822088, + "timestamp": 8.865283337908341 + }, + { + "x": 4.362632375743991, + "y": 2.1690856862971724, + "heading": -0.4153914647840616, + "angularVelocity": 0.5473701151770817, + "velocityX": 1.9065521693208372, + "velocityY": -0.7647514308531158, + "timestamp": 8.923902066132712 + }, + { + "x": 4.4914888946742755, + "y": 2.120340950697993, + "heading": -0.3782617628527304, + "angularVelocity": 0.6334102266636167, + "velocityX": 2.1982141686368726, + "velocityY": -0.8315556661789609, + "timestamp": 8.982520794357082 + }, + { + "x": 4.637741905018974, + "y": 2.069392283286928, + "heading": -0.3359690811718077, + "angularVelocity": 0.7214875341382799, + "velocityX": 2.4949877756627052, + "velocityY": -0.869153408038005, + "timestamp": 9.041139522581453 + }, + { + "x": 4.801527199967717, + "y": 2.018594113204702, + "heading": -0.28844131507798226, + "angularVelocity": 0.8107949034975191, + "velocityX": 2.794077932258038, + "velocityY": -0.8665860147594886, + "timestamp": 9.099758250805824 + }, + { + "x": 4.982520910343412, + "y": 1.9711637668084108, + "heading": -0.23574369114733976, + "angularVelocity": 0.89898954697441, + "velocityX": 3.0876430768494463, + "velocityY": -0.8091329824616064, + "timestamp": 9.158376979030194 + }, + { + "x": 5.17938468342917, + "y": 1.9312172935307006, + "heading": -0.1782266556555277, + "angularVelocity": 0.9812057892429679, + "velocityX": 3.3583767346885973, + "velocityY": -0.6814626398036162, + "timestamp": 9.216995707254565 + }, + { + "x": 5.389185993172574, + "y": 1.9031572532827392, + "heading": -0.11666625659371352, + "angularVelocity": 1.0501831228099072, + "velocityX": 3.5790832742116896, + "velocityY": -0.47868729155225614, + "timestamp": 9.275614435478936 + }, + { + "x": 5.607648109126699, + "y": 1.8904140574345172, + "heading": -0.052238343106668465, + "angularVelocity": 1.099101182141647, + "velocityX": 3.726831382590488, + "velocityY": -0.21739120302040635, + "timestamp": 9.334233163703306 + }, + { + "x": 5.8303718087359035, + "y": 1.8947620924297608, + "heading": 0.013795227099602759, + "angularVelocity": 1.1264927132762073, + "velocityX": 3.7995314186398494, + "velocityY": 0.07417484355172438, + "timestamp": 9.392851891927677 + }, + { + "x": 6.053758144378662, + "y": 1.916719675064087, + "heading": 0.08038234053778825, + "angularVelocity": 1.135935825549055, + "velocityX": 3.810835588034616, + "velocityY": 0.37458306072900377, + "timestamp": 9.451470620152048 + }, + { + "x": 6.264479674099062, + "y": 1.9534587833223342, + "heading": 0.14352280822320104, + "angularVelocity": 1.1321628825027237, + "velocityX": 3.778418235390223, + "velocityY": 0.6587638044348276, + "timestamp": 9.507240393796133 + }, + { + "x": 6.471410323168012, + "y": 2.005691126005294, + "heading": 0.2060499040900196, + "angularVelocity": 1.1211645983334413, + "velocityX": 3.7104444853864718, + "velocityY": 0.9365708208948176, + "timestamp": 9.563010167440218 + }, + { + "x": 6.67221720068237, + "y": 2.0726457450879647, + "heading": 0.26723641438299095, + "angularVelocity": 1.0971267461735486, + "velocityX": 3.6006399953472306, + "velocityY": 1.2005538969902354, + "timestamp": 9.618779941084304 + }, + { + "x": 6.864483989652029, + "y": 2.1530541266402397, + "heading": 0.32631078239943323, + "angularVelocity": 1.059254218843449, + "velocityX": 3.4475088637919846, + "velocityY": 1.4417914274751908, + "timestamp": 9.67454971472839 + }, + { + "x": 7.04594464974176, + "y": 2.2451559533202436, + "heading": 0.3825309232468606, + "angularVelocity": 1.0080754712438957, + "velocityX": 3.2537456803713387, + "velocityY": 1.651464954256111, + "timestamp": 9.730319488372475 + }, + { + "x": 7.214709569426035, + "y": 2.346842107517073, + "heading": 0.4352629915349554, + "angularVelocity": 0.9455313307280512, + "velocityX": 3.0261001373487018, + "velocityY": 1.8233201885626171, + "timestamp": 9.78608926201656 + }, + { + "x": 7.3693846071392155, + "y": 2.4558832400596216, + "heading": 0.4840246615609249, + "angularVelocity": 0.8743386755908128, + "velocityX": 2.7734564371785453, + "velocityY": 1.9552012751285666, + "timestamp": 9.841859035660645 + }, + { + "x": 7.509056975127237, + "y": 2.570141200020485, + "heading": 0.5284810080472253, + "angularVelocity": 0.7971405222121561, + "velocityX": 2.504445667636898, + "velocityY": 2.0487434768884056, + "timestamp": 9.89762880930473 + }, + { + "x": 7.633199119801413, + "y": 2.6876980533080026, + "heading": 0.5684145092479561, + "angularVelocity": 0.7160420168742332, + "velocityX": 2.22597540858659, + "velocityY": 2.1078954710798543, + "timestamp": 9.953398582948816 + }, + { + "x": 7.741554690257944, + "y": 2.8069018359636293, + "heading": 0.603691839683821, + "angularVelocity": 0.6325528710408487, + "velocityX": 1.9429085573852172, + "velocityY": 2.1374263309076094, + "timestamp": 10.009168356592902 + }, + { + "x": 7.8340426189154515, + "y": 2.926359352059011, + "heading": 0.634236867715058, + "angularVelocity": 0.5476986194380259, + "velocityX": 1.6583880947366105, + "velocityY": 2.141975989677505, + "timestamp": 10.064938130236987 + }, + { + "x": 7.9106883703790265, + "y": 3.044905211891904, + "heading": 0.6600110520724907, + "angularVelocity": 0.4621532897357523, + "velocityX": 1.3743242343552553, + "velocityY": 2.125629208922992, + "timestamp": 10.120707903881073 + }, + { + "x": 7.971578677351933, + "y": 3.1615649052675256, + "heading": 0.6809999057835043, + "angularVelocity": 0.37634819615660037, + "velocityX": 1.0918155659282187, + "velocityY": 2.091808622357435, + "timestamp": 10.176477677525158 + }, + { + "x": 8.016833117191899, + "y": 3.2755201745089106, + "heading": 0.6972038977263983, + "angularVelocity": 0.29055150996856166, + "velocityX": 0.8114510223543884, + "velocityY": 2.043315971992817, + "timestamp": 10.232247451169243 + }, + { + "x": 8.046586768246696, + "y": 3.3860795222420745, + "heading": 0.7086324373644792, + "angularVelocity": 0.2049235435491652, + "velocityX": 0.5335085497151109, + "velocityY": 1.9824241790676127, + "timestamp": 10.288017224813329 + }, + { + "x": 8.060979854260694, + "y": 3.4926541817887737, + "heading": 0.715299943712957, + "angularVelocity": 0.11955412247194647, + "velocityX": 0.2580804093961653, + "velocityY": 1.910975293298518, + "timestamp": 10.343786998457414 + }, + { + "x": 8.060151705157804, + "y": 3.594738929349592, + "heading": 0.7172233049609025, + "angularVelocity": 0.034487521147568596, + "velocityX": -0.014849425571926141, + "velocityY": 1.8304673103446223, + "timestamp": 10.3995567721015 + }, + { + "x": 8.04423735574141, + "y": 3.6918968779622365, + "heading": 0.7144202648047442, + "angularVelocity": -0.05026092044136668, + "velocityX": -0.2853579703937069, + "velocityY": 1.7421255684610018, + "timestamp": 10.455326545745585 + }, + { + "x": 8.013365745544434, + "y": 3.783747434616089, + "heading": 0.706908432995524, + "angularVelocity": -0.13469360405081665, + "velocityX": -0.5535545185102473, + "velocityY": 1.6469594666105056, + "timestamp": 10.51109631938967 + }, + { + "x": 7.966240008450173, + "y": 3.8718311568256762, + "heading": 0.6943083666247631, + "angularVelocity": -0.22078504296141274, + "velocityX": -0.8257621494033686, + "velocityY": 1.5434496787551952, + "timestamp": 10.568165703265294 + }, + { + "x": 7.903637633551601, + "y": 3.953847701206782, + "heading": 0.6768953931750158, + "angularVelocity": -0.30511935239562316, + "velocityX": -1.0969520020578343, + "velocityY": 1.437137372287953, + "timestamp": 10.625235087140917 + }, + { + "x": 7.8256280875512765, + "y": 4.029612355077064, + "heading": 0.6547868801961407, + "angularVelocity": -0.38739708539798207, + "velocityX": -1.3669246223218023, + "velocityY": 1.3275884322739986, + "timestamp": 10.68230447101654 + }, + { + "x": 7.732295732907965, + "y": 4.098909485083783, + "heading": 0.6281225750310581, + "angularVelocity": -0.4672260913696688, + "velocityX": -1.6354189988579395, + "velocityY": 1.2142610503338351, + "timestamp": 10.739373854892163 + }, + { + "x": 7.623744896157086, + "y": 4.16148422694545, + "heading": 0.5970717835083564, + "angularVelocity": -0.5440884308541606, + "velocityX": -1.902085310531024, + "velocityY": 1.0964678013353422, + "timestamp": 10.796443238767786 + }, + { + "x": 7.500107414312447, + "y": 4.217031008030893, + "heading": 0.5618432556119679, + "angularVelocity": -0.6172929424499382, + "velocityX": -2.166441504153836, + "velocityY": 0.9733201466919875, + "timestamp": 10.853512622643409 + }, + { + "x": 7.361554289078083, + "y": 4.265177319785923, + "heading": 0.5226990910090863, + "angularVelocity": -0.6859048047231799, + "velocityX": -2.427801315260849, + "velocityY": 0.8436451996741265, + "timestamp": 10.910582006519032 + }, + { + "x": 7.208314472207239, + "y": 4.305460180951621, + "heading": 0.4799749331776388, + "angularVelocity": -0.748635344032456, + "velocityX": -2.6851493123670993, + "velocityY": 0.7058576495847575, + "timestamp": 10.967651390394655 + }, + { + "x": 7.04070672092061, + "y": 4.337291084304275, + "heading": 0.4341107031105424, + "angularVelocity": -0.8036573544766614, + "velocityX": -2.9369118764609987, + "velocityY": 0.5577579639203134, + "timestamp": 11.024720774270278 + }, + { + "x": 6.859196980023488, + "y": 4.359902561866159, + "heading": 0.38570049610139884, + "angularVelocity": -0.8482693122226175, + "velocityX": -3.1805099086526467, + "velocityY": 0.39621029747164144, + "timestamp": 11.081790158145902 + }, + { + "x": 6.664509345661969, + "y": 4.372266184440463, + "heading": 0.33558027930717554, + "angularVelocity": -0.8782330102503829, + "velocityX": -3.411419944287813, + "velocityY": 0.21664194940757758, + "timestamp": 11.138859542021525 + }, + { + "x": 6.457857876304668, + "y": 4.372974056751145, + "heading": 0.28499344198952337, + "angularVelocity": -0.8864093824440242, + "velocityX": -3.621056603794368, + "velocityY": 0.012403713911223541, + "timestamp": 11.195928925897148 + }, + { + "x": 6.241459304464819, + "y": 4.360126451607489, + "heading": 0.23589645193749556, + "angularVelocity": -0.8603034888028499, + "velocityX": -3.791850500987835, + "velocityY": -0.22512254857450334, + "timestamp": 11.25299830977277 + }, + { + "x": 6.019579657099656, + "y": 4.331576905992715, + "heading": 0.19136436588478378, + "angularVelocity": -0.7803148208111865, + "velocityX": -3.8878928121727503, + "velocityY": -0.5002602740025169, + "timestamp": 11.310067693648394 + }, + { + "x": 5.798551620924673, + "y": 4.286498911567636, + "heading": 0.15351127427729616, + "angularVelocity": -0.6632819392265463, + "velocityX": -3.872970429410807, + "velocityY": -0.789880516728909, + "timestamp": 11.367137077524017 + }, + { + "x": 5.582334432989124, + "y": 4.225425033971107, + "heading": 0.1155118535473049, + "angularVelocity": -0.665845995688459, + "velocityX": -3.788672196054744, + "velocityY": -1.0701688619879504, + "timestamp": 11.42420646139964 + }, + { + "x": 5.374024465313053, + "y": 4.149876189702931, + "heading": 0.0697446592710017, + "angularVelocity": -0.8019570419061819, + "velocityX": -3.650117690600284, + "velocityY": -1.3238069020129641, + "timestamp": 11.481275845275263 + }, + { + "x": 5.177992197827677, + "y": 4.063196905648788, + "heading": 0.017847542723990653, + "angularVelocity": -0.9093687897545091, + "velocityX": -3.43498131875068, + "velocityY": -1.5188403688228005, + "timestamp": 11.538345229150886 + }, + { + "x": 4.996804237365723, + "y": 3.968907356262207, + "heading": -0.036582580096447645, + "angularVelocity": -0.9537534685684189, + "velocityX": -3.174871501273511, + "velocityY": -1.6521914726129727, + "timestamp": 11.59541461302651 + }, + { + "x": 4.831701648512126, + "y": 3.869632531276603, + "heading": -0.09108789522014621, + "angularVelocity": -0.956247053450245, + "velocityX": -2.8965774025882935, + "velocityY": -1.74168810250575, + "timestamp": 11.652413811013094 + }, + { + "x": 4.683239484058957, + "y": 3.7696816729003366, + "heading": -0.14402851520145338, + "angularVelocity": -0.9287958752291116, + "velocityX": -2.604636024670233, + "velocityY": -1.7535485043103856, + "timestamp": 11.709413008999679 + }, + { + "x": 4.551166900503627, + "y": 3.672576162220203, + "heading": -0.19413777607531787, + "angularVelocity": -0.8791222095029895, + "velocityX": -2.317095471876902, + "velocityY": -1.7036294212944654, + "timestamp": 11.766412206986264 + }, + { + "x": 4.434814024677728, + "y": 3.580852424602329, + "heading": -0.240569995174145, + "angularVelocity": -0.8146117969897673, + "velocityX": -2.0413072452928884, + "velocityY": -1.6092110215210784, + "timestamp": 11.823411404972848 + }, + { + "x": 4.333433551144432, + "y": 3.4962968449308427, + "heading": -0.2827665728058861, + "angularVelocity": -0.7403012519873094, + "velocityX": -1.7786298248820436, + "velocityY": -1.4834520950871575, + "timestamp": 11.880410602959433 + }, + { + "x": 4.246331382415327, + "y": 3.420184326553122, + "heading": -0.32034046484185646, + "angularVelocity": -0.6592003635702718, + "velocityX": -1.5281297247306171, + "velocityY": -1.3353261285471856, + "timestamp": 11.937409800946018 + }, + { + "x": 4.172901382527213, + "y": 3.353448110684795, + "heading": -0.353008344600164, + "angularVelocity": -0.5731287616712845, + "velocityX": -1.2882637384721891, + "velocityY": -1.170827278728279, + "timestamp": 11.994408998932602 + }, + { + "x": 4.112625106867851, + "y": 3.296790361986866, + "heading": -0.38055433946809814, + "angularVelocity": -0.4832698676640572, + "velocityX": -1.0574933997062392, + "velocityY": -0.9940095773148284, + "timestamp": 12.051408196919187 + }, + { + "x": 4.065061021100414, + "y": 3.2507532442668188, + "heading": -0.4028098814387128, + "angularVelocity": -0.3904535985901558, + "velocityX": -0.8344693863698196, + "velocityY": -0.8076800963214009, + "timestamp": 12.108407394905772 + }, + { + "x": 4.029832043193561, + "y": 3.2157652112178092, + "heading": -0.41964145091513144, + "angularVelocity": -0.29529484748855805, + "velocityX": -0.6180609403512081, + "velocityY": -0.6138337781041129, + "timestamp": 12.165406592892356 + }, + { + "x": 4.006614252366996, + "y": 3.1921718341567256, + "heading": -0.43094241785407744, + "angularVelocity": -0.19826536755141405, + "velocityX": -0.40733539500027605, + "velocityY": -0.413924719899331, + "timestamp": 12.222405790878941 + }, + { + "x": 3.995127439498902, + "y": 3.1802568435668945, + "heading": -0.43662724907911504, + "angularVelocity": -0.09973528445743389, + "velocityX": -0.201525868325339, + "velocityY": -0.20903786387722884, + "timestamp": 12.279404988865526 + }, + { + "x": 3.995127439498902, + "y": 3.1802568435668945, + "heading": -0.43662724907911504, + "angularVelocity": 3.139708268480762e-27, + "velocityX": 2.985814455257795e-29, + "velocityY": -2.388166631545772e-27, + "timestamp": 12.33640418685211 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/Source4NoteFar.traj b/src/main/deploy/choreo/Source4NoteFar.traj index 07a1246..8d602fc 100644 --- a/src/main/deploy/choreo/Source4NoteFar.traj +++ b/src/main/deploy/choreo/Source4NoteFar.traj @@ -1,1778 +1,1778 @@ -{ - "samples": [ - { - "x": 0.6885567903518677, - "y": 4.453176975250244, - "heading": -1.0863186564678593, - "angularVelocity": 3.394120175036044e-27, - "velocityX": -2.1149346198916325e-25, - "velocityY": -3.6854833776665248e-25, - "timestamp": 0 - }, - { - "x": 0.701309503097222, - "y": 4.443900931648444, - "heading": -1.0829185789751592, - "angularVelocity": 0.06123493124721272, - "velocityX": 0.2296746147268097, - "velocityY": -0.16706027830890885, - "timestamp": 0.055525129586146055 - }, - { - "x": 0.7268154815552788, - "y": 4.425347913055752, - "heading": -1.0761583023507493, - "angularVelocity": 0.12175165865973384, - "velocityX": 0.45935918832003475, - "velocityY": -0.334137330808164, - "timestamp": 0.11105025917229211 - }, - { - "x": 0.7650753560299537, - "y": 4.3975168405520435, - "heading": -1.0660842521869078, - "angularVelocity": 0.18143226749631602, - "velocityX": 0.6890551136006906, - "velocityY": -0.5012338145114863, - "timestamp": 0.16657538875843816 - }, - { - "x": 0.8160898545753549, - "y": 4.3604064485110285, - "heading": -1.052751348041684, - "angularVelocity": 0.24012378259357745, - "velocityX": 0.9187641510363933, - "velocityY": -0.6683530919714367, - "timestamp": 0.22210051834458422 - }, - { - "x": 0.8798598296859603, - "y": 4.314015230291449, - "heading": -1.0362257436703786, - "angularVelocity": 0.2976238775934092, - "velocityX": 1.1484885417812079, - "velocityY": -0.8354995038346342, - "timestamp": 0.2776256479307303 - }, - { - "x": 0.9563862935427256, - "y": 4.258341360780349, - "heading": -1.0165888098402591, - "angularVelocity": 0.35365849618870837, - "velocityX": 1.3782311617667844, - "velocityY": -1.0026787857329247, - "timestamp": 0.3331507775168764 - }, - { - "x": 1.0456704648547377, - "y": 4.193382582363671, - "heading": -0.9939431496875328, - "angularVelocity": 0.4078452463148618, - "velocityX": 1.6079957305365589, - "velocityY": -1.169898726952011, - "timestamp": 0.38867590710302247 - }, - { - "x": 1.1477138307776387, - "y": 4.119136030759216, - "heading": -0.9684221265669595, - "angularVelocity": 0.45963014063709734, - "velocityX": 1.8377870827763283, - "velocityY": -1.3371702535023144, - "timestamp": 0.44420103668916855 - }, - { - "x": 1.2625182253193026, - "y": 4.035597957054578, - "heading": -0.9402059046034171, - "angularVelocity": 0.5081703036778226, - "velocityX": 2.0676114652474116, - "velocityY": -1.504509297452977, - "timestamp": 0.49972616627531463 - }, - { - "x": 1.3900859107662955, - "y": 3.9427632601540505, - "heading": -0.9095507354987135, - "angularVelocity": 0.5520954085688863, - "velocityX": 2.2974765911905615, - "velocityY": -1.671940211440602, - "timestamp": 0.5552512958614607 - }, - { - "x": 1.5304195680842245, - "y": 3.840624652337327, - "heading": -0.8768488312128728, - "angularVelocity": 0.588956829629805, - "velocityX": 2.527390000958115, - "velocityY": -1.8395023762755498, - "timestamp": 0.6107764254476068 - }, - { - "x": 1.6835216202036696, - "y": 3.729171108221817, - "heading": -0.8427733340930771, - "angularVelocity": 0.6136950489584778, - "velocityX": 2.7573470473744757, - "velocityY": -2.007263106745065, - "timestamp": 0.6663015550337529 - }, - { - "x": 1.8493882506818127, - "y": 3.608385664410105, - "heading": -0.808746208075466, - "angularVelocity": 0.612823892014852, - "velocityX": 2.9872353601769563, - "velocityY": -2.1753293456851024, - "timestamp": 0.721826684619899 - }, - { - "x": 2.027907239187379, - "y": 3.4782789596731347, - "heading": -0.7798687850274081, - "angularVelocity": 0.5200784449004344, - "velocityX": 3.2151026001406824, - "velocityY": -2.3432039818135415, - "timestamp": 0.777351814206045 - }, - { - "x": 2.212973382556378, - "y": 3.343779104303734, - "heading": -0.7798687767385638, - "angularVelocity": 1.4928095213230132e-7, - "velocityX": 3.333015964994242, - "velocityY": -2.4223240246693583, - "timestamp": 0.8328769437921911 - }, - { - "x": 2.3980395462614625, - "y": 3.209279276915848, - "heading": -0.7798687684499269, - "angularVelocity": 1.4927721668634784e-7, - "velocityX": 3.333016331244363, - "velocityY": -2.4223235207260925, - "timestamp": 0.8884020733783372 - }, - { - "x": 2.583105709967169, - "y": 3.074779449528818, - "heading": -0.7798687601612903, - "angularVelocity": 1.4927721505001108e-7, - "velocityX": 3.333016331255567, - "velocityY": -2.4223235207106772, - "timestamp": 0.9439272029644833 - }, - { - "x": 2.768171873672875, - "y": 2.940279622141788, - "heading": -0.7798687518726534, - "angularVelocity": 1.4927721772237764e-7, - "velocityX": 3.3330163312555676, - "velocityY": -2.422323520710677, - "timestamp": 0.9994523325506294 - }, - { - "x": 2.953238037378582, - "y": 2.8057797947547582, - "heading": -0.7798687435840165, - "angularVelocity": 1.4927721820085747e-7, - "velocityX": 3.333016331255571, - "velocityY": -2.4223235207106706, - "timestamp": 1.0549774621367753 - }, - { - "x": 3.138304201089101, - "y": 2.671279967374351, - "heading": -0.7798687352953797, - "angularVelocity": 1.4927721680994496e-7, - "velocityX": 3.333016331342246, - "velocityY": -2.4223235205914095, - "timestamp": 1.1105025917229214 - }, - { - "x": 3.323370522018546, - "y": 2.536780356320906, - "heading": -0.7798687270067427, - "angularVelocity": 1.4927722007479915e-7, - "velocityX": 3.3330191628336134, - "velocityY": -2.4223196245723564, - "timestamp": 1.1660277213090675 - }, - { - "x": 3.51247438849094, - "y": 2.408019274510783, - "heading": -0.779868718696711, - "angularVelocity": 1.49662535873164e-7, - "velocityX": 3.405734806597866, - "velocityY": -2.31896949669164, - "timestamp": 1.2215528508952136 - }, - { - "x": 3.710020303726196, - "y": 2.2926273345947266, - "heading": -0.779868710229491, - "angularVelocity": 1.5249347506293226e-7, - "velocityX": 3.5577749517678714, - "velocityY": -2.0781930771908943, - "timestamp": 1.2770779804813597 - }, - { - "x": 3.9581046340644135, - "y": 2.17413656564851, - "heading": -0.7798687023875752, - "angularVelocity": 1.1752432896230884e-7, - "velocityX": 3.7179619396532617, - "velocityY": -1.775783938234554, - "timestamp": 1.3438038734208 - }, - { - "x": 4.2151657327976855, - "y": 2.076640468884465, - "heading": -0.7798686946986859, - "angularVelocity": 1.1523096829074136e-7, - "velocityX": 3.8524939481376075, - "velocityY": -1.4611433803146185, - "timestamp": 1.4105297663602403 - }, - { - "x": 4.473273733448251, - "y": 1.981950673388302, - "heading": -0.779868687019788, - "angularVelocity": 1.1508123071029428e-7, - "velocityX": 3.8681835383577634, - "velocityY": -1.4190862246250013, - "timestamp": 1.4772556592996806 - }, - { - "x": 4.731381751981754, - "y": 1.8872609266379454, - "heading": -0.7798686793408901, - "angularVelocity": 1.1508123135598442e-7, - "velocityX": 3.8681838063637195, - "velocityY": -1.4190854940869202, - "timestamp": 1.543981552239121 - }, - { - "x": 4.989489770515562, - "y": 1.7925711798884192, - "heading": -0.7798686716619923, - "angularVelocity": 1.1508123122518e-7, - "velocityX": 3.868183806368286, - "velocityY": -1.4190854940744717, - "timestamp": 1.6107074451785612 - }, - { - "x": 5.247597789049369, - "y": 1.6978814331388932, - "heading": -0.7798686639830944, - "angularVelocity": 1.1508123020194597e-7, - "velocityX": 3.8681838063682856, - "velocityY": -1.419085494074472, - "timestamp": 1.6774333381180015 - }, - { - "x": 5.505705807583176, - "y": 1.6031916863893672, - "heading": -0.7798686563041966, - "angularVelocity": 1.1508122981029888e-7, - "velocityX": 3.868183806368286, - "velocityY": -1.419085494074472, - "timestamp": 1.7441592310574419 - }, - { - "x": 5.763813826116984, - "y": 1.5085019396398411, - "heading": -0.7798686486252987, - "angularVelocity": 1.150812311539268e-7, - "velocityX": 3.868183806368287, - "velocityY": -1.4190854940744704, - "timestamp": 1.8108851239968822 - }, - { - "x": 6.021921844652431, - "y": 1.413812192894788, - "heading": -0.7798686409464007, - "angularVelocity": 1.1508123149232243e-7, - "velocityX": 3.8681838063928784, - "velocityY": -1.419085494007436, - "timestamp": 1.8776110169363225 - }, - { - "x": 6.280029959502567, - "y": 1.319122708687512, - "heading": -0.7798686332674524, - "angularVelocity": 1.1508198682436301e-7, - "velocityX": 3.8681852498308413, - "velocityY": -1.4190815594362318, - "timestamp": 1.9443369098757628 - }, - { - "x": 6.535640541521234, - "y": 1.2363573105352137, - "heading": -0.7601601921076507, - "angularVelocity": 0.29536421757126274, - "velocityX": 3.830755509718786, - "velocityY": -1.240379026885639, - "timestamp": 2.011062802815203 - }, - { - "x": 6.770261917470024, - "y": 1.1616480507635125, - "heading": -0.7286485121958914, - "angularVelocity": 0.47225564954760224, - "velocityX": 3.5161968707069784, - "velocityY": -1.119644211273522, - "timestamp": 2.0777886957546436 - }, - { - "x": 6.98350443701307, - "y": 1.094927347846598, - "heading": -0.6949548329623987, - "angularVelocity": 0.5049565880530491, - "velocityX": 3.1957986644941965, - "velocityY": -0.9999222187625046, - "timestamp": 2.144514588694084 - }, - { - "x": 7.175340032760939, - "y": 1.036153040315015, - "heading": -0.6617196405184319, - "angularVelocity": 0.49808539054142775, - "velocityX": 2.874979821131458, - "velocityY": -0.8808320869519976, - "timestamp": 2.2112404816335247 - }, - { - "x": 7.345767051248528, - "y": 0.9853010621719508, - "heading": -0.630183689398933, - "angularVelocity": 0.47261939451481727, - "velocityX": 2.554136197806548, - "velocityY": -0.7621026246770035, - "timestamp": 2.2779663745729652 - }, - { - "x": 7.494787941521159, - "y": 0.9423562064943364, - "heading": -0.6010692809022818, - "angularVelocity": 0.43632849579210764, - "velocityX": 2.233329277554675, - "velocityY": -0.6436010637818008, - "timestamp": 2.344692267512406 - }, - { - "x": 7.6224056734264645, - "y": 0.9073080528508631, - "heading": -0.5748497275005627, - "angularVelocity": 0.3929442117097724, - "velocityX": 1.912566865476494, - "velocityY": -0.5252556706177386, - "timestamp": 2.4114181604518463 - }, - { - "x": 7.728622996709226, - "y": 0.8801490267496294, - "heading": -0.5518594737395791, - "angularVelocity": 0.3445477122629041, - "velocityX": 1.5918456629596907, - "velocityY": -0.4070237939847864, - "timestamp": 2.478144053391287 - }, - { - "x": 7.813442307646716, - "y": 0.8608733761969334, - "heading": -0.5323475063047407, - "angularVelocity": 0.29241972756433915, - "velocityX": 1.2711603726977772, - "velocityY": -0.28887812067483865, - "timestamp": 2.5448699463307274 - }, - { - "x": 7.876865663404102, - "y": 0.849476585375473, - "heading": -0.5165064137632613, - "angularVelocity": 0.23740547849777704, - "velocityX": 0.9505059125240666, - "velocityY": -0.17080012450045454, - "timestamp": 2.611595839270168 - }, - { - "x": 7.91889482908089, - "y": 0.8459550160486062, - "heading": -0.5044895665966007, - "angularVelocity": 0.18009271419667666, - "velocityX": 0.629877905342268, - "velocityY": -0.05277665343591268, - "timestamp": 2.6783217322096085 - }, - { - "x": 7.939531326293945, - "y": 0.8503056764602661, - "heading": -0.49642193244286464, - "angularVelocity": 0.12090709915352006, - "velocityX": 0.3092727021545489, - "velocityY": 0.06520198112011014, - "timestamp": 2.745047625149049 - }, - { - "x": 7.927180666475836, - "y": 0.8713586733936556, - "heading": -0.4930143763837493, - "angularVelocity": 0.036942190406947725, - "velocityX": -0.1338966751351047, - "velocityY": 0.22824094684214172, - "timestamp": 2.8372878529638696 - }, - { - "x": 7.87394900492315, - "y": 0.9074500624880938, - "heading": -0.49722150955455136, - "angularVelocity": -0.04561061123188263, - "velocityX": -0.5770981144967761, - "velocityY": 0.3912760186032336, - "timestamp": 2.9295280807786903 - }, - { - "x": 7.779832586973778, - "y": 0.9585793720111768, - "heading": -0.5088748847639726, - "angularVelocity": -0.1263372336071879, - "velocityX": -1.0203402591146986, - "velocityY": 0.5543059761921793, - "timestamp": 3.021768308593511 - }, - { - "x": 7.644826495037085, - "y": 1.0247459321009753, - "heading": -0.5277488943045168, - "angularVelocity": -0.20461798488220692, - "velocityX": -1.463635716595666, - "velocityY": 0.7173286716359051, - "timestamp": 3.1140085364083316 - }, - { - "x": 7.468924023316461, - "y": 1.1059487096578826, - "heading": -0.5535264419169841, - "angularVelocity": -0.2794610141707124, - "velocityX": -1.9070038733399683, - "velocityY": 0.8803401669814643, - "timestamp": 3.2062487642231523 - }, - { - "x": 7.252115520954535, - "y": 1.2021859450131016, - "heading": -0.5857297212655913, - "angularVelocity": -0.34912402225694766, - "velocityX": -2.350476657507682, - "velocityY": 1.04333258530565, - "timestamp": 3.298488992037973 - }, - { - "x": 6.994386027654477, - "y": 1.31345417318691, - "heading": -0.6235562220957586, - "angularVelocity": -0.4100868105628156, - "velocityX": -2.794111630095605, - "velocityY": 1.2062874388947544, - "timestamp": 3.3907292198527936 - }, - { - "x": 6.695710018451316, - "y": 1.439744501943248, - "heading": -0.6653719919030509, - "angularVelocity": -0.45333550011650886, - "velocityX": -3.238023325384417, - "velocityY": 1.369145889468917, - "timestamp": 3.4829694476676143 - }, - { - "x": 6.356050726739891, - "y": 1.5810125125479777, - "heading": -0.7059823103401129, - "angularVelocity": -0.44026689221312976, - "velocityX": -3.6823336168826186, - "velocityY": 1.5315227851381312, - "timestamp": 3.575209675482435 - }, - { - "x": 5.999398683183485, - "y": 1.7123177539849823, - "heading": -0.7059823175120675, - "angularVelocity": -7.775300131162323e-8, - "velocityX": -3.8665564039197022, - "velocityY": 1.4235138458310193, - "timestamp": 3.6674499032972556 - }, - { - "x": 5.642746522149845, - "y": 1.8436226763292314, - "heading": -0.7059823246840017, - "angularVelocity": -7.77527794510748e-8, - "velocityX": -3.866557677520564, - "velocityY": 1.4235103864645033, - "timestamp": 3.7596901311120763 - }, - { - "x": 5.28156245438674, - "y": 1.9537093318962377, - "heading": -0.7138474612609973, - "angularVelocity": -0.08526796565144627, - "velocityX": -3.915689242314218, - "velocityY": 1.1934777067985334, - "timestamp": 3.851930358926897 - }, - { - "x": 4.961235013550277, - "y": 2.048482673838497, - "heading": -0.723491200847142, - "angularVelocity": -0.10455025767613332, - "velocityX": -3.472752056505604, - "velocityY": 1.0274621408408044, - "timestamp": 3.9441705867417176 - }, - { - "x": 4.681796334872038, - "y": 2.1280729865083585, - "heading": -0.7292938799639851, - "angularVelocity": -0.06290833462046955, - "velocityX": -3.0294664843980423, - "velocityY": 0.8628590210081168, - "timestamp": 4.036410814556538 - }, - { - "x": 4.443240110455446, - "y": 2.1925269170063846, - "heading": -0.7294953062364742, - "angularVelocity": -0.002183713952804096, - "velocityX": -2.586249297817354, - "velocityY": 0.698761614373095, - "timestamp": 4.1286510423713585 - }, - { - "x": 4.245560384054017, - "y": 2.24186822032086, - "heading": -0.7232342713321199, - "angularVelocity": 0.06787748743339812, - "velocityX": -2.143096684434545, - "velocityY": 0.5349217416671156, - "timestamp": 4.220891270186179 - }, - { - "x": 4.0887527147976686, - "y": 2.2761112730627358, - "heading": -0.7099988392979812, - "angularVelocity": 0.1434887179670669, - "velocityX": -1.699992215664861, - "velocityY": 0.3712377294928318, - "timestamp": 4.313131498001 - }, - { - "x": 3.972813772950256, - "y": 2.2952657190650956, - "heading": -0.6894483842110904, - "angularVelocity": 0.22279276161532663, - "velocityX": -1.256923845419907, - "velocityY": 0.20765826858986366, - "timestamp": 4.4053717258158205 - }, - { - "x": 3.8977409855221326, - "y": 2.2993384931570473, - "heading": -0.6613385952715591, - "angularVelocity": 0.3047454413920573, - "velocityX": -0.8138833696165418, - "velocityY": 0.044153989950329355, - "timestamp": 4.497611953630641 - }, - { - "x": 3.863532304763794, - "y": 2.288334846496582, - "heading": -0.6254844943742653, - "angularVelocity": 0.3887035163147435, - "velocityX": -0.37086509399147366, - "velocityY": -0.11929335953675119, - "timestamp": 4.589852181445462 - }, - { - "x": 3.8588969628219925, - "y": 2.2742859384660616, - "heading": -0.5980545373887644, - "angularVelocity": 0.4457546351730898, - "velocityX": -0.07532732031852572, - "velocityY": -0.22830388968656506, - "timestamp": 4.651388180896931 - }, - { - "x": 3.87252307186548, - "y": 2.2537298660333667, - "heading": -0.5672227548547781, - "angularVelocity": 0.5010365121038134, - "velocityX": 0.22143313125569966, - "velocityY": -0.33404954199056636, - "timestamp": 4.7129241803484 - }, - { - "x": 3.904495293557158, - "y": 2.226901435332701, - "heading": -0.5331165435350333, - "angularVelocity": 0.5542481088105673, - "velocityX": 0.5195693898966114, - "velocityY": -0.4359794419496553, - "timestamp": 4.77446017979987 - }, - { - "x": 3.954909336055298, - "y": 2.1940785550728865, - "heading": -0.495886840771047, - "angularVelocity": 0.6050068755826099, - "velocityX": 0.8192609683360987, - "velocityY": -0.5333931447022372, - "timestamp": 4.835996179251339 - }, - { - "x": 4.02387381433517, - "y": 2.1555950274998867, - "heading": -0.45571503088966375, - "angularVelocity": 0.6528180291126203, - "velocityX": 1.120717610742014, - "velocityY": -0.6253823439294258, - "timestamp": 4.897532178702808 - }, - { - "x": 4.111512236956564, - "y": 2.1118588104756206, - "heading": -0.412822729802436, - "angularVelocity": 0.6970277799916975, - "velocityX": 1.4241813475461795, - "velocityY": -0.7107419626581243, - "timestamp": 4.959068178154277 - }, - { - "x": 4.217964742540069, - "y": 2.063378913974966, - "heading": -0.36748611131765924, - "angularVelocity": 0.7367495269258114, - "velocityX": 1.7299224280489682, - "velocityY": -0.7878298383515892, - "timestamp": 5.020604177605747 - }, - { - "x": 4.3433885040310445, - "y": 2.010806456684427, - "heading": -0.32005768718105704, - "angularVelocity": 0.7707427287990534, - "velocityX": 2.0382176711031144, - "velocityY": -0.854336612050985, - "timestamp": 5.082140177057216 - }, - { - "x": 4.487953805149203, - "y": 1.954999944894153, - "heading": -0.2710008539723626, - "angularVelocity": 0.7972054349646767, - "velocityX": 2.3492801353161026, - "velocityY": -0.9068921003596625, - "timestamp": 5.143676176508685 - }, - { - "x": 4.651827347820778, - "y": 1.8971338065315515, - "heading": -0.22094730911564786, - "angularVelocity": 0.8134026472778757, - "velocityX": 2.66305161421512, - "velocityY": -0.9403623712691659, - "timestamp": 5.205212175960154 - }, - { - "x": 4.835117881418664, - "y": 1.8388867617728581, - "heading": -0.17079707648624934, - "angularVelocity": 0.8149738864475594, - "velocityX": 2.978590341129327, - "velocityY": -0.9465523478598972, - "timestamp": 5.266748175411624 - }, - { - "x": 5.037706705982249, - "y": 1.7827750767858257, - "heading": -0.12189771533901265, - "angularVelocity": 0.7946464115822435, - "velocityX": 3.2922001165083703, - "velocityY": -0.9118513632217131, - "timestamp": 5.328284174863093 - }, - { - "x": 5.258723241665742, - "y": 1.7326877167097992, - "heading": -0.07633456189791264, - "angularVelocity": 0.7404308672524917, - "velocityX": 3.5916624033676507, - "velocityY": -0.8139521665773647, - "timestamp": 5.389820174314562 - }, - { - "x": 5.49513452171728, - "y": 1.6942432648547043, - "heading": -0.03706015615864722, - "angularVelocity": 0.6382346283371836, - "velocityX": 3.8418370085625435, - "velocityY": -0.6247473381075812, - "timestamp": 5.451356173766031 - }, - { - "x": 5.7400281736184455, - "y": 1.6729770610154633, - "heading": -0.007145484204979612, - "angularVelocity": 0.4861328688950628, - "velocityX": 3.9796810661099893, - "velocityY": -0.34558963905368534, - "timestamp": 5.512892173217501 - }, - { - "x": 5.9874771608430795, - "y": 1.6708818345855783, - "heading": 0.017579240823119676, - "angularVelocity": 0.40179285700232625, - "velocityX": 4.021206926520915, - "velocityY": -0.03404879174079811, - "timestamp": 5.57442817266897 - }, - { - "x": 6.234120845794678, - "y": 1.6881886720657349, - "heading": 0.04311790612474964, - "angularVelocity": 0.41501991564744656, - "velocityX": 4.008120241000007, - "velocityY": 0.28124736145393664, - "timestamp": 5.635964172120439 - }, - { - "x": 6.467272536529507, - "y": 1.7222668368059177, - "heading": 0.07140808783124676, - "angularVelocity": 0.4798746133284011, - "velocityX": 3.9548553840693117, - "velocityY": 0.5780537678158916, - "timestamp": 5.694917450582654 - }, - { - "x": 6.692584478408081, - "y": 1.7722919010776508, - "heading": 0.10380607474487556, - "angularVelocity": 0.5495536085307539, - "velocityX": 3.8218729773100346, - "velocityY": 0.8485544074329195, - "timestamp": 5.753870729044869 - }, - { - "x": 6.904741537320341, - "y": 1.8343117738412145, - "heading": 0.13881865410428046, - "angularVelocity": 0.5939038552681234, - "velocityX": 3.598732156146937, - "velocityY": 1.0520173666561004, - "timestamp": 5.812824007507084 - }, - { - "x": 7.100383513043178, - "y": 1.9030310585915293, - "heading": 0.17471896196074413, - "angularVelocity": 0.6089620254024232, - "velocityX": 3.318593652908188, - "velocityY": 1.1656567122786685, - "timestamp": 5.871777285969299 - }, - { - "x": 7.278323373731877, - "y": 1.973830348179141, - "heading": 0.21010738421181074, - "angularVelocity": 0.6002791222840638, - "velocityX": 3.0183200210442145, - "velocityY": 1.2009389712395522, - "timestamp": 5.930730564431514 - }, - { - "x": 7.4384871771356265, - "y": 2.0434113203538615, - "heading": 0.24403115598521166, - "angularVelocity": 0.5754348639854446, - "velocityX": 2.716792137461926, - "velocityY": 1.1802731585032522, - "timestamp": 5.9896838428937285 - }, - { - "x": 7.581181613697001, - "y": 2.1095234080577914, - "heading": 0.27585930904768985, - "angularVelocity": 0.5398877533651957, - "velocityX": 2.4204665165963752, - "velocityY": 1.1214319106324677, - "timestamp": 6.048637121355943 - }, - { - "x": 7.706797630897918, - "y": 2.1706045807896808, - "heading": 0.3051630458824759, - "angularVelocity": 0.49706712839672884, - "velocityX": 2.1307723756436663, - "velocityY": 1.0360945875306653, - "timestamp": 6.107590399818158 - }, - { - "x": 7.815712043569113, - "y": 2.2255333978794116, - "heading": 0.33163957385897364, - "angularVelocity": 0.4491103576787036, - "velocityX": 1.847469988306098, - "velocityY": 0.9317347316813903, - "timestamp": 6.166543678280373 - }, - { - "x": 7.908260582203949, - "y": 2.273476340322031, - "heading": 0.35506686665379467, - "angularVelocity": 0.3973874465664564, - "velocityX": 1.5698624580167049, - "velocityY": 0.8132362388182927, - "timestamp": 6.225496956742588 - }, - { - "x": 7.984734808626996, - "y": 2.3137943937734238, - "heading": 0.37527661607304347, - "angularVelocity": 0.34280959340033684, - "velocityX": 1.2972005699744291, - "velocityY": 0.6838984107937889, - "timestamp": 6.284450235204803 - }, - { - "x": 8.045386300065186, - "y": 2.3459844705884807, - "heading": 0.3921375822600176, - "angularVelocity": 0.2860055730027077, - "velocityX": 1.0288060820411038, - "velocityY": 0.5460269158005876, - "timestamp": 6.343403513667018 - }, - { - "x": 8.090432430021092, - "y": 2.369641472578161, - "heading": 0.40554498361648383, - "angularVelocity": 0.2274241858331832, - "velocityX": 0.76409881063319, - "velocityY": 0.40128390832145205, - "timestamp": 6.402356792129233 - }, - { - "x": 8.120061893982145, - "y": 2.3844329106489335, - "heading": 0.41541350240022923, - "angularVelocity": 0.1673955892049397, - "velocityX": 0.5025923024797195, - "velocityY": 0.25090102631447014, - "timestamp": 6.4613100705914475 - }, - { - "x": 8.134439468383789, - "y": 2.3900814056396484, - "heading": 0.4216725296119854, - "angularVelocity": 0.10616928142118104, - "velocityX": 0.24388082862701033, - "velocityY": 0.09581307669488197, - "timestamp": 6.520263349053662 - }, - { - "x": 8.132176285564572, - "y": 2.3851078879497147, - "heading": 0.42413738865593775, - "angularVelocity": 0.03838472583689847, - "velocityX": -0.03524406486753986, - "velocityY": -0.07745153356394213, - "timestamp": 6.58447792894739 - }, - { - "x": 8.111834551335587, - "y": 2.369262184782309, - "heading": 0.42223170348479205, - "angularVelocity": -0.029676830001840532, - "velocityX": -0.3167775022845199, - "velocityY": -0.24676176646533576, - "timestamp": 6.648692508841117 - }, - { - "x": 8.073236234054438, - "y": 2.3428469037837596, - "heading": 0.41593590278547166, - "angularVelocity": -0.09804316573805726, - "velocityX": -0.6010833886171775, - "velocityY": -0.41135955482797815, - "timestamp": 6.712907088734845 - }, - { - "x": 8.016174669315534, - "y": 2.3062284127277977, - "heading": 0.4052283935995224, - "angularVelocity": -0.16674576402539432, - "velocityX": -0.8886076157990642, - "velocityY": -0.5702519757438951, - "timestamp": 6.777121668628572 - }, - { - "x": 7.940407873057922, - "y": 2.259858654551234, - "heading": 0.3900854339256775, - "angularVelocity": -0.23581809145066257, - "velocityX": -1.1799002093138764, - "velocityY": -0.7221063853926085, - "timestamp": 6.8413362485223 - }, - { - "x": 7.845650198886334, - "y": 2.2043077633338255, - "heading": 0.37048131278322016, - "angularVelocity": -0.30529081051221507, - "velocityX": -1.4756411134108256, - "velocityY": -0.865082218233669, - "timestamp": 6.905550828416027 - }, - { - "x": 7.731562513102335, - "y": 2.140314722394816, - "heading": 0.34638932376904424, - "angularVelocity": -0.3751794227112801, - "velocityX": -1.776663274490152, - "velocityY": -0.9965500209596554, - "timestamp": 6.969765408309755 - }, - { - "x": 7.597742640115569, - "y": 2.0688695295905424, - "heading": 0.3177847679181409, - "angularVelocity": -0.44545266664117245, - "velocityX": -2.083948430531411, - "velocityY": -1.1126007975527197, - "timestamp": 7.033979988203482 - }, - { - "x": 7.443723347321437, - "y": 1.991352898659247, - "heading": 0.28465327704940796, - "angularVelocity": -0.5159496632005437, - "velocityX": -2.398509700585578, - "velocityY": -1.2071500126541717, - "timestamp": 7.09819456809721 - }, - { - "x": 7.2690042706160805, - "y": 1.909784448765435, - "heading": 0.24701367157934487, - "angularVelocity": -0.5861535734151859, - "velocityX": -2.7208630344465448, - "velocityY": -1.270248127898756, - "timestamp": 7.162409147990937 - }, - { - "x": 7.0732110345953325, - "y": 1.8272697519579237, - "heading": 0.20498160985555938, - "angularVelocity": -0.654556360772695, - "velocityX": -3.0490464368805132, - "velocityY": -1.2849838299038974, - "timestamp": 7.226623727884665 - }, - { - "x": 6.856687516382241, - "y": 1.7487095931314518, - "heading": 0.158939232751959, - "angularVelocity": -0.7170081495479512, - "velocityX": -3.3718747139891065, - "velocityY": -1.223400650700919, - "timestamp": 7.290838307778392 - }, - { - "x": 6.622137169577345, - "y": 1.6811594344762097, - "heading": 0.10987454919796363, - "angularVelocity": -0.7640738853262871, - "velocityX": -3.652602682958729, - "velocityY": -1.0519442588744687, - "timestamp": 7.3550528876721195 - }, - { - "x": 6.376228451811506, - "y": 1.6314432842511626, - "heading": 0.0595492132865963, - "angularVelocity": -0.783705756459888, - "velocityX": -3.829484179026162, - "velocityY": -0.7742190372860123, - "timestamp": 7.419267467565847 - }, - { - "x": 6.126649542350112, - "y": 1.602554470841584, - "heading": 0.00931766555509535, - "angularVelocity": -0.7822452130751675, - "velocityX": -3.886639293980256, - "velocityY": -0.4498793491663203, - "timestamp": 7.4834820474595745 - }, - { - "x": 5.877150893660191, - "y": 1.594782132459995, - "heading": -0.04431021757632018, - "angularVelocity": -0.8351356221619418, - "velocityX": -3.8853894100503816, - "velocityY": -0.12103697313681898, - "timestamp": 7.547696627353302 - }, - { - "x": 5.631840705871582, - "y": 1.6077326536178589, - "heading": -0.09946026915631453, - "angularVelocity": -0.8588400277828766, - "velocityX": -3.8201633989444104, - "velocityY": 0.20167571257643785, - "timestamp": 7.611911207247029 - }, - { - "x": 5.408191557035955, - "y": 1.6373943243488176, - "heading": -0.15130862691248864, - "angularVelocity": -0.8625486017123365, - "velocityX": -3.720624315807819, - "velocityY": 0.4934511664526841, - "timestamp": 7.672021858001369 - }, - { - "x": 5.193948054538076, - "y": 1.6830215447877035, - "heading": -0.20249256634286344, - "angularVelocity": -0.8514953471316359, - "velocityX": -3.5641521063122457, - "velocityY": 0.7590538426435499, - "timestamp": 7.732132508755708 - }, - { - "x": 4.992708519368323, - "y": 1.7418388706856198, - "heading": -0.2519810867857048, - "angularVelocity": -0.8232903790227013, - "velocityX": -3.347818275868942, - "velocityY": 0.9784842645988236, - "timestamp": 7.792243159510047 - }, - { - "x": 4.807476467472973, - "y": 1.8099478214565607, - "heading": -0.29877876502879425, - "angularVelocity": -0.778525563370499, - "velocityX": -3.0815179934144843, - "velocityY": 1.133059614498085, - "timestamp": 7.852353810264386 - }, - { - "x": 4.640051176081192, - "y": 1.8830509886189777, - "heading": -0.34211563798950406, - "angularVelocity": -0.7209516519430013, - "velocityX": -2.785284958501204, - "velocityY": 1.2161433330870974, - "timestamp": 7.912464461018725 - }, - { - "x": 4.491074408686971, - "y": 1.9572734446033506, - "heading": -0.38149861118808165, - "angularVelocity": -0.6551746271975682, - "velocityX": -2.4783755544929993, - "velocityY": 1.2347638072944158, - "timestamp": 7.9725751117730645 - }, - { - "x": 4.360467804854574, - "y": 2.0295250421816173, - "heading": -0.41665596351126605, - "angularVelocity": -0.5848772535646916, - "velocityX": -2.1727697536691237, - "velocityY": 1.2019766326194772, - "timestamp": 8.032685762527404 - }, - { - "x": 4.247824136670683, - "y": 2.0974690843884547, - "heading": -0.44745848671344385, - "angularVelocity": -0.5124303732471919, - "velocityX": -1.8739385910866808, - "velocityY": 1.1303161977818494, - "timestamp": 8.092796413281743 - }, - { - "x": 4.152630521964107, - "y": 2.1593575088225836, - "heading": -0.4738576897252565, - "angularVelocity": -0.4391767961338674, - "velocityX": -1.5836397295982356, - "velocityY": 1.0295750196925144, - "timestamp": 8.152907064036082 - }, - { - "x": 4.0743710372510344, - "y": 2.213869973094629, - "heading": -0.495847468032445, - "angularVelocity": -0.36582166440114666, - "velocityX": -1.3019237644407449, - "velocityY": 0.90686864287707, - "timestamp": 8.213017714790421 - }, - { - "x": 4.012566881536003, - "y": 2.259991535127209, - "heading": -0.5134428122609265, - "angularVelocity": -0.29271591652517925, - "velocityX": -1.0281731263834195, - "velocityY": 0.7672777029327102, - "timestamp": 8.27312836554476 - }, - { - "x": 3.9667882785861663, - "y": 2.296926593546496, - "heading": -0.5266685380504919, - "angularVelocity": -0.22002300130830899, - "velocityX": -0.7615722401163919, - "velocityY": 0.6144511489358724, - "timestamp": 8.3332390162991 - }, - { - "x": 3.9366546232582045, - "y": 2.3240395045135216, - "heading": -0.5355534491643124, - "angularVelocity": -0.14780926511894657, - "velocityX": -0.5013030960372105, - "velocityY": 0.4510500323450303, - "timestamp": 8.393349667053439 - }, - { - "x": 3.9218302529315436, - "y": 2.340813447733847, - "heading": -0.5401273706627876, - "angularVelocity": -0.07609169824442547, - "velocityX": -0.24661803092508605, - "velocityY": 0.2790511000933509, - "timestamp": 8.453460317807778 - }, - { - "x": 3.922019004821778, - "y": 2.3468215465545654, - "heading": -0.5404196941509068, - "angularVelocity": -0.00486308972621038, - "velocityX": 0.0031400739779980803, - "velocityY": 0.09995065342533552, - "timestamp": 8.513570968562117 - }, - { - "x": 3.9374653525267678, - "y": 2.343996586754968, - "heading": -0.5363170167809265, - "angularVelocity": 0.0699891910700783, - "velocityX": 0.26350533648336844, - "velocityY": -0.048192103192425555, - "timestamp": 8.572189696786488 - }, - { - "x": 3.9683552537421263, - "y": 2.3328180917591665, - "heading": -0.52776434309664, - "angularVelocity": 0.14590343297026154, - "velocityX": 0.5269630056988549, - "velocityY": -0.19069835416787767, - "timestamp": 8.630808425010859 - }, - { - "x": 4.014893571544688, - "y": 2.3136810117650746, - "heading": -0.5146908632348776, - "angularVelocity": 0.22302564824883497, - "velocityX": 0.7939155149260704, - "velocityY": -0.32646699397575807, - "timestamp": 8.68942715323523 - }, - { - "x": 4.077312296102222, - "y": 2.287064622569289, - "heading": -0.4970157041294251, - "angularVelocity": 0.30152750905476433, - "velocityX": 1.0648256359063084, - "velocityY": -0.4540594789758664, - "timestamp": 8.7480458814596 - }, - { - "x": 4.155873833381881, - "y": 2.253560682274067, - "heading": -0.47464638279152427, - "angularVelocity": 0.3816070736348903, - "velocityX": 1.3402122437551975, - "velocityY": -0.5715569291606204, - "timestamp": 8.80666460968397 - }, - { - "x": 4.250872712284989, - "y": 2.2139144425815496, - "heading": -0.4474776048037691, - "angularVelocity": 0.46348289720246916, - "velocityX": 1.6206233362738318, - "velocityY": -0.6763408366822088, - "timestamp": 8.865283337908341 - }, - { - "x": 4.362632375743991, - "y": 2.1690856862971724, - "heading": -0.4153914647840616, - "angularVelocity": 0.5473701151770817, - "velocityX": 1.9065521693208372, - "velocityY": -0.7647514308531158, - "timestamp": 8.923902066132712 - }, - { - "x": 4.4914888946742755, - "y": 2.120340950697993, - "heading": -0.3782617628527304, - "angularVelocity": 0.6334102266636167, - "velocityX": 2.1982141686368726, - "velocityY": -0.8315556661789609, - "timestamp": 8.982520794357082 - }, - { - "x": 4.637741905018974, - "y": 2.069392283286928, - "heading": -0.3359690811718077, - "angularVelocity": 0.7214875341382799, - "velocityX": 2.4949877756627052, - "velocityY": -0.869153408038005, - "timestamp": 9.041139522581453 - }, - { - "x": 4.801527199967717, - "y": 2.018594113204702, - "heading": -0.28844131507798226, - "angularVelocity": 0.8107949034975191, - "velocityX": 2.794077932258038, - "velocityY": -0.8665860147594886, - "timestamp": 9.099758250805824 - }, - { - "x": 4.982520910343412, - "y": 1.9711637668084108, - "heading": -0.23574369114733976, - "angularVelocity": 0.89898954697441, - "velocityX": 3.0876430768494463, - "velocityY": -0.8091329824616064, - "timestamp": 9.158376979030194 - }, - { - "x": 5.17938468342917, - "y": 1.9312172935307006, - "heading": -0.1782266556555277, - "angularVelocity": 0.9812057892429679, - "velocityX": 3.3583767346885973, - "velocityY": -0.6814626398036162, - "timestamp": 9.216995707254565 - }, - { - "x": 5.389185993172574, - "y": 1.9031572532827392, - "heading": -0.11666625659371352, - "angularVelocity": 1.0501831228099072, - "velocityX": 3.5790832742116896, - "velocityY": -0.47868729155225614, - "timestamp": 9.275614435478936 - }, - { - "x": 5.607648109126699, - "y": 1.8904140574345172, - "heading": -0.052238343106668465, - "angularVelocity": 1.099101182141647, - "velocityX": 3.726831382590488, - "velocityY": -0.21739120302040635, - "timestamp": 9.334233163703306 - }, - { - "x": 5.8303718087359035, - "y": 1.8947620924297608, - "heading": 0.013795227099602759, - "angularVelocity": 1.1264927132762073, - "velocityX": 3.7995314186398494, - "velocityY": 0.07417484355172438, - "timestamp": 9.392851891927677 - }, - { - "x": 6.053758144378662, - "y": 1.916719675064087, - "heading": 0.08038234053778825, - "angularVelocity": 1.135935825549055, - "velocityX": 3.810835588034616, - "velocityY": 0.37458306072900377, - "timestamp": 9.451470620152048 - }, - { - "x": 6.264479674099062, - "y": 1.9534587833223342, - "heading": 0.14352280822320104, - "angularVelocity": 1.1321628825027237, - "velocityX": 3.778418235390223, - "velocityY": 0.6587638044348276, - "timestamp": 9.507240393796133 - }, - { - "x": 6.471410323168012, - "y": 2.005691126005294, - "heading": 0.2060499040900196, - "angularVelocity": 1.1211645983334413, - "velocityX": 3.7104444853864718, - "velocityY": 0.9365708208948176, - "timestamp": 9.563010167440218 - }, - { - "x": 6.67221720068237, - "y": 2.0726457450879647, - "heading": 0.26723641438299095, - "angularVelocity": 1.0971267461735486, - "velocityX": 3.6006399953472306, - "velocityY": 1.2005538969902354, - "timestamp": 9.618779941084304 - }, - { - "x": 6.864483989652029, - "y": 2.1530541266402397, - "heading": 0.32631078239943323, - "angularVelocity": 1.059254218843449, - "velocityX": 3.4475088637919846, - "velocityY": 1.4417914274751908, - "timestamp": 9.67454971472839 - }, - { - "x": 7.04594464974176, - "y": 2.2451559533202436, - "heading": 0.3825309232468606, - "angularVelocity": 1.0080754712438957, - "velocityX": 3.2537456803713387, - "velocityY": 1.651464954256111, - "timestamp": 9.730319488372475 - }, - { - "x": 7.214709569426035, - "y": 2.346842107517073, - "heading": 0.4352629915349554, - "angularVelocity": 0.9455313307280512, - "velocityX": 3.0261001373487018, - "velocityY": 1.8233201885626171, - "timestamp": 9.78608926201656 - }, - { - "x": 7.3693846071392155, - "y": 2.4558832400596216, - "heading": 0.4840246615609249, - "angularVelocity": 0.8743386755908128, - "velocityX": 2.7734564371785453, - "velocityY": 1.9552012751285666, - "timestamp": 9.841859035660645 - }, - { - "x": 7.509056975127237, - "y": 2.570141200020485, - "heading": 0.5284810080472253, - "angularVelocity": 0.7971405222121561, - "velocityX": 2.504445667636898, - "velocityY": 2.0487434768884056, - "timestamp": 9.89762880930473 - }, - { - "x": 7.633199119801413, - "y": 2.6876980533080026, - "heading": 0.5684145092479561, - "angularVelocity": 0.7160420168742332, - "velocityX": 2.22597540858659, - "velocityY": 2.1078954710798543, - "timestamp": 9.953398582948816 - }, - { - "x": 7.741554690257944, - "y": 2.8069018359636293, - "heading": 0.603691839683821, - "angularVelocity": 0.6325528710408487, - "velocityX": 1.9429085573852172, - "velocityY": 2.1374263309076094, - "timestamp": 10.009168356592902 - }, - { - "x": 7.8340426189154515, - "y": 2.926359352059011, - "heading": 0.634236867715058, - "angularVelocity": 0.5476986194380259, - "velocityX": 1.6583880947366105, - "velocityY": 2.141975989677505, - "timestamp": 10.064938130236987 - }, - { - "x": 7.9106883703790265, - "y": 3.044905211891904, - "heading": 0.6600110520724907, - "angularVelocity": 0.4621532897357523, - "velocityX": 1.3743242343552553, - "velocityY": 2.125629208922992, - "timestamp": 10.120707903881073 - }, - { - "x": 7.971578677351933, - "y": 3.1615649052675256, - "heading": 0.6809999057835043, - "angularVelocity": 0.37634819615660037, - "velocityX": 1.0918155659282187, - "velocityY": 2.091808622357435, - "timestamp": 10.176477677525158 - }, - { - "x": 8.016833117191899, - "y": 3.2755201745089106, - "heading": 0.6972038977263983, - "angularVelocity": 0.29055150996856166, - "velocityX": 0.8114510223543884, - "velocityY": 2.043315971992817, - "timestamp": 10.232247451169243 - }, - { - "x": 8.046586768246696, - "y": 3.3860795222420745, - "heading": 0.7086324373644792, - "angularVelocity": 0.2049235435491652, - "velocityX": 0.5335085497151109, - "velocityY": 1.9824241790676127, - "timestamp": 10.288017224813329 - }, - { - "x": 8.060979854260694, - "y": 3.4926541817887737, - "heading": 0.715299943712957, - "angularVelocity": 0.11955412247194647, - "velocityX": 0.2580804093961653, - "velocityY": 1.910975293298518, - "timestamp": 10.343786998457414 - }, - { - "x": 8.060151705157804, - "y": 3.594738929349592, - "heading": 0.7172233049609025, - "angularVelocity": 0.034487521147568596, - "velocityX": -0.014849425571926141, - "velocityY": 1.8304673103446223, - "timestamp": 10.3995567721015 - }, - { - "x": 8.04423735574141, - "y": 3.6918968779622365, - "heading": 0.7144202648047442, - "angularVelocity": -0.05026092044136668, - "velocityX": -0.2853579703937069, - "velocityY": 1.7421255684610018, - "timestamp": 10.455326545745585 - }, - { - "x": 8.013365745544434, - "y": 3.783747434616089, - "heading": 0.706908432995524, - "angularVelocity": -0.13469360405081665, - "velocityX": -0.5535545185102473, - "velocityY": 1.6469594666105056, - "timestamp": 10.51109631938967 - }, - { - "x": 7.966240008450173, - "y": 3.8718311568256762, - "heading": 0.6943083666247631, - "angularVelocity": -0.22078504296141274, - "velocityX": -0.8257621494033686, - "velocityY": 1.5434496787551952, - "timestamp": 10.568165703265294 - }, - { - "x": 7.903637633551601, - "y": 3.953847701206782, - "heading": 0.6768953931750158, - "angularVelocity": -0.30511935239562316, - "velocityX": -1.0969520020578343, - "velocityY": 1.437137372287953, - "timestamp": 10.625235087140917 - }, - { - "x": 7.8256280875512765, - "y": 4.029612355077064, - "heading": 0.6547868801961407, - "angularVelocity": -0.38739708539798207, - "velocityX": -1.3669246223218023, - "velocityY": 1.3275884322739986, - "timestamp": 10.68230447101654 - }, - { - "x": 7.732295732907965, - "y": 4.098909485083783, - "heading": 0.6281225750310581, - "angularVelocity": -0.4672260913696688, - "velocityX": -1.6354189988579395, - "velocityY": 1.2142610503338351, - "timestamp": 10.739373854892163 - }, - { - "x": 7.623744896157086, - "y": 4.16148422694545, - "heading": 0.5970717835083564, - "angularVelocity": -0.5440884308541606, - "velocityX": -1.902085310531024, - "velocityY": 1.0964678013353422, - "timestamp": 10.796443238767786 - }, - { - "x": 7.500107414312447, - "y": 4.217031008030893, - "heading": 0.5618432556119679, - "angularVelocity": -0.6172929424499382, - "velocityX": -2.166441504153836, - "velocityY": 0.9733201466919875, - "timestamp": 10.853512622643409 - }, - { - "x": 7.361554289078083, - "y": 4.265177319785923, - "heading": 0.5226990910090863, - "angularVelocity": -0.6859048047231799, - "velocityX": -2.427801315260849, - "velocityY": 0.8436451996741265, - "timestamp": 10.910582006519032 - }, - { - "x": 7.208314472207239, - "y": 4.305460180951621, - "heading": 0.4799749331776388, - "angularVelocity": -0.748635344032456, - "velocityX": -2.6851493123670993, - "velocityY": 0.7058576495847575, - "timestamp": 10.967651390394655 - }, - { - "x": 7.04070672092061, - "y": 4.337291084304275, - "heading": 0.4341107031105424, - "angularVelocity": -0.8036573544766614, - "velocityX": -2.9369118764609987, - "velocityY": 0.5577579639203134, - "timestamp": 11.024720774270278 - }, - { - "x": 6.859196980023488, - "y": 4.359902561866159, - "heading": 0.38570049610139884, - "angularVelocity": -0.8482693122226175, - "velocityX": -3.1805099086526467, - "velocityY": 0.39621029747164144, - "timestamp": 11.081790158145902 - }, - { - "x": 6.664509345661969, - "y": 4.372266184440463, - "heading": 0.33558027930717554, - "angularVelocity": -0.8782330102503829, - "velocityX": -3.411419944287813, - "velocityY": 0.21664194940757758, - "timestamp": 11.138859542021525 - }, - { - "x": 6.457857876304668, - "y": 4.372974056751145, - "heading": 0.28499344198952337, - "angularVelocity": -0.8864093824440242, - "velocityX": -3.621056603794368, - "velocityY": 0.012403713911223541, - "timestamp": 11.195928925897148 - }, - { - "x": 6.241459304464819, - "y": 4.360126451607489, - "heading": 0.23589645193749556, - "angularVelocity": -0.8603034888028499, - "velocityX": -3.791850500987835, - "velocityY": -0.22512254857450334, - "timestamp": 11.25299830977277 - }, - { - "x": 6.019579657099656, - "y": 4.331576905992715, - "heading": 0.19136436588478378, - "angularVelocity": -0.7803148208111865, - "velocityX": -3.8878928121727503, - "velocityY": -0.5002602740025169, - "timestamp": 11.310067693648394 - }, - { - "x": 5.798551620924673, - "y": 4.286498911567636, - "heading": 0.15351127427729616, - "angularVelocity": -0.6632819392265463, - "velocityX": -3.872970429410807, - "velocityY": -0.789880516728909, - "timestamp": 11.367137077524017 - }, - { - "x": 5.582334432989124, - "y": 4.225425033971107, - "heading": 0.1155118535473049, - "angularVelocity": -0.665845995688459, - "velocityX": -3.788672196054744, - "velocityY": -1.0701688619879504, - "timestamp": 11.42420646139964 - }, - { - "x": 5.374024465313053, - "y": 4.149876189702931, - "heading": 0.0697446592710017, - "angularVelocity": -0.8019570419061819, - "velocityX": -3.650117690600284, - "velocityY": -1.3238069020129641, - "timestamp": 11.481275845275263 - }, - { - "x": 5.177992197827677, - "y": 4.063196905648788, - "heading": 0.017847542723990653, - "angularVelocity": -0.9093687897545091, - "velocityX": -3.43498131875068, - "velocityY": -1.5188403688228005, - "timestamp": 11.538345229150886 - }, - { - "x": 4.996804237365723, - "y": 3.968907356262207, - "heading": -0.036582580096447645, - "angularVelocity": -0.9537534685684189, - "velocityX": -3.174871501273511, - "velocityY": -1.6521914726129727, - "timestamp": 11.59541461302651 - }, - { - "x": 4.831701648512126, - "y": 3.869632531276603, - "heading": -0.09108789522014621, - "angularVelocity": -0.956247053450245, - "velocityX": -2.8965774025882935, - "velocityY": -1.74168810250575, - "timestamp": 11.652413811013094 - }, - { - "x": 4.683239484058957, - "y": 3.7696816729003366, - "heading": -0.14402851520145338, - "angularVelocity": -0.9287958752291116, - "velocityX": -2.604636024670233, - "velocityY": -1.7535485043103856, - "timestamp": 11.709413008999679 - }, - { - "x": 4.551166900503627, - "y": 3.672576162220203, - "heading": -0.19413777607531787, - "angularVelocity": -0.8791222095029895, - "velocityX": -2.317095471876902, - "velocityY": -1.7036294212944654, - "timestamp": 11.766412206986264 - }, - { - "x": 4.434814024677728, - "y": 3.580852424602329, - "heading": -0.240569995174145, - "angularVelocity": -0.8146117969897673, - "velocityX": -2.0413072452928884, - "velocityY": -1.6092110215210784, - "timestamp": 11.823411404972848 - }, - { - "x": 4.333433551144432, - "y": 3.4962968449308427, - "heading": -0.2827665728058861, - "angularVelocity": -0.7403012519873094, - "velocityX": -1.7786298248820436, - "velocityY": -1.4834520950871575, - "timestamp": 11.880410602959433 - }, - { - "x": 4.246331382415327, - "y": 3.420184326553122, - "heading": -0.32034046484185646, - "angularVelocity": -0.6592003635702718, - "velocityX": -1.5281297247306171, - "velocityY": -1.3353261285471856, - "timestamp": 11.937409800946018 - }, - { - "x": 4.172901382527213, - "y": 3.353448110684795, - "heading": -0.353008344600164, - "angularVelocity": -0.5731287616712845, - "velocityX": -1.2882637384721891, - "velocityY": -1.170827278728279, - "timestamp": 11.994408998932602 - }, - { - "x": 4.112625106867851, - "y": 3.296790361986866, - "heading": -0.38055433946809814, - "angularVelocity": -0.4832698676640572, - "velocityX": -1.0574933997062392, - "velocityY": -0.9940095773148284, - "timestamp": 12.051408196919187 - }, - { - "x": 4.065061021100414, - "y": 3.2507532442668188, - "heading": -0.4028098814387128, - "angularVelocity": -0.3904535985901558, - "velocityX": -0.8344693863698196, - "velocityY": -0.8076800963214009, - "timestamp": 12.108407394905772 - }, - { - "x": 4.029832043193561, - "y": 3.2157652112178092, - "heading": -0.41964145091513144, - "angularVelocity": -0.29529484748855805, - "velocityX": -0.6180609403512081, - "velocityY": -0.6138337781041129, - "timestamp": 12.165406592892356 - }, - { - "x": 4.006614252366996, - "y": 3.1921718341567256, - "heading": -0.43094241785407744, - "angularVelocity": -0.19826536755141405, - "velocityX": -0.40733539500027605, - "velocityY": -0.413924719899331, - "timestamp": 12.222405790878941 - }, - { - "x": 3.995127439498902, - "y": 3.1802568435668945, - "heading": -0.43662724907911504, - "angularVelocity": -0.09973528445743389, - "velocityX": -0.201525868325339, - "velocityY": -0.20903786387722884, - "timestamp": 12.279404988865526 - }, - { - "x": 3.995127439498902, - "y": 3.1802568435668945, - "heading": -0.43662724907911504, - "angularVelocity": 3.139708268480762e-27, - "velocityX": 2.985814455257795e-29, - "velocityY": -2.388166631545772e-27, - "timestamp": 12.33640418685211 - } - ], - "eventMarkers": [] +{ + "samples": [ + { + "x": 0.6885567903518677, + "y": 4.453176975250244, + "heading": -1.0863186564678593, + "angularVelocity": 3.394120175036044e-27, + "velocityX": -2.1149346198916325e-25, + "velocityY": -3.6854833776665248e-25, + "timestamp": 0 + }, + { + "x": 0.701309503097222, + "y": 4.443900931648444, + "heading": -1.0829185789751592, + "angularVelocity": 0.06123493124721272, + "velocityX": 0.2296746147268097, + "velocityY": -0.16706027830890885, + "timestamp": 0.055525129586146055 + }, + { + "x": 0.7268154815552788, + "y": 4.425347913055752, + "heading": -1.0761583023507493, + "angularVelocity": 0.12175165865973384, + "velocityX": 0.45935918832003475, + "velocityY": -0.334137330808164, + "timestamp": 0.11105025917229211 + }, + { + "x": 0.7650753560299537, + "y": 4.3975168405520435, + "heading": -1.0660842521869078, + "angularVelocity": 0.18143226749631602, + "velocityX": 0.6890551136006906, + "velocityY": -0.5012338145114863, + "timestamp": 0.16657538875843816 + }, + { + "x": 0.8160898545753549, + "y": 4.3604064485110285, + "heading": -1.052751348041684, + "angularVelocity": 0.24012378259357745, + "velocityX": 0.9187641510363933, + "velocityY": -0.6683530919714367, + "timestamp": 0.22210051834458422 + }, + { + "x": 0.8798598296859603, + "y": 4.314015230291449, + "heading": -1.0362257436703786, + "angularVelocity": 0.2976238775934092, + "velocityX": 1.1484885417812079, + "velocityY": -0.8354995038346342, + "timestamp": 0.2776256479307303 + }, + { + "x": 0.9563862935427256, + "y": 4.258341360780349, + "heading": -1.0165888098402591, + "angularVelocity": 0.35365849618870837, + "velocityX": 1.3782311617667844, + "velocityY": -1.0026787857329247, + "timestamp": 0.3331507775168764 + }, + { + "x": 1.0456704648547377, + "y": 4.193382582363671, + "heading": -0.9939431496875328, + "angularVelocity": 0.4078452463148618, + "velocityX": 1.6079957305365589, + "velocityY": -1.169898726952011, + "timestamp": 0.38867590710302247 + }, + { + "x": 1.1477138307776387, + "y": 4.119136030759216, + "heading": -0.9684221265669595, + "angularVelocity": 0.45963014063709734, + "velocityX": 1.8377870827763283, + "velocityY": -1.3371702535023144, + "timestamp": 0.44420103668916855 + }, + { + "x": 1.2625182253193026, + "y": 4.035597957054578, + "heading": -0.9402059046034171, + "angularVelocity": 0.5081703036778226, + "velocityX": 2.0676114652474116, + "velocityY": -1.504509297452977, + "timestamp": 0.49972616627531463 + }, + { + "x": 1.3900859107662955, + "y": 3.9427632601540505, + "heading": -0.9095507354987135, + "angularVelocity": 0.5520954085688863, + "velocityX": 2.2974765911905615, + "velocityY": -1.671940211440602, + "timestamp": 0.5552512958614607 + }, + { + "x": 1.5304195680842245, + "y": 3.840624652337327, + "heading": -0.8768488312128728, + "angularVelocity": 0.588956829629805, + "velocityX": 2.527390000958115, + "velocityY": -1.8395023762755498, + "timestamp": 0.6107764254476068 + }, + { + "x": 1.6835216202036696, + "y": 3.729171108221817, + "heading": -0.8427733340930771, + "angularVelocity": 0.6136950489584778, + "velocityX": 2.7573470473744757, + "velocityY": -2.007263106745065, + "timestamp": 0.6663015550337529 + }, + { + "x": 1.8493882506818127, + "y": 3.608385664410105, + "heading": -0.808746208075466, + "angularVelocity": 0.612823892014852, + "velocityX": 2.9872353601769563, + "velocityY": -2.1753293456851024, + "timestamp": 0.721826684619899 + }, + { + "x": 2.027907239187379, + "y": 3.4782789596731347, + "heading": -0.7798687850274081, + "angularVelocity": 0.5200784449004344, + "velocityX": 3.2151026001406824, + "velocityY": -2.3432039818135415, + "timestamp": 0.777351814206045 + }, + { + "x": 2.212973382556378, + "y": 3.343779104303734, + "heading": -0.7798687767385638, + "angularVelocity": 1.4928095213230132e-7, + "velocityX": 3.333015964994242, + "velocityY": -2.4223240246693583, + "timestamp": 0.8328769437921911 + }, + { + "x": 2.3980395462614625, + "y": 3.209279276915848, + "heading": -0.7798687684499269, + "angularVelocity": 1.4927721668634784e-7, + "velocityX": 3.333016331244363, + "velocityY": -2.4223235207260925, + "timestamp": 0.8884020733783372 + }, + { + "x": 2.583105709967169, + "y": 3.074779449528818, + "heading": -0.7798687601612903, + "angularVelocity": 1.4927721505001108e-7, + "velocityX": 3.333016331255567, + "velocityY": -2.4223235207106772, + "timestamp": 0.9439272029644833 + }, + { + "x": 2.768171873672875, + "y": 2.940279622141788, + "heading": -0.7798687518726534, + "angularVelocity": 1.4927721772237764e-7, + "velocityX": 3.3330163312555676, + "velocityY": -2.422323520710677, + "timestamp": 0.9994523325506294 + }, + { + "x": 2.953238037378582, + "y": 2.8057797947547582, + "heading": -0.7798687435840165, + "angularVelocity": 1.4927721820085747e-7, + "velocityX": 3.333016331255571, + "velocityY": -2.4223235207106706, + "timestamp": 1.0549774621367753 + }, + { + "x": 3.138304201089101, + "y": 2.671279967374351, + "heading": -0.7798687352953797, + "angularVelocity": 1.4927721680994496e-7, + "velocityX": 3.333016331342246, + "velocityY": -2.4223235205914095, + "timestamp": 1.1105025917229214 + }, + { + "x": 3.323370522018546, + "y": 2.536780356320906, + "heading": -0.7798687270067427, + "angularVelocity": 1.4927722007479915e-7, + "velocityX": 3.3330191628336134, + "velocityY": -2.4223196245723564, + "timestamp": 1.1660277213090675 + }, + { + "x": 3.51247438849094, + "y": 2.408019274510783, + "heading": -0.779868718696711, + "angularVelocity": 1.49662535873164e-7, + "velocityX": 3.405734806597866, + "velocityY": -2.31896949669164, + "timestamp": 1.2215528508952136 + }, + { + "x": 3.710020303726196, + "y": 2.2926273345947266, + "heading": -0.779868710229491, + "angularVelocity": 1.5249347506293226e-7, + "velocityX": 3.5577749517678714, + "velocityY": -2.0781930771908943, + "timestamp": 1.2770779804813597 + }, + { + "x": 3.9581046340644135, + "y": 2.17413656564851, + "heading": -0.7798687023875752, + "angularVelocity": 1.1752432896230884e-7, + "velocityX": 3.7179619396532617, + "velocityY": -1.775783938234554, + "timestamp": 1.3438038734208 + }, + { + "x": 4.2151657327976855, + "y": 2.076640468884465, + "heading": -0.7798686946986859, + "angularVelocity": 1.1523096829074136e-7, + "velocityX": 3.8524939481376075, + "velocityY": -1.4611433803146185, + "timestamp": 1.4105297663602403 + }, + { + "x": 4.473273733448251, + "y": 1.981950673388302, + "heading": -0.779868687019788, + "angularVelocity": 1.1508123071029428e-7, + "velocityX": 3.8681835383577634, + "velocityY": -1.4190862246250013, + "timestamp": 1.4772556592996806 + }, + { + "x": 4.731381751981754, + "y": 1.8872609266379454, + "heading": -0.7798686793408901, + "angularVelocity": 1.1508123135598442e-7, + "velocityX": 3.8681838063637195, + "velocityY": -1.4190854940869202, + "timestamp": 1.543981552239121 + }, + { + "x": 4.989489770515562, + "y": 1.7925711798884192, + "heading": -0.7798686716619923, + "angularVelocity": 1.1508123122518e-7, + "velocityX": 3.868183806368286, + "velocityY": -1.4190854940744717, + "timestamp": 1.6107074451785612 + }, + { + "x": 5.247597789049369, + "y": 1.6978814331388932, + "heading": -0.7798686639830944, + "angularVelocity": 1.1508123020194597e-7, + "velocityX": 3.8681838063682856, + "velocityY": -1.419085494074472, + "timestamp": 1.6774333381180015 + }, + { + "x": 5.505705807583176, + "y": 1.6031916863893672, + "heading": -0.7798686563041966, + "angularVelocity": 1.1508122981029888e-7, + "velocityX": 3.868183806368286, + "velocityY": -1.419085494074472, + "timestamp": 1.7441592310574419 + }, + { + "x": 5.763813826116984, + "y": 1.5085019396398411, + "heading": -0.7798686486252987, + "angularVelocity": 1.150812311539268e-7, + "velocityX": 3.868183806368287, + "velocityY": -1.4190854940744704, + "timestamp": 1.8108851239968822 + }, + { + "x": 6.021921844652431, + "y": 1.413812192894788, + "heading": -0.7798686409464007, + "angularVelocity": 1.1508123149232243e-7, + "velocityX": 3.8681838063928784, + "velocityY": -1.419085494007436, + "timestamp": 1.8776110169363225 + }, + { + "x": 6.280029959502567, + "y": 1.319122708687512, + "heading": -0.7798686332674524, + "angularVelocity": 1.1508198682436301e-7, + "velocityX": 3.8681852498308413, + "velocityY": -1.4190815594362318, + "timestamp": 1.9443369098757628 + }, + { + "x": 6.535640541521234, + "y": 1.2363573105352137, + "heading": -0.7601601921076507, + "angularVelocity": 0.29536421757126274, + "velocityX": 3.830755509718786, + "velocityY": -1.240379026885639, + "timestamp": 2.011062802815203 + }, + { + "x": 6.770261917470024, + "y": 1.1616480507635125, + "heading": -0.7286485121958914, + "angularVelocity": 0.47225564954760224, + "velocityX": 3.5161968707069784, + "velocityY": -1.119644211273522, + "timestamp": 2.0777886957546436 + }, + { + "x": 6.98350443701307, + "y": 1.094927347846598, + "heading": -0.6949548329623987, + "angularVelocity": 0.5049565880530491, + "velocityX": 3.1957986644941965, + "velocityY": -0.9999222187625046, + "timestamp": 2.144514588694084 + }, + { + "x": 7.175340032760939, + "y": 1.036153040315015, + "heading": -0.6617196405184319, + "angularVelocity": 0.49808539054142775, + "velocityX": 2.874979821131458, + "velocityY": -0.8808320869519976, + "timestamp": 2.2112404816335247 + }, + { + "x": 7.345767051248528, + "y": 0.9853010621719508, + "heading": -0.630183689398933, + "angularVelocity": 0.47261939451481727, + "velocityX": 2.554136197806548, + "velocityY": -0.7621026246770035, + "timestamp": 2.2779663745729652 + }, + { + "x": 7.494787941521159, + "y": 0.9423562064943364, + "heading": -0.6010692809022818, + "angularVelocity": 0.43632849579210764, + "velocityX": 2.233329277554675, + "velocityY": -0.6436010637818008, + "timestamp": 2.344692267512406 + }, + { + "x": 7.6224056734264645, + "y": 0.9073080528508631, + "heading": -0.5748497275005627, + "angularVelocity": 0.3929442117097724, + "velocityX": 1.912566865476494, + "velocityY": -0.5252556706177386, + "timestamp": 2.4114181604518463 + }, + { + "x": 7.728622996709226, + "y": 0.8801490267496294, + "heading": -0.5518594737395791, + "angularVelocity": 0.3445477122629041, + "velocityX": 1.5918456629596907, + "velocityY": -0.4070237939847864, + "timestamp": 2.478144053391287 + }, + { + "x": 7.813442307646716, + "y": 0.8608733761969334, + "heading": -0.5323475063047407, + "angularVelocity": 0.29241972756433915, + "velocityX": 1.2711603726977772, + "velocityY": -0.28887812067483865, + "timestamp": 2.5448699463307274 + }, + { + "x": 7.876865663404102, + "y": 0.849476585375473, + "heading": -0.5165064137632613, + "angularVelocity": 0.23740547849777704, + "velocityX": 0.9505059125240666, + "velocityY": -0.17080012450045454, + "timestamp": 2.611595839270168 + }, + { + "x": 7.91889482908089, + "y": 0.8459550160486062, + "heading": -0.5044895665966007, + "angularVelocity": 0.18009271419667666, + "velocityX": 0.629877905342268, + "velocityY": -0.05277665343591268, + "timestamp": 2.6783217322096085 + }, + { + "x": 7.939531326293945, + "y": 0.8503056764602661, + "heading": -0.49642193244286464, + "angularVelocity": 0.12090709915352006, + "velocityX": 0.3092727021545489, + "velocityY": 0.06520198112011014, + "timestamp": 2.745047625149049 + }, + { + "x": 7.927180666475836, + "y": 0.8713586733936556, + "heading": -0.4930143763837493, + "angularVelocity": 0.036942190406947725, + "velocityX": -0.1338966751351047, + "velocityY": 0.22824094684214172, + "timestamp": 2.8372878529638696 + }, + { + "x": 7.87394900492315, + "y": 0.9074500624880938, + "heading": -0.49722150955455136, + "angularVelocity": -0.04561061123188263, + "velocityX": -0.5770981144967761, + "velocityY": 0.3912760186032336, + "timestamp": 2.9295280807786903 + }, + { + "x": 7.779832586973778, + "y": 0.9585793720111768, + "heading": -0.5088748847639726, + "angularVelocity": -0.1263372336071879, + "velocityX": -1.0203402591146986, + "velocityY": 0.5543059761921793, + "timestamp": 3.021768308593511 + }, + { + "x": 7.644826495037085, + "y": 1.0247459321009753, + "heading": -0.5277488943045168, + "angularVelocity": -0.20461798488220692, + "velocityX": -1.463635716595666, + "velocityY": 0.7173286716359051, + "timestamp": 3.1140085364083316 + }, + { + "x": 7.468924023316461, + "y": 1.1059487096578826, + "heading": -0.5535264419169841, + "angularVelocity": -0.2794610141707124, + "velocityX": -1.9070038733399683, + "velocityY": 0.8803401669814643, + "timestamp": 3.2062487642231523 + }, + { + "x": 7.252115520954535, + "y": 1.2021859450131016, + "heading": -0.5857297212655913, + "angularVelocity": -0.34912402225694766, + "velocityX": -2.350476657507682, + "velocityY": 1.04333258530565, + "timestamp": 3.298488992037973 + }, + { + "x": 6.994386027654477, + "y": 1.31345417318691, + "heading": -0.6235562220957586, + "angularVelocity": -0.4100868105628156, + "velocityX": -2.794111630095605, + "velocityY": 1.2062874388947544, + "timestamp": 3.3907292198527936 + }, + { + "x": 6.695710018451316, + "y": 1.439744501943248, + "heading": -0.6653719919030509, + "angularVelocity": -0.45333550011650886, + "velocityX": -3.238023325384417, + "velocityY": 1.369145889468917, + "timestamp": 3.4829694476676143 + }, + { + "x": 6.356050726739891, + "y": 1.5810125125479777, + "heading": -0.7059823103401129, + "angularVelocity": -0.44026689221312976, + "velocityX": -3.6823336168826186, + "velocityY": 1.5315227851381312, + "timestamp": 3.575209675482435 + }, + { + "x": 5.999398683183485, + "y": 1.7123177539849823, + "heading": -0.7059823175120675, + "angularVelocity": -7.775300131162323e-8, + "velocityX": -3.8665564039197022, + "velocityY": 1.4235138458310193, + "timestamp": 3.6674499032972556 + }, + { + "x": 5.642746522149845, + "y": 1.8436226763292314, + "heading": -0.7059823246840017, + "angularVelocity": -7.77527794510748e-8, + "velocityX": -3.866557677520564, + "velocityY": 1.4235103864645033, + "timestamp": 3.7596901311120763 + }, + { + "x": 5.28156245438674, + "y": 1.9537093318962377, + "heading": -0.7138474612609973, + "angularVelocity": -0.08526796565144627, + "velocityX": -3.915689242314218, + "velocityY": 1.1934777067985334, + "timestamp": 3.851930358926897 + }, + { + "x": 4.961235013550277, + "y": 2.048482673838497, + "heading": -0.723491200847142, + "angularVelocity": -0.10455025767613332, + "velocityX": -3.472752056505604, + "velocityY": 1.0274621408408044, + "timestamp": 3.9441705867417176 + }, + { + "x": 4.681796334872038, + "y": 2.1280729865083585, + "heading": -0.7292938799639851, + "angularVelocity": -0.06290833462046955, + "velocityX": -3.0294664843980423, + "velocityY": 0.8628590210081168, + "timestamp": 4.036410814556538 + }, + { + "x": 4.443240110455446, + "y": 2.1925269170063846, + "heading": -0.7294953062364742, + "angularVelocity": -0.002183713952804096, + "velocityX": -2.586249297817354, + "velocityY": 0.698761614373095, + "timestamp": 4.1286510423713585 + }, + { + "x": 4.245560384054017, + "y": 2.24186822032086, + "heading": -0.7232342713321199, + "angularVelocity": 0.06787748743339812, + "velocityX": -2.143096684434545, + "velocityY": 0.5349217416671156, + "timestamp": 4.220891270186179 + }, + { + "x": 4.0887527147976686, + "y": 2.2761112730627358, + "heading": -0.7099988392979812, + "angularVelocity": 0.1434887179670669, + "velocityX": -1.699992215664861, + "velocityY": 0.3712377294928318, + "timestamp": 4.313131498001 + }, + { + "x": 3.972813772950256, + "y": 2.2952657190650956, + "heading": -0.6894483842110904, + "angularVelocity": 0.22279276161532663, + "velocityX": -1.256923845419907, + "velocityY": 0.20765826858986366, + "timestamp": 4.4053717258158205 + }, + { + "x": 3.8977409855221326, + "y": 2.2993384931570473, + "heading": -0.6613385952715591, + "angularVelocity": 0.3047454413920573, + "velocityX": -0.8138833696165418, + "velocityY": 0.044153989950329355, + "timestamp": 4.497611953630641 + }, + { + "x": 3.863532304763794, + "y": 2.288334846496582, + "heading": -0.6254844943742653, + "angularVelocity": 0.3887035163147435, + "velocityX": -0.37086509399147366, + "velocityY": -0.11929335953675119, + "timestamp": 4.589852181445462 + }, + { + "x": 3.8588969628219925, + "y": 2.2742859384660616, + "heading": -0.5980545373887644, + "angularVelocity": 0.4457546351730898, + "velocityX": -0.07532732031852572, + "velocityY": -0.22830388968656506, + "timestamp": 4.651388180896931 + }, + { + "x": 3.87252307186548, + "y": 2.2537298660333667, + "heading": -0.5672227548547781, + "angularVelocity": 0.5010365121038134, + "velocityX": 0.22143313125569966, + "velocityY": -0.33404954199056636, + "timestamp": 4.7129241803484 + }, + { + "x": 3.904495293557158, + "y": 2.226901435332701, + "heading": -0.5331165435350333, + "angularVelocity": 0.5542481088105673, + "velocityX": 0.5195693898966114, + "velocityY": -0.4359794419496553, + "timestamp": 4.77446017979987 + }, + { + "x": 3.954909336055298, + "y": 2.1940785550728865, + "heading": -0.495886840771047, + "angularVelocity": 0.6050068755826099, + "velocityX": 0.8192609683360987, + "velocityY": -0.5333931447022372, + "timestamp": 4.835996179251339 + }, + { + "x": 4.02387381433517, + "y": 2.1555950274998867, + "heading": -0.45571503088966375, + "angularVelocity": 0.6528180291126203, + "velocityX": 1.120717610742014, + "velocityY": -0.6253823439294258, + "timestamp": 4.897532178702808 + }, + { + "x": 4.111512236956564, + "y": 2.1118588104756206, + "heading": -0.412822729802436, + "angularVelocity": 0.6970277799916975, + "velocityX": 1.4241813475461795, + "velocityY": -0.7107419626581243, + "timestamp": 4.959068178154277 + }, + { + "x": 4.217964742540069, + "y": 2.063378913974966, + "heading": -0.36748611131765924, + "angularVelocity": 0.7367495269258114, + "velocityX": 1.7299224280489682, + "velocityY": -0.7878298383515892, + "timestamp": 5.020604177605747 + }, + { + "x": 4.3433885040310445, + "y": 2.010806456684427, + "heading": -0.32005768718105704, + "angularVelocity": 0.7707427287990534, + "velocityX": 2.0382176711031144, + "velocityY": -0.854336612050985, + "timestamp": 5.082140177057216 + }, + { + "x": 4.487953805149203, + "y": 1.954999944894153, + "heading": -0.2710008539723626, + "angularVelocity": 0.7972054349646767, + "velocityX": 2.3492801353161026, + "velocityY": -0.9068921003596625, + "timestamp": 5.143676176508685 + }, + { + "x": 4.651827347820778, + "y": 1.8971338065315515, + "heading": -0.22094730911564786, + "angularVelocity": 0.8134026472778757, + "velocityX": 2.66305161421512, + "velocityY": -0.9403623712691659, + "timestamp": 5.205212175960154 + }, + { + "x": 4.835117881418664, + "y": 1.8388867617728581, + "heading": -0.17079707648624934, + "angularVelocity": 0.8149738864475594, + "velocityX": 2.978590341129327, + "velocityY": -0.9465523478598972, + "timestamp": 5.266748175411624 + }, + { + "x": 5.037706705982249, + "y": 1.7827750767858257, + "heading": -0.12189771533901265, + "angularVelocity": 0.7946464115822435, + "velocityX": 3.2922001165083703, + "velocityY": -0.9118513632217131, + "timestamp": 5.328284174863093 + }, + { + "x": 5.258723241665742, + "y": 1.7326877167097992, + "heading": -0.07633456189791264, + "angularVelocity": 0.7404308672524917, + "velocityX": 3.5916624033676507, + "velocityY": -0.8139521665773647, + "timestamp": 5.389820174314562 + }, + { + "x": 5.49513452171728, + "y": 1.6942432648547043, + "heading": -0.03706015615864722, + "angularVelocity": 0.6382346283371836, + "velocityX": 3.8418370085625435, + "velocityY": -0.6247473381075812, + "timestamp": 5.451356173766031 + }, + { + "x": 5.7400281736184455, + "y": 1.6729770610154633, + "heading": -0.007145484204979612, + "angularVelocity": 0.4861328688950628, + "velocityX": 3.9796810661099893, + "velocityY": -0.34558963905368534, + "timestamp": 5.512892173217501 + }, + { + "x": 5.9874771608430795, + "y": 1.6708818345855783, + "heading": 0.017579240823119676, + "angularVelocity": 0.40179285700232625, + "velocityX": 4.021206926520915, + "velocityY": -0.03404879174079811, + "timestamp": 5.57442817266897 + }, + { + "x": 6.234120845794678, + "y": 1.6881886720657349, + "heading": 0.04311790612474964, + "angularVelocity": 0.41501991564744656, + "velocityX": 4.008120241000007, + "velocityY": 0.28124736145393664, + "timestamp": 5.635964172120439 + }, + { + "x": 6.467272536529507, + "y": 1.7222668368059177, + "heading": 0.07140808783124676, + "angularVelocity": 0.4798746133284011, + "velocityX": 3.9548553840693117, + "velocityY": 0.5780537678158916, + "timestamp": 5.694917450582654 + }, + { + "x": 6.692584478408081, + "y": 1.7722919010776508, + "heading": 0.10380607474487556, + "angularVelocity": 0.5495536085307539, + "velocityX": 3.8218729773100346, + "velocityY": 0.8485544074329195, + "timestamp": 5.753870729044869 + }, + { + "x": 6.904741537320341, + "y": 1.8343117738412145, + "heading": 0.13881865410428046, + "angularVelocity": 0.5939038552681234, + "velocityX": 3.598732156146937, + "velocityY": 1.0520173666561004, + "timestamp": 5.812824007507084 + }, + { + "x": 7.100383513043178, + "y": 1.9030310585915293, + "heading": 0.17471896196074413, + "angularVelocity": 0.6089620254024232, + "velocityX": 3.318593652908188, + "velocityY": 1.1656567122786685, + "timestamp": 5.871777285969299 + }, + { + "x": 7.278323373731877, + "y": 1.973830348179141, + "heading": 0.21010738421181074, + "angularVelocity": 0.6002791222840638, + "velocityX": 3.0183200210442145, + "velocityY": 1.2009389712395522, + "timestamp": 5.930730564431514 + }, + { + "x": 7.4384871771356265, + "y": 2.0434113203538615, + "heading": 0.24403115598521166, + "angularVelocity": 0.5754348639854446, + "velocityX": 2.716792137461926, + "velocityY": 1.1802731585032522, + "timestamp": 5.9896838428937285 + }, + { + "x": 7.581181613697001, + "y": 2.1095234080577914, + "heading": 0.27585930904768985, + "angularVelocity": 0.5398877533651957, + "velocityX": 2.4204665165963752, + "velocityY": 1.1214319106324677, + "timestamp": 6.048637121355943 + }, + { + "x": 7.706797630897918, + "y": 2.1706045807896808, + "heading": 0.3051630458824759, + "angularVelocity": 0.49706712839672884, + "velocityX": 2.1307723756436663, + "velocityY": 1.0360945875306653, + "timestamp": 6.107590399818158 + }, + { + "x": 7.815712043569113, + "y": 2.2255333978794116, + "heading": 0.33163957385897364, + "angularVelocity": 0.4491103576787036, + "velocityX": 1.847469988306098, + "velocityY": 0.9317347316813903, + "timestamp": 6.166543678280373 + }, + { + "x": 7.908260582203949, + "y": 2.273476340322031, + "heading": 0.35506686665379467, + "angularVelocity": 0.3973874465664564, + "velocityX": 1.5698624580167049, + "velocityY": 0.8132362388182927, + "timestamp": 6.225496956742588 + }, + { + "x": 7.984734808626996, + "y": 2.3137943937734238, + "heading": 0.37527661607304347, + "angularVelocity": 0.34280959340033684, + "velocityX": 1.2972005699744291, + "velocityY": 0.6838984107937889, + "timestamp": 6.284450235204803 + }, + { + "x": 8.045386300065186, + "y": 2.3459844705884807, + "heading": 0.3921375822600176, + "angularVelocity": 0.2860055730027077, + "velocityX": 1.0288060820411038, + "velocityY": 0.5460269158005876, + "timestamp": 6.343403513667018 + }, + { + "x": 8.090432430021092, + "y": 2.369641472578161, + "heading": 0.40554498361648383, + "angularVelocity": 0.2274241858331832, + "velocityX": 0.76409881063319, + "velocityY": 0.40128390832145205, + "timestamp": 6.402356792129233 + }, + { + "x": 8.120061893982145, + "y": 2.3844329106489335, + "heading": 0.41541350240022923, + "angularVelocity": 0.1673955892049397, + "velocityX": 0.5025923024797195, + "velocityY": 0.25090102631447014, + "timestamp": 6.4613100705914475 + }, + { + "x": 8.134439468383789, + "y": 2.3900814056396484, + "heading": 0.4216725296119854, + "angularVelocity": 0.10616928142118104, + "velocityX": 0.24388082862701033, + "velocityY": 0.09581307669488197, + "timestamp": 6.520263349053662 + }, + { + "x": 8.132176285564572, + "y": 2.3851078879497147, + "heading": 0.42413738865593775, + "angularVelocity": 0.03838472583689847, + "velocityX": -0.03524406486753986, + "velocityY": -0.07745153356394213, + "timestamp": 6.58447792894739 + }, + { + "x": 8.111834551335587, + "y": 2.369262184782309, + "heading": 0.42223170348479205, + "angularVelocity": -0.029676830001840532, + "velocityX": -0.3167775022845199, + "velocityY": -0.24676176646533576, + "timestamp": 6.648692508841117 + }, + { + "x": 8.073236234054438, + "y": 2.3428469037837596, + "heading": 0.41593590278547166, + "angularVelocity": -0.09804316573805726, + "velocityX": -0.6010833886171775, + "velocityY": -0.41135955482797815, + "timestamp": 6.712907088734845 + }, + { + "x": 8.016174669315534, + "y": 2.3062284127277977, + "heading": 0.4052283935995224, + "angularVelocity": -0.16674576402539432, + "velocityX": -0.8886076157990642, + "velocityY": -0.5702519757438951, + "timestamp": 6.777121668628572 + }, + { + "x": 7.940407873057922, + "y": 2.259858654551234, + "heading": 0.3900854339256775, + "angularVelocity": -0.23581809145066257, + "velocityX": -1.1799002093138764, + "velocityY": -0.7221063853926085, + "timestamp": 6.8413362485223 + }, + { + "x": 7.845650198886334, + "y": 2.2043077633338255, + "heading": 0.37048131278322016, + "angularVelocity": -0.30529081051221507, + "velocityX": -1.4756411134108256, + "velocityY": -0.865082218233669, + "timestamp": 6.905550828416027 + }, + { + "x": 7.731562513102335, + "y": 2.140314722394816, + "heading": 0.34638932376904424, + "angularVelocity": -0.3751794227112801, + "velocityX": -1.776663274490152, + "velocityY": -0.9965500209596554, + "timestamp": 6.969765408309755 + }, + { + "x": 7.597742640115569, + "y": 2.0688695295905424, + "heading": 0.3177847679181409, + "angularVelocity": -0.44545266664117245, + "velocityX": -2.083948430531411, + "velocityY": -1.1126007975527197, + "timestamp": 7.033979988203482 + }, + { + "x": 7.443723347321437, + "y": 1.991352898659247, + "heading": 0.28465327704940796, + "angularVelocity": -0.5159496632005437, + "velocityX": -2.398509700585578, + "velocityY": -1.2071500126541717, + "timestamp": 7.09819456809721 + }, + { + "x": 7.2690042706160805, + "y": 1.909784448765435, + "heading": 0.24701367157934487, + "angularVelocity": -0.5861535734151859, + "velocityX": -2.7208630344465448, + "velocityY": -1.270248127898756, + "timestamp": 7.162409147990937 + }, + { + "x": 7.0732110345953325, + "y": 1.8272697519579237, + "heading": 0.20498160985555938, + "angularVelocity": -0.654556360772695, + "velocityX": -3.0490464368805132, + "velocityY": -1.2849838299038974, + "timestamp": 7.226623727884665 + }, + { + "x": 6.856687516382241, + "y": 1.7487095931314518, + "heading": 0.158939232751959, + "angularVelocity": -0.7170081495479512, + "velocityX": -3.3718747139891065, + "velocityY": -1.223400650700919, + "timestamp": 7.290838307778392 + }, + { + "x": 6.622137169577345, + "y": 1.6811594344762097, + "heading": 0.10987454919796363, + "angularVelocity": -0.7640738853262871, + "velocityX": -3.652602682958729, + "velocityY": -1.0519442588744687, + "timestamp": 7.3550528876721195 + }, + { + "x": 6.376228451811506, + "y": 1.6314432842511626, + "heading": 0.0595492132865963, + "angularVelocity": -0.783705756459888, + "velocityX": -3.829484179026162, + "velocityY": -0.7742190372860123, + "timestamp": 7.419267467565847 + }, + { + "x": 6.126649542350112, + "y": 1.602554470841584, + "heading": 0.00931766555509535, + "angularVelocity": -0.7822452130751675, + "velocityX": -3.886639293980256, + "velocityY": -0.4498793491663203, + "timestamp": 7.4834820474595745 + }, + { + "x": 5.877150893660191, + "y": 1.594782132459995, + "heading": -0.04431021757632018, + "angularVelocity": -0.8351356221619418, + "velocityX": -3.8853894100503816, + "velocityY": -0.12103697313681898, + "timestamp": 7.547696627353302 + }, + { + "x": 5.631840705871582, + "y": 1.6077326536178589, + "heading": -0.09946026915631453, + "angularVelocity": -0.8588400277828766, + "velocityX": -3.8201633989444104, + "velocityY": 0.20167571257643785, + "timestamp": 7.611911207247029 + }, + { + "x": 5.408191557035955, + "y": 1.6373943243488176, + "heading": -0.15130862691248864, + "angularVelocity": -0.8625486017123365, + "velocityX": -3.720624315807819, + "velocityY": 0.4934511664526841, + "timestamp": 7.672021858001369 + }, + { + "x": 5.193948054538076, + "y": 1.6830215447877035, + "heading": -0.20249256634286344, + "angularVelocity": -0.8514953471316359, + "velocityX": -3.5641521063122457, + "velocityY": 0.7590538426435499, + "timestamp": 7.732132508755708 + }, + { + "x": 4.992708519368323, + "y": 1.7418388706856198, + "heading": -0.2519810867857048, + "angularVelocity": -0.8232903790227013, + "velocityX": -3.347818275868942, + "velocityY": 0.9784842645988236, + "timestamp": 7.792243159510047 + }, + { + "x": 4.807476467472973, + "y": 1.8099478214565607, + "heading": -0.29877876502879425, + "angularVelocity": -0.778525563370499, + "velocityX": -3.0815179934144843, + "velocityY": 1.133059614498085, + "timestamp": 7.852353810264386 + }, + { + "x": 4.640051176081192, + "y": 1.8830509886189777, + "heading": -0.34211563798950406, + "angularVelocity": -0.7209516519430013, + "velocityX": -2.785284958501204, + "velocityY": 1.2161433330870974, + "timestamp": 7.912464461018725 + }, + { + "x": 4.491074408686971, + "y": 1.9572734446033506, + "heading": -0.38149861118808165, + "angularVelocity": -0.6551746271975682, + "velocityX": -2.4783755544929993, + "velocityY": 1.2347638072944158, + "timestamp": 7.9725751117730645 + }, + { + "x": 4.360467804854574, + "y": 2.0295250421816173, + "heading": -0.41665596351126605, + "angularVelocity": -0.5848772535646916, + "velocityX": -2.1727697536691237, + "velocityY": 1.2019766326194772, + "timestamp": 8.032685762527404 + }, + { + "x": 4.247824136670683, + "y": 2.0974690843884547, + "heading": -0.44745848671344385, + "angularVelocity": -0.5124303732471919, + "velocityX": -1.8739385910866808, + "velocityY": 1.1303161977818494, + "timestamp": 8.092796413281743 + }, + { + "x": 4.152630521964107, + "y": 2.1593575088225836, + "heading": -0.4738576897252565, + "angularVelocity": -0.4391767961338674, + "velocityX": -1.5836397295982356, + "velocityY": 1.0295750196925144, + "timestamp": 8.152907064036082 + }, + { + "x": 4.0743710372510344, + "y": 2.213869973094629, + "heading": -0.495847468032445, + "angularVelocity": -0.36582166440114666, + "velocityX": -1.3019237644407449, + "velocityY": 0.90686864287707, + "timestamp": 8.213017714790421 + }, + { + "x": 4.012566881536003, + "y": 2.259991535127209, + "heading": -0.5134428122609265, + "angularVelocity": -0.29271591652517925, + "velocityX": -1.0281731263834195, + "velocityY": 0.7672777029327102, + "timestamp": 8.27312836554476 + }, + { + "x": 3.9667882785861663, + "y": 2.296926593546496, + "heading": -0.5266685380504919, + "angularVelocity": -0.22002300130830899, + "velocityX": -0.7615722401163919, + "velocityY": 0.6144511489358724, + "timestamp": 8.3332390162991 + }, + { + "x": 3.9366546232582045, + "y": 2.3240395045135216, + "heading": -0.5355534491643124, + "angularVelocity": -0.14780926511894657, + "velocityX": -0.5013030960372105, + "velocityY": 0.4510500323450303, + "timestamp": 8.393349667053439 + }, + { + "x": 3.9218302529315436, + "y": 2.340813447733847, + "heading": -0.5401273706627876, + "angularVelocity": -0.07609169824442547, + "velocityX": -0.24661803092508605, + "velocityY": 0.2790511000933509, + "timestamp": 8.453460317807778 + }, + { + "x": 3.922019004821778, + "y": 2.3468215465545654, + "heading": -0.5404196941509068, + "angularVelocity": -0.00486308972621038, + "velocityX": 0.0031400739779980803, + "velocityY": 0.09995065342533552, + "timestamp": 8.513570968562117 + }, + { + "x": 3.9374653525267678, + "y": 2.343996586754968, + "heading": -0.5363170167809265, + "angularVelocity": 0.0699891910700783, + "velocityX": 0.26350533648336844, + "velocityY": -0.048192103192425555, + "timestamp": 8.572189696786488 + }, + { + "x": 3.9683552537421263, + "y": 2.3328180917591665, + "heading": -0.52776434309664, + "angularVelocity": 0.14590343297026154, + "velocityX": 0.5269630056988549, + "velocityY": -0.19069835416787767, + "timestamp": 8.630808425010859 + }, + { + "x": 4.014893571544688, + "y": 2.3136810117650746, + "heading": -0.5146908632348776, + "angularVelocity": 0.22302564824883497, + "velocityX": 0.7939155149260704, + "velocityY": -0.32646699397575807, + "timestamp": 8.68942715323523 + }, + { + "x": 4.077312296102222, + "y": 2.287064622569289, + "heading": -0.4970157041294251, + "angularVelocity": 0.30152750905476433, + "velocityX": 1.0648256359063084, + "velocityY": -0.4540594789758664, + "timestamp": 8.7480458814596 + }, + { + "x": 4.155873833381881, + "y": 2.253560682274067, + "heading": -0.47464638279152427, + "angularVelocity": 0.3816070736348903, + "velocityX": 1.3402122437551975, + "velocityY": -0.5715569291606204, + "timestamp": 8.80666460968397 + }, + { + "x": 4.250872712284989, + "y": 2.2139144425815496, + "heading": -0.4474776048037691, + "angularVelocity": 0.46348289720246916, + "velocityX": 1.6206233362738318, + "velocityY": -0.6763408366822088, + "timestamp": 8.865283337908341 + }, + { + "x": 4.362632375743991, + "y": 2.1690856862971724, + "heading": -0.4153914647840616, + "angularVelocity": 0.5473701151770817, + "velocityX": 1.9065521693208372, + "velocityY": -0.7647514308531158, + "timestamp": 8.923902066132712 + }, + { + "x": 4.4914888946742755, + "y": 2.120340950697993, + "heading": -0.3782617628527304, + "angularVelocity": 0.6334102266636167, + "velocityX": 2.1982141686368726, + "velocityY": -0.8315556661789609, + "timestamp": 8.982520794357082 + }, + { + "x": 4.637741905018974, + "y": 2.069392283286928, + "heading": -0.3359690811718077, + "angularVelocity": 0.7214875341382799, + "velocityX": 2.4949877756627052, + "velocityY": -0.869153408038005, + "timestamp": 9.041139522581453 + }, + { + "x": 4.801527199967717, + "y": 2.018594113204702, + "heading": -0.28844131507798226, + "angularVelocity": 0.8107949034975191, + "velocityX": 2.794077932258038, + "velocityY": -0.8665860147594886, + "timestamp": 9.099758250805824 + }, + { + "x": 4.982520910343412, + "y": 1.9711637668084108, + "heading": -0.23574369114733976, + "angularVelocity": 0.89898954697441, + "velocityX": 3.0876430768494463, + "velocityY": -0.8091329824616064, + "timestamp": 9.158376979030194 + }, + { + "x": 5.17938468342917, + "y": 1.9312172935307006, + "heading": -0.1782266556555277, + "angularVelocity": 0.9812057892429679, + "velocityX": 3.3583767346885973, + "velocityY": -0.6814626398036162, + "timestamp": 9.216995707254565 + }, + { + "x": 5.389185993172574, + "y": 1.9031572532827392, + "heading": -0.11666625659371352, + "angularVelocity": 1.0501831228099072, + "velocityX": 3.5790832742116896, + "velocityY": -0.47868729155225614, + "timestamp": 9.275614435478936 + }, + { + "x": 5.607648109126699, + "y": 1.8904140574345172, + "heading": -0.052238343106668465, + "angularVelocity": 1.099101182141647, + "velocityX": 3.726831382590488, + "velocityY": -0.21739120302040635, + "timestamp": 9.334233163703306 + }, + { + "x": 5.8303718087359035, + "y": 1.8947620924297608, + "heading": 0.013795227099602759, + "angularVelocity": 1.1264927132762073, + "velocityX": 3.7995314186398494, + "velocityY": 0.07417484355172438, + "timestamp": 9.392851891927677 + }, + { + "x": 6.053758144378662, + "y": 1.916719675064087, + "heading": 0.08038234053778825, + "angularVelocity": 1.135935825549055, + "velocityX": 3.810835588034616, + "velocityY": 0.37458306072900377, + "timestamp": 9.451470620152048 + }, + { + "x": 6.264479674099062, + "y": 1.9534587833223342, + "heading": 0.14352280822320104, + "angularVelocity": 1.1321628825027237, + "velocityX": 3.778418235390223, + "velocityY": 0.6587638044348276, + "timestamp": 9.507240393796133 + }, + { + "x": 6.471410323168012, + "y": 2.005691126005294, + "heading": 0.2060499040900196, + "angularVelocity": 1.1211645983334413, + "velocityX": 3.7104444853864718, + "velocityY": 0.9365708208948176, + "timestamp": 9.563010167440218 + }, + { + "x": 6.67221720068237, + "y": 2.0726457450879647, + "heading": 0.26723641438299095, + "angularVelocity": 1.0971267461735486, + "velocityX": 3.6006399953472306, + "velocityY": 1.2005538969902354, + "timestamp": 9.618779941084304 + }, + { + "x": 6.864483989652029, + "y": 2.1530541266402397, + "heading": 0.32631078239943323, + "angularVelocity": 1.059254218843449, + "velocityX": 3.4475088637919846, + "velocityY": 1.4417914274751908, + "timestamp": 9.67454971472839 + }, + { + "x": 7.04594464974176, + "y": 2.2451559533202436, + "heading": 0.3825309232468606, + "angularVelocity": 1.0080754712438957, + "velocityX": 3.2537456803713387, + "velocityY": 1.651464954256111, + "timestamp": 9.730319488372475 + }, + { + "x": 7.214709569426035, + "y": 2.346842107517073, + "heading": 0.4352629915349554, + "angularVelocity": 0.9455313307280512, + "velocityX": 3.0261001373487018, + "velocityY": 1.8233201885626171, + "timestamp": 9.78608926201656 + }, + { + "x": 7.3693846071392155, + "y": 2.4558832400596216, + "heading": 0.4840246615609249, + "angularVelocity": 0.8743386755908128, + "velocityX": 2.7734564371785453, + "velocityY": 1.9552012751285666, + "timestamp": 9.841859035660645 + }, + { + "x": 7.509056975127237, + "y": 2.570141200020485, + "heading": 0.5284810080472253, + "angularVelocity": 0.7971405222121561, + "velocityX": 2.504445667636898, + "velocityY": 2.0487434768884056, + "timestamp": 9.89762880930473 + }, + { + "x": 7.633199119801413, + "y": 2.6876980533080026, + "heading": 0.5684145092479561, + "angularVelocity": 0.7160420168742332, + "velocityX": 2.22597540858659, + "velocityY": 2.1078954710798543, + "timestamp": 9.953398582948816 + }, + { + "x": 7.741554690257944, + "y": 2.8069018359636293, + "heading": 0.603691839683821, + "angularVelocity": 0.6325528710408487, + "velocityX": 1.9429085573852172, + "velocityY": 2.1374263309076094, + "timestamp": 10.009168356592902 + }, + { + "x": 7.8340426189154515, + "y": 2.926359352059011, + "heading": 0.634236867715058, + "angularVelocity": 0.5476986194380259, + "velocityX": 1.6583880947366105, + "velocityY": 2.141975989677505, + "timestamp": 10.064938130236987 + }, + { + "x": 7.9106883703790265, + "y": 3.044905211891904, + "heading": 0.6600110520724907, + "angularVelocity": 0.4621532897357523, + "velocityX": 1.3743242343552553, + "velocityY": 2.125629208922992, + "timestamp": 10.120707903881073 + }, + { + "x": 7.971578677351933, + "y": 3.1615649052675256, + "heading": 0.6809999057835043, + "angularVelocity": 0.37634819615660037, + "velocityX": 1.0918155659282187, + "velocityY": 2.091808622357435, + "timestamp": 10.176477677525158 + }, + { + "x": 8.016833117191899, + "y": 3.2755201745089106, + "heading": 0.6972038977263983, + "angularVelocity": 0.29055150996856166, + "velocityX": 0.8114510223543884, + "velocityY": 2.043315971992817, + "timestamp": 10.232247451169243 + }, + { + "x": 8.046586768246696, + "y": 3.3860795222420745, + "heading": 0.7086324373644792, + "angularVelocity": 0.2049235435491652, + "velocityX": 0.5335085497151109, + "velocityY": 1.9824241790676127, + "timestamp": 10.288017224813329 + }, + { + "x": 8.060979854260694, + "y": 3.4926541817887737, + "heading": 0.715299943712957, + "angularVelocity": 0.11955412247194647, + "velocityX": 0.2580804093961653, + "velocityY": 1.910975293298518, + "timestamp": 10.343786998457414 + }, + { + "x": 8.060151705157804, + "y": 3.594738929349592, + "heading": 0.7172233049609025, + "angularVelocity": 0.034487521147568596, + "velocityX": -0.014849425571926141, + "velocityY": 1.8304673103446223, + "timestamp": 10.3995567721015 + }, + { + "x": 8.04423735574141, + "y": 3.6918968779622365, + "heading": 0.7144202648047442, + "angularVelocity": -0.05026092044136668, + "velocityX": -0.2853579703937069, + "velocityY": 1.7421255684610018, + "timestamp": 10.455326545745585 + }, + { + "x": 8.013365745544434, + "y": 3.783747434616089, + "heading": 0.706908432995524, + "angularVelocity": -0.13469360405081665, + "velocityX": -0.5535545185102473, + "velocityY": 1.6469594666105056, + "timestamp": 10.51109631938967 + }, + { + "x": 7.966240008450173, + "y": 3.8718311568256762, + "heading": 0.6943083666247631, + "angularVelocity": -0.22078504296141274, + "velocityX": -0.8257621494033686, + "velocityY": 1.5434496787551952, + "timestamp": 10.568165703265294 + }, + { + "x": 7.903637633551601, + "y": 3.953847701206782, + "heading": 0.6768953931750158, + "angularVelocity": -0.30511935239562316, + "velocityX": -1.0969520020578343, + "velocityY": 1.437137372287953, + "timestamp": 10.625235087140917 + }, + { + "x": 7.8256280875512765, + "y": 4.029612355077064, + "heading": 0.6547868801961407, + "angularVelocity": -0.38739708539798207, + "velocityX": -1.3669246223218023, + "velocityY": 1.3275884322739986, + "timestamp": 10.68230447101654 + }, + { + "x": 7.732295732907965, + "y": 4.098909485083783, + "heading": 0.6281225750310581, + "angularVelocity": -0.4672260913696688, + "velocityX": -1.6354189988579395, + "velocityY": 1.2142610503338351, + "timestamp": 10.739373854892163 + }, + { + "x": 7.623744896157086, + "y": 4.16148422694545, + "heading": 0.5970717835083564, + "angularVelocity": -0.5440884308541606, + "velocityX": -1.902085310531024, + "velocityY": 1.0964678013353422, + "timestamp": 10.796443238767786 + }, + { + "x": 7.500107414312447, + "y": 4.217031008030893, + "heading": 0.5618432556119679, + "angularVelocity": -0.6172929424499382, + "velocityX": -2.166441504153836, + "velocityY": 0.9733201466919875, + "timestamp": 10.853512622643409 + }, + { + "x": 7.361554289078083, + "y": 4.265177319785923, + "heading": 0.5226990910090863, + "angularVelocity": -0.6859048047231799, + "velocityX": -2.427801315260849, + "velocityY": 0.8436451996741265, + "timestamp": 10.910582006519032 + }, + { + "x": 7.208314472207239, + "y": 4.305460180951621, + "heading": 0.4799749331776388, + "angularVelocity": -0.748635344032456, + "velocityX": -2.6851493123670993, + "velocityY": 0.7058576495847575, + "timestamp": 10.967651390394655 + }, + { + "x": 7.04070672092061, + "y": 4.337291084304275, + "heading": 0.4341107031105424, + "angularVelocity": -0.8036573544766614, + "velocityX": -2.9369118764609987, + "velocityY": 0.5577579639203134, + "timestamp": 11.024720774270278 + }, + { + "x": 6.859196980023488, + "y": 4.359902561866159, + "heading": 0.38570049610139884, + "angularVelocity": -0.8482693122226175, + "velocityX": -3.1805099086526467, + "velocityY": 0.39621029747164144, + "timestamp": 11.081790158145902 + }, + { + "x": 6.664509345661969, + "y": 4.372266184440463, + "heading": 0.33558027930717554, + "angularVelocity": -0.8782330102503829, + "velocityX": -3.411419944287813, + "velocityY": 0.21664194940757758, + "timestamp": 11.138859542021525 + }, + { + "x": 6.457857876304668, + "y": 4.372974056751145, + "heading": 0.28499344198952337, + "angularVelocity": -0.8864093824440242, + "velocityX": -3.621056603794368, + "velocityY": 0.012403713911223541, + "timestamp": 11.195928925897148 + }, + { + "x": 6.241459304464819, + "y": 4.360126451607489, + "heading": 0.23589645193749556, + "angularVelocity": -0.8603034888028499, + "velocityX": -3.791850500987835, + "velocityY": -0.22512254857450334, + "timestamp": 11.25299830977277 + }, + { + "x": 6.019579657099656, + "y": 4.331576905992715, + "heading": 0.19136436588478378, + "angularVelocity": -0.7803148208111865, + "velocityX": -3.8878928121727503, + "velocityY": -0.5002602740025169, + "timestamp": 11.310067693648394 + }, + { + "x": 5.798551620924673, + "y": 4.286498911567636, + "heading": 0.15351127427729616, + "angularVelocity": -0.6632819392265463, + "velocityX": -3.872970429410807, + "velocityY": -0.789880516728909, + "timestamp": 11.367137077524017 + }, + { + "x": 5.582334432989124, + "y": 4.225425033971107, + "heading": 0.1155118535473049, + "angularVelocity": -0.665845995688459, + "velocityX": -3.788672196054744, + "velocityY": -1.0701688619879504, + "timestamp": 11.42420646139964 + }, + { + "x": 5.374024465313053, + "y": 4.149876189702931, + "heading": 0.0697446592710017, + "angularVelocity": -0.8019570419061819, + "velocityX": -3.650117690600284, + "velocityY": -1.3238069020129641, + "timestamp": 11.481275845275263 + }, + { + "x": 5.177992197827677, + "y": 4.063196905648788, + "heading": 0.017847542723990653, + "angularVelocity": -0.9093687897545091, + "velocityX": -3.43498131875068, + "velocityY": -1.5188403688228005, + "timestamp": 11.538345229150886 + }, + { + "x": 4.996804237365723, + "y": 3.968907356262207, + "heading": -0.036582580096447645, + "angularVelocity": -0.9537534685684189, + "velocityX": -3.174871501273511, + "velocityY": -1.6521914726129727, + "timestamp": 11.59541461302651 + }, + { + "x": 4.831701648512126, + "y": 3.869632531276603, + "heading": -0.09108789522014621, + "angularVelocity": -0.956247053450245, + "velocityX": -2.8965774025882935, + "velocityY": -1.74168810250575, + "timestamp": 11.652413811013094 + }, + { + "x": 4.683239484058957, + "y": 3.7696816729003366, + "heading": -0.14402851520145338, + "angularVelocity": -0.9287958752291116, + "velocityX": -2.604636024670233, + "velocityY": -1.7535485043103856, + "timestamp": 11.709413008999679 + }, + { + "x": 4.551166900503627, + "y": 3.672576162220203, + "heading": -0.19413777607531787, + "angularVelocity": -0.8791222095029895, + "velocityX": -2.317095471876902, + "velocityY": -1.7036294212944654, + "timestamp": 11.766412206986264 + }, + { + "x": 4.434814024677728, + "y": 3.580852424602329, + "heading": -0.240569995174145, + "angularVelocity": -0.8146117969897673, + "velocityX": -2.0413072452928884, + "velocityY": -1.6092110215210784, + "timestamp": 11.823411404972848 + }, + { + "x": 4.333433551144432, + "y": 3.4962968449308427, + "heading": -0.2827665728058861, + "angularVelocity": -0.7403012519873094, + "velocityX": -1.7786298248820436, + "velocityY": -1.4834520950871575, + "timestamp": 11.880410602959433 + }, + { + "x": 4.246331382415327, + "y": 3.420184326553122, + "heading": -0.32034046484185646, + "angularVelocity": -0.6592003635702718, + "velocityX": -1.5281297247306171, + "velocityY": -1.3353261285471856, + "timestamp": 11.937409800946018 + }, + { + "x": 4.172901382527213, + "y": 3.353448110684795, + "heading": -0.353008344600164, + "angularVelocity": -0.5731287616712845, + "velocityX": -1.2882637384721891, + "velocityY": -1.170827278728279, + "timestamp": 11.994408998932602 + }, + { + "x": 4.112625106867851, + "y": 3.296790361986866, + "heading": -0.38055433946809814, + "angularVelocity": -0.4832698676640572, + "velocityX": -1.0574933997062392, + "velocityY": -0.9940095773148284, + "timestamp": 12.051408196919187 + }, + { + "x": 4.065061021100414, + "y": 3.2507532442668188, + "heading": -0.4028098814387128, + "angularVelocity": -0.3904535985901558, + "velocityX": -0.8344693863698196, + "velocityY": -0.8076800963214009, + "timestamp": 12.108407394905772 + }, + { + "x": 4.029832043193561, + "y": 3.2157652112178092, + "heading": -0.41964145091513144, + "angularVelocity": -0.29529484748855805, + "velocityX": -0.6180609403512081, + "velocityY": -0.6138337781041129, + "timestamp": 12.165406592892356 + }, + { + "x": 4.006614252366996, + "y": 3.1921718341567256, + "heading": -0.43094241785407744, + "angularVelocity": -0.19826536755141405, + "velocityX": -0.40733539500027605, + "velocityY": -0.413924719899331, + "timestamp": 12.222405790878941 + }, + { + "x": 3.995127439498902, + "y": 3.1802568435668945, + "heading": -0.43662724907911504, + "angularVelocity": -0.09973528445743389, + "velocityX": -0.201525868325339, + "velocityY": -0.20903786387722884, + "timestamp": 12.279404988865526 + }, + { + "x": 3.995127439498902, + "y": 3.1802568435668945, + "heading": -0.43662724907911504, + "angularVelocity": 3.139708268480762e-27, + "velocityX": 2.985814455257795e-29, + "velocityY": -2.388166631545772e-27, + "timestamp": 12.33640418685211 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/loopPath.1.traj b/src/main/deploy/choreo/loopPath.1.traj index a75b66f..804b102 100644 --- a/src/main/deploy/choreo/loopPath.1.traj +++ b/src/main/deploy/choreo/loopPath.1.traj @@ -1,230 +1,230 @@ -{ - "samples": [ - { - "x": 1.2541749477386477, - "y": 5.604986667633057, - "heading": 7.866524923690053e-33, - "angularVelocity": 1.2831956883407897e-32, - "velocityX": 5.4428847049570976e-21, - "velocityY": 6.7744613347840735e-22, - "timestamp": 0 - }, - { - "x": 1.3034786342794933, - "y": 5.604984852143914, - "heading": 6.770179987744432e-22, - "angularVelocity": 6.905010344402558e-21, - "velocityX": 0.5028558562941375, - "velocityY": -0.000018516452040998658, - "timestamp": 0.09804735477119748 - }, - { - "x": 1.4020860063452631, - "y": 5.604981039642406, - "heading": 2.1174416388235206e-21, - "angularVelocity": 1.4691101496458947e-20, - "velocityX": 1.0057117022267377, - "velocityY": -0.00003888428726429579, - "timestamp": 0.19609470954239497 - }, - { - "x": 1.5499970624106292, - "y": 5.60497495780927, - "heading": 6.7303121457013634e-21, - "angularVelocity": 4.704737337023409e-20, - "velocityX": 1.5085675326022834, - "velocityY": -0.00006202954837740684, - "timestamp": 0.29414206431359247 - }, - { - "x": 1.7472117999295202, - "y": 5.6049661526872505, - "heading": 1.2447718118569106e-20, - "angularVelocity": 5.831269989541438e-20, - "velocityX": 2.0114233370100574, - "velocityY": -0.00008980478912080037, - "timestamp": 0.39218941908478994 - }, - { - "x": 1.9937302137953143, - "y": 5.604953716017382, - "heading": 1.6972015412374082e-20, - "angularVelocity": 4.614400159758598e-20, - "velocityX": 2.514279089334612, - "velocityY": -0.0001268435022699963, - "timestamp": 0.4902367738559874 - }, - { - "x": 2.289552288572065, - "y": 5.604934920264204, - "heading": 2.6162263283806833e-20, - "angularVelocity": 9.373274674572235e-20, - "velocityX": 3.017134684225582, - "velocityY": -0.0001917007676846815, - "timestamp": 0.5882841286271849 - }, - { - "x": 2.536220493621631, - "y": 5.601339738762721, - "heading": 1.6478715367224322e-20, - "angularVelocity": -9.876398951722278e-20, - "velocityX": 2.5158068325778777, - "velocityY": -0.03666780720267226, - "timestamp": 0.6863314833983825 - }, - { - "x": 2.7335850374661526, - "y": 5.597740030880163, - "heading": 1.0984255449736642e-20, - "angularVelocity": -5.603883890163484e-20, - "velocityX": 2.0129512346874656, - "velocityY": -0.036713972457059985, - "timestamp": 0.78437883816958 - }, - { - "x": 2.881645904840353, - "y": 5.5941385117780875, - "heading": 7.470100120478928e-21, - "angularVelocity": -3.5841408861826487e-20, - "velocityX": 1.5100954811041447, - "velocityY": -0.03673244536255617, - "timestamp": 0.8824261929407775 - }, - { - "x": 2.980403090683931, - "y": 5.590536087428902, - "heading": 4.600149736655284e-21, - "angularVelocity": -2.9271063878775503e-20, - "velocityX": 1.0072396759100455, - "velocityY": -0.03674167811658048, - "timestamp": 0.980473547711975 - }, - { - "x": 3.0298565924720235, - "y": 5.586933210992084, - "heading": 2.1096566940203663e-21, - "angularVelocity": -2.5400920292710638e-20, - "velocityX": 0.5043838449644774, - "velocityY": -0.03674628902763381, - "timestamp": 1.0785209024831726 - }, - { - "x": 3.0300064086914062, - "y": 5.583330154418945, - "heading": 9.314541542403617e-33, - "angularVelocity": -2.151671199851494e-20, - "velocityX": 0.0015279985852996618, - "velocityY": -0.036748126265591534, - "timestamp": 1.17656825725437 - }, - { - "x": 2.9808026628295825, - "y": 5.5797252743022625, - "heading": -1.881560336573548e-21, - "angularVelocity": -1.9180608440235076e-20, - "velocityX": -0.5015825244790882, - "velocityY": -0.03674811414659432, - "timestamp": 1.2746652671390815 - }, - { - "x": 2.882245280022854, - "y": 5.57612057746786, - "heading": -3.645326848999846e-21, - "angularVelocity": -1.7979819299132985e-20, - "velocityX": -1.0046930372552438, - "velocityY": -0.03674624576874157, - "timestamp": 1.3727622770237928 - }, - { - "x": 2.7343342617865396, - "y": 5.572516337089734, - "heading": -5.336952867008863e-21, - "angularVelocity": -1.7244419773331064e-20, - "velocityX": -1.5078035345842509, - "velocityY": -0.03674159265773245, - "timestamp": 1.4708592869085042 - }, - { - "x": 2.5370696106500454, - "y": 5.568913008548219, - "heading": -6.786337969000901e-21, - "angularVelocity": -1.477501814296612e-20, - "velocityX": -2.0109140061285244, - "velocityY": -0.036732297403860824, - "timestamp": 1.5689562967932156 - }, - { - "x": 2.290451331686718, - "y": 5.5653115029452165, - "heading": -8.801693594315238e-21, - "angularVelocity": -2.0544516351608002e-20, - "velocityX": -2.514024425955135, - "velocityY": -0.036713714385750676, - "timestamp": 1.667053306677927 - }, - { - "x": 1.9944794402331503, - "y": 5.561714556342404, - "heading": -1.571317447728586e-20, - "angularVelocity": -7.045557135490912e-20, - "velocityX": -3.0171346894406788, - "velocityY": -0.036667239980500047, - "timestamp": 1.7651503165626383 - }, - { - "x": 1.747711294963774, - "y": 5.561697557028532, - "heading": -8.53170785637743e-21, - "angularVelocity": 7.320780343440057e-20, - "velocityX": -2.5155521616753718, - "velocityY": -0.0001732908463936188, - "timestamp": 1.8632473264473497 - }, - { - "x": 1.550296762077375, - "y": 5.5616869181016915, - "heading": -3.82353008314657e-21, - "angularVelocity": 4.799512009950944e-20, - "velocityX": -2.012441899283276, - "velocityY": -0.00010845312056685896, - "timestamp": 1.961344336332061 - }, - { - "x": 1.4022358569404827, - "y": 5.5616799159742625, - "heading": -1.5717254748580432e-21, - "angularVelocity": 2.2954875071296284e-20, - "velocityX": -1.5093314802449216, - "velocityY": -0.00007137962143080107, - "timestamp": 2.0594413462167727 - }, - { - "x": 1.3035285846470228, - "y": 5.561675641863372, - "heading": -2.490804565078234e-22, - "angularVelocity": 1.3483030918647887e-20, - "velocityX": -1.0062210092791382, - "velocityY": -0.00004357024638633891, - "timestamp": 2.157538356101484 - }, - { - "x": 1.2541749477386477, - "y": 5.561673641204834, - "heading": -4.0141515265073783e-32, - "angularVelocity": 2.5391238358261822e-21, - "velocityX": -0.5031105124037735, - "velocityY": -0.000020394694400561694, - "timestamp": 2.2556353659861954 - }, - { - "x": 1.2541749477386477, - "y": 5.561673641204834, - "heading": -1.9221361979359865e-32, - "angularVelocity": 1.7317462658979315e-32, - "velocityX": 1.5215136549872227e-21, - "velocityY": 3.9124748150960787e-22, - "timestamp": 2.353732375870907 - } - ], - "eventMarkers": [] +{ + "samples": [ + { + "x": 1.2541749477386477, + "y": 5.604986667633057, + "heading": 7.866524923690053e-33, + "angularVelocity": 1.2831956883407897e-32, + "velocityX": 5.4428847049570976e-21, + "velocityY": 6.7744613347840735e-22, + "timestamp": 0 + }, + { + "x": 1.3034786342794933, + "y": 5.604984852143914, + "heading": 6.770179987744432e-22, + "angularVelocity": 6.905010344402558e-21, + "velocityX": 0.5028558562941375, + "velocityY": -0.000018516452040998658, + "timestamp": 0.09804735477119748 + }, + { + "x": 1.4020860063452631, + "y": 5.604981039642406, + "heading": 2.1174416388235206e-21, + "angularVelocity": 1.4691101496458947e-20, + "velocityX": 1.0057117022267377, + "velocityY": -0.00003888428726429579, + "timestamp": 0.19609470954239497 + }, + { + "x": 1.5499970624106292, + "y": 5.60497495780927, + "heading": 6.7303121457013634e-21, + "angularVelocity": 4.704737337023409e-20, + "velocityX": 1.5085675326022834, + "velocityY": -0.00006202954837740684, + "timestamp": 0.29414206431359247 + }, + { + "x": 1.7472117999295202, + "y": 5.6049661526872505, + "heading": 1.2447718118569106e-20, + "angularVelocity": 5.831269989541438e-20, + "velocityX": 2.0114233370100574, + "velocityY": -0.00008980478912080037, + "timestamp": 0.39218941908478994 + }, + { + "x": 1.9937302137953143, + "y": 5.604953716017382, + "heading": 1.6972015412374082e-20, + "angularVelocity": 4.614400159758598e-20, + "velocityX": 2.514279089334612, + "velocityY": -0.0001268435022699963, + "timestamp": 0.4902367738559874 + }, + { + "x": 2.289552288572065, + "y": 5.604934920264204, + "heading": 2.6162263283806833e-20, + "angularVelocity": 9.373274674572235e-20, + "velocityX": 3.017134684225582, + "velocityY": -0.0001917007676846815, + "timestamp": 0.5882841286271849 + }, + { + "x": 2.536220493621631, + "y": 5.601339738762721, + "heading": 1.6478715367224322e-20, + "angularVelocity": -9.876398951722278e-20, + "velocityX": 2.5158068325778777, + "velocityY": -0.03666780720267226, + "timestamp": 0.6863314833983825 + }, + { + "x": 2.7335850374661526, + "y": 5.597740030880163, + "heading": 1.0984255449736642e-20, + "angularVelocity": -5.603883890163484e-20, + "velocityX": 2.0129512346874656, + "velocityY": -0.036713972457059985, + "timestamp": 0.78437883816958 + }, + { + "x": 2.881645904840353, + "y": 5.5941385117780875, + "heading": 7.470100120478928e-21, + "angularVelocity": -3.5841408861826487e-20, + "velocityX": 1.5100954811041447, + "velocityY": -0.03673244536255617, + "timestamp": 0.8824261929407775 + }, + { + "x": 2.980403090683931, + "y": 5.590536087428902, + "heading": 4.600149736655284e-21, + "angularVelocity": -2.9271063878775503e-20, + "velocityX": 1.0072396759100455, + "velocityY": -0.03674167811658048, + "timestamp": 0.980473547711975 + }, + { + "x": 3.0298565924720235, + "y": 5.586933210992084, + "heading": 2.1096566940203663e-21, + "angularVelocity": -2.5400920292710638e-20, + "velocityX": 0.5043838449644774, + "velocityY": -0.03674628902763381, + "timestamp": 1.0785209024831726 + }, + { + "x": 3.0300064086914062, + "y": 5.583330154418945, + "heading": 9.314541542403617e-33, + "angularVelocity": -2.151671199851494e-20, + "velocityX": 0.0015279985852996618, + "velocityY": -0.036748126265591534, + "timestamp": 1.17656825725437 + }, + { + "x": 2.9808026628295825, + "y": 5.5797252743022625, + "heading": -1.881560336573548e-21, + "angularVelocity": -1.9180608440235076e-20, + "velocityX": -0.5015825244790882, + "velocityY": -0.03674811414659432, + "timestamp": 1.2746652671390815 + }, + { + "x": 2.882245280022854, + "y": 5.57612057746786, + "heading": -3.645326848999846e-21, + "angularVelocity": -1.7979819299132985e-20, + "velocityX": -1.0046930372552438, + "velocityY": -0.03674624576874157, + "timestamp": 1.3727622770237928 + }, + { + "x": 2.7343342617865396, + "y": 5.572516337089734, + "heading": -5.336952867008863e-21, + "angularVelocity": -1.7244419773331064e-20, + "velocityX": -1.5078035345842509, + "velocityY": -0.03674159265773245, + "timestamp": 1.4708592869085042 + }, + { + "x": 2.5370696106500454, + "y": 5.568913008548219, + "heading": -6.786337969000901e-21, + "angularVelocity": -1.477501814296612e-20, + "velocityX": -2.0109140061285244, + "velocityY": -0.036732297403860824, + "timestamp": 1.5689562967932156 + }, + { + "x": 2.290451331686718, + "y": 5.5653115029452165, + "heading": -8.801693594315238e-21, + "angularVelocity": -2.0544516351608002e-20, + "velocityX": -2.514024425955135, + "velocityY": -0.036713714385750676, + "timestamp": 1.667053306677927 + }, + { + "x": 1.9944794402331503, + "y": 5.561714556342404, + "heading": -1.571317447728586e-20, + "angularVelocity": -7.045557135490912e-20, + "velocityX": -3.0171346894406788, + "velocityY": -0.036667239980500047, + "timestamp": 1.7651503165626383 + }, + { + "x": 1.747711294963774, + "y": 5.561697557028532, + "heading": -8.53170785637743e-21, + "angularVelocity": 7.320780343440057e-20, + "velocityX": -2.5155521616753718, + "velocityY": -0.0001732908463936188, + "timestamp": 1.8632473264473497 + }, + { + "x": 1.550296762077375, + "y": 5.5616869181016915, + "heading": -3.82353008314657e-21, + "angularVelocity": 4.799512009950944e-20, + "velocityX": -2.012441899283276, + "velocityY": -0.00010845312056685896, + "timestamp": 1.961344336332061 + }, + { + "x": 1.4022358569404827, + "y": 5.5616799159742625, + "heading": -1.5717254748580432e-21, + "angularVelocity": 2.2954875071296284e-20, + "velocityX": -1.5093314802449216, + "velocityY": -0.00007137962143080107, + "timestamp": 2.0594413462167727 + }, + { + "x": 1.3035285846470228, + "y": 5.561675641863372, + "heading": -2.490804565078234e-22, + "angularVelocity": 1.3483030918647887e-20, + "velocityX": -1.0062210092791382, + "velocityY": -0.00004357024638633891, + "timestamp": 2.157538356101484 + }, + { + "x": 1.2541749477386477, + "y": 5.561673641204834, + "heading": -4.0141515265073783e-32, + "angularVelocity": 2.5391238358261822e-21, + "velocityX": -0.5031105124037735, + "velocityY": -0.000020394694400561694, + "timestamp": 2.2556353659861954 + }, + { + "x": 1.2541749477386477, + "y": 5.561673641204834, + "heading": -1.9221361979359865e-32, + "angularVelocity": 1.7317462658979315e-32, + "velocityX": 1.5215136549872227e-21, + "velocityY": 3.9124748150960787e-22, + "timestamp": 2.353732375870907 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/loopPath.traj b/src/main/deploy/choreo/loopPath.traj index a75b66f..804b102 100644 --- a/src/main/deploy/choreo/loopPath.traj +++ b/src/main/deploy/choreo/loopPath.traj @@ -1,230 +1,230 @@ -{ - "samples": [ - { - "x": 1.2541749477386477, - "y": 5.604986667633057, - "heading": 7.866524923690053e-33, - "angularVelocity": 1.2831956883407897e-32, - "velocityX": 5.4428847049570976e-21, - "velocityY": 6.7744613347840735e-22, - "timestamp": 0 - }, - { - "x": 1.3034786342794933, - "y": 5.604984852143914, - "heading": 6.770179987744432e-22, - "angularVelocity": 6.905010344402558e-21, - "velocityX": 0.5028558562941375, - "velocityY": -0.000018516452040998658, - "timestamp": 0.09804735477119748 - }, - { - "x": 1.4020860063452631, - "y": 5.604981039642406, - "heading": 2.1174416388235206e-21, - "angularVelocity": 1.4691101496458947e-20, - "velocityX": 1.0057117022267377, - "velocityY": -0.00003888428726429579, - "timestamp": 0.19609470954239497 - }, - { - "x": 1.5499970624106292, - "y": 5.60497495780927, - "heading": 6.7303121457013634e-21, - "angularVelocity": 4.704737337023409e-20, - "velocityX": 1.5085675326022834, - "velocityY": -0.00006202954837740684, - "timestamp": 0.29414206431359247 - }, - { - "x": 1.7472117999295202, - "y": 5.6049661526872505, - "heading": 1.2447718118569106e-20, - "angularVelocity": 5.831269989541438e-20, - "velocityX": 2.0114233370100574, - "velocityY": -0.00008980478912080037, - "timestamp": 0.39218941908478994 - }, - { - "x": 1.9937302137953143, - "y": 5.604953716017382, - "heading": 1.6972015412374082e-20, - "angularVelocity": 4.614400159758598e-20, - "velocityX": 2.514279089334612, - "velocityY": -0.0001268435022699963, - "timestamp": 0.4902367738559874 - }, - { - "x": 2.289552288572065, - "y": 5.604934920264204, - "heading": 2.6162263283806833e-20, - "angularVelocity": 9.373274674572235e-20, - "velocityX": 3.017134684225582, - "velocityY": -0.0001917007676846815, - "timestamp": 0.5882841286271849 - }, - { - "x": 2.536220493621631, - "y": 5.601339738762721, - "heading": 1.6478715367224322e-20, - "angularVelocity": -9.876398951722278e-20, - "velocityX": 2.5158068325778777, - "velocityY": -0.03666780720267226, - "timestamp": 0.6863314833983825 - }, - { - "x": 2.7335850374661526, - "y": 5.597740030880163, - "heading": 1.0984255449736642e-20, - "angularVelocity": -5.603883890163484e-20, - "velocityX": 2.0129512346874656, - "velocityY": -0.036713972457059985, - "timestamp": 0.78437883816958 - }, - { - "x": 2.881645904840353, - "y": 5.5941385117780875, - "heading": 7.470100120478928e-21, - "angularVelocity": -3.5841408861826487e-20, - "velocityX": 1.5100954811041447, - "velocityY": -0.03673244536255617, - "timestamp": 0.8824261929407775 - }, - { - "x": 2.980403090683931, - "y": 5.590536087428902, - "heading": 4.600149736655284e-21, - "angularVelocity": -2.9271063878775503e-20, - "velocityX": 1.0072396759100455, - "velocityY": -0.03674167811658048, - "timestamp": 0.980473547711975 - }, - { - "x": 3.0298565924720235, - "y": 5.586933210992084, - "heading": 2.1096566940203663e-21, - "angularVelocity": -2.5400920292710638e-20, - "velocityX": 0.5043838449644774, - "velocityY": -0.03674628902763381, - "timestamp": 1.0785209024831726 - }, - { - "x": 3.0300064086914062, - "y": 5.583330154418945, - "heading": 9.314541542403617e-33, - "angularVelocity": -2.151671199851494e-20, - "velocityX": 0.0015279985852996618, - "velocityY": -0.036748126265591534, - "timestamp": 1.17656825725437 - }, - { - "x": 2.9808026628295825, - "y": 5.5797252743022625, - "heading": -1.881560336573548e-21, - "angularVelocity": -1.9180608440235076e-20, - "velocityX": -0.5015825244790882, - "velocityY": -0.03674811414659432, - "timestamp": 1.2746652671390815 - }, - { - "x": 2.882245280022854, - "y": 5.57612057746786, - "heading": -3.645326848999846e-21, - "angularVelocity": -1.7979819299132985e-20, - "velocityX": -1.0046930372552438, - "velocityY": -0.03674624576874157, - "timestamp": 1.3727622770237928 - }, - { - "x": 2.7343342617865396, - "y": 5.572516337089734, - "heading": -5.336952867008863e-21, - "angularVelocity": -1.7244419773331064e-20, - "velocityX": -1.5078035345842509, - "velocityY": -0.03674159265773245, - "timestamp": 1.4708592869085042 - }, - { - "x": 2.5370696106500454, - "y": 5.568913008548219, - "heading": -6.786337969000901e-21, - "angularVelocity": -1.477501814296612e-20, - "velocityX": -2.0109140061285244, - "velocityY": -0.036732297403860824, - "timestamp": 1.5689562967932156 - }, - { - "x": 2.290451331686718, - "y": 5.5653115029452165, - "heading": -8.801693594315238e-21, - "angularVelocity": -2.0544516351608002e-20, - "velocityX": -2.514024425955135, - "velocityY": -0.036713714385750676, - "timestamp": 1.667053306677927 - }, - { - "x": 1.9944794402331503, - "y": 5.561714556342404, - "heading": -1.571317447728586e-20, - "angularVelocity": -7.045557135490912e-20, - "velocityX": -3.0171346894406788, - "velocityY": -0.036667239980500047, - "timestamp": 1.7651503165626383 - }, - { - "x": 1.747711294963774, - "y": 5.561697557028532, - "heading": -8.53170785637743e-21, - "angularVelocity": 7.320780343440057e-20, - "velocityX": -2.5155521616753718, - "velocityY": -0.0001732908463936188, - "timestamp": 1.8632473264473497 - }, - { - "x": 1.550296762077375, - "y": 5.5616869181016915, - "heading": -3.82353008314657e-21, - "angularVelocity": 4.799512009950944e-20, - "velocityX": -2.012441899283276, - "velocityY": -0.00010845312056685896, - "timestamp": 1.961344336332061 - }, - { - "x": 1.4022358569404827, - "y": 5.5616799159742625, - "heading": -1.5717254748580432e-21, - "angularVelocity": 2.2954875071296284e-20, - "velocityX": -1.5093314802449216, - "velocityY": -0.00007137962143080107, - "timestamp": 2.0594413462167727 - }, - { - "x": 1.3035285846470228, - "y": 5.561675641863372, - "heading": -2.490804565078234e-22, - "angularVelocity": 1.3483030918647887e-20, - "velocityX": -1.0062210092791382, - "velocityY": -0.00004357024638633891, - "timestamp": 2.157538356101484 - }, - { - "x": 1.2541749477386477, - "y": 5.561673641204834, - "heading": -4.0141515265073783e-32, - "angularVelocity": 2.5391238358261822e-21, - "velocityX": -0.5031105124037735, - "velocityY": -0.000020394694400561694, - "timestamp": 2.2556353659861954 - }, - { - "x": 1.2541749477386477, - "y": 5.561673641204834, - "heading": -1.9221361979359865e-32, - "angularVelocity": 1.7317462658979315e-32, - "velocityX": 1.5215136549872227e-21, - "velocityY": 3.9124748150960787e-22, - "timestamp": 2.353732375870907 - } - ], - "eventMarkers": [] +{ + "samples": [ + { + "x": 1.2541749477386477, + "y": 5.604986667633057, + "heading": 7.866524923690053e-33, + "angularVelocity": 1.2831956883407897e-32, + "velocityX": 5.4428847049570976e-21, + "velocityY": 6.7744613347840735e-22, + "timestamp": 0 + }, + { + "x": 1.3034786342794933, + "y": 5.604984852143914, + "heading": 6.770179987744432e-22, + "angularVelocity": 6.905010344402558e-21, + "velocityX": 0.5028558562941375, + "velocityY": -0.000018516452040998658, + "timestamp": 0.09804735477119748 + }, + { + "x": 1.4020860063452631, + "y": 5.604981039642406, + "heading": 2.1174416388235206e-21, + "angularVelocity": 1.4691101496458947e-20, + "velocityX": 1.0057117022267377, + "velocityY": -0.00003888428726429579, + "timestamp": 0.19609470954239497 + }, + { + "x": 1.5499970624106292, + "y": 5.60497495780927, + "heading": 6.7303121457013634e-21, + "angularVelocity": 4.704737337023409e-20, + "velocityX": 1.5085675326022834, + "velocityY": -0.00006202954837740684, + "timestamp": 0.29414206431359247 + }, + { + "x": 1.7472117999295202, + "y": 5.6049661526872505, + "heading": 1.2447718118569106e-20, + "angularVelocity": 5.831269989541438e-20, + "velocityX": 2.0114233370100574, + "velocityY": -0.00008980478912080037, + "timestamp": 0.39218941908478994 + }, + { + "x": 1.9937302137953143, + "y": 5.604953716017382, + "heading": 1.6972015412374082e-20, + "angularVelocity": 4.614400159758598e-20, + "velocityX": 2.514279089334612, + "velocityY": -0.0001268435022699963, + "timestamp": 0.4902367738559874 + }, + { + "x": 2.289552288572065, + "y": 5.604934920264204, + "heading": 2.6162263283806833e-20, + "angularVelocity": 9.373274674572235e-20, + "velocityX": 3.017134684225582, + "velocityY": -0.0001917007676846815, + "timestamp": 0.5882841286271849 + }, + { + "x": 2.536220493621631, + "y": 5.601339738762721, + "heading": 1.6478715367224322e-20, + "angularVelocity": -9.876398951722278e-20, + "velocityX": 2.5158068325778777, + "velocityY": -0.03666780720267226, + "timestamp": 0.6863314833983825 + }, + { + "x": 2.7335850374661526, + "y": 5.597740030880163, + "heading": 1.0984255449736642e-20, + "angularVelocity": -5.603883890163484e-20, + "velocityX": 2.0129512346874656, + "velocityY": -0.036713972457059985, + "timestamp": 0.78437883816958 + }, + { + "x": 2.881645904840353, + "y": 5.5941385117780875, + "heading": 7.470100120478928e-21, + "angularVelocity": -3.5841408861826487e-20, + "velocityX": 1.5100954811041447, + "velocityY": -0.03673244536255617, + "timestamp": 0.8824261929407775 + }, + { + "x": 2.980403090683931, + "y": 5.590536087428902, + "heading": 4.600149736655284e-21, + "angularVelocity": -2.9271063878775503e-20, + "velocityX": 1.0072396759100455, + "velocityY": -0.03674167811658048, + "timestamp": 0.980473547711975 + }, + { + "x": 3.0298565924720235, + "y": 5.586933210992084, + "heading": 2.1096566940203663e-21, + "angularVelocity": -2.5400920292710638e-20, + "velocityX": 0.5043838449644774, + "velocityY": -0.03674628902763381, + "timestamp": 1.0785209024831726 + }, + { + "x": 3.0300064086914062, + "y": 5.583330154418945, + "heading": 9.314541542403617e-33, + "angularVelocity": -2.151671199851494e-20, + "velocityX": 0.0015279985852996618, + "velocityY": -0.036748126265591534, + "timestamp": 1.17656825725437 + }, + { + "x": 2.9808026628295825, + "y": 5.5797252743022625, + "heading": -1.881560336573548e-21, + "angularVelocity": -1.9180608440235076e-20, + "velocityX": -0.5015825244790882, + "velocityY": -0.03674811414659432, + "timestamp": 1.2746652671390815 + }, + { + "x": 2.882245280022854, + "y": 5.57612057746786, + "heading": -3.645326848999846e-21, + "angularVelocity": -1.7979819299132985e-20, + "velocityX": -1.0046930372552438, + "velocityY": -0.03674624576874157, + "timestamp": 1.3727622770237928 + }, + { + "x": 2.7343342617865396, + "y": 5.572516337089734, + "heading": -5.336952867008863e-21, + "angularVelocity": -1.7244419773331064e-20, + "velocityX": -1.5078035345842509, + "velocityY": -0.03674159265773245, + "timestamp": 1.4708592869085042 + }, + { + "x": 2.5370696106500454, + "y": 5.568913008548219, + "heading": -6.786337969000901e-21, + "angularVelocity": -1.477501814296612e-20, + "velocityX": -2.0109140061285244, + "velocityY": -0.036732297403860824, + "timestamp": 1.5689562967932156 + }, + { + "x": 2.290451331686718, + "y": 5.5653115029452165, + "heading": -8.801693594315238e-21, + "angularVelocity": -2.0544516351608002e-20, + "velocityX": -2.514024425955135, + "velocityY": -0.036713714385750676, + "timestamp": 1.667053306677927 + }, + { + "x": 1.9944794402331503, + "y": 5.561714556342404, + "heading": -1.571317447728586e-20, + "angularVelocity": -7.045557135490912e-20, + "velocityX": -3.0171346894406788, + "velocityY": -0.036667239980500047, + "timestamp": 1.7651503165626383 + }, + { + "x": 1.747711294963774, + "y": 5.561697557028532, + "heading": -8.53170785637743e-21, + "angularVelocity": 7.320780343440057e-20, + "velocityX": -2.5155521616753718, + "velocityY": -0.0001732908463936188, + "timestamp": 1.8632473264473497 + }, + { + "x": 1.550296762077375, + "y": 5.5616869181016915, + "heading": -3.82353008314657e-21, + "angularVelocity": 4.799512009950944e-20, + "velocityX": -2.012441899283276, + "velocityY": -0.00010845312056685896, + "timestamp": 1.961344336332061 + }, + { + "x": 1.4022358569404827, + "y": 5.5616799159742625, + "heading": -1.5717254748580432e-21, + "angularVelocity": 2.2954875071296284e-20, + "velocityX": -1.5093314802449216, + "velocityY": -0.00007137962143080107, + "timestamp": 2.0594413462167727 + }, + { + "x": 1.3035285846470228, + "y": 5.561675641863372, + "heading": -2.490804565078234e-22, + "angularVelocity": 1.3483030918647887e-20, + "velocityX": -1.0062210092791382, + "velocityY": -0.00004357024638633891, + "timestamp": 2.157538356101484 + }, + { + "x": 1.2541749477386477, + "y": 5.561673641204834, + "heading": -4.0141515265073783e-32, + "angularVelocity": 2.5391238358261822e-21, + "velocityX": -0.5031105124037735, + "velocityY": -0.000020394694400561694, + "timestamp": 2.2556353659861954 + }, + { + "x": 1.2541749477386477, + "y": 5.561673641204834, + "heading": -1.9221361979359865e-32, + "angularVelocity": 1.7317462658979315e-32, + "velocityX": 1.5215136549872227e-21, + "velocityY": 3.9124748150960787e-22, + "timestamp": 2.353732375870907 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt index bb82515..2a2cc19 100644 --- a/src/main/deploy/example.txt +++ b/src/main/deploy/example.txt @@ -1,3 +1,3 @@ -Files placed in this directory will be deployed to the RoboRIO into the -'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/src/main/deploy/pathplanner/New Path.path b/src/main/deploy/pathplanner/New Path.path index 74c48a8..8640e6d 100644 --- a/src/main/deploy/pathplanner/New Path.path +++ b/src/main/deploy/pathplanner/New Path.path @@ -1,74 +1,74 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.0, - "y": 3.0 - }, - "prevControl": null, - "nextControl": { - "x": 2.0, - "y": 3.0 - }, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 3.0, - "y": 5.0 - }, - "prevControl": { - "x": 3.0, - "y": 4.0 - }, - "nextControl": { - "x": 3.0, - "y": 4.0 - }, - "holonomicAngle": 0, - "isReversal": true, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 5.0, - "y": 3.0 - }, - "prevControl": { - "x": 4.0, - "y": 3.0 - }, - "nextControl": null, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] +{ + "waypoints": [ + { + "anchorPoint": { + "x": 1.0, + "y": 3.0 + }, + "prevControl": null, + "nextControl": { + "x": 2.0, + "y": 3.0 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.0, + "y": 5.0 + }, + "prevControl": { + "x": 3.0, + "y": 4.0 + }, + "nextControl": { + "x": 3.0, + "y": 4.0 + }, + "holonomicAngle": 0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 5.0, + "y": 3.0 + }, + "prevControl": { + "x": 4.0, + "y": 3.0 + }, + "nextControl": null, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Amp-3Note-Mid.auto b/src/main/deploy/pathplanner/autos/Amp-3Note-Mid.auto index 4d203cc..9df70a9 100644 --- a/src/main/deploy/pathplanner/autos/Amp-3Note-Mid.auto +++ b/src/main/deploy/pathplanner/autos/Amp-3Note-Mid.auto @@ -1,55 +1,55 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "AmpToWing1" - } - }, - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "Wing1ToMid1" - } - }, - { - "type": "named", - "data": { - "name": "chaseNote" - } - }, - { - "type": "path", - "data": { - "pathName": "Mid1toShoot" - } - }, - { - "type": "named", - "data": { - "name": "shootLookup" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "AmpToWing1" + } + }, + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "Wing1ToMid1" + } + }, + { + "type": "named", + "data": { + "name": "chaseNote" + } + }, + { + "type": "path", + "data": { + "pathName": "Mid1toShoot" + } + }, + { + "type": "named", + "data": { + "name": "shootLookup" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Center-2Note.auto b/src/main/deploy/pathplanner/autos/Center-2Note.auto index 71d0d3b..c96b8ee 100644 --- a/src/main/deploy/pathplanner/autos/Center-2Note.auto +++ b/src/main/deploy/pathplanner/autos/Center-2Note.auto @@ -1,37 +1,37 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing2" - } - }, - { - "type": "path", - "data": { - "pathName": "Wing2ToCenter" - } - }, - { - "type": "named", - "data": { - "name": "shootLookup" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing2" + } + }, + { + "type": "path", + "data": { + "pathName": "Wing2ToCenter" + } + }, + { + "type": "named", + "data": { + "name": "shootLookup" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Center-3Note-SourceSide.auto b/src/main/deploy/pathplanner/autos/Center-3Note-SourceSide.auto index bce92a3..926317c 100644 --- a/src/main/deploy/pathplanner/autos/Center-3Note-SourceSide.auto +++ b/src/main/deploy/pathplanner/autos/Center-3Note-SourceSide.auto @@ -1,55 +1,55 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing2" - } - }, - { - "type": "path", - "data": { - "pathName": "Wing2ToCenter" - } - }, - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing3" - } - }, - { - "type": "path", - "data": { - "pathName": "Wing3ToCenter" - } - }, - { - "type": "named", - "data": { - "name": "shootLookup" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing2" + } + }, + { + "type": "path", + "data": { + "pathName": "Wing2ToCenter" + } + }, + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing3" + } + }, + { + "type": "path", + "data": { + "pathName": "Wing3ToCenter" + } + }, + { + "type": "named", + "data": { + "name": "shootLookup" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Center-3Note-ampfirst.auto b/src/main/deploy/pathplanner/autos/Center-3Note-ampfirst.auto index 1689fba..f06c153 100644 --- a/src/main/deploy/pathplanner/autos/Center-3Note-ampfirst.auto +++ b/src/main/deploy/pathplanner/autos/Center-3Note-ampfirst.auto @@ -1,55 +1,55 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing1" - } - }, - { - "type": "path", - "data": { - "pathName": "Wing1ToCenter" - } - }, - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing2" - } - }, - { - "type": "path", - "data": { - "pathName": "Wing2ToCenter" - } - }, - { - "type": "named", - "data": { - "name": "shootLookup" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing1" + } + }, + { + "type": "path", + "data": { + "pathName": "Wing1ToCenter" + } + }, + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing2" + } + }, + { + "type": "path", + "data": { + "pathName": "Wing2ToCenter" + } + }, + { + "type": "named", + "data": { + "name": "shootLookup" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Center-4Note-AmpSide.auto b/src/main/deploy/pathplanner/autos/Center-4Note-AmpSide.auto index 3fd9be3..f97b222 100644 --- a/src/main/deploy/pathplanner/autos/Center-4Note-AmpSide.auto +++ b/src/main/deploy/pathplanner/autos/Center-4Note-AmpSide.auto @@ -1,67 +1,67 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing2" - } - }, - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToMid3" - } - }, - { - "type": "named", - "data": { - "name": "chaseNote" - } - }, - { - "type": "path", - "data": { - "pathName": "Mid3ToShoot" - } - }, - { - "type": "named", - "data": { - "name": "shootLookupQuick" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing1" - } - }, - { - "type": "named", - "data": { - "name": "shootLookup" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing2" + } + }, + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToMid3" + } + }, + { + "type": "named", + "data": { + "name": "chaseNote" + } + }, + { + "type": "path", + "data": { + "pathName": "Mid3ToShoot" + } + }, + { + "type": "named", + "data": { + "name": "shootLookupQuick" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing1" + } + }, + { + "type": "named", + "data": { + "name": "shootLookup" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Center-4Note-Close.auto b/src/main/deploy/pathplanner/autos/Center-4Note-Close.auto index dd85b6d..3f35280 100644 --- a/src/main/deploy/pathplanner/autos/Center-4Note-Close.auto +++ b/src/main/deploy/pathplanner/autos/Center-4Note-Close.auto @@ -1,73 +1,73 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing1" - } - }, - { - "type": "path", - "data": { - "pathName": "Wing1ToCenter" - } - }, - { - "type": "named", - "data": { - "name": "shootLookupQuick" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing2" - } - }, - { - "type": "path", - "data": { - "pathName": "Wing2ToCenter" - } - }, - { - "type": "named", - "data": { - "name": "shootLookupQuick" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing3" - } - }, - { - "type": "path", - "data": { - "pathName": "Wing3ToCenter" - } - }, - { - "type": "named", - "data": { - "name": "shootLookupQuick" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing1" + } + }, + { + "type": "path", + "data": { + "pathName": "Wing1ToCenter" + } + }, + { + "type": "named", + "data": { + "name": "shootLookupQuick" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing2" + } + }, + { + "type": "path", + "data": { + "pathName": "Wing2ToCenter" + } + }, + { + "type": "named", + "data": { + "name": "shootLookupQuick" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing3" + } + }, + { + "type": "path", + "data": { + "pathName": "Wing3ToCenter" + } + }, + { + "type": "named", + "data": { + "name": "shootLookupQuick" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Center-4Note-CloseSource.auto b/src/main/deploy/pathplanner/autos/Center-4Note-CloseSource.auto index a3f69d8..74e45e8 100644 --- a/src/main/deploy/pathplanner/autos/Center-4Note-CloseSource.auto +++ b/src/main/deploy/pathplanner/autos/Center-4Note-CloseSource.auto @@ -1,73 +1,73 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing3" - } - }, - { - "type": "path", - "data": { - "pathName": "Wing3ToCenter" - } - }, - { - "type": "named", - "data": { - "name": "shootLookupQuick" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing2" - } - }, - { - "type": "path", - "data": { - "pathName": "Wing2ToCenter" - } - }, - { - "type": "named", - "data": { - "name": "shootLookupQuick" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing1" - } - }, - { - "type": "path", - "data": { - "pathName": "Wing1ToCenter" - } - }, - { - "type": "named", - "data": { - "name": "shootLookupQuick" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing3" + } + }, + { + "type": "path", + "data": { + "pathName": "Wing3ToCenter" + } + }, + { + "type": "named", + "data": { + "name": "shootLookupQuick" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing2" + } + }, + { + "type": "path", + "data": { + "pathName": "Wing2ToCenter" + } + }, + { + "type": "named", + "data": { + "name": "shootLookupQuick" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing1" + } + }, + { + "type": "path", + "data": { + "pathName": "Wing1ToCenter" + } + }, + { + "type": "named", + "data": { + "name": "shootLookupQuick" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Center-4Note-SourceSide.auto b/src/main/deploy/pathplanner/autos/Center-4Note-SourceSide.auto index 9ea23c0..1dff776 100644 --- a/src/main/deploy/pathplanner/autos/Center-4Note-SourceSide.auto +++ b/src/main/deploy/pathplanner/autos/Center-4Note-SourceSide.auto @@ -1,67 +1,67 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing2" - } - }, - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToMid3" - } - }, - { - "type": "named", - "data": { - "name": "chaseNote" - } - }, - { - "type": "path", - "data": { - "pathName": "Mid3ToShoot" - } - }, - { - "type": "named", - "data": { - "name": "shootLookupQuick" - } - }, - { - "type": "path", - "data": { - "pathName": "CenterToWing3" - } - }, - { - "type": "named", - "data": { - "name": "shootLookup" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing2" + } + }, + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToMid3" + } + }, + { + "type": "named", + "data": { + "name": "chaseNote" + } + }, + { + "type": "path", + "data": { + "pathName": "Mid3ToShoot" + } + }, + { + "type": "named", + "data": { + "name": "shootLookupQuick" + } + }, + { + "type": "path", + "data": { + "pathName": "CenterToWing3" + } + }, + { + "type": "named", + "data": { + "name": "shootLookup" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Source3NoteFar.auto b/src/main/deploy/pathplanner/autos/Source3NoteFar.auto index 0809b6b..77415d7 100644 --- a/src/main/deploy/pathplanner/autos/Source3NoteFar.auto +++ b/src/main/deploy/pathplanner/autos/Source3NoteFar.auto @@ -1,67 +1,67 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "SourceToMid5" - } - }, - { - "type": "named", - "data": { - "name": "chaseNote" - } - }, - { - "type": "path", - "data": { - "pathName": "Mid5ToShoot" - } - }, - { - "type": "named", - "data": { - "name": "shootLookup" - } - }, - { - "type": "path", - "data": { - "pathName": "ShootToMid4" - } - }, - { - "type": "named", - "data": { - "name": "chaseNote" - } - }, - { - "type": "path", - "data": { - "pathName": "Mid4ToShoot" - } - }, - { - "type": "named", - "data": { - "name": "shootLookup" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "SourceToMid5" + } + }, + { + "type": "named", + "data": { + "name": "chaseNote" + } + }, + { + "type": "path", + "data": { + "pathName": "Mid5ToShoot" + } + }, + { + "type": "named", + "data": { + "name": "shootLookup" + } + }, + { + "type": "path", + "data": { + "pathName": "ShootToMid4" + } + }, + { + "type": "named", + "data": { + "name": "chaseNote" + } + }, + { + "type": "path", + "data": { + "pathName": "Mid4ToShoot" + } + }, + { + "type": "named", + "data": { + "name": "shootLookup" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/shoot-sit.auto b/src/main/deploy/pathplanner/autos/shoot-sit.auto index 0adba52..5cf39f8 100644 --- a/src/main/deploy/pathplanner/autos/shoot-sit.auto +++ b/src/main/deploy/pathplanner/autos/shoot-sit.auto @@ -1,19 +1,19 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "shootLookup" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shootLookup" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/AmpToMid1.path b/src/main/deploy/pathplanner/paths/AmpToMid1.path index d58d494..218a36e 100644 --- a/src/main/deploy/pathplanner/paths/AmpToMid1.path +++ b/src/main/deploy/pathplanner/paths/AmpToMid1.path @@ -1,78 +1,78 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 0.7568917481584964, - "y": 6.6322409988569975 - }, - "prevControl": null, - "nextControl": { - "x": 1.7568917481584965, - "y": 6.6322409988569975 - }, - "isLocked": false, - "linkedName": "AmpStart" - }, - { - "anchor": { - "x": 6.422884056705613, - "y": 7.330524114173229 - }, - "prevControl": { - "x": 4.499059672384216, - "y": 7.257095702557908 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "mid1" - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.5, - "rotationDegrees": 0.0 - } - ], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "New Event Marker", - "waypointRelativePos": 0.55, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "intake" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 1.5, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 0.7568917481584964, + "y": 6.6322409988569975 + }, + "prevControl": null, + "nextControl": { + "x": 1.7568917481584965, + "y": 6.6322409988569975 + }, + "isLocked": false, + "linkedName": "AmpStart" + }, + { + "anchor": { + "x": 6.422884056705613, + "y": 7.330524114173229 + }, + "prevControl": { + "x": 4.499059672384216, + "y": 7.257095702557908 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "mid1" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.5, + "rotationDegrees": 0.0 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.55, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "intake" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 1.5, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/AmpToWing1.path b/src/main/deploy/pathplanner/paths/AmpToWing1.path index 8c5083c..2e08511 100644 --- a/src/main/deploy/pathplanner/paths/AmpToWing1.path +++ b/src/main/deploy/pathplanner/paths/AmpToWing1.path @@ -1,78 +1,78 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 0.7568917481584964, - "y": 6.6322409988569975 - }, - "prevControl": null, - "nextControl": { - "x": 1.048461510985522, - "y": 7.009922887033274 - }, - "isLocked": false, - "linkedName": "AmpStart" - }, - { - "anchor": { - "x": 2.5797215230794097, - "y": 7.0058881935945685 - }, - "prevControl": { - "x": 1.059135936453691, - "y": 7.0058881935945685 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Wing1" - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.5, - "rotationDegrees": 0.0 - } - ], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "intake", - "waypointRelativePos": 0.15, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "intake" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 4.0, - "maxAcceleration": 1.8, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 400.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": "Speaker", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": false +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 0.7568917481584964, + "y": 6.6322409988569975 + }, + "prevControl": null, + "nextControl": { + "x": 1.048461510985522, + "y": 7.009922887033274 + }, + "isLocked": false, + "linkedName": "AmpStart" + }, + { + "anchor": { + "x": 2.5797215230794097, + "y": 7.0058881935945685 + }, + "prevControl": { + "x": 1.059135936453691, + "y": 7.0058881935945685 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Wing1" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.5, + "rotationDegrees": 0.0 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "intake", + "waypointRelativePos": 0.15, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "intake" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 1.8, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 400.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": "Speaker", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/CenterToExit.path b/src/main/deploy/pathplanner/paths/CenterToExit.path index 343712d..88ef60a 100644 --- a/src/main/deploy/pathplanner/paths/CenterToExit.path +++ b/src/main/deploy/pathplanner/paths/CenterToExit.path @@ -1,54 +1,54 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.2951743872237744, - "y": 5.51611216503683 - }, - "prevControl": null, - "nextControl": { - "x": 2.295174387223774, - "y": 5.51611216503683 - }, - "isLocked": false, - "linkedName": "CenterStart" - }, - { - "anchor": { - "x": 2.690976631953264, - "y": 5.51611216503683 - }, - "prevControl": { - "x": 1.690976631953264, - "y": 5.51611216503683 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.2951743872237744, + "y": 5.51611216503683 + }, + "prevControl": null, + "nextControl": { + "x": 2.295174387223774, + "y": 5.51611216503683 + }, + "isLocked": false, + "linkedName": "CenterStart" + }, + { + "anchor": { + "x": 2.690976631953264, + "y": 5.51611216503683 + }, + "prevControl": { + "x": 1.690976631953264, + "y": 5.51611216503683 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/CenterToMid3.path b/src/main/deploy/pathplanner/paths/CenterToMid3.path index 1e40e24..203bc8d 100644 --- a/src/main/deploy/pathplanner/paths/CenterToMid3.path +++ b/src/main/deploy/pathplanner/paths/CenterToMid3.path @@ -1,89 +1,89 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.2951743872237744, - "y": 5.51611216503683 - }, - "prevControl": null, - "nextControl": { - "x": 2.295174387223774, - "y": 5.51611216503683 - }, - "isLocked": false, - "linkedName": "CenterStart" - }, - { - "anchor": { - "x": 4.525907059626619, - "y": 4.583230807086614 - }, - "prevControl": { - "x": 3.817337933914585, - "y": 5.288872213246769 - }, - "nextControl": { - "x": 5.159851647828296, - "y": 3.951905599123698 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 5.887718384759744, - "y": 4.170847620274596 - }, - "prevControl": { - "x": 5.474327976957841, - "y": 4.131341520174716 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "mid3" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "New Event Marker", - "waypointRelativePos": 1.2, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "deployIntake" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 1.7, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.2951743872237744, + "y": 5.51611216503683 + }, + "prevControl": null, + "nextControl": { + "x": 2.295174387223774, + "y": 5.51611216503683 + }, + "isLocked": false, + "linkedName": "CenterStart" + }, + { + "anchor": { + "x": 4.525907059626619, + "y": 4.583230807086614 + }, + "prevControl": { + "x": 3.817337933914585, + "y": 5.288872213246769 + }, + "nextControl": { + "x": 5.159851647828296, + "y": 3.951905599123698 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.887718384759744, + "y": 4.170847620274596 + }, + "prevControl": { + "x": 5.474327976957841, + "y": 4.131341520174716 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "mid3" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 1.2, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "deployIntake" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 1.7, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/CenterToWing1.path b/src/main/deploy/pathplanner/paths/CenterToWing1.path index a2d79bc..44c1d9c 100644 --- a/src/main/deploy/pathplanner/paths/CenterToWing1.path +++ b/src/main/deploy/pathplanner/paths/CenterToWing1.path @@ -1,73 +1,73 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.2951743872237744, - "y": 5.51611216503683 - }, - "prevControl": null, - "nextControl": { - "x": 2.3225551996721174, - "y": 5.507130871149041 - }, - "isLocked": false, - "linkedName": "CenterStart" - }, - { - "anchor": { - "x": 2.5797215230794097, - "y": 7.0058881935945685 - }, - "prevControl": { - "x": 0.9094421064106393, - "y": 7.036077283733685 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Wing1" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "New Event Marker", - "waypointRelativePos": 0.25, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "intake" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.2951743872237744, + "y": 5.51611216503683 + }, + "prevControl": null, + "nextControl": { + "x": 2.3225551996721174, + "y": 5.507130871149041 + }, + "isLocked": false, + "linkedName": "CenterStart" + }, + { + "anchor": { + "x": 2.5797215230794097, + "y": 7.0058881935945685 + }, + "prevControl": { + "x": 0.9094421064106393, + "y": 7.036077283733685 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Wing1" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.25, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "intake" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/CenterToWing2.path b/src/main/deploy/pathplanner/paths/CenterToWing2.path index 1c7e486..4d22209 100644 --- a/src/main/deploy/pathplanner/paths/CenterToWing2.path +++ b/src/main/deploy/pathplanner/paths/CenterToWing2.path @@ -1,73 +1,73 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.2951743872237744, - "y": 5.51611216503683 - }, - "prevControl": null, - "nextControl": { - "x": 1.7951743872237744, - "y": 5.51611216503683 - }, - "isLocked": false, - "linkedName": "CenterStart" - }, - { - "anchor": { - "x": 2.4987833875488867, - "y": 5.51611216503683 - }, - "prevControl": { - "x": 1.9987833875488867, - "y": 5.51611216503683 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Wing2" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "New Event Marker", - "waypointRelativePos": 0.0, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "intake" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.2951743872237744, + "y": 5.51611216503683 + }, + "prevControl": null, + "nextControl": { + "x": 1.7951743872237744, + "y": 5.51611216503683 + }, + "isLocked": false, + "linkedName": "CenterStart" + }, + { + "anchor": { + "x": 2.4987833875488867, + "y": 5.51611216503683 + }, + "prevControl": { + "x": 1.9987833875488867, + "y": 5.51611216503683 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Wing2" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.0, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "intake" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/CenterToWing3.path b/src/main/deploy/pathplanner/paths/CenterToWing3.path index 7cb3aeb..07b5b10 100644 --- a/src/main/deploy/pathplanner/paths/CenterToWing3.path +++ b/src/main/deploy/pathplanner/paths/CenterToWing3.path @@ -1,73 +1,73 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.2951743872237744, - "y": 5.51611216503683 - }, - "prevControl": null, - "nextControl": { - "x": 2.2050697410876046, - "y": 5.492445188825977 - }, - "isLocked": false, - "linkedName": "CenterStart" - }, - { - "anchor": { - "x": 2.431788811968301, - "y": 4.313959357663443 - }, - "prevControl": { - "x": 1.2863055907693008, - "y": 4.2992736753403795 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Wing3" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "New Event Marker", - "waypointRelativePos": 0.25, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "intake" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.2951743872237744, + "y": 5.51611216503683 + }, + "prevControl": null, + "nextControl": { + "x": 2.2050697410876046, + "y": 5.492445188825977 + }, + "isLocked": false, + "linkedName": "CenterStart" + }, + { + "anchor": { + "x": 2.431788811968301, + "y": 4.313959357663443 + }, + "prevControl": { + "x": 1.2863055907693008, + "y": 4.2992736753403795 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Wing3" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.25, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "intake" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Mid1toShoot.path b/src/main/deploy/pathplanner/paths/Mid1toShoot.path index c0cee63..d285588 100644 --- a/src/main/deploy/pathplanner/paths/Mid1toShoot.path +++ b/src/main/deploy/pathplanner/paths/Mid1toShoot.path @@ -1,73 +1,73 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 6.422884056705613, - "y": 7.330524114173229 - }, - "prevControl": null, - "nextControl": { - "x": 4.954315824399203, - "y": 7.271781384880972 - }, - "isLocked": false, - "linkedName": "mid1" - }, - { - "anchor": { - "x": 2.514420301567876, - "y": 6.586094626734709 - }, - "prevControl": { - "x": 4.067825612314113, - "y": 6.915623707975341 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "New Event Marker", - "waypointRelativePos": 0.6, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "aimSpeaker" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 24.44395478041647 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 6.422884056705613, + "y": 7.330524114173229 + }, + "prevControl": null, + "nextControl": { + "x": 4.954315824399203, + "y": 7.271781384880972 + }, + "isLocked": false, + "linkedName": "mid1" + }, + { + "anchor": { + "x": 2.514420301567876, + "y": 6.586094626734709 + }, + "prevControl": { + "x": 4.067825612314113, + "y": 6.915623707975341 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.6, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "aimSpeaker" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 24.44395478041647 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Mid3ToShoot.path b/src/main/deploy/pathplanner/paths/Mid3ToShoot.path index 5f7be2a..2c19b58 100644 --- a/src/main/deploy/pathplanner/paths/Mid3ToShoot.path +++ b/src/main/deploy/pathplanner/paths/Mid3ToShoot.path @@ -1,89 +1,89 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 5.887718384759744, - "y": 4.170847620274596 - }, - "prevControl": null, - "nextControl": { - "x": 5.148847539648464, - "y": 4.200459399808921 - }, - "isLocked": false, - "linkedName": "mid3" - }, - { - "anchor": { - "x": 4.4506217092345395, - "y": 4.669870169374079 - }, - "prevControl": { - "x": 5.101212533479237, - "y": 4.239472486600121 - }, - "nextControl": { - "x": 3.616082037935441, - "y": 5.221959020499617 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 1.2986399696439794, - "y": 5.489141266850791 - }, - "prevControl": { - "x": 2.307537924939891, - "y": 5.365102698461154 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "Aim", - "waypointRelativePos": 1.65, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "aimSpeaker" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -1.4639125708992702 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 5.887718384759744, + "y": 4.170847620274596 + }, + "prevControl": null, + "nextControl": { + "x": 5.148847539648464, + "y": 4.200459399808921 + }, + "isLocked": false, + "linkedName": "mid3" + }, + { + "anchor": { + "x": 4.4506217092345395, + "y": 4.669870169374079 + }, + "prevControl": { + "x": 5.101212533479237, + "y": 4.239472486600121 + }, + "nextControl": { + "x": 3.616082037935441, + "y": 5.221959020499617 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.2986399696439794, + "y": 5.489141266850791 + }, + "prevControl": { + "x": 2.307537924939891, + "y": 5.365102698461154 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "Aim", + "waypointRelativePos": 1.65, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "aimSpeaker" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -1.4639125708992702 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Mid3toShootSource.path b/src/main/deploy/pathplanner/paths/Mid3toShootSource.path index 5f28d62..b29416d 100644 --- a/src/main/deploy/pathplanner/paths/Mid3toShootSource.path +++ b/src/main/deploy/pathplanner/paths/Mid3toShootSource.path @@ -1,54 +1,54 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 5.887718384759744, - "y": 4.170847620274596 - }, - "prevControl": null, - "nextControl": { - "x": 4.597450584153719, - "y": 4.268856936011538 - }, - "isLocked": false, - "linkedName": "mid3" - }, - { - "anchor": { - "x": 1.8232420006879377, - "y": 3.583306486827643 - }, - "prevControl": { - "x": 3.2624388683482204, - "y": 4.14136241510408 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "shootSourceSide" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 4.0, - "maxAcceleration": 3.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 400.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -30.88249769875695 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": false +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 5.887718384759744, + "y": 4.170847620274596 + }, + "prevControl": null, + "nextControl": { + "x": 4.597450584153719, + "y": 4.268856936011538 + }, + "isLocked": false, + "linkedName": "mid3" + }, + { + "anchor": { + "x": 1.8232420006879377, + "y": 3.583306486827643 + }, + "prevControl": { + "x": 3.2624388683482204, + "y": 4.14136241510408 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "shootSourceSide" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 400.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -30.88249769875695 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Mid4ToShoot.path b/src/main/deploy/pathplanner/paths/Mid4ToShoot.path index 7cfecfc..308ff08 100644 --- a/src/main/deploy/pathplanner/paths/Mid4ToShoot.path +++ b/src/main/deploy/pathplanner/paths/Mid4ToShoot.path @@ -1,73 +1,73 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.13251781972314, - "y": 1.7143000301625615 - }, - "prevControl": null, - "nextControl": { - "x": 5.697607238634372, - "y": 0.9263864296874732 - }, - "isLocked": false, - "linkedName": "Mid4" - }, - { - "anchor": { - "x": 1.8232420006879377, - "y": 3.583306486827643 - }, - "prevControl": { - "x": 2.567909555163892, - "y": 2.4899041723821695 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "shootSourceSide" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "spinup", - "waypointRelativePos": 0.7, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "aimSpeaker" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 4.0, - "maxAcceleration": 3.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 400.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -37.66178982013825 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": false +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.13251781972314, + "y": 1.7143000301625615 + }, + "prevControl": null, + "nextControl": { + "x": 5.697607238634372, + "y": 0.9263864296874732 + }, + "isLocked": false, + "linkedName": "Mid4" + }, + { + "anchor": { + "x": 1.8232420006879377, + "y": 3.583306486827643 + }, + "prevControl": { + "x": 2.567909555163892, + "y": 2.4899041723821695 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "shootSourceSide" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "spinup", + "waypointRelativePos": 0.7, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "aimSpeaker" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 400.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -37.66178982013825 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Mid5ToShoot.path b/src/main/deploy/pathplanner/paths/Mid5ToShoot.path index 08dfc89..df1b909 100644 --- a/src/main/deploy/pathplanner/paths/Mid5ToShoot.path +++ b/src/main/deploy/pathplanner/paths/Mid5ToShoot.path @@ -1,73 +1,73 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 6.448259302768606, - "y": 0.984638922402846 - }, - "prevControl": null, - "nextControl": { - "x": 5.459170410526472, - "y": 1.0828656813589872 - }, - "isLocked": false, - "linkedName": "Mid5" - }, - { - "anchor": { - "x": 1.8232420006879377, - "y": 3.583306486827643 - }, - "prevControl": { - "x": 2.964915032273438, - "y": 2.759824989512536 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "shootSourceSide" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "aim", - "waypointRelativePos": 0.7, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "aimSpeaker" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 4.0, - "maxAcceleration": 3.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 400.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -35.76719580888665 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": false +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 6.448259302768606, + "y": 0.984638922402846 + }, + "prevControl": null, + "nextControl": { + "x": 5.459170410526472, + "y": 1.0828656813589872 + }, + "isLocked": false, + "linkedName": "Mid5" + }, + { + "anchor": { + "x": 1.8232420006879377, + "y": 3.583306486827643 + }, + "prevControl": { + "x": 2.964915032273438, + "y": 2.759824989512536 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "shootSourceSide" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "aim", + "waypointRelativePos": 0.7, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "aimSpeaker" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 400.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -35.76719580888665 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ShootToMid4.path b/src/main/deploy/pathplanner/paths/ShootToMid4.path index 7a7cc29..8879963 100644 --- a/src/main/deploy/pathplanner/paths/ShootToMid4.path +++ b/src/main/deploy/pathplanner/paths/ShootToMid4.path @@ -1,78 +1,78 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.8232420006879377, - "y": 3.583306486827643 - }, - "prevControl": null, - "nextControl": { - "x": 3.3260211974969396, - "y": 1.772461726741636 - }, - "isLocked": false, - "linkedName": "shootSourceSide" - }, - { - "anchor": { - "x": 7.13251781972314, - "y": 1.7143000301625615 - }, - "prevControl": { - "x": 5.462304015517122, - "y": 0.45710855058073796 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Mid4" - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.5, - "rotationDegrees": 19.4537744832349 - } - ], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "New Event Marker", - "waypointRelativePos": 0.55, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "deployIntake" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 4.0, - "maxAcceleration": 3.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 400.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 1.75, - "rotation": 38.13139526515736 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": false +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.8232420006879377, + "y": 3.583306486827643 + }, + "prevControl": null, + "nextControl": { + "x": 3.3260211974969396, + "y": 1.772461726741636 + }, + "isLocked": false, + "linkedName": "shootSourceSide" + }, + { + "anchor": { + "x": 7.13251781972314, + "y": 1.7143000301625615 + }, + "prevControl": { + "x": 5.462304015517122, + "y": 0.45710855058073796 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Mid4" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.5, + "rotationDegrees": 19.4537744832349 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.55, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "deployIntake" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 400.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 1.75, + "rotation": 38.13139526515736 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/SourceToExit.path b/src/main/deploy/pathplanner/paths/SourceToExit.path index bd6a1b8..8209b4c 100644 --- a/src/main/deploy/pathplanner/paths/SourceToExit.path +++ b/src/main/deploy/pathplanner/paths/SourceToExit.path @@ -1,54 +1,54 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 0.6972462773050546, - "y": 4.478346456692914 - }, - "prevControl": null, - "nextControl": { - "x": 0.9651870475615942, - "y": 3.002543973837948 - }, - "isLocked": false, - "linkedName": "SourceStart" - }, - { - "anchor": { - "x": 2.8026277146304293, - "y": 1.588788060388622 - }, - "prevControl": { - "x": 1.8026277146304293, - "y": 1.5887880603886222 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 0.6972462773050546, + "y": 4.478346456692914 + }, + "prevControl": null, + "nextControl": { + "x": 0.9651870475615942, + "y": 3.002543973837948 + }, + "isLocked": false, + "linkedName": "SourceStart" + }, + { + "anchor": { + "x": 2.8026277146304293, + "y": 1.588788060388622 + }, + "prevControl": { + "x": 1.8026277146304293, + "y": 1.5887880603886222 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/SourceToMid4.path b/src/main/deploy/pathplanner/paths/SourceToMid4.path index 9ddde70..7502031 100644 --- a/src/main/deploy/pathplanner/paths/SourceToMid4.path +++ b/src/main/deploy/pathplanner/paths/SourceToMid4.path @@ -1,84 +1,84 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 0.6972462773050546, - "y": 4.478346456692914 - }, - "prevControl": null, - "nextControl": { - "x": 1.3066887461899914, - "y": 3.677798371221743 - }, - "isLocked": false, - "linkedName": "SourceStart" - }, - { - "anchor": { - "x": 3.7752097618512668, - "y": 2.056132350333513 - }, - "prevControl": { - "x": 2.4984426599772194, - "y": 2.445676483913968 - }, - "nextControl": { - "x": 5.051976863725314, - "y": 1.6665882167530586 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 7.13251781972314, - "y": 1.7143000301625615 - }, - "prevControl": { - "x": 6.1596909131318265, - "y": 1.4600018653162317 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Mid4" - } - ], - "rotationTargets": [], - "constraintZones": [ - { - "name": "New Constraints Zone", - "minWaypointRelativePos": 0, - "maxWaypointRelativePos": 0.25, - "constraints": { - "maxVelocity": 4.0, - "maxAcceleration": 2.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 400.0, - "nominalVoltage": 12.0, - "unlimited": false - } - } - ], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 4.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 400.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 18.55539290328124 - }, - "reversed": false, - "folder": "Speaker", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": false +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 0.6972462773050546, + "y": 4.478346456692914 + }, + "prevControl": null, + "nextControl": { + "x": 1.3066887461899914, + "y": 3.677798371221743 + }, + "isLocked": false, + "linkedName": "SourceStart" + }, + { + "anchor": { + "x": 3.7752097618512668, + "y": 2.056132350333513 + }, + "prevControl": { + "x": 2.4984426599772194, + "y": 2.445676483913968 + }, + "nextControl": { + "x": 5.051976863725314, + "y": 1.6665882167530586 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.13251781972314, + "y": 1.7143000301625615 + }, + "prevControl": { + "x": 6.1596909131318265, + "y": 1.4600018653162317 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Mid4" + } + ], + "rotationTargets": [], + "constraintZones": [ + { + "name": "New Constraints Zone", + "minWaypointRelativePos": 0, + "maxWaypointRelativePos": 0.25, + "constraints": { + "maxVelocity": 4.0, + "maxAcceleration": 2.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 400.0, + "nominalVoltage": 12.0, + "unlimited": false + } + } + ], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 4.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 400.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 18.55539290328124 + }, + "reversed": false, + "folder": "Speaker", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/SourceToMid5.path b/src/main/deploy/pathplanner/paths/SourceToMid5.path index d84f36c..5179ad6 100644 --- a/src/main/deploy/pathplanner/paths/SourceToMid5.path +++ b/src/main/deploy/pathplanner/paths/SourceToMid5.path @@ -1,87 +1,87 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 0.7125259953644908, - "y": 4.464485569596139 - }, - "prevControl": null, - "nextControl": { - "x": 1.2455280534492217, - "y": 2.8113888625233887 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.448259302768606, - "y": 0.984638922402846 - }, - "prevControl": { - "x": 5.448259302768606, - "y": 0.9846389224028461 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Mid5" - } - ], - "rotationTargets": [], - "constraintZones": [ - { - "name": "New Constraints Zone", - "minWaypointRelativePos": 0.0, - "maxWaypointRelativePos": 0.15, - "constraints": { - "maxVelocity": 4.0, - "maxAcceleration": 2.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 400.0, - "nominalVoltage": 12.0, - "unlimited": false - } - } - ], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "New Event Marker", - "waypointRelativePos": 0.5, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "deployIntake" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 4.2, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 400.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 1.75, - "rotation": -14.127353412764444 - }, - "reversed": false, - "folder": "Speaker", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": false +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 0.7125259953644908, + "y": 4.464485569596139 + }, + "prevControl": null, + "nextControl": { + "x": 1.2455280534492217, + "y": 2.8113888625233887 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.448259302768606, + "y": 0.984638922402846 + }, + "prevControl": { + "x": 5.448259302768606, + "y": 0.9846389224028461 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Mid5" + } + ], + "rotationTargets": [], + "constraintZones": [ + { + "name": "New Constraints Zone", + "minWaypointRelativePos": 0.0, + "maxWaypointRelativePos": 0.15, + "constraints": { + "maxVelocity": 4.0, + "maxAcceleration": 2.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 400.0, + "nominalVoltage": 12.0, + "unlimited": false + } + } + ], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.5, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "deployIntake" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.2, + "maxAcceleration": 4.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 400.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 1.75, + "rotation": -14.127353412764444 + }, + "reversed": false, + "folder": "Speaker", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Wing1ToAmp.path b/src/main/deploy/pathplanner/paths/Wing1ToAmp.path index 3010ee8..8618e96 100644 --- a/src/main/deploy/pathplanner/paths/Wing1ToAmp.path +++ b/src/main/deploy/pathplanner/paths/Wing1ToAmp.path @@ -1,54 +1,54 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.5797215230794097, - "y": 7.0058881935945685 - }, - "prevControl": null, - "nextControl": { - "x": 1.9497060052358743, - "y": 7.007634447087075 - }, - "isLocked": false, - "linkedName": "Wing1" - }, - { - "anchor": { - "x": 0.7568917481584964, - "y": 6.6322409988569975 - }, - "prevControl": { - "x": 0.9292251397002794, - "y": 7.10476627984506 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "AmpStart" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 61.30313984034284 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.5797215230794097, + "y": 7.0058881935945685 + }, + "prevControl": null, + "nextControl": { + "x": 1.9497060052358743, + "y": 7.007634447087075 + }, + "isLocked": false, + "linkedName": "Wing1" + }, + { + "anchor": { + "x": 0.7568917481584964, + "y": 6.6322409988569975 + }, + "prevControl": { + "x": 0.9292251397002794, + "y": 7.10476627984506 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "AmpStart" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 61.30313984034284 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Wing1ToCenter.path b/src/main/deploy/pathplanner/paths/Wing1ToCenter.path index e97fbf4..e67c25b 100644 --- a/src/main/deploy/pathplanner/paths/Wing1ToCenter.path +++ b/src/main/deploy/pathplanner/paths/Wing1ToCenter.path @@ -1,73 +1,73 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.5797215230794097, - "y": 7.0058881935945685 - }, - "prevControl": null, - "nextControl": { - "x": 1.1333320087358985, - "y": 7.073392267454563 - }, - "isLocked": false, - "linkedName": "Wing1" - }, - { - "anchor": { - "x": 1.2951743872237744, - "y": 5.51611216503683 - }, - "prevControl": { - "x": 2.3371741288937122, - "y": 5.559932574410603 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "CenterStart" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "New Event Marker", - "waypointRelativePos": 0.7, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "aimSpeaker" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.5797215230794097, + "y": 7.0058881935945685 + }, + "prevControl": null, + "nextControl": { + "x": 1.1333320087358985, + "y": 7.073392267454563 + }, + "isLocked": false, + "linkedName": "Wing1" + }, + { + "anchor": { + "x": 1.2951743872237744, + "y": 5.51611216503683 + }, + "prevControl": { + "x": 2.3371741288937122, + "y": 5.559932574410603 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "CenterStart" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.7, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "aimSpeaker" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Wing1ToMid1.path b/src/main/deploy/pathplanner/paths/Wing1ToMid1.path index b43a627..6756d85 100644 --- a/src/main/deploy/pathplanner/paths/Wing1ToMid1.path +++ b/src/main/deploy/pathplanner/paths/Wing1ToMid1.path @@ -1,54 +1,54 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.5797215230794097, - "y": 7.0058881935945685 - }, - "prevControl": null, - "nextControl": { - "x": 3.5797215230794097, - "y": 7.0058881935945685 - }, - "isLocked": false, - "linkedName": "Wing1" - }, - { - "anchor": { - "x": 6.422884056705613, - "y": 7.330524114173229 - }, - "prevControl": { - "x": 5.422884056705613, - "y": 7.330524114173229 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "mid1" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 1.75, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.5797215230794097, + "y": 7.0058881935945685 + }, + "prevControl": null, + "nextControl": { + "x": 3.5797215230794097, + "y": 7.0058881935945685 + }, + "isLocked": false, + "linkedName": "Wing1" + }, + { + "anchor": { + "x": 6.422884056705613, + "y": 7.330524114173229 + }, + "prevControl": { + "x": 5.422884056705613, + "y": 7.330524114173229 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "mid1" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 1.75, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Wing2ToCenter.path b/src/main/deploy/pathplanner/paths/Wing2ToCenter.path index b094a12..e4af17d 100644 --- a/src/main/deploy/pathplanner/paths/Wing2ToCenter.path +++ b/src/main/deploy/pathplanner/paths/Wing2ToCenter.path @@ -1,73 +1,73 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.4987833875488867, - "y": 5.51611216503683 - }, - "prevControl": null, - "nextControl": { - "x": 2.213052659837431, - "y": 5.508526876428753 - }, - "isLocked": false, - "linkedName": "Wing2" - }, - { - "anchor": { - "x": 1.2951743872237744, - "y": 5.51611216503683 - }, - "prevControl": { - "x": 1.5782311642748286, - "y": 5.53548466471933 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "CenterStart" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "New Event Marker", - "waypointRelativePos": 0.55, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "aimSpeaker" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.4987833875488867, + "y": 5.51611216503683 + }, + "prevControl": null, + "nextControl": { + "x": 2.213052659837431, + "y": 5.508526876428753 + }, + "isLocked": false, + "linkedName": "Wing2" + }, + { + "anchor": { + "x": 1.2951743872237744, + "y": 5.51611216503683 + }, + "prevControl": { + "x": 1.5782311642748286, + "y": 5.53548466471933 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "CenterStart" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.55, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "aimSpeaker" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Wing3ToCenter.path b/src/main/deploy/pathplanner/paths/Wing3ToCenter.path index fc4701f..8df303f 100644 --- a/src/main/deploy/pathplanner/paths/Wing3ToCenter.path +++ b/src/main/deploy/pathplanner/paths/Wing3ToCenter.path @@ -1,73 +1,73 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.431788811968301, - "y": 4.313959357663443 - }, - "prevControl": null, - "nextControl": { - "x": 1.3110120765696076, - "y": 4.337866857551897 - }, - "isLocked": false, - "linkedName": "Wing3" - }, - { - "anchor": { - "x": 1.2951743872237744, - "y": 5.51611216503683 - }, - "prevControl": { - "x": 2.2778785401320802, - "y": 5.496739665354331 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "CenterStart" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "New Event Marker", - "waypointRelativePos": 0.6, - "endWaypointRelativePos": null, - "command": { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "aimSpeaker" - } - } - ] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.431788811968301, + "y": 4.313959357663443 + }, + "prevControl": null, + "nextControl": { + "x": 1.3110120765696076, + "y": 4.337866857551897 + }, + "isLocked": false, + "linkedName": "Wing3" + }, + { + "anchor": { + "x": 1.2951743872237744, + "y": 5.51611216503683 + }, + "prevControl": { + "x": 2.2778785401320802, + "y": 5.496739665354331 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "CenterStart" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.6, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "aimSpeaker" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Wing3ToSource.path b/src/main/deploy/pathplanner/paths/Wing3ToSource.path index 131b06a..5c384f2 100644 --- a/src/main/deploy/pathplanner/paths/Wing3ToSource.path +++ b/src/main/deploy/pathplanner/paths/Wing3ToSource.path @@ -1,54 +1,54 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.431788811968301, - "y": 4.313959357663443 - }, - "prevControl": null, - "nextControl": { - "x": 1.7127143660069093, - "y": 4.24836571085115 - }, - "isLocked": false, - "linkedName": "Wing3" - }, - { - "anchor": { - "x": 0.6972462773050546, - "y": 4.478346456692914 - }, - "prevControl": { - "x": 1.1705901146177289, - "y": 3.9640748031496065 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "SourceStart" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -59.153510823221325 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.431788811968301, + "y": 4.313959357663443 + }, + "prevControl": null, + "nextControl": { + "x": 1.7127143660069093, + "y": 4.24836571085115 + }, + "isLocked": false, + "linkedName": "Wing3" + }, + { + "anchor": { + "x": 0.6972462773050546, + "y": 4.478346456692914 + }, + "prevControl": { + "x": 1.1705901146177289, + "y": 3.9640748031496065 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "SourceStart" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -59.153510823221325 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/shootSourceToMid3.path b/src/main/deploy/pathplanner/paths/shootSourceToMid3.path index a5bee7b..4f599a6 100644 --- a/src/main/deploy/pathplanner/paths/shootSourceToMid3.path +++ b/src/main/deploy/pathplanner/paths/shootSourceToMid3.path @@ -1,54 +1,54 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.8232420006879377, - "y": 3.583306486827643 - }, - "prevControl": null, - "nextControl": { - "x": 3.7227935198613986, - "y": 5.30998673596279 - }, - "isLocked": false, - "linkedName": "shootSourceSide" - }, - { - "anchor": { - "x": 5.887718384759744, - "y": 4.170847620274596 - }, - "prevControl": { - "x": 4.526371247452793, - "y": 4.118794285534124 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "mid3" - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 4.0, - "maxAcceleration": 3.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 400.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": false +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.8232420006879377, + "y": 3.583306486827643 + }, + "prevControl": null, + "nextControl": { + "x": 3.7227935198613986, + "y": 5.30998673596279 + }, + "isLocked": false, + "linkedName": "shootSourceSide" + }, + { + "anchor": { + "x": 5.887718384759744, + "y": 4.170847620274596 + }, + "prevControl": { + "x": 4.526371247452793, + "y": 4.118794285534124 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "mid3" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 400.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 5fd8498..617931b 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -1,21 +1,21 @@ -{ - "robotWidth": 0.9, - "robotLength": 0.9, - "holonomicMode": true, - "pathFolders": [], - "autoFolders": [], - "defaultMaxVel": 3.0, - "defaultMaxAccel": 3.0, - "defaultMaxAngVel": 540.0, - "defaultMaxAngAccel": 720.0, - "robotMass": 74.088, - "robotMOI": 6.883, - "robotWheelbase": 0.475, - "robotTrackwidth": 0.47497974351093847, - "driveWheelRadius": 0.038, - "driveGearing": 4.714, - "maxDriveSpeed": 5.45, - "driveMotorType": "falcon500FOC", - "driveCurrentLimit": 60.0, - "wheelCOF": 1.1 +{ + "robotWidth": 0.9, + "robotLength": 0.9, + "holonomicMode": true, + "pathFolders": [], + "autoFolders": [], + "defaultMaxVel": 3.0, + "defaultMaxAccel": 3.0, + "defaultMaxAngVel": 540.0, + "defaultMaxAngAccel": 720.0, + "robotMass": 74.088, + "robotMOI": 6.883, + "robotWheelbase": 0.475, + "robotTrackwidth": 0.47497974351093847, + "driveWheelRadius": 0.038, + "driveGearing": 4.714, + "maxDriveSpeed": 5.45, + "driveMotorType": "falcon500FOC", + "driveCurrentLimit": 60.0, + "wheelCOF": 1.1 } \ No newline at end of file diff --git a/src/main/java/team3176/robot/BuildConstants.java b/src/main/java/team3176/robot/BuildConstants.java deleted file mode 100644 index 213d761..0000000 --- a/src/main/java/team3176/robot/BuildConstants.java +++ /dev/null @@ -1,17 +0,0 @@ -package team3176.robot; - -/** Automatically generated file containing build version information. */ -public final class BuildConstants { - public static final String MAVEN_GROUP = ""; - public static final String MAVEN_NAME = "Code_2024"; - public static final String VERSION = "unspecified"; - public static final int GIT_REVISION = 576; - public static final String GIT_SHA = "4d4d5a355b1a8b71582cc2d9d8c000e831c4fa85"; - public static final String GIT_DATE = "2024-12-21 01:12:26 EST"; - public static final String GIT_BRANCH = "MKPods_beta"; - public static final String BUILD_DATE = "2024-12-21 01:44:35 EST"; - public static final long BUILD_UNIX_TIME = 1734763475419L; - public static final int DIRTY = 1; - - private BuildConstants() {} -} diff --git a/src/main/java/team3176/robot/FieldConstants.java b/src/main/java/team3176/robot/FieldConstants.java index 683bb44..bebb478 100644 --- a/src/main/java/team3176/robot/FieldConstants.java +++ b/src/main/java/team3176/robot/FieldConstants.java @@ -1,132 +1,172 @@ +// Copyright (c) 2025 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// Use of this source code is governed by an MIT-style +// license that can be found in the LICENSE file at +// the root directory of this project. + package team3176.robot; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.util.Units; - +import java.util.ArrayList; +import java.util.HashMap; +import java.util.List; +import java.util.Map; + +/** + * Contains various field dimensions and useful reference points. All units are in meters and poses + * have a blue alliance origin. + */ public class FieldConstants { - public static final double fieldLength = Units.inchesToMeters(651.223); - public static final double fieldWidth = Units.inchesToMeters(323.277); - public static final double wingX = Units.inchesToMeters(229.201); - public static final double podiumX = Units.inchesToMeters(126.75); - public static final double startingLineX = Units.inchesToMeters(74.111); - - public static final Pose2d sourePickup = new Pose2d(14.29, 1.13, Rotation2d.fromDegrees(-27.2)); - public static final Pose2d CenterScore = new Pose2d(1.3, 5.52, Rotation2d.fromDegrees(0.0)); - // initial guess taken from pathplanner - public static final Pose2d ampFace = new Pose2d(1.85, 7.95, Rotation2d.fromDegrees(-90)); - public static final Pose2d passLocation = new Pose2d(3.10, 5.50, new Rotation2d()); - - public static final Translation2d ampCenter = - new Translation2d(Units.inchesToMeters(72.455), fieldWidth); - - /** Staging locations for each note */ - public static final class StagingLocations { - public static final double centerlineX = fieldLength / 2.0; - - // need to update - public static final double centerlineFirstY = Units.inchesToMeters(29.638); - public static final double centerlineSeparationY = Units.inchesToMeters(66); - public static final double spikeX = Units.inchesToMeters(114); - // need - public static final double spikeFirstY = Units.inchesToMeters(161.638); - public static final double spikeSeparationY = Units.inchesToMeters(57); - - public static final Translation2d[] centerlineTranslations = new Translation2d[5]; - public static final Translation2d[] spikeTranslations = new Translation2d[3]; - - static { - for (int i = 0; i < centerlineTranslations.length; i++) { - centerlineTranslations[i] = - new Translation2d(centerlineX, centerlineFirstY + (i * centerlineSeparationY)); - } - } + public static final double fieldLength = Units.inchesToMeters(690.876); + public static final double fieldWidth = Units.inchesToMeters(317); + public static final double startingLineX = + Units.inchesToMeters(299.438); // Measured from the inside of starting line - static { - for (int i = 0; i < spikeTranslations.length; i++) { - spikeTranslations[i] = new Translation2d(spikeX, spikeFirstY + (i * spikeSeparationY)); - } - } + public static class Processor { + public static final Pose2d centerFace = + new Pose2d(Units.inchesToMeters(235.726), 0, Rotation2d.fromDegrees(90)); } - /** Each corner of the speaker * */ - public static final class Speaker { - - // corners (blue alliance origin) - public static final Translation3d topRightSpeaker = - new Translation3d( - Units.inchesToMeters(18.055), - Units.inchesToMeters(238.815), - Units.inchesToMeters(83.091)); - - public static final Translation3d topLeftSpeaker = - new Translation3d( - Units.inchesToMeters(18.055), - Units.inchesToMeters(197.765), - Units.inchesToMeters(83.091)); - - public static final Translation3d bottomRightSpeaker = - new Translation3d(0.0, Units.inchesToMeters(238.815), Units.inchesToMeters(78.324)); - public static final Translation3d bottomLeftSpeaker = - new Translation3d(0.0, Units.inchesToMeters(197.765), Units.inchesToMeters(78.324)); - - /** Center of the speaker opening (blue alliance) */ - public static final Translation3d centerSpeakerOpening = - bottomLeftSpeaker.interpolate(topRightSpeaker, 0.5); + public static class Barge { + public static final Translation2d farCage = + new Translation2d(Units.inchesToMeters(345.428), Units.inchesToMeters(286.779)); + public static final Translation2d middleCage = + new Translation2d(Units.inchesToMeters(345.428), Units.inchesToMeters(242.855)); + public static final Translation2d closeCage = + new Translation2d(Units.inchesToMeters(345.428), Units.inchesToMeters(199.947)); + + // Measured from floor to bottom of cage + public static final double deepHeight = Units.inchesToMeters(3.125); + public static final double shallowHeight = Units.inchesToMeters(30.125); } - public static final class Subwoofer { - public static final Pose2d ampFaceCorner = + public static class CoralStation { + public static final Pose2d leftCenterFace = new Pose2d( - Units.inchesToMeters(35.775), - Units.inchesToMeters(239.366), - Rotation2d.fromDegrees(-120)); - - public static final Pose2d sourceFaceCorner = + Units.inchesToMeters(33.526), + Units.inchesToMeters(291.176), + Rotation2d.fromDegrees(90 - 144.011)); + public static final Pose2d rightCenterFace = new Pose2d( - Units.inchesToMeters(35.775), - Units.inchesToMeters(197.466), - Rotation2d.fromDegrees(120)); - - public static final Pose2d centerFace = - new Pose2d( - Units.inchesToMeters(35.775), - Units.inchesToMeters(218.416), - Rotation2d.fromDegrees(180)); + Units.inchesToMeters(33.526), + Units.inchesToMeters(25.824), + Rotation2d.fromDegrees(144.011 - 90)); } - public static final class Stage { - public static final Pose2d podiumLeg = - new Pose2d(Units.inchesToMeters(126.75), Units.inchesToMeters(161.638), new Rotation2d()); - public static final Pose2d ampLeg = - new Pose2d( - Units.inchesToMeters(220.873), - Units.inchesToMeters(212.425), - Rotation2d.fromDegrees(-30)); - public static final Pose2d sourceLeg = - new Pose2d( - Units.inchesToMeters(220.873), - Units.inchesToMeters(110.837), - Rotation2d.fromDegrees(30)); + public static class Reef { + public static final Translation2d center = + new Translation2d(Units.inchesToMeters(176.746), Units.inchesToMeters(158.501)); + public static final double faceToZoneLine = + Units.inchesToMeters(12); // Side of the reef to the inside of the reef zone line - public static final Pose2d centerPodiumAmpChain = - new Pose2d( - podiumLeg.getTranslation().interpolate(ampLeg.getTranslation(), 0.5), - Rotation2d.fromDegrees(120.0)); - public static final Pose2d centerAmpSourceChain = - new Pose2d( - ampLeg.getTranslation().interpolate(sourceLeg.getTranslation(), 0.5), new Rotation2d()); - public static final Pose2d centerSourcePodiumChain = - new Pose2d( - sourceLeg.getTranslation().interpolate(podiumLeg.getTranslation(), 0.5), - Rotation2d.fromDegrees(240.0)); - public static final Pose2d center = - new Pose2d(Units.inchesToMeters(192.55), Units.inchesToMeters(161.638), new Rotation2d()); - public static final double centerToChainDistance = - center.getTranslation().getDistance(centerPodiumAmpChain.getTranslation()); + public static final Pose2d[] centerFaces = + new Pose2d[6]; // Starting facing the driver station in clockwise order + public static final List> branchPositions = + new ArrayList<>(); // Starting at the right branch facing the driver station in clockwise + + static { + // Initialize faces + centerFaces[0] = + new Pose2d( + Units.inchesToMeters(144.003), + Units.inchesToMeters(158.500), + Rotation2d.fromDegrees(180)); + centerFaces[1] = + new Pose2d( + Units.inchesToMeters(160.373), + Units.inchesToMeters(186.857), + Rotation2d.fromDegrees(120)); + centerFaces[2] = + new Pose2d( + Units.inchesToMeters(193.116), + Units.inchesToMeters(186.858), + Rotation2d.fromDegrees(60)); + centerFaces[3] = + new Pose2d( + Units.inchesToMeters(209.489), + Units.inchesToMeters(158.502), + Rotation2d.fromDegrees(0)); + centerFaces[4] = + new Pose2d( + Units.inchesToMeters(193.118), + Units.inchesToMeters(130.145), + Rotation2d.fromDegrees(-60)); + centerFaces[5] = + new Pose2d( + Units.inchesToMeters(160.375), + Units.inchesToMeters(130.144), + Rotation2d.fromDegrees(-120)); + + // Initialize branch positions + for (int face = 0; face < 6; face++) { + Map fillRight = new HashMap<>(); + Map fillLeft = new HashMap<>(); + for (var level : ReefHeight.values()) { + Pose2d poseDirection = new Pose2d(center, Rotation2d.fromDegrees(180 - (60 * face))); + double adjustX = Units.inchesToMeters(30.738); + double adjustY = Units.inchesToMeters(6.469); + + fillRight.put( + level, + new Pose3d( + new Translation3d( + poseDirection + .transformBy(new Transform2d(adjustX, adjustY, new Rotation2d())) + .getX(), + poseDirection + .transformBy(new Transform2d(adjustX, adjustY, new Rotation2d())) + .getY(), + level.height), + new Rotation3d( + 0, + Units.degreesToRadians(level.pitch), + poseDirection.getRotation().getRadians()))); + fillLeft.put( + level, + new Pose3d( + new Translation3d( + poseDirection + .transformBy(new Transform2d(adjustX, -adjustY, new Rotation2d())) + .getX(), + poseDirection + .transformBy(new Transform2d(adjustX, -adjustY, new Rotation2d())) + .getY(), + level.height), + new Rotation3d( + 0, + Units.degreesToRadians(level.pitch), + poseDirection.getRotation().getRadians()))); + } + branchPositions.add((face * 2) + 1, fillRight); + branchPositions.add((face * 2) + 2, fillLeft); + } + } + } + + public static class StagingPositions { + // Measured from the center of the ice cream + public static final Pose2d leftIceCream = + new Pose2d(Units.inchesToMeters(48), Units.inchesToMeters(230.5), new Rotation2d()); + public static final Pose2d middleIceCream = + new Pose2d(Units.inchesToMeters(48), Units.inchesToMeters(158.5), new Rotation2d()); + public static final Pose2d rightIceCream = + new Pose2d(Units.inchesToMeters(48), Units.inchesToMeters(86.5), new Rotation2d()); } - public static final double aprilTagWidth = Units.inchesToMeters(6.50); + public enum ReefHeight { + L4(Units.inchesToMeters(72), -90), + L3(Units.inchesToMeters(47.625), -35), + L2(Units.inchesToMeters(31.875), -35), + L1(Units.inchesToMeters(18), 0); + + ReefHeight(double height, double pitch) { + this.height = height; + this.pitch = pitch; // in degrees + } + + public final double height; + public final double pitch; + } } diff --git a/src/main/java/team3176/robot/RobotContainer.java b/src/main/java/team3176/robot/RobotContainer.java index ec84768..d24f26c 100644 --- a/src/main/java/team3176/robot/RobotContainer.java +++ b/src/main/java/team3176/robot/RobotContainer.java @@ -12,7 +12,6 @@ import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.WaitCommand; import edu.wpi.first.wpilibj2.command.button.Trigger; @@ -23,14 +22,9 @@ import team3176.robot.subsystems.Visualization; import team3176.robot.subsystems.controller.Controller; import team3176.robot.subsystems.drivetrain.Drivetrain; -import team3176.robot.subsystems.drivetrain.Drivetrain.orientationGoal; import team3176.robot.subsystems.leds.LEDS; import team3176.robot.subsystems.leds.LEDSubsystem; import team3176.robot.subsystems.superstructure.*; -import team3176.robot.subsystems.superstructure.climb.Climb; -import team3176.robot.subsystems.superstructure.conveyor.Conveyor; -import team3176.robot.subsystems.superstructure.intake.Intake; -import team3176.robot.subsystems.superstructure.shooter.Shooter; import team3176.robot.subsystems.vision.PhotonVisionSystem; /** @@ -48,17 +42,16 @@ public class RobotContainer { // is this why we don't have a compressor? private final Compressor m_Compressor private Drivetrain drivetrain; private LEDSubsystem leds; - private Superstructure superstructure; private PhotonVisionSystem vision; private Visualization visualization; + private Superstructure superstructure; private LoggedDashboardChooser autonChooser; private Command choosenAutonomousCommand = new WaitCommand(1.0); private Alliance currentAlliance = Alliance.Blue; private Trigger endMatchAlert = new Trigger(() -> DriverStation.getMatchTime() < 20); - private Trigger hasNote = new Trigger(() -> Conveyor.getInstance().hasNote()); private Trigger shooterOverride; private Trigger ampOverride; - private Trigger intakeOverride; + // private Trigger intakeOverride; private Trigger visionOverride; private LEDS ledsRio; @@ -98,52 +91,6 @@ public RobotContainer() { // .alongWith(new WaitCommand(0.5).andThen(superstructure.shoot().withTimeout(0.3))) // .withTimeout(0.8) // .withName("shooting")); - NamedCommands.registerCommand( - "shootAim", - superstructure - .aimClose() - .asProxy() - .raceWith(drivetrain.driveAndAim(() -> 0, () -> 0)) - .raceWith( - new WaitCommand(0.5) - .andThen(superstructure.shoot().withTimeout(0.5).asProxy()) - .withName("shooting"))); - NamedCommands.registerCommand( - "shootLookup", - superstructure - .aimShooterLookup() - .raceWith(drivetrain.driveAndAim(() -> 0, () -> 0)) - .raceWith( - new WaitCommand(0.7) // .until(() -> superstructure.readyToShoot()) - .andThen(superstructure.shoot().withTimeout(0.4)) - .withName("shooting"))); - NamedCommands.registerCommand( - "shootLookupQuick", - superstructure - .aimShooterLookup() - .raceWith(drivetrain.driveAndAim(() -> 0, () -> 0)) - .raceWith( - new WaitCommand(0.1) // .until(() -> superstructure.readyToShoot()) - .andThen(superstructure.shoot().withTimeout(0.4)) - .withName("shooting"))); - NamedCommands.registerCommand( - "chaseNote", drivetrain.chaseNote().raceWith(superstructure.intakeNote()).withTimeout(1.5)); - - Command chaseNoteAuto = - drivetrain - .autoChaseTarget(orientationGoal.NOTECAM) - .until(() -> Conveyor.getInstance().hasNote()) - .withTimeout(2.0); - NamedCommands.registerCommand("deployIntake", Intake.getInstance().deployPivot()); - // using schedule to prevent intake from being cancelled if the path ends - NamedCommands.registerCommand("intake", superstructure.intakeNote().withTimeout(3.0)); - NamedCommands.registerCommand( - "aimSpeaker", - drivetrain - .autoChaseTarget(orientationGoal.SPEAKER) - .alongWith(superstructure.aimShooterLookup()) - .withTimeout(1.0)); - NamedCommands.registerCommand("score", superstructure.shoot().withTimeout(0.5)); autonChooser = new LoggedDashboardChooser<>("autonChoice", AutoBuilder.buildAutoChooser()); @@ -157,7 +104,7 @@ private void configureBindings() { */ shooterOverride = controller.switchBox.button(1); ampOverride = controller.switchBox.button(2); - intakeOverride = controller.switchBox.button(3); + // intakeOverride = controller.switchBox.button(3); visionOverride = controller.switchBox.button(4); /* * Translation Stick @@ -176,26 +123,7 @@ private void configureBindings() { () -> controller.getStrafe(), () -> controller.getSpin() * 1.5) .withName("boost drive")); - controller - .transStick - .button(2) - .onTrue( - superstructure - .intakeNote() - .withName("intakeNote") - .alongWith(ledsRio.Intaking().asProxy())) - .onFalse(superstructure.retractIntakePivot()); - controller - .transStick - .button(3) - .whileTrue( - drivetrain - .chaseNote() - .until(() -> Conveyor.getInstance().isLaserIntakeSide()) - .alongWith(superstructure.intakeNote()) - .alongWith(ledsRio.AutoDrive().asProxy()) - .withName("intakeAutoDrive")); /* controller .transStick @@ -217,47 +145,6 @@ private void configureBindings() { /* * Rotation Stick */ - controller.rotStick.button(1).whileTrue(superstructure.shoot().withName("shoot")); - controller - .rotStick - .button(2) - .whileTrue( - Commands.either( - superstructure.aimShooterTune().withName("shooterAimOverride"), - Commands.either( - drivetrain - .driveAndAimPass( - () -> controller.getForward(), () -> controller.getStrafe()) - .asProxy() - .alongWith(superstructure.aimPass()) - .withName("aimTuneAndDrive"), - drivetrain - .driveAndAim(() -> controller.getForward(), () -> controller.getStrafe()) - .asProxy() - .alongWith(superstructure.aimShooterLookup()) - .withName("aimTuneAndDrive"), - () -> Shooter.getInstance().getDistance() > 9.0), - shooterOverride)); - controller - .rotStick - .button(3) - .whileTrue(superstructure.aimShooterTune().withName("aimShooterTune")); - // this is reverse switch once we prove out the auto score - controller - .rotStick - .button(4) - .whileTrue( - Commands.either( - superstructure - .aimAmp(true) - .withName("aimAmp") - .alongWith(ledsRio.Amping().asProxy()), - superstructure - .aimAmp(false) - .withName("aimAmpDrive") - .alongWith(ledsRio.Amping().asProxy()), - ampOverride)) - .onFalse(Climb.getInstance().stow()); controller .rotStick .button(8) @@ -266,36 +153,15 @@ private void configureBindings() { /* * Operator */ - controller.operator.x().whileTrue(superstructure.spit()); - controller.operator.b().whileTrue(Intake.getInstance().spinIntakeRollersSlow()); + controller .operator .leftBumper() .whileTrue( superstructure - .moveClimbLeftRightPosition( - () -> -controller.operator.getLeftY(), () -> -controller.operator.getRightY()) + .moveClimbLeftPosition(() -> -controller.operator.getLeftY()) .alongWith(ledsRio.Climbing().asProxy())) - .onFalse(superstructure.stopClimbLeftRight()); - controller.operator.leftBumper().onTrue(Intake.getInstance().climbIntake()); - controller.operator.leftTrigger().whileTrue(superstructure.aimClose()); - controller.operator.rightTrigger().whileTrue(superstructure.shoot()); - /* - controller - .operator - .rightBumper() - .whileTrue(superstructure.moveClimbRightPosition(() -> controller.operator.getRightY())) - .onFalse(superstructure.stopClimbRight()); - */ - controller.operator.povUp().whileTrue(Intake.getInstance().EmergencyHold()); - controller.operator.povDown().whileTrue(Intake.getInstance().manualDown()); - // controller.operator.povDown().onTrue(superstructure.intakeNote()); - - controller - .operator - .start() - .and(controller.operator.povLeft()) - .onTrue(Intake.getInstance().EmergencyHold()); + .onFalse(superstructure.stopClimbLeft()); controller .switchBox diff --git a/src/main/java/team3176/robot/constants/Hardwaremap.java b/src/main/java/team3176/robot/constants/Hardwaremap.java index 88f0318..8c1583e 100644 --- a/src/main/java/team3176/robot/constants/Hardwaremap.java +++ b/src/main/java/team3176/robot/constants/Hardwaremap.java @@ -14,13 +14,17 @@ public class Hardwaremap { public static final int shooterTransfer_CID = 5; public static final int shooterPivot_CID = 8; public static final int intakeRoller_CID = 9; + public static final int indexerRoller_CID = 9; /* public static final int LaserCanIntakeSide_CID = 49; public static final int LaserCanShooterSide_CID = 48; */ public static final int intakePivot_CID = 4; + public static final int indexerPivot_CID = 4; public static final int climbLeft_CID = 45; public static final int climbRight_CID = 46; + public static final int elevatorLeft_CID = 45; + public static final int elevatorRight_CID = 46; public static int PDH_CID = 1; public static final String conveyor_CBN = "rio"; @@ -30,9 +34,13 @@ public class Hardwaremap { public static final String shooterPivot_CBN = "rio"; public static final String intakeRoller_CBN = "rio"; public static final String intakePivot_CBN = "rio"; + public static final String indexerPivot_CBN = "rio"; /* public static final String LaserCan_CBN = "rio"; */ public static final String climbLeft_CBN = "rio"; public static final String climbRight_CBN = "rio"; + public static final String elevatorLeft_CBN = "rio"; + public static final String elevatorRight_CBN = "rio"; + public static final String indexerRoller_CBN = "rio"; public static String PDH_CBN = "rio"; @@ -40,10 +48,14 @@ public class Hardwaremap { // public static final int elevatorFollowerLimitSwitch_DIO = 6; public static final int climbLBLimitSwitch_DIO = 9; public static final int climbRBLimitSwitch_DIO = 0; // 1; + public static final int elevatorLBLimitSwitch_DIO = 9; + public static final int elevatorRBLimitSwitch_DIO = 0; // 1; // public static final int intakeRollerLinebreak_DIO = 5; // public static final int intakePivotLinebreak_DIO = 4; public static final int intakeUpperLimitSwitch_DIO = 7; public static final int intakeLowerLimitSwitch_DIO = 8; // 7; + public static final int indexerUpperLimitSwitch_DIO = 7; + public static final int indexerLowerLimitSwitch_DIO = 8; // 7; public static final int shooterPivotLower_DIO = 2; // 8; public static final int shooterPivotUpper_DIO = 1; // 9; public static final int conveyorFrontLinebreak = 6; diff --git a/src/main/java/team3176/robot/constants/SuperStructureConstants.java b/src/main/java/team3176/robot/constants/SuperStructureConstants.java index 2f2b07b..4ec0fcb 100644 --- a/src/main/java/team3176/robot/constants/SuperStructureConstants.java +++ b/src/main/java/team3176/robot/constants/SuperStructureConstants.java @@ -46,6 +46,24 @@ public class SuperStructureConstants { public static final double CLIMBRIGHT_TOP_POS = 75 + CLIMBRIGHT_ZERO_POS; public static final double CLIMBRIGHT_SIM_OFFSET = 63 + CLIMBRIGHT_ZERO_POS; + public static final double ELEVATORLEFTj_kP = 0.006; + public static final double ELEVATORLEFT_kI = 0; // .0025 + public static final double ELEVATORLEFT_kD = 0; // .001 + public static final double ELEVATORLEFT_kg = 0.2; + public static final double ELEVATORLEFT_TOLERANCE = 3; + public static final double ELEVATORLEFT_ZERO_POS = 0.39; + public static final double ELEVATORLEFT_TOP_POS = 75 + ELEVATORLEFT_ZERO_POS; + public static final double ELEVATORLEFT_SIM_OFFSET = 63 + ELEVATORLEFT_ZERO_POS; + + public static final double ELEVATORRIGHT_kP = 0.006; + public static final double ELEVATORRIGHT_kI = 0; // .0025 + public static final double ELEVATORRIGHT_kD = 0; // .001 + public static final double ELEVATORRIGHT_kg = 0.2; + public static final double ELEVATORRIGHT_TOLERANCE = 3; + public static final double ELEVATORRIGHT_ZERO_POS = 0.39; + public static final double ELEVATORRIGHT_TOP_POS = 75 + ELEVATORRIGHT_ZERO_POS; + public static final double ELEVATORRIGHT_SIM_OFFSET = 63 + ELEVATORRIGHT_ZERO_POS; + public static final double INTAKE_PIVOT_kP = 0.006; public static final double INTAKE_PIVOT_kI = 0; // .0025 public static final double INTAKE_PIVOT_kD = 0; // .001 @@ -69,15 +87,14 @@ public class SuperStructureConstants { public static final double TRANSFER_kg = 0.2; public static final double TRANSFER_TOLERANCE = 3; - public static final double ANGLER_kP = 0.006; - public static final double ANGLER_kI = 0; // .0025 - public static final double ANGLER_kD = 0; // .001 - public static final double ANGLER_kg = 0.2; - public static final double ANGLER_TOLERANCE = 3; - public static final double ANGLER_ZERO_POS = 70; - public static final double ANGLER_MID_POS = ANGLER_ZERO_POS; - public static final double ANGLER_HIGH_POS = 70 + ANGLER_ZERO_POS; - public static final double ANGLER_SIM_OFFSET = 70 + ANGLER_ZERO_POS; + public static final double INDEXER_kP = 0.006; + public static final double INDEXER_kI = 0; // .0025 + public static final double INDEXER_kD = 0; // .001 + public static final double INDEXER_kg = 0.2; + public static final double INDEXER_TOLERANCE = 3; + public static final double INDEXER_ZERO_POS = 70; + public static final double INDEXER_MID_POS = INDEXER_ZERO_POS; + public static final double INDEXER_HIGH_POS = 70 + INDEXER_ZERO_POS; public static final double SHOOTER_kP = 0.006; public static final double SHOOTER_kI = 0; // .0025 diff --git a/src/main/java/team3176/robot/subsystems/Visualization.java b/src/main/java/team3176/robot/subsystems/Visualization.java index 0cb20f6..93b3044 100644 --- a/src/main/java/team3176/robot/subsystems/Visualization.java +++ b/src/main/java/team3176/robot/subsystems/Visualization.java @@ -1,19 +1,15 @@ package team3176.robot.subsystems; import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import org.littletonrobotics.junction.Logger; -import team3176.robot.subsystems.superstructure.shooter.Shooter; import team3176.robot.util.LoggedTunableNumber; public class Visualization extends SubsystemBase { LoggedTunableNumber intakeAngle = new LoggedTunableNumber("intake_angle", 0.0); LoggedTunableNumber shooterAngle = new LoggedTunableNumber("shooter_angle", 0.0); - Rotation2d shooterPivotRange = Shooter.UPPER_LIMIT.minus(Shooter.LOWER_LIMIT); @Override public void periodic() { @@ -21,12 +17,5 @@ public void periodic() { new Pose3d( new Translation3d(0.2541, 0.0, 0.12), new Rotation3d(0, Units.degreesToRadians(intakeAngle.get()), 0)); - Pose3d shooter = - new Pose3d( - new Translation3d(-0.01, 0.0, 0.4309), - new Rotation3d( - 0, Shooter.getInstance().getAngle().minus(shooterPivotRange).getRadians(), 0)); - Pose3d[] components = {intake, shooter}; - Logger.recordOutput("component_vis", components); } } diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java index 60ddbc0..78dd888 100644 --- a/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java +++ b/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java @@ -51,7 +51,6 @@ import team3176.robot.FieldConstants; import team3176.robot.constants.Hardwaremap; import team3176.robot.constants.SwervePodHardwareID; -import team3176.robot.subsystems.superstructure.shooter.Shooter; import team3176.robot.subsystems.vision.PhotonVisionSystem; import team3176.robot.util.AllianceFlipUtil; import team3176.robot.util.LocalADStarAK; @@ -147,7 +146,7 @@ private Drivetrain(GyroIO io) { this.io = io; this.pitchkP = new LoggedTunableNumber("drivetrain/pitchkP", 0.1); this.yawkP = new LoggedTunableNumber("drivetrain/yawkP", 0.07); - inputs = new GyroIOInputsAutoLogged(); + // inputs = new GyroIOInputsAutoLogged(); // check for duplicates assert (!SwervePodHardwareID.check_duplicates_all( @@ -437,16 +436,20 @@ public Rotation2d getChassisYaw() { /** * @return navx pitch -180 to 180 around the X axis of the Navx */ + /* public double getChassisPitch() { return inputs.pitch; } + */ /** * @return navx roll -180 to 180 around the X axis of the Navx */ + /* public double getChassisRoll() { return inputs.roll; } + */ public void resetFieldOrientation() { Rotation2d redOrBlueZero = new Rotation2d(); @@ -498,12 +501,11 @@ private Rotation2d getAimAngle() { Translation2d difference = (this.getPose() .getTranslation() - .minus( - AllianceFlipUtil.apply( - FieldConstants.Speaker.centerSpeakerOpening.toTranslation2d()))); + .minus(AllianceFlipUtil.apply(FieldConstants.Reef.centerFaces[0]).getTranslation())); return difference.getAngle(); } + /* private Rotation2d getAimAngleFuture() { Translation2d difference = (this.getPoseFuture(Shooter.LOOKAHEAD_SEC) @@ -513,12 +515,14 @@ private Rotation2d getAimAngleFuture() { FieldConstants.Speaker.centerSpeakerOpening.toTranslation2d()))); return difference.getAngle(); } + */ @AutoLogOutput public double aimErrorDegrees() { return Math.abs(getPose().getRotation().minus(getAimAngle()).getDegrees()); } + /* private Rotation2d getAimAnglePass() { Translation2d difference = (this.getPose() @@ -526,6 +530,7 @@ private Rotation2d getAimAnglePass() { .minus(AllianceFlipUtil.apply(FieldConstants.passLocation.getTranslation()))); return difference.getAngle(); } + */ public Command swerveDefenseCommand() { return this.runOnce( @@ -639,6 +644,7 @@ public Command swerveDriveJoysticks( return swerveDriveJoysticks(forward, strafe, spin, field, null); } + /* public Command driveAndAim(DoubleSupplier x, DoubleSupplier y) { return swerveDriveJoysticks(x, y, () -> 0.0, true, this::getAimAngleFuture); } @@ -646,6 +652,7 @@ public Command driveAndAim(DoubleSupplier x, DoubleSupplier y) { public Command driveAndAimPass(DoubleSupplier x, DoubleSupplier y) { return swerveDriveJoysticks(x, y, () -> 0.0, true, this::getAimAnglePass); } + */ public Command goToPoint(int x, int y) { Pose2d targetPose = new Pose2d(x, y, Rotation2d.fromDegrees(180)); diff --git a/src/main/java/team3176/robot/subsystems/leds/LEDS.java b/src/main/java/team3176/robot/subsystems/leds/LEDS.java index 5ca5906..a95c16e 100644 --- a/src/main/java/team3176/robot/subsystems/leds/LEDS.java +++ b/src/main/java/team3176/robot/subsystems/leds/LEDS.java @@ -19,9 +19,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import java.util.List; import java.util.Optional; -import team3176.robot.subsystems.superstructure.Superstructure; -import team3176.robot.subsystems.superstructure.conveyor.Conveyor; -import team3176.robot.subsystems.superstructure.shooter.Shooter; public class LEDS extends SubsystemBase { private static LEDS instance; @@ -154,44 +151,43 @@ public synchronized void periodic() { if (estopped) { solid(Color.kRed); } else if (DriverStation.isDisabled()) { - if (!Shooter.getInstance().isHomed) { - solid(Color.kRed); - } else if (lastEnabledAuto && Timer.getFPGATimestamp() - lastEnabledTime < autoFadeMaxTime) { - // Auto fade - solid(1.0 - ((Timer.getFPGATimestamp() - lastEnabledTime) / autoFadeTime), Color.kGreen); - } else if (lowBatteryAlert) { - // Low battery - solid(Color.kOrangeRed); - } else if (prideLeds) { - // Pride stripes - stripes( - List.of( - Color.kBlack, - Color.kRed, - Color.kOrangeRed, - Color.kYellow, - Color.kGreen, - Color.kBlue, - Color.kPurple, - Color.kBlack, - new Color(0.15, 0.3, 1.0), - Color.kDeepPink, - Color.kWhite, - Color.kDeepPink, - new Color(0.15, 0.3, 1.0)), - 20, - 5.0); - buffer.setLED(staticSectionLength, teamColor); - } else { - // Default pattern - wave(teamColor, secondaryDisabledColor, waveAllianceCycleLength, waveAllianceDuration); - } + } + if (lastEnabledAuto && Timer.getFPGATimestamp() - lastEnabledTime < autoFadeMaxTime) { + // Auto fade + solid(1.0 - ((Timer.getFPGATimestamp() - lastEnabledTime) / autoFadeTime), Color.kGreen); + } else if (lowBatteryAlert) { + // Low battery + solid(Color.kOrangeRed); + } else if (prideLeds) { + // Pride stripes + stripes( + List.of( + Color.kBlack, + Color.kRed, + Color.kOrangeRed, + Color.kYellow, + Color.kGreen, + Color.kBlue, + Color.kPurple, + Color.kBlack, + new Color(0.15, 0.3, 1.0), + Color.kDeepPink, + Color.kWhite, + Color.kDeepPink, + new Color(0.15, 0.3, 1.0)), + 20, + 5.0); + buffer.setLED(staticSectionLength, teamColor); + } else { + // Default pattern + wave(teamColor, secondaryDisabledColor, waveAllianceCycleLength, waveAllianceDuration); + } - // Same battery alert - if (sameBattery) { - strobe(Color.kRed, strobeFastDuration); - } - } else if (DriverStation.isAutonomous()) { + // Same battery alert + if (sameBattery) { + strobe(Color.kRed, strobeFastDuration); + } + if (DriverStation.isAutonomous()) { rainbow(rainbowCycleLength, rainbowDuration); if (autoFinished) { double fullTime = (double) length / waveFastCycleLength * waveFastDuration; @@ -202,12 +198,6 @@ public synchronized void periodic() { // branch IMO:w strobe(Color.kWhite, strobeFastDuration); - } else if (Conveyor.getInstance().hasNote()) { - if (Superstructure.getInstance().readyToShoot()) { - solid(Color.kBlue); - } else { - solid(Color.kGreen); - } } else if (autoDrive || autoShoot) { rainbow(rainbowCycleLength, rainbowDuration); diff --git a/src/main/java/team3176/robot/subsystems/superstructure/Superstructure.java b/src/main/java/team3176/robot/subsystems/superstructure/Superstructure.java index 004b48b..7bd39ce 100644 --- a/src/main/java/team3176/robot/subsystems/superstructure/Superstructure.java +++ b/src/main/java/team3176/robot/subsystems/superstructure/Superstructure.java @@ -1,143 +1,18 @@ package team3176.robot.subsystems.superstructure; -import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.ConditionalCommand; -import edu.wpi.first.wpilibj2.command.WaitCommand; import java.util.function.DoubleSupplier; -import org.littletonrobotics.junction.AutoLogOutput; import team3176.robot.FieldConstants; // import java.util.function.IntSupplier; import team3176.robot.subsystems.drivetrain.Drivetrain; import team3176.robot.subsystems.superstructure.climb.Climb; -import team3176.robot.subsystems.superstructure.conveyor.Conveyor; -import team3176.robot.subsystems.superstructure.intake.Intake; -import team3176.robot.subsystems.superstructure.shooter.Shooter; -import team3176.robot.subsystems.superstructure.transfer.Transfer; -import team3176.robot.util.AllianceFlipUtil; -import team3176.robot.util.NoteVisualizer; public class Superstructure { private static Superstructure instance; private Climb climb; - private Intake intake; - private Transfer transfer; - private Shooter shooter; - private Conveyor conveyor; public Superstructure() { - NoteVisualizer.setRobotPoseSupplier(Drivetrain.getInstance()::getPose); climb = Climb.getInstance(); - intake = Intake.getInstance(); - shooter = Shooter.getInstance(); - conveyor = Conveyor.getInstance(); - transfer = new Transfer(); - } - - @AutoLogOutput - public boolean readyToShoot() { - - ChassisSpeeds speed = Drivetrain.getInstance().getCurrentChassisSpeed(); - double driveVelocity = Math.hypot(speed.vxMetersPerSecond, speed.vyMetersPerSecond); - boolean drivetrainReady = - driveVelocity < 0.25 && Drivetrain.getInstance().aimErrorDegrees() < 3.0; - return shooter.readyToShoot() && drivetrainReady; - } - - public Command aimShooterTune() { - return shooter.aim().alongWith(transfer.spinup()); - } - - public Command aimAuto() { - return aimShooterTune() - .raceWith( - new WaitCommand(2.0).until(() -> !conveyor.hasNote()).andThen(new WaitCommand(0.1))); - } - - public Command aimShooter(double upper, double lower, double angle, double transferVel) { - return shooter.aim(upper, lower, angle).alongWith(transfer.shoot(transferVel)); - } - - public Command aimShooterLookup() { - return shooter.aimLookup().alongWith(transfer.shoot(0.6)); - } - - public Command aimClose() { - return aimShooter(90, 40, 38, 0.5).withName("aimClose"); - } - - public Command aimAmp(boolean withDrive) { - if (withDrive) { - return Drivetrain.getInstance() - .goToPoint((FieldConstants.ampFace)) - .asProxy() - .alongWith( - new WaitCommand(10.0) - .until( - () -> - Drivetrain.getInstance() - .distanceToPoint(AllianceFlipUtil.apply(FieldConstants.ampFace)) - < 2.0) - .andThen(aimShooterAmp().alongWith(climb.setAmpPosition()))) - .withName("aimAmpandDrive"); - } else { - return aimShooterAmp().alongWith(climb.setAmpPosition()).withName("aimAmp"); - } - } - - private Command aimShooterAmp() { - return aimShooter(20, 20, 35, 0.35); - } - - public Command aimPodium() { - return aimShooter(80, 80, 7, 0.6).withName("aimPodium"); - } - - public Command aimPass() { - return aimShooter(60, 40, 27, 0.6).withName("aimPass"); - } - - public Command shoot() { - return conveyor.runShoot().withName("shoot"); - } - - public Command intakeNote() { - return (conveyor.runFast().until(conveyor::isLaserShooterSide).andThen(conveyor.runSlow())) - .alongWith(intake.intakeNote()) - .until(conveyor::hasNoteTooFar) - .andThen(conveyor.centerNote()); - } - - public Command retractIntakePivot() { - return intake.retractPivot(); - } - - public Command runShooterPivot(double volts) { - return shooter.pivotVoltage(volts); - } - - public Command shooterPivotPID(int Position) { - return shooter.pivotSetPositionOnce(Position); - } - - public Command setClimbLeftPosition(DoubleSupplier position) { - return climb.setLeftPosition(position); - } - - public Command setClimbRightPosition(DoubleSupplier position) { - return climb.setRightPosition(position); - } - - public Command moveClimbLeftPosition(DoubleSupplier position) { - return climb.moveLeftPosition(position); - } - - public Command moveClimbRightPosition(DoubleSupplier position) { - return climb.moveRightPosition(position); - } - - public Command moveClimbLeftRightPosition(DoubleSupplier deltaLeft, DoubleSupplier deltaRight) { - return climb.moveLeftRightPosition(deltaLeft, deltaRight); } /* @@ -145,47 +20,21 @@ public Command climbDown() { return climb.moveLeftRightPosition(0, 0); } */ + public Command moveClimbLeftPosition(DoubleSupplier position) { + return climb.moveLeftPosition(position); + } public Command stopClimbLeft() { return climb.stopLeft(); } - public Command stopClimbRight() { - return climb.stopRight(); - } - - public Command stopClimbLeftRight() { - return climb.stopLeftRight(); - } - - public Command spit() { - return intake.spit().alongWith(transfer.spit()).alongWith(conveyor.spit()).withName("spit"); - } - - public Command getSourceNoteAuto() { + public Command getProcessorCoralLeftAuto() { return Drivetrain.getInstance() - .goToPoint(FieldConstants.sourePickup) + .goToPoint(FieldConstants.CoralStation.leftCenterFace) // .andThen(Drivetrain.getInstance().chaseNote().raceWith(intakeNote())); .andThen(Drivetrain.getInstance().chaseNote()); } - public Command scoreNoteCenterAuto() { - return Drivetrain.getInstance() - .goToPoint(FieldConstants.CenterScore) - .andThen( - Drivetrain.getInstance() - .driveAndAim(() -> 0, () -> 0) - .raceWith( - aimClose().raceWith(new WaitCommand(0.3).andThen(shoot().withTimeout(0.5))))); - } - - public Command doItAll() { - return new ConditionalCommand( - scoreNoteCenterAuto().andThen(getSourceNoteAuto()).repeatedly(), - getSourceNoteAuto().andThen(scoreNoteCenterAuto()).repeatedly(), - () -> true); - } - public static Superstructure getInstance() { if (instance == null) { instance = new Superstructure(); diff --git a/src/main/java/team3176/robot/subsystems/superstructure/arm/Arm.java b/src/main/java/team3176/robot/subsystems/superstructure/arm/Arm.java new file mode 100644 index 0000000..2b37087 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/superstructure/arm/Arm.java @@ -0,0 +1,162 @@ +package team3176.robot.subsystems.superstructure.arm; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import org.littletonrobotics.junction.Logger; +import team3176.robot.Constants; +import team3176.robot.Constants.Mode; +import team3176.robot.Constants.RobotType; +import team3176.robot.constants.*; +import team3176.robot.util.LoggedTunableNumber; +import team3176.robot.util.TunablePID; + +public class Arm extends SubsystemBase { + private static Arm instance; + private final ArmIO io; + private final ArmIOInputsAutoLogged inputs = new ArmIOInputsAutoLogged(); + private final LoggedTunableNumber deployPivotVolts; + private final LoggedTunableNumber rollerVolts; + private final LoggedTunableNumber retractPivotVolts; + private final LoggedTunableNumber waitTime; + private final TunablePID pivotPID; + private Timer deployTime = new Timer(); + private double pivotSetpoint; + private final double DEPLOY_POS = 2.1; + private double pivot_offset = 0; + private InterpolatingDoubleTreeMap kG = new InterpolatingDoubleTreeMap(); + private boolean ishomed = false; + private double lastRollerSpeed = 0.0; + + private enum pivotStates { + DEPLOY, + RETRACT, + IDLE, + HOLD + }; + + private pivotStates pivotState = pivotStates.HOLD; + // DigitalInput linebreak1 = new DigitalInput(Hardwaremap.ArmRollerLinebreak_DIO); + + private Arm(ArmIO io) { + this.io = io; + this.pivotPID = new TunablePID("ArmPivot", 3.0, 0.0, 0.0); + this.deployPivotVolts = new LoggedTunableNumber("Arm/rollerDeployVolts", 0); + this.rollerVolts = new LoggedTunableNumber("Arm/rollerVolts", 7.0); + this.retractPivotVolts = new LoggedTunableNumber("Arm/rollerRetractVolts", 0); + this.waitTime = new LoggedTunableNumber("Arm/waitTime", 0); + } + + public Command EmergencyHold() { + return this.runEnd(() -> io.setPivotVolts(-2.5), () -> io.setPivotVolts(0.0)); + } + + public Command manualDown() { + return this.runEnd( + () -> { + io.setPivotVolts(2.5); + io.setRollerVolts(4.0); + }, + () -> { + io.setPivotVolts(0.0); + io.setRollerVolts(0); + }); + } + + private void runPivot(double volts) { + // this assumes positive voltage deploys the Arm and negative voltage retracts it. + // invert the motor if that is NOT true + io.setPivotVolts(volts); + } + + private boolean rollerSwitch() { + return lastRollerSpeed - inputs.rollerVelocityRadPerSec > 15.0; + } + + public static Arm getInstance() { + if (instance == null) { + if (Constants.getMode() == Mode.REAL && Constants.getRobot() != RobotType.ROBOT_DEFENSE) { + instance = new Arm(new ArmIOTalon() {}); + } else { + instance = new Arm(new ArmIOSim() {}); + } + } + return instance; + } + + // Example command to show how to set the pivot state + public Command deployPivot() { + return this.runOnce( + () -> { + this.pivotSetpoint = DEPLOY_POS; + deployTime.restart(); + }); + } + + public Command retractPivot() { + return this.runOnce(() -> this.pivotSetpoint = 0.0); + } + + public Command climbArm() { + return this.runOnce(() -> this.pivotSetpoint = 0.45); + } + + public Command spinArm() { + return this.runEnd(() -> io.setRollerVolts(rollerVolts.get()), () -> io.setRollerVolts(0)); + } + + public Command spinArmRollersSlow() { + return this.runEnd(() -> io.setRollerVolts(rollerVolts.get() / 2), () -> io.setRollerVolts(0)); + } + + public Command stopRollers() { + return this.runOnce(() -> io.setRollerVolts(0)); + } + /* + * this can be much simpler than before just needs to spin the Arm and retract when done. + * keep the high level logic up in superstructure + */ + public Command ArmNote() { + return (deployPivot() + .andThen(spinArm()) + .finallyDo( + () -> { + this.pivotSetpoint = 0.0; + io.setRollerVolts(0.0); + })); + } + + // TODO: might need to deploy the Arm during a spit but maybe not + public Command spit() { + return this.runEnd(() -> io.setRollerVolts(-1.5), () -> io.setRollerVolts(0)); + } + + @Override + public void periodic() { + io.updateInputs(inputs); + Logger.processInputs("Arm", inputs); + Logger.recordOutput("Arm/state", pivotState); + double pivot_pos = inputs.pivotPosition - pivot_offset; + if (!ishomed && pivotSetpoint > 1.0) { + pivot_pos = -3.0; + } + double commandVolts = pivotPID.calculate(pivot_pos, pivotSetpoint); + if (pivot_pos <= 0.7) { + commandVolts *= 1.6; + } + commandVolts = MathUtil.clamp(commandVolts, -3.5, 2.0); + + Logger.recordOutput("Arm/PID_out", commandVolts); + Logger.recordOutput("Arm/setpoint", this.pivotSetpoint); + Logger.recordOutput("Arm/offsetPos", pivot_pos); + runPivot(commandVolts); + pivotPID.checkParemeterUpdate(); + if (inputs.lowerLimitSwitch && !ishomed) { + ishomed = true; + pivot_offset = inputs.pivotPosition - DEPLOY_POS; + } + lastRollerSpeed = inputs.rollerVelocityRadPerSec; + } +} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/arm/ArmIO.java b/src/main/java/team3176/robot/subsystems/superstructure/arm/ArmIO.java new file mode 100644 index 0000000..ffe4538 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/superstructure/arm/ArmIO.java @@ -0,0 +1,53 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package team3176.robot.subsystems.superstructure.arm; + +import org.littletonrobotics.junction.AutoLog; + +/** Template hardware interface for a closed loop subsystem. */ +public interface ArmIO { + /** Contains all of the input data received from hardware. */ + @AutoLog + public static class ArmIOInputs { + public double pivotPosition = 0.0; + public double pivotVelocityRadPerSec = 0.0; + public double pivotAppliedVolts = 0.0; + public double pivotAmpsStator = 0.0; + public double pivotAmpsSupply = 0.0; + public double pivotTempCelcius = 0.0; + + public double rollerVelocityRadPerSec = 0.0; + public double rollerAppliedVolts = 0.0; + public double rollerAmpsStator = 0.0; + public double rollerAmpsSupply = 0.0; + public double rollerTempCelcius = 0.0; + + public boolean isRollerLinebreak = false; + public boolean isPivotLinebreak = false; + public boolean upperLimitSwitch = false; + public boolean lowerLimitSwitch = false; + + // constructor if needed for some inputs + ArmIOInputs() {} + } + + /* public default Boolean getRollerLinebreak() {} */ + + /** Updates the set of loggable inputs. */ + public default void updateInputs(ArmIOInputs inputs) {} + + public default void setRollerVolts(double volts) {} + + public default void setRollerPIDVelocity(double rpm) {} + + public default void setPivotVolts(double volts) {} + + public default void setPivotPIDPosition(double position) {} + + public default void setCoastMode(boolean isCoastMode) {} +} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/arm/ArmIOSim.java b/src/main/java/team3176/robot/subsystems/superstructure/arm/ArmIOSim.java new file mode 100644 index 0000000..bcc8061 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/superstructure/arm/ArmIOSim.java @@ -0,0 +1,64 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package team3176.robot.subsystems.superstructure.arm; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.simulation.FlywheelSim; +import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; +import org.littletonrobotics.junction.Logger; +import team3176.robot.Constants; + +/** Template hardware interface for a closed loop subsystem. */ +public class ArmIOSim implements ArmIO { + + private SingleJointedArmSim pivotSim; + private FlywheelSim rollerSim; + private double appliedVolts; + + public ArmIOSim() { + pivotSim = + new SingleJointedArmSim( + DCMotor.getFalcon500(1), 20, 0.5, 0.7, -1.0 * Math.PI, 3.14, true, 0.0); + rollerSim = + new FlywheelSim( + LinearSystemId.createFlywheelSystem(DCMotor.getFalcon500(1), 0.025, 1.0), + DCMotor.getFalcon500(1), + 0.0); + } + /** Updates the set of loggable inputs. */ + @Override + public void updateInputs(ArmIOInputs inputs) { + pivotSim.update(Constants.LOOP_PERIODIC_SECS); + rollerSim.update(Constants.LOOP_PERIODIC_SECS); + inputs.pivotPosition = Units.radiansToDegrees(pivotSim.getAngleRads()) + 90; + inputs.pivotVelocityRadPerSec = pivotSim.getVelocityRadPerSec(); + inputs.pivotAppliedVolts = appliedVolts; + inputs.pivotAmpsStator = pivotSim.getCurrentDrawAmps(); + inputs.pivotTempCelcius = 0.0; + inputs.rollerVelocityRadPerSec = rollerSim.getAngularVelocityRadPerSec(); + inputs.rollerAppliedVolts = appliedVolts; + inputs.rollerAmpsStator = rollerSim.getCurrentDrawAmps(); + inputs.rollerTempCelcius = 0.0; + Logger.recordOutput("Arm/SimPivotPos", pivotSim.getAngleRads()); + } + + @Override + public void setPivotVolts(double volts) { + if (DriverStation.isEnabled()) { + appliedVolts = volts; + } else { + appliedVolts = 0.0; + } + appliedVolts = MathUtil.clamp(appliedVolts, -12, 12); + pivotSim.setInputVoltage(appliedVolts); + } +} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/arm/ArmIOTalon.java b/src/main/java/team3176/robot/subsystems/superstructure/arm/ArmIOTalon.java new file mode 100644 index 0000000..be12fd6 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/superstructure/arm/ArmIOTalon.java @@ -0,0 +1,186 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package team3176.robot.subsystems.superstructure.arm; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.PositionVoltage; +import com.ctre.phoenix6.controls.VelocityVoltage; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.revrobotics.spark.SparkBase; +import com.revrobotics.spark.SparkClosedLoopController; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.Current; +import edu.wpi.first.units.measure.Temperature; +import edu.wpi.first.units.measure.Voltage; +import edu.wpi.first.wpilibj.DigitalInput; +import team3176.robot.constants.Hardwaremap; +import team3176.robot.util.TalonUtils; + +/** Template hardware interface for a closed loop subsystem. */ +public class ArmIOTalon implements ArmIO { + + private TalonFX rollerController; + private TalonFX pivotController; + VelocityVoltage voltVelocity; + VoltageOut rollerVolts = new VoltageOut(0.0); + VoltageOut pivotVolts = new VoltageOut(0.0); + PositionVoltage voltPosition; + private SparkClosedLoopController pivotPID; + + DigitalInput rollerLinebreak; + DigitalInput pivotLinebreak; + DigitalInput upperLimitSwitch; + DigitalInput lowerLimitSwitch; + + private final StatusSignal pivotAppliedVolts; + private final StatusSignal pivotCurrentAmpsStator; + private final StatusSignal pivotCurrentAmpsSupply; + private final StatusSignal pivotVelocity; + private final StatusSignal pivotPosition; + private final StatusSignal pivotTemp; + + private final StatusSignal rollerAppliedVolts; + private final StatusSignal rollerCurrentAmpsStator; + private final StatusSignal rollerCurrentAmpsSupply; + private final StatusSignal rollerVelocity; + private final StatusSignal rollerTemp; + + public ArmIOTalon() { + + TalonFXConfiguration rollerConfigs = new TalonFXConfiguration(); + TalonFXConfiguration pivotConfigs = new TalonFXConfiguration(); + + // voltVelocity = new VelocityVoltage(0, 0, true, 0, 0, false, false, false); + // voltPosition = new PositionVoltage(0, 0, true, 0, 0, false, false, false); + + // rollerLinebreak = new DigitalInput(Hardwaremap.intakeRollerLinebreak_DIO); + // pivotLinebreak = new DigitalInput(Hardwaremap.intakePivotLinebreak_DIO); + + upperLimitSwitch = new DigitalInput(Hardwaremap.intakeUpperLimitSwitch_DIO); + lowerLimitSwitch = new DigitalInput(Hardwaremap.intakeLowerLimitSwitch_DIO); + + rollerController = new TalonFX(Hardwaremap.intakeRoller_CID, Hardwaremap.intakeRoller_CBN); + pivotController = new TalonFX(Hardwaremap.intakePivot_CID, Hardwaremap.intakePivot_CBN); + + // config setting + // rollerConfigs.CurrentLimits.StatorCurrentLimit = 50; + // rollerConfigs.CurrentLimits.StatorCurrentLimitEnable = true; + + // pivot configs + + // pivotConfigs.Slot0.kP = 2.4; // An error of 0.5 rotations results in 1.2 volts output + // pivotConfigs.Slot0.kD = 0.1; // A change of 1 rotation per second results in 0.1 volts output + pivotConfigs.Voltage.PeakForwardVoltage = 8; + pivotConfigs.Voltage.PeakReverseVoltage = -10; + pivotConfigs.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; + pivotConfigs.Feedback.SensorToMechanismRatio = 20.0; + + pivotConfigs.CurrentLimits.SupplyCurrentLimit = 60; + pivotConfigs.CurrentLimits.SupplyCurrentLimitEnable = true; + pivotConfigs.MotorOutput.NeutralMode = NeutralModeValue.Brake; + + TalonUtils.applyTalonFxConfigs(rollerController, rollerConfigs); + TalonUtils.applyTalonFxConfigs(pivotController, pivotConfigs); + pivotController.setPosition(0, 0); + + pivotAppliedVolts = pivotController.getMotorVoltage(); + pivotCurrentAmpsStator = pivotController.getStatorCurrent(); + pivotCurrentAmpsSupply = pivotController.getSupplyCurrent(); + pivotVelocity = pivotController.getVelocity(); + pivotPosition = pivotController.getPosition(); + pivotTemp = pivotController.getDeviceTemp(); + + rollerAppliedVolts = rollerController.getMotorVoltage(); + rollerCurrentAmpsStator = rollerController.getStatorCurrent(); + rollerCurrentAmpsSupply = rollerController.getSupplyCurrent(); + rollerVelocity = rollerController.getVelocity(); + rollerTemp = rollerController.getDeviceTemp(); + + BaseStatusSignal.setUpdateFrequencyForAll( + 50, + pivotAppliedVolts, + pivotCurrentAmpsStator, + pivotVelocity, + pivotPosition, + pivotTemp, + pivotCurrentAmpsSupply); + BaseStatusSignal.setUpdateFrequencyForAll( + 50, + rollerAppliedVolts, + rollerVelocity, + rollerCurrentAmpsStator, + rollerTemp, + rollerCurrentAmpsSupply); + + rollerController.optimizeBusUtilization(); + pivotController.optimizeBusUtilization(); + } + /** Updates the set of loggable inputs. */ + @Override + public void updateInputs(ArmIOInputs inputs) { + BaseStatusSignal.refreshAll( + pivotAppliedVolts, + pivotCurrentAmpsStator, + pivotVelocity, + pivotPosition, + pivotTemp, + pivotCurrentAmpsSupply); + BaseStatusSignal.refreshAll( + rollerAppliedVolts, + rollerVelocity, + rollerCurrentAmpsStator, + rollerTemp, + rollerCurrentAmpsSupply); + + // inputs.isRollerLinebreak = (!rollerLinebreak.get()); + // inputs.isPivotLinebreak = (!pivotLinebreak.get()); + + inputs.upperLimitSwitch = (!upperLimitSwitch.get()); + inputs.lowerLimitSwitch = !lowerLimitSwitch.get(); + + inputs.pivotAppliedVolts = pivotAppliedVolts.getValueAsDouble(); + inputs.pivotAmpsStator = pivotCurrentAmpsStator.getValueAsDouble(); + inputs.pivotAmpsSupply = pivotCurrentAmpsSupply.getValueAsDouble(); + inputs.pivotTempCelcius = pivotTemp.getValueAsDouble(); + inputs.pivotPosition = Units.rotationsToRadians(pivotPosition.getValueAsDouble()); + inputs.pivotVelocityRadPerSec = Units.rotationsToRadians(pivotVelocity.getValueAsDouble()); + + inputs.rollerAppliedVolts = rollerAppliedVolts.getValueAsDouble(); + inputs.rollerAmpsStator = rollerCurrentAmpsStator.getValueAsDouble(); + inputs.rollerAmpsSupply = rollerCurrentAmpsSupply.getValueAsDouble(); + inputs.rollerTempCelcius = rollerTemp.getValueAsDouble(); + inputs.rollerVelocityRadPerSec = Units.rotationsToRadians(rollerVelocity.getValueAsDouble()); + } + + /* @Override + public Boolean getRollerLinebreak() { + return + } */ + + @Override + public void setRollerVolts(double volts) { + rollerController.setControl(rollerVolts.withOutput(volts)); + } + + @Override + public void setPivotPIDPosition(double position) { + pivotPID.setReference(position, SparkBase.ControlType.kPosition); + } + + @Override + public void setPivotVolts(double volts) { + pivotController.setControl(pivotVolts.withOutput(volts)); + } +} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/climb/Climb.java b/src/main/java/team3176/robot/subsystems/superstructure/climb/Climb.java index b9597da..92263bf 100644 --- a/src/main/java/team3176/robot/subsystems/superstructure/climb/Climb.java +++ b/src/main/java/team3176/robot/subsystems/superstructure/climb/Climb.java @@ -8,7 +8,6 @@ import team3176.robot.Constants.Mode; import team3176.robot.Constants.RobotType; import team3176.robot.constants.*; -import team3176.robot.subsystems.drivetrain.Drivetrain; import team3176.robot.util.LoggedTunableNumber; // import team3176.robot.subsystems.superstructure.ClimbIOInputsAutoLogged; import team3176.robot.util.TunablePID; @@ -18,103 +17,21 @@ public class Climb extends SubsystemBase { private static Climb instance; private final ClimbIO io; private double leftSetPoint = 0; - private double rightSetPoint = 0; private final ClimbIOInputsAutoLogged inputs = new ClimbIOInputsAutoLogged(); private TunablePID pid = new TunablePID("climbLeft", 0.001, 0, 0); private TunablePID leftPIDController = new TunablePID("climbLeft", 1, 0, 0); - private TunablePID rightPIDController = new TunablePID("climbRight", 1, 0, 0); private LoggedTunableNumber LeftClimbHeight = new LoggedTunableNumber("climbLeftHeight", 0); - private LoggedTunableNumber RightClimbHeight = new LoggedTunableNumber("climbRightHeight", 0); - private LoggedTunableNumber LeftRightClimbHeight = - new LoggedTunableNumber("climbLeftRightHeight", 0); private LoggedTunableNumber AmpClimbHeight = new LoggedTunableNumber("climb/climbAmpHeight", 60); private Climb(ClimbIO io) { this.io = io; leftPIDController.setTolerance(1.0); - rightPIDController.setTolerance(1.0); } public Command stopLeft() { return this.runOnce(() -> io.setLeftVoltage(0.0)); } - public Command stopRight() { - return this.runOnce(() -> io.setRightVoltage(0.0)); - } - - public Command stopLeftRight() { - return this.runOnce( - () -> { - io.setLeftVoltage(0.0); - io.setRightVoltage(0.0); - }); - } - - public void leftPIDVoltageRoll() { - double leftVoltage = - leftPIDController.calculate(Drivetrain.getInstance().getChassisRoll(), leftSetPoint); - Logger.recordOutput("climb/roll", Drivetrain.getInstance().getChassisRoll()); - Logger.recordOutput("climb/leftvoltage", leftVoltage); - io.setLeftVoltage(leftVoltage); - // return leftVoltage; - } - - public void rightPIDVoltageRoll() { - double rightVoltage = - rightPIDController.calculate(Drivetrain.getInstance().getChassisRoll(), rightSetPoint); - Logger.recordOutput("climb/roll", Drivetrain.getInstance().getChassisRoll()); - Logger.recordOutput("climb/rightvoltage", rightVoltage); - io.setRightVoltage(rightVoltage); - // return rightVoltage; - } - - public void leftRightPIDVoltageRoll() { - double rightVoltage = - rightPIDController.calculate(Drivetrain.getInstance().getChassisRoll(), rightSetPoint); - Logger.recordOutput("climb/roll", Drivetrain.getInstance().getChassisRoll()); - Logger.recordOutput("climb/rightvoltage", rightVoltage); - io.setRightVoltage(rightVoltage); - // return rightVoltage; - double leftVoltage = - leftPIDController.calculate(Drivetrain.getInstance().getChassisRoll(), leftSetPoint); - Logger.recordOutput("climb/roll", Drivetrain.getInstance().getChassisRoll()); - Logger.recordOutput("climb/leftvoltage", leftVoltage); - io.setLeftVoltage(leftVoltage); - // return leftVoltage; - } - - public Command setLeftPIDVoltageRoll() { - return this.runEnd( - () -> leftPIDVoltageRoll(), () -> io.setLeftVoltage(0)); // , () -> stopLeft()); - } - - public Command setRightPIDVoltageRoll() { - return this.runEnd( - () -> rightPIDVoltageRoll(), () -> io.setRightVoltage(0)); // , () -> stopLeft()); - } - - public Command setRightLeftPIDVoltageRoll() { - return this.runEnd(() -> leftRightPIDVoltageRoll(), () -> io.setClimbVoltage(0)); - } - - public double getLeftPosition() { - return inputs.leftPosition; - } - - public double getRightPosition() { - return inputs.rightPosition; - } - /* - public Command leftGoToPosition(double position) { - return this.runEnd( - () -> { - io.setLeft(pid.calculate(getLeftPosition(), position)); - System.out.println(position); - }, - io::stopLeft); - } - */ private void leftGoToPosition(double position) { if (position > SuperStructureConstants.CLIMBLEFT_TOP_POS) { position = SuperStructureConstants.CLIMBLEFT_TOP_POS; @@ -125,15 +42,6 @@ private void leftGoToPosition(double position) { io.setLeftPIDPosition(position); } - private void rightGoToPosition(double position) { - if (position > SuperStructureConstants.CLIMBRIGHT_TOP_POS) { - position = SuperStructureConstants.CLIMBRIGHT_TOP_POS; - } else if (position < 0.0) { - position = 0.0; - } - io.setRightPIDPosition(position); - } - public Command setLeftPosition(DoubleSupplier position) { return this.runEnd( () -> { @@ -142,26 +50,10 @@ public Command setLeftPosition(DoubleSupplier position) { () -> io.setLeftVoltage(0.0)); } - public Command setRightPosition(DoubleSupplier position) { - return this.runEnd( - () -> { - rightGoToPosition((position.getAsDouble())); - }, - () -> io.setRightVoltage(0.0)); - } - public Command setAmpPosition() { return goToPosition(() -> AmpClimbHeight.get()); } - public Command moveRightPosition(DoubleSupplier delta) { - return this.runEnd( - () -> { - io.setRightVoltage((5 * delta.getAsDouble())); - }, - () -> io.setRightVoltage(0.0)); - } - public Command moveLeftPosition(DoubleSupplier delta) { return this.runEnd( () -> { @@ -170,43 +62,22 @@ public Command moveLeftPosition(DoubleSupplier delta) { () -> io.setLeftVoltage(0.0)); } - public Command moveLeftRightPosition(DoubleSupplier deltaLeft, DoubleSupplier deltaRight) { - return this.runEnd( - () -> { - io.setRightVoltage(5 * deltaRight.getAsDouble()); - io.setLeftVoltage(5 * deltaLeft.getAsDouble()); - }, - () -> { - io.setRightVoltage(0.0); - io.setLeftVoltage(0.0); - }); - } /** Given a double supplier run the PID until we reach the setpoint then end */ public Command goToPosition(DoubleSupplier position) { return this.runEnd( () -> { leftGoToPosition(position.getAsDouble()); - rightGoToPosition(position.getAsDouble()); }, () -> { io.setLeftVoltage(0.0); - io.setRightVoltage(0.0); }) - .until(() -> leftPIDController.atSetpoint() && rightPIDController.atSetpoint()); + .until(() -> leftPIDController.atSetpoint()); } public Command stow() { return goToPosition(() -> 0.0); } - /* public Command rightGoToPosition(double position) { - return this.runEnd( - () -> { - io.setRight(pid.calculate(getRightPosition(), position)); - }, - io::stopRight); - } */ - @Override public void periodic() { io.updateInputs(inputs); diff --git a/src/main/java/team3176/robot/subsystems/superstructure/climb/ClimbIO.java b/src/main/java/team3176/robot/subsystems/superstructure/climb/ClimbIO.java index 9638017..6dd2389 100644 --- a/src/main/java/team3176/robot/subsystems/superstructure/climb/ClimbIO.java +++ b/src/main/java/team3176/robot/subsystems/superstructure/climb/ClimbIO.java @@ -15,15 +15,10 @@ public interface ClimbIO { @AutoLog public static class ClimbIOInputs { public double leftPosition = 0.0; - public double rightPosition = 0.0; public double leftError = 0.0; - public double rightError = 0.0; public double leftVolts = 0.0; - public double rightVolts = 0.0; public double leftAmpsStator = 0.0; - public double rightAmpsStator = 0.0; public boolean isLeftLimitswitch = true; - public boolean isRightLimitswitch = true; // constructor if needed for some inputs ClimbIOInputs() {} @@ -34,28 +29,12 @@ public default void updateInputs(ClimbIOInputs inputs) {} public default void setLeft(double percentOutput) {} - public default void setRight(double percentOutput) {} - public default void setLeftPIDPosition(double rotations) {} - public default void setRightPIDPosition(double rotations) {} - public default void setClimbVoltage(double voltage) {} - // public default void stopLeft() {} - - // public default void stopRight() {} - - // public default void setCoastMode(boolean isCoastMode) {} - - // public default void setclimbLBLimitswitchZero() {} - - // public default void setclimbRBLimitswitchZero() {} - public default void setLeftVoltage(double voltage) {} - public default void setRightVoltage(double voltage) {} - public default void setClimbVoltge(double voltage) {} public default void reset() {} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/climb/ClimbIOTalon.java b/src/main/java/team3176/robot/subsystems/superstructure/climb/ClimbIOTalon.java index d81f6f3..65f352d 100644 --- a/src/main/java/team3176/robot/subsystems/superstructure/climb/ClimbIOTalon.java +++ b/src/main/java/team3176/robot/subsystems/superstructure/climb/ClimbIOTalon.java @@ -13,7 +13,6 @@ import com.ctre.phoenix6.controls.NeutralOut; import com.ctre.phoenix6.controls.PositionVoltage; import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.Current; @@ -26,36 +25,27 @@ /** Template hardware interface for the Elevator subsystem. */ public class ClimbIOTalon implements ClimbIO { - TalonFX climbLeft, climbRight; + TalonFX climbLeft; PositionVoltage voltPosition; NeutralOut brake; - DigitalInput climbLBLimitswitch, climbRBLimitswitch; - TalonFXConfiguration configsLeft, configsRight; - private final StatusSignal rightPosition; + DigitalInput climbLBLimitswitch; + TalonFXConfiguration configsLeft; private final StatusSignal leftPosition; - private final StatusSignal rightError; private final StatusSignal leftError; - private final StatusSignal rightVolts; private final StatusSignal leftVolts; - private final StatusSignal rightAmps; private final StatusSignal leftAmps; public ClimbIOTalon() { configsLeft = new TalonFXConfiguration(); - configsRight = new TalonFXConfiguration(); brake = new NeutralOut(); voltPosition = new PositionVoltage(0); climbLBLimitswitch = new DigitalInput(Hardwaremap.climbLBLimitSwitch_DIO); - climbRBLimitswitch = new DigitalInput(Hardwaremap.climbRBLimitSwitch_DIO); climbLeft = new TalonFX(Hardwaremap.climbLeft_CID, Hardwaremap.climbLeft_CBN); - climbRight = new TalonFX(Hardwaremap.climbRight_CID, Hardwaremap.climbRight_CBN); // config setting configsLeft.Slot0.kP = 2.4; // An error of 0.5 rotations results in 1.2 volts output configsLeft.Slot0.kI = 0.0; // A change of 1 rotation per second results in 0.1 volts output configsLeft.Slot0.kD = 0.1; // A change of 1 rotation per second results in 0.1 volts output configsLeft.Slot0.kV = 0.0; // A change of 1 rotation per second results in 0.1 volts output - // configsLeft.Voltage.PeakForwardVoltage = 8; - // configsLeft.Voltage.PeakReverseVoltage = -8; configsLeft.SoftwareLimitSwitch.ForwardSoftLimitEnable = true; configsLeft.SoftwareLimitSwitch.ForwardSoftLimitThreshold = SuperStructureConstants.CLIMBLEFT_TOP_POS; @@ -64,72 +54,26 @@ public ClimbIOTalon() { SuperStructureConstants.CLIMBLEFT_ZERO_POS; configsLeft.MotorOutput.NeutralMode = NeutralModeValue.Brake; - configsRight.Slot0.kP = 2.4; // An error of 1 rotations results in 40 amps output - configsRight.Slot0.kI = 0.0; // A change of 1 rotation per second results in 0.1 volts output - configsRight.Slot0.kD = 0.0; // A change of 1 rotation per second results in 0.1 volts output - configsRight.Slot0.kV = 0.0; // A change of 1 rotation per second results in 0.1 volts output - // configsRight.Voltage.PeakForwardVoltage = 8; - // configsRight.Voltage.PeakReverseVoltage = -8; - configsRight.SoftwareLimitSwitch.ForwardSoftLimitEnable = true; - configsRight.SoftwareLimitSwitch.ForwardSoftLimitThreshold = - SuperStructureConstants.CLIMBRIGHT_TOP_POS; - configsRight.SoftwareLimitSwitch.ReverseSoftLimitEnable = true; - configsRight.SoftwareLimitSwitch.ReverseSoftLimitThreshold = - SuperStructureConstants.CLIMBRIGHT_ZERO_POS; - configsRight.MotorOutput.NeutralMode = NeutralModeValue.Brake; - configsRight.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; - configsLeft.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; - TalonUtils.applyTalonFxConfigs(climbLeft, configsLeft); - TalonUtils.applyTalonFxConfigs(climbRight, configsRight); - // climbLeft.setInverted(true); - // climbRight.setInverted(false); + climbLeft.setInverted(true); leftPosition = climbLeft.getPosition(); - rightPosition = climbRight.getPosition(); - rightError = climbRight.getClosedLoopError(); leftError = climbLeft.getClosedLoopError(); - rightAmps = climbRight.getStatorCurrent(); leftAmps = climbLeft.getStatorCurrent(); - rightVolts = climbRight.getMotorVoltage(); leftVolts = climbLeft.getMotorVoltage(); - climbRight.setPosition(0); climbLeft.setPosition(0.0); - BaseStatusSignal.setUpdateFrequencyForAll( - 50, - leftPosition, - rightPosition, - rightError, - leftError, - rightAmps, - leftAmps, - rightVolts, - leftVolts); + BaseStatusSignal.setUpdateFrequencyForAll(50, leftPosition, leftError, leftAmps, leftVolts); climbLeft.optimizeBusUtilization(); - climbRight.optimizeBusUtilization(); } /** Updates the set of loggable inputs. */ @Override public void updateInputs(ClimbIOInputs inputs) { - BaseStatusSignal.refreshAll( - leftPosition, - rightPosition, - rightError, - leftError, - rightAmps, - leftAmps, - rightVolts, - leftVolts); + BaseStatusSignal.refreshAll(leftPosition, leftError, leftAmps, leftVolts); inputs.isLeftLimitswitch = (!climbLBLimitswitch.get()); - inputs.isRightLimitswitch = (!climbRBLimitswitch.get()); inputs.leftPosition = leftPosition.getValueAsDouble(); - inputs.rightPosition = rightPosition.getValueAsDouble(); inputs.leftError = leftError.getValue(); - inputs.rightError = rightError.getValue(); - inputs.rightAmpsStator = rightAmps.getValueAsDouble(); inputs.leftAmpsStator = leftAmps.getValueAsDouble(); - inputs.rightVolts = rightVolts.getValueAsDouble(); inputs.leftVolts = leftVolts.getValueAsDouble(); } @@ -138,26 +82,11 @@ public void setLeftPIDPosition(double position) { climbLeft.setControl(voltPosition.withPosition(position)); } - @Override - public void setRightPIDPosition(double position) { - climbRight.setControl(voltPosition.withPosition(position)); - } - - @Override - public void setRight(double percent) { - climbRight.set(percent); - } - @Override public void setLeft(double percent) { climbLeft.set(percent); } - @Override - public void setRightVoltage(double voltage) { - climbRight.setVoltage(voltage); - } - @Override public void setLeftVoltage(double voltage) { climbLeft.setVoltage(voltage); @@ -166,10 +95,5 @@ public void setLeftVoltage(double voltage) { @Override public void setClimbVoltge(double voltage) { climbLeft.setVoltage(voltage); - climbRight.setVoltage(voltage); } - // System.out.println("ElevatorIOFalcon.set was called"); - // elevatorLeaderMotor.setControl(voltPosition.withPosition(.25)); - // elevatorLeaderMotor.set(1); - } diff --git a/src/main/java/team3176/robot/subsystems/superstructure/conveyor/Conveyor.java b/src/main/java/team3176/robot/subsystems/superstructure/conveyor/Conveyor.java deleted file mode 100644 index 4c86aff..0000000 --- a/src/main/java/team3176/robot/subsystems/superstructure/conveyor/Conveyor.java +++ /dev/null @@ -1,103 +0,0 @@ -package team3176.robot.subsystems.superstructure.conveyor; - -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import org.littletonrobotics.junction.AutoLogOutput; -import org.littletonrobotics.junction.Logger; -import team3176.robot.Constants; -import team3176.robot.Constants.Mode; -import team3176.robot.util.LoggedTunableNumber; - -public class Conveyor extends SubsystemBase { - private ConveyorIO io; - private static Conveyor instance; - - private ConveyorIOInputsAutoLogged inputs; - private LoggedTunableNumber conveyorIntakeFastVelocity; - private LoggedTunableNumber conveyorIntakeSlowVelocity; - private LoggedTunableNumber conveyorShootVelocity; - - private Conveyor(ConveyorIO io) { - this.io = io; - inputs = new ConveyorIOInputsAutoLogged(); - this.conveyorIntakeFastVelocity = new LoggedTunableNumber("conveyor/IntakeFast", 0.5); - this.conveyorIntakeSlowVelocity = new LoggedTunableNumber("conveyor/IntakeSlow", 0.1); - this.conveyorShootVelocity = new LoggedTunableNumber("conveyor/Shoot", 0.5); - } - - @AutoLogOutput - public boolean hasNote() { - return isLaserIntakeSide() || isLaserShooterSide(); - } - - @AutoLogOutput - public boolean NoteCentered() { - return isLaserIntakeSide() && isLaserShooterSide(); - } - - public boolean hasNoteTooFar() { - return !isLaserIntakeSide() && isLaserShooterSide(); - } - - public boolean isLaserIntakeSide() { - return inputs.isFrontLinebreak; - // return inputs.laserDistIntakeSide < 100; - } - - public boolean isLaserIntakeSideFalse() { - return !inputs.isFrontLinebreak; - // return inputs.laserDistIntakeSide < 100; - } - - public boolean isLaserShooterSide() { - return inputs.isBackLinebreak; - // return inputs.laserDistShooterSide < 100; - } - - public Command runFast() { - return this.runEnd( - () -> io.setController(conveyorIntakeFastVelocity.get()), () -> io.setController(0)); - } - - public Command runSlow() { - return this.runEnd( - () -> io.setController(conveyorIntakeSlowVelocity.get()), () -> io.setController(0)); - } - - public Command runShoot() { - return this.runEnd( - () -> io.setController(conveyorShootVelocity.get()), () -> io.setController(0)); - } - - public Command spit() { - return this.runEnd(() -> io.setController(-2.0), () -> io.setController(0)); - } - - public Command runSlowReverse() { - return this.runEnd(() -> io.setController(-.1), () -> io.setController(0)); - } - - public Command centerNote() { - return (this.runSlow() - .until(() -> !isLaserIntakeSide()) - .andThen(runSlowReverse().until(() -> isLaserIntakeSide()))) - .withTimeout(2.0); - } - - @Override - public void periodic() { - io.updateInputs(inputs); - Logger.processInputs("conveyor", inputs); - } - - public static Conveyor getInstance() { - if (instance == null) { - if (Constants.getMode() == Mode.REAL) { - instance = new Conveyor(new ConveyorIOTalon()); - } else { - instance = new Conveyor(new ConveyorIO() {}); - } - } - return instance; - } -} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/conveyor/ConveyorIO.java b/src/main/java/team3176/robot/subsystems/superstructure/conveyor/ConveyorIO.java deleted file mode 100644 index 0711906..0000000 --- a/src/main/java/team3176/robot/subsystems/superstructure/conveyor/ConveyorIO.java +++ /dev/null @@ -1,34 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package team3176.robot.subsystems.superstructure.conveyor; - -import org.littletonrobotics.junction.AutoLog; - -/** Template hardware interface for a closed loop subsystem. */ -public interface ConveyorIO { - /** Contains all of the input data received from hardware. */ - @AutoLog - public static class ConveyorIOInputs { - - public double WheelVelocity = 0.0; - public double appliedVolts = 0.0; - public double ampsStator = 0.0; - public double ampsSupply = 0.0; - public double laserDistIntakeSide = 0.0; - public double laserDistShooterSide = 0.0; - public boolean isFrontLinebreak = false; - public boolean isBackLinebreak = false; - // constructor if needed for some inputs - ConveyorIOInputs() {} - } - - /** Updates the set of loggable inputs. */ - public default void updateInputs(ConveyorIOInputs inputs) {} - - public default void setController(double voltage) {} -} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/conveyor/ConveyorIOTalon.java b/src/main/java/team3176/robot/subsystems/superstructure/conveyor/ConveyorIOTalon.java deleted file mode 100644 index 8530d1a..0000000 --- a/src/main/java/team3176/robot/subsystems/superstructure/conveyor/ConveyorIOTalon.java +++ /dev/null @@ -1,85 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package team3176.robot.subsystems.superstructure.conveyor; - -// import au.grapplerobotics.LaserCan; -import com.ctre.phoenix6.BaseStatusSignal; -import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.hardware.TalonFX; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.units.measure.AngularVelocity; -import edu.wpi.first.units.measure.Current; -import edu.wpi.first.units.measure.Voltage; -import edu.wpi.first.wpilibj.DigitalInput; -import team3176.robot.constants.Hardwaremap; - -public class ConveyorIOTalon implements ConveyorIO { - - private TalonFX controller = new TalonFX(Hardwaremap.conveyor, Hardwaremap.conveyor_CBN); - /* private LaserCan laserCanIntakeSide; - private LaserCan laserCanShooterSide; */ - private DigitalInput frontLinebreak = new DigitalInput(Hardwaremap.conveyorFrontLinebreak); - private DigitalInput backLinebreak = new DigitalInput(Hardwaremap.conveyorBackLinebreak); - private TalonFXConfiguration configs = new TalonFXConfiguration(); - private final StatusSignal wheelVelocity; - private final StatusSignal appliedVolts; - private final StatusSignal current; - private final StatusSignal currentSupply; - - public ConveyorIOTalon() { - /* laserCanIntakeSide = new LaserCan(Hardwaremap.LaserCanIntakeSide_CID); - laserCanShooterSide = new LaserCan(Hardwaremap.LaserCanShooterSide_CID); - try { - laserCanIntakeSide.setRangingMode(LaserCan.RangingMode.SHORT); - laserCanIntakeSide.setRegionOfInterest(new LaserCan.RegionOfInterest(8, 8, 16, 16)); - laserCanIntakeSide.setTimingBudget(LaserCan.TimingBudget.TIMING_BUDGET_33MS); - } catch (ConfigurationFailedException e) { - System.out.println("LaserCan configuration failed"); - } - try { - laserCanShooterSide.setRangingMode(LaserCan.RangingMode.SHORT); - laserCanShooterSide.setRegionOfInterest(new LaserCan.RegionOfInterest(8, 8, 16, 16)); - laserCanShooterSide.setTimingBudget(LaserCan.TimingBudget.TIMING_BUDGET_33MS); - } catch (ConfigurationFailedException e) { - System.out.println("LaserCan configuration failed"); - } */ - controller.getConfigurator().apply(configs); - wheelVelocity = controller.getVelocity(); - appliedVolts = controller.getMotorVoltage(); - currentSupply = controller.getSupplyCurrent(); - current = controller.getStatorCurrent(); - BaseStatusSignal.setUpdateFrequencyForAll( - 50, wheelVelocity, appliedVolts, current, currentSupply); - controller.optimizeBusUtilization(); - } - - @Override - public void updateInputs(ConveyorIOInputs inputs) { - BaseStatusSignal.refreshAll(wheelVelocity, appliedVolts, current, currentSupply); - inputs.WheelVelocity = Units.rotationsToRadians(wheelVelocity.getValueAsDouble()); - inputs.appliedVolts = appliedVolts.getValueAsDouble(); - inputs.ampsStator = current.getValueAsDouble(); - inputs.ampsSupply = currentSupply.getValueAsDouble(); - inputs.isFrontLinebreak = !frontLinebreak.get(); - inputs.isBackLinebreak = !backLinebreak.get(); - /* var measurement1 = laserCanIntakeSide.getMeasurement(); - if (measurement1 != null) { - inputs.laserDistIntakeSide = measurement1.distance_mm; - } - var measurement2 = laserCanShooterSide.getMeasurement(); - if (measurement2 != null) { - inputs.laserDistShooterSide = measurement2.distance_mm; - } */ - } - - @Override - public void setController(double velocity) { - controller.set(velocity); - } -} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/elevator/Elevator.java b/src/main/java/team3176/robot/subsystems/superstructure/elevator/Elevator.java new file mode 100644 index 0000000..aa3d351 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/superstructure/elevator/Elevator.java @@ -0,0 +1,181 @@ +package team3176.robot.subsystems.superstructure.elevator; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import java.util.function.DoubleSupplier; +import org.littletonrobotics.junction.Logger; +import team3176.robot.Constants; +import team3176.robot.Constants.Mode; +import team3176.robot.Constants.RobotType; +import team3176.robot.constants.*; +import team3176.robot.util.LoggedTunableNumber; +// import team3176.robot.subsystems.superstructure.ClimbIOInputsAutoLogged; +import team3176.robot.util.TunablePID; + +/** Elevator handles the height of the intake from the ground. */ +public class Elevator extends SubsystemBase { + private static Elevator instance; + private final ElevatorIO io; + private double leftSetPoint = 0; + private double rightSetPoint = 0; + private final ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged(); + private TunablePID pid = new TunablePID("climbLeft", 0.001, 0, 0); + private TunablePID leftPIDController = new TunablePID("climbLeft", 1, 0, 0); + private TunablePID rightPIDController = new TunablePID("climbRight", 1, 0, 0); + private LoggedTunableNumber LeftClimbHeight = new LoggedTunableNumber("climbLeftHeight", 0); + private LoggedTunableNumber RightClimbHeight = new LoggedTunableNumber("climbRightHeight", 0); + private LoggedTunableNumber LeftRightClimbHeight = + new LoggedTunableNumber("climbLeftRightHeight", 0); + private LoggedTunableNumber AmpClimbHeight = new LoggedTunableNumber("climb/climbAmpHeight", 60); + + private Elevator(ElevatorIO io) { + this.io = io; + leftPIDController.setTolerance(1.0); + rightPIDController.setTolerance(1.0); + } + + public Command stopLeft() { + return this.runOnce(() -> io.setLeftVoltage(0.0)); + } + + public Command stopRight() { + return this.runOnce(() -> io.setRightVoltage(0.0)); + } + + public Command stopLeftRight() { + return this.runOnce( + () -> { + io.setLeftVoltage(0.0); + io.setRightVoltage(0.0); + }); + } + + public double getLeftPosition() { + return inputs.leftPosition; + } + + public double getRightPosition() { + return inputs.rightPosition; + } + /* + public Command leftGoToPosition(double position) { + return this.runEnd( + () -> { + io.setLeft(pid.calculate(getLeftPosition(), position)); + System.out.println(position); + }, + io::stopLeft); + } + */ + private void leftGoToPosition(double position) { + if (position > SuperStructureConstants.CLIMBLEFT_TOP_POS) { + position = SuperStructureConstants.CLIMBLEFT_TOP_POS; + } + if (position < 0.0) { + position = 0.0; + } + io.setLeftPIDPosition(position); + } + + private void rightGoToPosition(double position) { + if (position > SuperStructureConstants.CLIMBRIGHT_TOP_POS) { + position = SuperStructureConstants.CLIMBRIGHT_TOP_POS; + } else if (position < 0.0) { + position = 0.0; + } + io.setRightPIDPosition(position); + } + + public Command setLeftPosition(DoubleSupplier position) { + return this.runEnd( + () -> { + leftGoToPosition((position.getAsDouble())); + }, + () -> io.setLeftVoltage(0.0)); + } + + public Command setRightPosition(DoubleSupplier position) { + return this.runEnd( + () -> { + rightGoToPosition((position.getAsDouble())); + }, + () -> io.setRightVoltage(0.0)); + } + + public Command setAmpPosition() { + return goToPosition(() -> AmpClimbHeight.get()); + } + + public Command moveRightPosition(DoubleSupplier delta) { + return this.runEnd( + () -> { + io.setRightVoltage((5 * delta.getAsDouble())); + }, + () -> io.setRightVoltage(0.0)); + } + + public Command moveLeftPosition(DoubleSupplier delta) { + return this.runEnd( + () -> { + io.setLeftVoltage((5 * delta.getAsDouble())); + }, + () -> io.setLeftVoltage(0.0)); + } + + public Command moveLeftRightPosition(DoubleSupplier deltaLeft, DoubleSupplier deltaRight) { + return this.runEnd( + () -> { + io.setRightVoltage(5 * deltaRight.getAsDouble()); + io.setLeftVoltage(5 * deltaLeft.getAsDouble()); + }, + () -> { + io.setRightVoltage(0.0); + io.setLeftVoltage(0.0); + }); + } + /** Given a double supplier run the PID until we reach the setpoint then end */ + public Command goToPosition(DoubleSupplier position) { + return this.runEnd( + () -> { + leftGoToPosition(position.getAsDouble()); + rightGoToPosition(position.getAsDouble()); + }, + () -> { + io.setLeftVoltage(0.0); + io.setRightVoltage(0.0); + }) + .until(() -> leftPIDController.atSetpoint() && rightPIDController.atSetpoint()); + } + + public Command stow() { + return goToPosition(() -> 0.0); + } + + /* public Command rightGoToPosition(double position) { + return this.runEnd( + () -> { + io.setRight(pid.calculate(getRightPosition(), position)); + }, + io::stopRight); + } */ + + @Override + public void periodic() { + io.updateInputs(inputs); + Logger.processInputs("Elevator", inputs); + pid.checkParemeterUpdate(); + } + + public static Elevator getInstance() { + if (instance == null) { + if (Constants.getMode() == Mode.REAL && Constants.getRobot() != RobotType.ROBOT_DEFENSE) { + instance = new Elevator(new ElevatorIOTalon() {}); + System.out.println("Elevator instance created for Mode.REAL"); + } else { + instance = new Elevator(new ElevatorIOSim() {}); + System.out.println("Elevator instance created for Mode.SIM"); + } + } + return instance; + } +} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/elevator/ElevatorIO.java b/src/main/java/team3176/robot/subsystems/superstructure/elevator/ElevatorIO.java new file mode 100644 index 0000000..18cd687 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/superstructure/elevator/ElevatorIO.java @@ -0,0 +1,62 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package team3176.robot.subsystems.superstructure.elevator; + +import org.littletonrobotics.junction.AutoLog; + +/** Template hardware interface for the Elevator subsystem. */ +public interface ElevatorIO { + /** Contains all of the input data received from hardware. */ + @AutoLog + public static class ElevatorIOInputs { + public double leftPosition = 0.0; + public double rightPosition = 0.0; + public double leftError = 0.0; + public double rightError = 0.0; + public double leftVolts = 0.0; + public double rightVolts = 0.0; + public double leftAmpsStator = 0.0; + public double rightAmpsStator = 0.0; + public boolean isLeftLimitswitch = true; + public boolean isRightLimitswitch = true; + + // constructor if needed for some inputs + ElevatorIOInputs() {} + } + + /** Updates the set of loggable inputs. */ + public default void updateInputs(ElevatorIOInputs inputs) {} + + public default void setLeft(double percentOutput) {} + + public default void setRight(double percentOutput) {} + + public default void setLeftPIDPosition(double rotations) {} + + public default void setRightPIDPosition(double rotations) {} + + public default void setElevatorVoltage(double voltage) {} + + // public default void stopLeft() {} + + // public default void stopRight() {} + + // public default void setCoastMode(boolean isCoastMode) {} + + // public default void setclimbLBLimitswitchZero() {} + + // public default void setclimbRBLimitswitchZero() {} + + public default void setLeftVoltage(double voltage) {} + + public default void setRightVoltage(double voltage) {} + + public default void setElevatorVoltge(double voltage) {} + + public default void reset() {} +} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/elevator/ElevatorIOSim.java b/src/main/java/team3176/robot/subsystems/superstructure/elevator/ElevatorIOSim.java new file mode 100644 index 0000000..8f1a295 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/superstructure/elevator/ElevatorIOSim.java @@ -0,0 +1,44 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package team3176.robot.subsystems.superstructure.elevator; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.wpilibj.simulation.ElevatorSim; +import org.littletonrobotics.junction.Logger; +import team3176.robot.Constants; + +/** Template hardware interface for the Elevator subsystem. */ +public class ElevatorIOSim implements ElevatorIO { + + private ElevatorSim elevatorSim; + private double appliedVolts; + + public ElevatorIOSim() { + elevatorSim = + new ElevatorSim(DCMotor.getFalcon500(2), 10, 5.0, 0.0381 / 2.0, 0.0, 0.75, true, 0.0); + } + /** Updates the set of loggable inputs. */ + @Override + public void updateInputs(ElevatorIOInputs inputs) { + elevatorSim.update(Constants.LOOP_PERIODIC_SECS); + inputs.leftPosition = elevatorSim.getPositionMeters(); + // inputs.VelocityRadPerSec = elevatorSim.getVelocityMetersPerSecond(); + // inputs.AppliedVolts = appliedVolts; + // inputs.CurrentAmps = new double[] {elevatorSim.getCurrentDrawAmps()}; + // inputs.TempCelcius = new double[] {0.0}; + Logger.recordOutput("Elevator/SimPos", elevatorSim.getPositionMeters()); + } + + @Override + public void setLeft(double voltage) { + appliedVolts = voltage; + appliedVolts = MathUtil.clamp(appliedVolts, -12, 12); + elevatorSim.setInputVoltage(appliedVolts); + } +} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/elevator/ElevatorIOTalon.java b/src/main/java/team3176/robot/subsystems/superstructure/elevator/ElevatorIOTalon.java new file mode 100644 index 0000000..41979d9 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/superstructure/elevator/ElevatorIOTalon.java @@ -0,0 +1,172 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package team3176.robot.subsystems.superstructure.elevator; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.NeutralOut; +import com.ctre.phoenix6.controls.PositionVoltage; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.NeutralModeValue; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Current; +import edu.wpi.first.units.measure.Voltage; +import edu.wpi.first.wpilibj.DigitalInput; +import team3176.robot.constants.Hardwaremap; +import team3176.robot.constants.SuperStructureConstants; +import team3176.robot.subsystems.superstructure.elevator.ElevatorIO.ElevatorIOInputs; +import team3176.robot.util.TalonUtils; + +/** Template hardware interface for the Elevator subsystem. */ +public class ElevatorIOTalon implements ElevatorIO { + + TalonFX elevatorLeft, elevatorRight; + PositionVoltage voltPosition; + NeutralOut brake; + DigitalInput elevatorLBLimitswitch, elevatorRBLimitswitch; + TalonFXConfiguration configsLeft, configsRight; + private final StatusSignal rightPosition; + private final StatusSignal leftPosition; + private final StatusSignal rightError; + private final StatusSignal leftError; + private final StatusSignal rightVolts; + private final StatusSignal leftVolts; + private final StatusSignal rightAmps; + private final StatusSignal leftAmps; + + public ElevatorIOTalon() { + configsLeft = new TalonFXConfiguration(); + configsRight = new TalonFXConfiguration(); + brake = new NeutralOut(); + voltPosition = new PositionVoltage(0); + elevatorLBLimitswitch = new DigitalInput(Hardwaremap.elevatorLBLimitSwitch_DIO); + elevatorRBLimitswitch = new DigitalInput(Hardwaremap.elevatorRBLimitSwitch_DIO); + elevatorLeft = new TalonFX(Hardwaremap.elevatorLeft_CID, Hardwaremap.elevatorLeft_CBN); + elevatorRight = new TalonFX(Hardwaremap.elevatorRight_CID, Hardwaremap.elevatorRight_CBN); + // config setting + configsLeft.Slot0.kP = 2.4; // An error of 0.5 rotations results in 1.2 volts output + configsLeft.Slot0.kI = 0.0; // A change of 1 rotation per second results in 0.1 volts output + configsLeft.Slot0.kD = 0.1; // A change of 1 rotation per second results in 0.1 volts output + configsLeft.Slot0.kV = 0.0; // A change of 1 rotation per second results in 0.1 volts output + // configsLeft.Voltage.PeakForwardVoltage = 8; + // configsLeft.Voltage.PeakReverseVoltage = -8; + configsLeft.SoftwareLimitSwitch.ForwardSoftLimitEnable = true; + configsLeft.SoftwareLimitSwitch.ForwardSoftLimitThreshold = + SuperStructureConstants.ELEVATORLEFT_TOP_POS; + configsLeft.SoftwareLimitSwitch.ReverseSoftLimitEnable = true; + configsLeft.SoftwareLimitSwitch.ReverseSoftLimitThreshold = + SuperStructureConstants.ELEVATORLEFT_ZERO_POS; + configsLeft.MotorOutput.NeutralMode = NeutralModeValue.Brake; + + configsRight.Slot0.kP = 2.4; // An error of 1 rotations results in 40 amps output + configsRight.Slot0.kI = 0.0; // A change of 1 rotation per second results in 0.1 volts output + configsRight.Slot0.kD = 0.0; // A change of 1 rotation per second results in 0.1 volts output + configsRight.Slot0.kV = 0.0; // A change of 1 rotation per second results in 0.1 volts output + // configsRight.Voltage.PeakForwardVoltage = 8; + // configsRight.Voltage.PeakReverseVoltage = -8; + configsRight.SoftwareLimitSwitch.ForwardSoftLimitEnable = true; + configsRight.SoftwareLimitSwitch.ForwardSoftLimitThreshold = + SuperStructureConstants.ELEVATORRIGHT_TOP_POS; + configsRight.SoftwareLimitSwitch.ReverseSoftLimitEnable = true; + configsRight.SoftwareLimitSwitch.ReverseSoftLimitThreshold = + SuperStructureConstants.ELEVATORRIGHT_ZERO_POS; + configsRight.MotorOutput.NeutralMode = NeutralModeValue.Brake; + TalonUtils.applyTalonFxConfigs(elevatorLeft, configsLeft); + TalonUtils.applyTalonFxConfigs(elevatorRight, configsRight); + elevatorLeft.setInverted(true); + elevatorRight.setInverted(false); + + leftPosition = elevatorLeft.getPosition(); + rightPosition = elevatorRight.getPosition(); + rightError = elevatorRight.getClosedLoopError(); + leftError = elevatorLeft.getClosedLoopError(); + rightAmps = elevatorRight.getStatorCurrent(); + leftAmps = elevatorLeft.getStatorCurrent(); + rightVolts = elevatorRight.getMotorVoltage(); + leftVolts = elevatorLeft.getMotorVoltage(); + + elevatorRight.setPosition(0); + elevatorLeft.setPosition(0.0); + BaseStatusSignal.setUpdateFrequencyForAll( + 50, + leftPosition, + rightPosition, + rightError, + leftError, + rightAmps, + leftAmps, + rightVolts, + leftVolts); + elevatorLeft.optimizeBusUtilization(); + elevatorRight.optimizeBusUtilization(); + } + /** Updates the set of loggable inputs. */ + @Override + public void updateInputs(ElevatorIOInputs inputs) { + BaseStatusSignal.refreshAll( + leftPosition, + rightPosition, + rightError, + leftError, + rightAmps, + leftAmps, + rightVolts, + leftVolts); + inputs.isLeftLimitswitch = (!elevatorLBLimitswitch.get()); + inputs.isRightLimitswitch = (!elevatorRBLimitswitch.get()); + inputs.leftPosition = leftPosition.getValueAsDouble(); + inputs.rightPosition = rightPosition.getValueAsDouble(); + inputs.leftError = leftError.getValue(); + inputs.rightError = rightError.getValue(); + inputs.rightAmpsStator = rightAmps.getValueAsDouble(); + inputs.leftAmpsStator = leftAmps.getValueAsDouble(); + inputs.rightVolts = rightVolts.getValueAsDouble(); + inputs.leftVolts = leftVolts.getValueAsDouble(); + } + + @Override + public void setLeftPIDPosition(double position) { + elevatorLeft.setControl(voltPosition.withPosition(position)); + } + + @Override + public void setRightPIDPosition(double position) { + elevatorRight.setControl(voltPosition.withPosition(position)); + } + + @Override + public void setRight(double percent) { + elevatorRight.set(percent); + } + + @Override + public void setLeft(double percent) { + elevatorLeft.set(percent); + } + + @Override + public void setRightVoltage(double voltage) { + elevatorRight.setVoltage(voltage); + } + + @Override + public void setLeftVoltage(double voltage) { + elevatorLeft.setVoltage(voltage); + } + + @Override + public void setElevatorVoltge(double voltage) { + elevatorLeft.setVoltage(voltage); + elevatorRight.setVoltage(voltage); + } + // System.out.println("ElevatorIOFalcon.set was called"); + // elevatorLeaderMotor.setControl(voltPosition.withPosition(.25)); + // elevatorLeaderMotor.set(1); + +} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/indexer/Indexer.java b/src/main/java/team3176/robot/subsystems/superstructure/indexer/Indexer.java new file mode 100644 index 0000000..d83db4c --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/superstructure/indexer/Indexer.java @@ -0,0 +1,162 @@ +package team3176.robot.subsystems.superstructure.indexer; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import org.littletonrobotics.junction.Logger; +import team3176.robot.Constants; +import team3176.robot.Constants.Mode; +import team3176.robot.Constants.RobotType; +import team3176.robot.constants.*; +import team3176.robot.util.LoggedTunableNumber; +import team3176.robot.util.TunablePID; + +public class Indexer extends SubsystemBase { + private static Indexer instance; + private final IndexerIO io; + private final IndexerIOInputsAutoLogged inputs = new IndexerIOInputsAutoLogged(); + private final LoggedTunableNumber deployPivotVolts; + private final LoggedTunableNumber rollerVolts; + private final LoggedTunableNumber retractPivotVolts; + private final LoggedTunableNumber waitTime; + private final TunablePID pivotPID; + private Timer deployTime = new Timer(); + private double pivotSetpoint; + private final double DEPLOY_POS = 2.1; + private double pivot_offset = 0; + private InterpolatingDoubleTreeMap kG = new InterpolatingDoubleTreeMap(); + private boolean ishomed = false; + private double lastRollerSpeed = 0.0; + + private enum pivotStates { + DEPLOY, + RETRACT, + IDLE, + HOLD + }; + + private pivotStates pivotState = pivotStates.HOLD; + // DigitalInput linebreak1 = new DigitalInput(Hardwaremap.indexerRollerLinebreak_DIO); + + private Indexer(IndexerIO io) { + this.io = io; + this.pivotPID = new TunablePID("indexerPivot", 3.0, 0.0, 0.0); + this.deployPivotVolts = new LoggedTunableNumber("indexer/rollerDeployVolts", 0); + this.rollerVolts = new LoggedTunableNumber("indexer/rollerVolts", 7.0); + this.retractPivotVolts = new LoggedTunableNumber("indexer/rollerRetractVolts", 0); + this.waitTime = new LoggedTunableNumber("indexer/waitTime", 0); + } + + public Command EmergencyHold() { + return this.runEnd(() -> io.setPivotVolts(-2.5), () -> io.setPivotVolts(0.0)); + } + + public Command manualDown() { + return this.runEnd( + () -> { + io.setPivotVolts(2.5); + io.setRollerVolts(4.0); + }, + () -> { + io.setPivotVolts(0.0); + io.setRollerVolts(0); + }); + } + + private void runPivot(double volts) { + // this assumes positive voltage deploys the indexer and negative voltage retracts it. + // invert the motor if that is NOT true + io.setPivotVolts(volts); + } + + private boolean rollerSwitch() { + return lastRollerSpeed - inputs.rollerVelocityRadPerSec > 15.0; + } + + public static Indexer getInstance() { + if (instance == null) { + if (Constants.getMode() == Mode.REAL && Constants.getRobot() != RobotType.ROBOT_DEFENSE) { + instance = new Indexer(new IndexerIOTalon() {}); + } else { + instance = new Indexer(new IndexerIOSim() {}); + } + } + return instance; + } + + // Example command to show how to set the pivot state + public Command deployPivot() { + return this.runOnce( + () -> { + this.pivotSetpoint = DEPLOY_POS; + deployTime.restart(); + }); + } + + public Command retractPivot() { + return this.runOnce(() -> this.pivotSetpoint = 0.0); + } + + public Command climbindexer() { + return this.runOnce(() -> this.pivotSetpoint = 0.45); + } + + public Command spinindexer() { + return this.runEnd(() -> io.setRollerVolts(rollerVolts.get()), () -> io.setRollerVolts(0)); + } + + public Command spinindexerRollersSlow() { + return this.runEnd(() -> io.setRollerVolts(rollerVolts.get() / 2), () -> io.setRollerVolts(0)); + } + + public Command stopRollers() { + return this.runOnce(() -> io.setRollerVolts(0)); + } + /* + * this can be much simpler than before just needs to spin the indexer and retract when done. + * keep the high level logic up in superstructure + */ + public Command indexerNote() { + return (deployPivot() + .andThen(spinindexer()) + .finallyDo( + () -> { + this.pivotSetpoint = 0.0; + io.setRollerVolts(0.0); + })); + } + + // TODO: might need to deploy the indexer during a spit but maybe not + public Command spit() { + return this.runEnd(() -> io.setRollerVolts(-1.5), () -> io.setRollerVolts(0)); + } + + @Override + public void periodic() { + io.updateInputs(inputs); + Logger.processInputs("indexer", inputs); + Logger.recordOutput("indexer/state", pivotState); + double pivot_pos = inputs.pivotPosition - pivot_offset; + if (!ishomed && pivotSetpoint > 1.0) { + pivot_pos = -3.0; + } + double commandVolts = pivotPID.calculate(pivot_pos, pivotSetpoint); + if (pivot_pos <= 0.7) { + commandVolts *= 1.6; + } + commandVolts = MathUtil.clamp(commandVolts, -3.5, 2.0); + + Logger.recordOutput("indexer/PID_out", commandVolts); + Logger.recordOutput("indexer/setpoint", this.pivotSetpoint); + Logger.recordOutput("indexer/offsetPos", pivot_pos); + runPivot(commandVolts); + pivotPID.checkParemeterUpdate(); + if (inputs.lowerLimitSwitch && !ishomed) { + ishomed = true; + pivot_offset = inputs.pivotPosition - DEPLOY_POS; + } + lastRollerSpeed = inputs.rollerVelocityRadPerSec; + } +} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/indexer/IndexerIO.java b/src/main/java/team3176/robot/subsystems/superstructure/indexer/IndexerIO.java new file mode 100644 index 0000000..a6323d8 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/superstructure/indexer/IndexerIO.java @@ -0,0 +1,53 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package team3176.robot.subsystems.superstructure.indexer; + +import org.littletonrobotics.junction.AutoLog; + +/** Template hardware interface for a closed loop subsystem. */ +public interface IndexerIO { + /** Contains all of the input data received from hardware. */ + @AutoLog + public static class IndexerIOInputs { + public double pivotPosition = 0.0; + public double pivotVelocityRadPerSec = 0.0; + public double pivotAppliedVolts = 0.0; + public double pivotAmpsStator = 0.0; + public double pivotAmpsSupply = 0.0; + public double pivotTempCelcius = 0.0; + + public double rollerVelocityRadPerSec = 0.0; + public double rollerAppliedVolts = 0.0; + public double rollerAmpsStator = 0.0; + public double rollerAmpsSupply = 0.0; + public double rollerTempCelcius = 0.0; + + public boolean isRollerLinebreak = false; + public boolean isPivotLinebreak = false; + public boolean upperLimitSwitch = false; + public boolean lowerLimitSwitch = false; + + // constructor if needed for some inputs + IndexerIOInputs() {} + } + + /* public default Boolean getRollerLinebreak() {} */ + + /** Updates the set of loggable inputs. */ + public default void updateInputs(IndexerIOInputs inputs) {} + + public default void setRollerVolts(double volts) {} + + public default void setRollerPIDVelocity(double rpm) {} + + public default void setPivotVolts(double volts) {} + + public default void setPivotPIDPosition(double position) {} + + public default void setCoastMode(boolean isCoastMode) {} +} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/indexer/IndexerIOSim.java b/src/main/java/team3176/robot/subsystems/superstructure/indexer/IndexerIOSim.java new file mode 100644 index 0000000..870c374 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/superstructure/indexer/IndexerIOSim.java @@ -0,0 +1,64 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package team3176.robot.subsystems.superstructure.indexer; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.simulation.FlywheelSim; +import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; +import org.littletonrobotics.junction.Logger; +import team3176.robot.Constants; + +/** Template hardware interface for a closed loop subsystem. */ +public class IndexerIOSim implements IndexerIO { + + private SingleJointedArmSim pivotSim; + private FlywheelSim rollerSim; + private double appliedVolts; + + public IndexerIOSim() { + pivotSim = + new SingleJointedArmSim( + DCMotor.getFalcon500(1), 20, 0.5, 0.7, -1.0 * Math.PI, 3.14, true, 0.0); + rollerSim = + new FlywheelSim( + LinearSystemId.createFlywheelSystem(DCMotor.getFalcon500(1), 0.025, 1.0), + DCMotor.getFalcon500(1), + 0.0); + } + /** Updates the set of loggable inputs. */ + @Override + public void updateInputs(IndexerIOInputs inputs) { + pivotSim.update(Constants.LOOP_PERIODIC_SECS); + rollerSim.update(Constants.LOOP_PERIODIC_SECS); + inputs.pivotPosition = Units.radiansToDegrees(pivotSim.getAngleRads()) + 90; + inputs.pivotVelocityRadPerSec = pivotSim.getVelocityRadPerSec(); + inputs.pivotAppliedVolts = appliedVolts; + inputs.pivotAmpsStator = pivotSim.getCurrentDrawAmps(); + inputs.pivotTempCelcius = 0.0; + inputs.rollerVelocityRadPerSec = rollerSim.getAngularVelocityRadPerSec(); + inputs.rollerAppliedVolts = appliedVolts; + inputs.rollerAmpsStator = rollerSim.getCurrentDrawAmps(); + inputs.rollerTempCelcius = 0.0; + Logger.recordOutput("Indexer/SimPivotPos", pivotSim.getAngleRads()); + } + + @Override + public void setPivotVolts(double volts) { + if (DriverStation.isEnabled()) { + appliedVolts = volts; + } else { + appliedVolts = 0.0; + } + appliedVolts = MathUtil.clamp(appliedVolts, -12, 12); + pivotSim.setInputVoltage(appliedVolts); + } +} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/indexer/IndexerIOTalon.java b/src/main/java/team3176/robot/subsystems/superstructure/indexer/IndexerIOTalon.java new file mode 100644 index 0000000..258ec22 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/superstructure/indexer/IndexerIOTalon.java @@ -0,0 +1,186 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package team3176.robot.subsystems.superstructure.indexer; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.PositionVoltage; +import com.ctre.phoenix6.controls.VelocityVoltage; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.revrobotics.spark.SparkBase; +import com.revrobotics.spark.SparkClosedLoopController; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.Current; +import edu.wpi.first.units.measure.Temperature; +import edu.wpi.first.units.measure.Voltage; +import edu.wpi.first.wpilibj.DigitalInput; +import team3176.robot.constants.Hardwaremap; +import team3176.robot.util.TalonUtils; + +/** Template hardware interface for a closed loop subsystem. */ +public class IndexerIOTalon implements IndexerIO { + + private TalonFX rollerController; + private TalonFX pivotController; + VelocityVoltage voltVelocity; + VoltageOut rollerVolts = new VoltageOut(0.0); + VoltageOut pivotVolts = new VoltageOut(0.0); + PositionVoltage voltPosition; + private SparkClosedLoopController pivotPID; + + DigitalInput rollerLinebreak; + DigitalInput pivotLinebreak; + DigitalInput upperLimitSwitch; + DigitalInput lowerLimitSwitch; + + private final StatusSignal pivotAppliedVolts; + private final StatusSignal pivotCurrentAmpsStator; + private final StatusSignal pivotCurrentAmpsSupply; + private final StatusSignal pivotVelocity; + private final StatusSignal pivotPosition; + private final StatusSignal pivotTemp; + + private final StatusSignal rollerAppliedVolts; + private final StatusSignal rollerCurrentAmpsStator; + private final StatusSignal rollerCurrentAmpsSupply; + private final StatusSignal rollerVelocity; + private final StatusSignal rollerTemp; + + public IndexerIOTalon() { + + TalonFXConfiguration rollerConfigs = new TalonFXConfiguration(); + TalonFXConfiguration pivotConfigs = new TalonFXConfiguration(); + + // voltVelocity = new VelocityVoltage(0, 0, true, 0, 0, false, false, false); + // voltPosition = new PositionVoltage(0, 0, true, 0, 0, false, false, false); + + // rollerLinebreak = new DigitalInput(Hardwaremap.IndexerRollerLinebreak_DIO); + // pivotLinebreak = new DigitalInput(Hardwaremap.IndexerPivotLinebreak_DIO); + + upperLimitSwitch = new DigitalInput(Hardwaremap.indexerUpperLimitSwitch_DIO); + lowerLimitSwitch = new DigitalInput(Hardwaremap.indexerLowerLimitSwitch_DIO); + + rollerController = new TalonFX(Hardwaremap.indexerRoller_CID, Hardwaremap.indexerRoller_CBN); + pivotController = new TalonFX(Hardwaremap.indexerPivot_CID, Hardwaremap.indexerPivot_CBN); + + // config setting + // rollerConfigs.CurrentLimits.StatorCurrentLimit = 50; + // rollerConfigs.CurrentLimits.StatorCurrentLimitEnable = true; + + // pivot configs + + // pivotConfigs.Slot0.kP = 2.4; // An error of 0.5 rotations results in 1.2 volts output + // pivotConfigs.Slot0.kD = 0.1; // A change of 1 rotation per second results in 0.1 volts output + pivotConfigs.Voltage.PeakForwardVoltage = 8; + pivotConfigs.Voltage.PeakReverseVoltage = -10; + pivotConfigs.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; + pivotConfigs.Feedback.SensorToMechanismRatio = 20.0; + + pivotConfigs.CurrentLimits.SupplyCurrentLimit = 60; + pivotConfigs.CurrentLimits.SupplyCurrentLimitEnable = true; + pivotConfigs.MotorOutput.NeutralMode = NeutralModeValue.Brake; + + TalonUtils.applyTalonFxConfigs(rollerController, rollerConfigs); + TalonUtils.applyTalonFxConfigs(pivotController, pivotConfigs); + pivotController.setPosition(0, 0); + + pivotAppliedVolts = pivotController.getMotorVoltage(); + pivotCurrentAmpsStator = pivotController.getStatorCurrent(); + pivotCurrentAmpsSupply = pivotController.getSupplyCurrent(); + pivotVelocity = pivotController.getVelocity(); + pivotPosition = pivotController.getPosition(); + pivotTemp = pivotController.getDeviceTemp(); + + rollerAppliedVolts = rollerController.getMotorVoltage(); + rollerCurrentAmpsStator = rollerController.getStatorCurrent(); + rollerCurrentAmpsSupply = rollerController.getSupplyCurrent(); + rollerVelocity = rollerController.getVelocity(); + rollerTemp = rollerController.getDeviceTemp(); + + BaseStatusSignal.setUpdateFrequencyForAll( + 50, + pivotAppliedVolts, + pivotCurrentAmpsStator, + pivotVelocity, + pivotPosition, + pivotTemp, + pivotCurrentAmpsSupply); + BaseStatusSignal.setUpdateFrequencyForAll( + 50, + rollerAppliedVolts, + rollerVelocity, + rollerCurrentAmpsStator, + rollerTemp, + rollerCurrentAmpsSupply); + + rollerController.optimizeBusUtilization(); + pivotController.optimizeBusUtilization(); + } + /** Updates the set of loggable inputs. */ + @Override + public void updateInputs(IndexerIOInputs inputs) { + BaseStatusSignal.refreshAll( + pivotAppliedVolts, + pivotCurrentAmpsStator, + pivotVelocity, + pivotPosition, + pivotTemp, + pivotCurrentAmpsSupply); + BaseStatusSignal.refreshAll( + rollerAppliedVolts, + rollerVelocity, + rollerCurrentAmpsStator, + rollerTemp, + rollerCurrentAmpsSupply); + + // inputs.isRollerLinebreak = (!rollerLinebreak.get()); + // inputs.isPivotLinebreak = (!pivotLinebreak.get()); + + inputs.upperLimitSwitch = (!upperLimitSwitch.get()); + inputs.lowerLimitSwitch = !lowerLimitSwitch.get(); + + inputs.pivotAppliedVolts = pivotAppliedVolts.getValueAsDouble(); + inputs.pivotAmpsStator = pivotCurrentAmpsStator.getValueAsDouble(); + inputs.pivotAmpsSupply = pivotCurrentAmpsSupply.getValueAsDouble(); + inputs.pivotTempCelcius = pivotTemp.getValueAsDouble(); + inputs.pivotPosition = Units.rotationsToRadians(pivotPosition.getValueAsDouble()); + inputs.pivotVelocityRadPerSec = Units.rotationsToRadians(pivotVelocity.getValueAsDouble()); + + inputs.rollerAppliedVolts = rollerAppliedVolts.getValueAsDouble(); + inputs.rollerAmpsStator = rollerCurrentAmpsStator.getValueAsDouble(); + inputs.rollerAmpsSupply = rollerCurrentAmpsSupply.getValueAsDouble(); + inputs.rollerTempCelcius = rollerTemp.getValueAsDouble(); + inputs.rollerVelocityRadPerSec = Units.rotationsToRadians(rollerVelocity.getValueAsDouble()); + } + + /* @Override + public Boolean getRollerLinebreak() { + return + } */ + + @Override + public void setRollerVolts(double volts) { + rollerController.setControl(rollerVolts.withOutput(volts)); + } + + @Override + public void setPivotPIDPosition(double position) { + pivotPID.setReference(position, SparkBase.ControlType.kPosition); + } + + @Override + public void setPivotVolts(double volts) { + pivotController.setControl(pivotVolts.withOutput(volts)); + } +} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/intake/IntakeIOTalon.java b/src/main/java/team3176/robot/subsystems/superstructure/intake/IntakeIOTalon.java index 1763781..40109ff 100644 --- a/src/main/java/team3176/robot/subsystems/superstructure/intake/IntakeIOTalon.java +++ b/src/main/java/team3176/robot/subsystems/superstructure/intake/IntakeIOTalon.java @@ -16,8 +16,8 @@ import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; -import com.revrobotics.CANSparkBase; -import com.revrobotics.SparkPIDController; +import com.revrobotics.spark.SparkBase; +import com.revrobotics.spark.SparkClosedLoopController; import edu.wpi.first.math.util.Units; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.AngularVelocity; @@ -37,7 +37,7 @@ public class IntakeIOTalon implements IntakeIO { VoltageOut rollerVolts = new VoltageOut(0.0); VoltageOut pivotVolts = new VoltageOut(0.0); PositionVoltage voltPosition; - private SparkPIDController pivotPID; + private SparkClosedLoopController pivotPID; DigitalInput rollerLinebreak; DigitalInput pivotLinebreak; @@ -176,7 +176,7 @@ public void setRollerVolts(double volts) { @Override public void setPivotPIDPosition(double position) { - pivotPID.setReference(position, CANSparkBase.ControlType.kPosition); + pivotPID.setReference(position, SparkBase.ControlType.kPosition); } @Override diff --git a/src/main/java/team3176/robot/subsystems/superstructure/shooter/Shooter.java b/src/main/java/team3176/robot/subsystems/superstructure/shooter/Shooter.java deleted file mode 100644 index 572340a..0000000 --- a/src/main/java/team3176/robot/subsystems/superstructure/shooter/Shooter.java +++ /dev/null @@ -1,317 +0,0 @@ -package team3176.robot.subsystems.superstructure.shooter; - -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation3d; -import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import org.littletonrobotics.junction.AutoLogOutput; -import org.littletonrobotics.junction.Logger; -import team3176.robot.Constants; -import team3176.robot.Constants.Mode; -import team3176.robot.Constants.RobotType; -import team3176.robot.FieldConstants; -import team3176.robot.subsystems.drivetrain.Drivetrain; -import team3176.robot.util.AllianceFlipUtil; -import team3176.robot.util.LoggedTunableNumber; -import team3176.robot.util.TunablePID; - -public class Shooter extends SubsystemBase { - private static Shooter instance; - private final ShooterIO io; - private final ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged(); - // Taken from CAD check later; - public static final Rotation2d UPPER_LIMIT = Rotation2d.fromDegrees(54.46); - public static final Rotation2d LOWER_LIMIT = Rotation2d.fromDegrees(13.4592); - public static final Translation3d shooterTranslation = new Translation3d(-0.01, 0.0, 0.4309); - public static final double LOOKAHEAD_SEC = 0.5; - // public static final double FLYWHEEL_IDLE = 20; - private double lastDistance = 0; - private double futureDistance = 0; - private double lastTimestamp; - - private final TunablePID pivotPIDController; - private final LoggedTunableNumber aimAngle; - private final LoggedTunableNumber flywheelLeftVelocity; - private final LoggedTunableNumber flywheelRightVelocity; - private final LoggedTunableNumber forwardPivotVoltageOffset; - private final LoggedTunableNumber flywheelIdle; - - private double rightWheelSetpoint = 0.0; - private double leftWheelSetpoint = 0.0; - private Rotation2d pivotSetpoint = new Rotation2d(); - private Rotation2d pivotOffSet = new Rotation2d(); - private Rotation2d pivotTopPosition; - private InterpolatingDoubleTreeMap shooterFlywheelLookupLeft; - private InterpolatingDoubleTreeMap shooterFlywheelLookupRight; - private InterpolatingDoubleTreeMap pivotLookup; - private InterpolatingDoubleTreeMap pivotFeedForward = new InterpolatingDoubleTreeMap(); - public boolean isHomed = false; - - private Shooter(ShooterIO io) { - this.io = io; - this.pivotTopPosition = new Rotation2d(Units.degreesToRadians(39)); - this.pivotPIDController = new TunablePID("shooter/pid", 8.0, 0.0, 0.5); - pivotPIDController.setIntegratorRange(-0.5, 0.5); - pivotPIDController.setIZone(Units.degreesToRadians(6)); - pivotPIDController.setTolerance(Units.degreesToRadians(1.0)); - this.aimAngle = new LoggedTunableNumber("shooter/angle", 16.5); - this.flywheelLeftVelocity = new LoggedTunableNumber("shooter/velocityLeft", 90.0); - this.flywheelRightVelocity = new LoggedTunableNumber("shooter/velocityRight", 40.0); - this.forwardPivotVoltageOffset = new LoggedTunableNumber("shooter/pivotOffset", 0.7); - this.flywheelIdle = new LoggedTunableNumber("shooter/idleVel", 20); - pivotLookup = new InterpolatingDoubleTreeMap(); - pivotLookup.put(1.07, 38.0); - pivotLookup.put(1.62, 25.0); - pivotLookup.put(2.0, 22.0); - pivotLookup.put(2.33, 22.0); - pivotLookup.put(2.36, 21.0); - pivotLookup.put(2.45, 19.0); - pivotLookup.put(2.48, 19.0); - pivotLookup.put(2.52, 19.0); - pivotLookup.put(2.54, 19.0); - pivotLookup.put(2.57, 19.0); - pivotLookup.put(2.61, 19.0); - pivotLookup.put(2.63, 19.0); - pivotLookup.put(2.67, 19.0); - pivotLookup.put(2.69, 19.0); - pivotLookup.put(2.72, 17.8); - pivotLookup.put(2.78, 17.8); - pivotLookup.put(2.85, 17.0); - pivotLookup.put(2.93, 17.0); - pivotLookup.put(3.03, 17.0); - pivotLookup.put(3.11, 17.0); - pivotLookup.put(3.21, 16.0); - pivotLookup.put(3.3, 15.5); - pivotLookup.put(3.38, 15.0); - pivotLookup.put(3.47, 14.5); - pivotLookup.put(3.58, 13.75); - pivotLookup.put(3.7, 13.75); - pivotLookup.put(3.94, 13.5); - - shooterFlywheelLookupLeft = new InterpolatingDoubleTreeMap(); - shooterFlywheelLookupRight = new InterpolatingDoubleTreeMap(); - - io.setFlywheelVelocity(0.0); - // shooterFlywheelLookup.put(1.0, 60.0); - // shooterFlywheelLookup.put(3.2, 100.0); - } - - public static Shooter getInstance() { - if (instance == null) { - if (Constants.getMode() != Mode.SIM && Constants.getRobot() != RobotType.ROBOT_DEFENSE) { - instance = new Shooter(new ShooterIOTalonSpark() {}); - - } else { - instance = new Shooter(new ShooterIOSim() {}); - } - } - return instance; - } - - private void PIDPositionPeriodic() { - double pivotVoltage = - pivotPIDController.calculate(getPosition().getRadians(), pivotSetpoint.getRadians()); - double clamp = 1.0; // 0.3 * Math.cos(getPosition().getRadians()) + 0.4; - pivotVoltage = MathUtil.clamp(pivotVoltage, -clamp, clamp); - if (pivotSetpoint.getDegrees() > 1.0) { - pivotVoltage += forwardPivotVoltageOffset.get(); - // * Math.cos( - // getPosition().getRadians() - // * 0.8); // pivotFeedForward.get(getPosition().getDegrees()); - } - pivotVoltage = MathUtil.clamp(pivotVoltage, -1.0, 2.5); - if (pivotSetpoint.getDegrees() < 1.0) { - pivotVoltage = 0.0; - } - io.setPivotVoltage(pivotVoltage); - } - - private void manualFallbackPeriodic() { - double pivotVoltage = 0.0; - if (pivotSetpoint.getDegrees() > 1.0) { - pivotVoltage = 2.0; - // if we are at the top hold there - if (inputs.upperLimitSwitch) { - pivotVoltage = 1.0; - } - } - - io.setPivotVoltage(pivotVoltage); - } - - @AutoLogOutput - public Rotation2d getPosition() { - return inputs.pivotPosition.minus(pivotOffSet); - } - - @AutoLogOutput - private Rotation2d getAimAngle() { - // Pose3d current = - // new Pose3d(Drivetrain.getInstance().getPose()) - // .transformBy(new Transform3d(shooterTranslation, new Rotation3d())); - // Translation3d goal = FieldConstants.Speaker.centerSpeakerOpening; - // Translation3d diff = current.getTranslation().minus(goal); - // double z = diff.getZ(); - // double distance = diff.toTranslation2d().getNorm(); - // Logger.recordOutput("shooter/distance", diff.toTranslation2d().getNorm()); - // Rotation2d angle = Rotation2d.fromRadians(Math.atan2(z, distance)); - - return Rotation2d.fromDegrees(pivotLookup.get(getDistance())); - } - - @AutoLogOutput - private Rotation2d getAimAngleFuture() { - return Rotation2d.fromDegrees(pivotLookup.get(getDistanceFuture())); - } - - @AutoLogOutput - public double getDistance() { - Pose3d current = - new Pose3d(Drivetrain.getInstance().getPose()) - .transformBy(new Transform3d(shooterTranslation, new Rotation3d())); - Translation3d goal = AllianceFlipUtil.apply(FieldConstants.Speaker.centerSpeakerOpening); - Translation3d diff = current.getTranslation().minus(goal); - double distance = diff.toTranslation2d().getNorm(); - Logger.recordOutput("Shooter/podium", distance < 2.6 && distance > 2.37); - return distance; - } - - @AutoLogOutput - public double getDistanceFuture() { - Pose3d current = - new Pose3d(Drivetrain.getInstance().getPoseFuture(LOOKAHEAD_SEC)) - .transformBy(new Transform3d(shooterTranslation, new Rotation3d())); - Translation3d goal = AllianceFlipUtil.apply(FieldConstants.Speaker.centerSpeakerOpening); - Translation3d diff = current.getTranslation().minus(goal); - double distance = diff.toTranslation2d().getNorm(); - return distance; - } - - public Rotation2d getAngle() { - return Rotation2d.fromRadians(inputs.pivotPosition.getRadians()); - } - - @AutoLogOutput - public boolean isAtSpeed() { - double closeValue = 10.0; - return (Math.abs(rightWheelError()) < closeValue && Math.abs(leftWheelError()) < closeValue) - && inputs.leftWheelReference > flywheelIdle.get(); - } - - @AutoLogOutput - private double rightWheelError() { - return inputs.rightWheelReference - - Units.radiansToRotations(inputs.wheelRightVelocityRadPerSec); - } - - @AutoLogOutput - private double leftWheelError() { - return inputs.leftWheelReference - Units.radiansToRotations(inputs.wheelLeftVelocityRadPerSec); - } - - @AutoLogOutput - public boolean isAtAngle() { - return pivotPIDController.atSetpoint() || inputs.pivotPosition.getDegrees() > 33.0; - } - - public boolean readyToShoot() { - return isAtSpeed() && isAtAngle(); - } - - public Command pivotSetPositionOnce(double angleInDegrees) { - return this.runOnce( - () -> { - this.pivotSetpoint = Rotation2d.fromDegrees(angleInDegrees); - }) - .withName("armSetPosition" + angleInDegrees); - } - - public Command aim() { - - return this.runEnd( - () -> { - io.setFlywheelRightVelocity(flywheelRightVelocity.get()); - io.setFlywheelLeftVelocity(flywheelLeftVelocity.get()); - this.pivotSetpoint = Rotation2d.fromDegrees(aimAngle.get()); - }, - () -> { - io.setFlywheelVelocity(flywheelIdle.get()); - pivotSetpoint = new Rotation2d(); - }); - } - - public Command aimLookup() { - - return this.runEnd( - () -> { - // if (getDistance() < 1.1) { - if (false) { - io.setFlywheelRightVelocity(80.0); - io.setFlywheelLeftVelocity(80.0); - } else { - io.setFlywheelRightVelocity(flywheelRightVelocity.get()); - io.setFlywheelLeftVelocity(flywheelLeftVelocity.get()); - } - - this.pivotSetpoint = getAimAngleFuture(); - }, - () -> { - io.setFlywheelVelocity(flywheelIdle.get()); - pivotSetpoint = new Rotation2d(); - }); - } - - public Command aim(double left, double right, double angleDegrees) { - - return this.runEnd( - () -> { - io.setFlywheelRightVelocity(left); - io.setFlywheelLeftVelocity(right); - this.pivotSetpoint = Rotation2d.fromDegrees(angleDegrees); - }, - () -> { - io.setFlywheelVelocity(flywheelIdle.get()); - pivotSetpoint = new Rotation2d(); - }); - } - - public Command stopFlywheel() { - return this.runOnce(() -> io.setFlywheelVelocity(0.0)); - } - - public Command pivotVoltage(double volts) { - return this.run(() -> io.setPivotVoltage(volts)); - } - - @Override - public void periodic() { - io.updateInputs(inputs); - // this.futureDistance = - // getDistance() - // * ((getDistance() - this.lastDistance) / this.lastDistance) - // * (Timer.getFPGATimestamp() - this.lastTimestamp); - // this.lastDistance = getDistance(); - // this.lastTimestamp = Timer.getFPGATimestamp(); - pivotPIDController.checkParemeterUpdate(); - Logger.processInputs("Shooter", inputs); - if (inputs.upperLimitSwitch && !isHomed) { - pivotOffSet = inputs.pivotPosition.minus(pivotTopPosition); - isHomed = true; - } - Logger.recordOutput("Shooter/desired", pivotSetpoint); - - Logger.recordOutput("Shooter/position-error", this.pivotPIDController.getError()); - if (isHomed) { - PIDPositionPeriodic(); - } else { - // run in manual mode doing bang bang control based off limit switch - manualFallbackPeriodic(); - } - } -} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/shooter/ShooterIO.java b/src/main/java/team3176/robot/subsystems/superstructure/shooter/ShooterIO.java deleted file mode 100644 index 479c1bb..0000000 --- a/src/main/java/team3176/robot/subsystems/superstructure/shooter/ShooterIO.java +++ /dev/null @@ -1,58 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package team3176.robot.subsystems.superstructure.shooter; - -import edu.wpi.first.math.geometry.Rotation2d; -import org.littletonrobotics.junction.AutoLog; - -/** Template hardware interface for a closed loop subsystem. */ -public interface ShooterIO { - /** Contains all of the input data received from hardware. */ - @AutoLog - public static class ShooterIOInputs { - public Rotation2d pivotPosition = new Rotation2d(); - public double wheelLeftVelocityRadPerSec = 0.0; - public double wheelRightVelocityRadPerSec = 0.0; - public double pivotAppliedVolts = 0.0; - public double wheelLeftAppliedVolts = 0.0; - public double wheelRightAppliedVolts = 0.0; - public boolean lowerLimitSwitch = false; - public boolean upperLimitSwitch = false; - public double wheelRightAmpsStator = 0.0; - public double wheelLeftAmpsStator = 0.0; - public double wheelRightAmpsSupply = 0.0; - public double wheelLeftAmpsSupply = 0.0; - public double pivotAmpsStator = 0.0; - public double rightWheelReference = 0.0; - public double leftWheelReference = 0.0; - // public double[] CurrentAmps = new double[] {}; - // public double[] TempCelcius = new double[] {}; - - // constructor if needed for some inputs - ShooterIOInputs() {} - } - - /** Updates the set of loggable inputs. */ - public default void updateInputs(ShooterIOInputs inputs) {} - - public default void setWheelLeftVoltage(double voltage) {} - - public default void setWheelRightVoltage(double voltage) {} - - public default void setPivotVoltage(double voltage) {} - - public default void setFlywheelVelocity(double velocity) {} - - public default void setFlywheelRightVelocity(double velocity) {} - - public default void setFlywheelLeftVelocity(double velocity) {} - - // public default void setShooterPivotPID(int position) {} - - public default void reset() {} -} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/shooter/ShooterIOSim.java b/src/main/java/team3176/robot/subsystems/superstructure/shooter/ShooterIOSim.java deleted file mode 100644 index 973cab8..0000000 --- a/src/main/java/team3176/robot/subsystems/superstructure/shooter/ShooterIOSim.java +++ /dev/null @@ -1,81 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package team3176.robot.subsystems.superstructure.shooter; - -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.system.plant.DCMotor; -import edu.wpi.first.math.system.plant.LinearSystemId; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.simulation.FlywheelSim; -import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; -import team3176.robot.Constants; - -/** Template hardware interface for a closed loop subsystem. */ -public class ShooterIOSim implements ShooterIO { - - private FlywheelSim wheelSimUpper, wheelSimLower; - private SingleJointedArmSim pivotSim; - - private double wheelUpperAppliedVolts, wheelLowerAppliedVolts; - private double pivotAppliedVolts; - - public ShooterIOSim() { - - wheelSimUpper = - new FlywheelSim( - LinearSystemId.createFlywheelSystem(DCMotor.getFalcon500(1), 0.025, 1.0), - DCMotor.getFalcon500(1), - 0.0); - wheelSimLower = - new FlywheelSim( - LinearSystemId.createFlywheelSystem(DCMotor.getFalcon500(1), 0.025, 1.0), - DCMotor.getFalcon500(1), - 0.0); - pivotSim = - new SingleJointedArmSim( - DCMotor.getFalcon500(1), - 50.0, - 1.0, - 0.2, - Units.degreesToRadians(0.0), - Units.degreesToRadians(30), - false, - 0.0); - } - /** Updates the set of loggable inputs. */ - @Override - public void updateInputs(ShooterIOInputs inputs) { - wheelSimUpper.update(Constants.LOOP_PERIODIC_SECS); - wheelSimLower.update(Constants.LOOP_PERIODIC_SECS); - pivotSim.update(Constants.LOOP_PERIODIC_SECS); - inputs.pivotAppliedVolts = pivotAppliedVolts; - inputs.pivotPosition = Rotation2d.fromRadians(pivotSim.getAngleRads()); - inputs.wheelLeftVelocityRadPerSec = wheelSimUpper.getAngularVelocityRadPerSec(); - inputs.wheelRightVelocityRadPerSec = wheelSimLower.getAngularVelocityRadPerSec(); - inputs.wheelLeftAppliedVolts = wheelUpperAppliedVolts; - inputs.wheelRightAppliedVolts = wheelLowerAppliedVolts; - } - - @Override - public void setWheelLeftVoltage(double voltage) { - wheelUpperAppliedVolts = MathUtil.clamp(voltage, -12, 12); - wheelSimUpper.setInputVoltage(wheelUpperAppliedVolts); - } - - public void setWheelRightVoltage(double voltage) { - wheelLowerAppliedVolts = MathUtil.clamp(voltage, -12, 12); - wheelSimLower.setInputVoltage(wheelLowerAppliedVolts); - } - - @Override - public void setPivotVoltage(double voltage) { - pivotAppliedVolts = MathUtil.clamp(voltage, -12, 12); - pivotSim.setInputVoltage(pivotAppliedVolts); - } -} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/shooter/ShooterIOTalonSpark.java b/src/main/java/team3176/robot/subsystems/superstructure/shooter/ShooterIOTalonSpark.java deleted file mode 100644 index 984613d..0000000 --- a/src/main/java/team3176/robot/subsystems/superstructure/shooter/ShooterIOTalonSpark.java +++ /dev/null @@ -1,218 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package team3176.robot.subsystems.superstructure.shooter; - -import com.ctre.phoenix6.BaseStatusSignal; -import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.configs.CANcoderConfiguration; -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.controls.VelocityVoltage; -import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.InvertedValue; -import com.ctre.phoenix6.signals.NeutralModeValue; -import com.revrobotics.CANSparkBase.IdleMode; -import com.revrobotics.CANSparkBase.SoftLimitDirection; -import com.revrobotics.CANSparkFlex; -import com.revrobotics.CANSparkLowLevel.MotorType; -import com.revrobotics.RelativeEncoder; -import com.revrobotics.SparkPIDController; -import com.revrobotics.SparkRelativeEncoder; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.units.measure.AngularVelocity; -import edu.wpi.first.units.measure.Current; -import edu.wpi.first.units.measure.Voltage; -import edu.wpi.first.wpilibj.DigitalInput; -import team3176.robot.constants.Hardwaremap; - -public class ShooterIOTalonSpark implements ShooterIO { - - private TalonFX wheelLeftController = - new TalonFX(Hardwaremap.shooterWheelLeft_CID, Hardwaremap.shooterWheelUpper_CBN); - private TalonFX wheelRightController = - new TalonFX(Hardwaremap.shooterWheelRight_CID, Hardwaremap.shooterWheelLower_CBN); - - /* private TalonFX pivotController = - new TalonFX(Hardwaremap.shooterPivot_CID, Hardwaremap.shooterPivot_CBN); - */ - private CANSparkFlex pivotShooter = - new CANSparkFlex(Hardwaremap.shooterPivot_CID, MotorType.kBrushless); - private SparkPIDController m_PidController = pivotShooter.getPIDController(); - public double kP, kI, kD, kIz, kFF, kMaxOutput, kMinOutput; - - // private CANcoder cancoder = new CANcoder(0); - private RelativeEncoder pivotEncoder = - pivotShooter.getEncoder(SparkRelativeEncoder.Type.kQuadrature, 7168); - private CANcoderConfiguration toApply = new CANcoderConfiguration(); - // private StatusSignal CANcoderPosition = cancoder.getPosition(); - final VelocityVoltage flywheelVelocity = new VelocityVoltage(0); - - private TalonFXConfiguration configsWheelLeft = new TalonFXConfiguration(); - private TalonFXConfiguration configsWheelRight = new TalonFXConfiguration(); - - private DigitalInput lowerLimitSwitch; - private DigitalInput upperLimitSwitch; - - private final StatusSignal leftAppliedVolts; - private final StatusSignal rightAppliedVolts; - private final StatusSignal leftCurrentAmpsStator; - private final StatusSignal rightCurrentAmpsStator; - private final StatusSignal leftCurrentAmpsSupply; - private final StatusSignal rightCurrentAmpsSupply; - private final StatusSignal leftVelocity; - private final StatusSignal rightVelocity; - private double leftSetpoint; - private double rightSetpoint; - - public ShooterIOTalonSpark() { - pivotShooter.restoreFactoryDefaults(); - pivotEncoder.setPosition(0.0); - pivotShooter.setSmartCurrentLimit(80); - pivotShooter.setIdleMode(IdleMode.kBrake); - pivotShooter.setInverted(true); - pivotShooter.burnFlash(); - pivotShooter.enableSoftLimit(SoftLimitDirection.kReverse, true); - pivotShooter.setSoftLimit(SoftLimitDirection.kReverse, 0); - - lowerLimitSwitch = new DigitalInput(Hardwaremap.shooterPivotLower_DIO); - upperLimitSwitch = new DigitalInput(Hardwaremap.shooterPivotUpper_DIO); - /*-------------------------------- Private instance variables ---------------------------------*/ - - configsWheelLeft.Slot0.kP = 0.1; - configsWheelLeft.Slot0.kI = 0.0; - configsWheelLeft.Slot0.kD = 0.0000; - configsWheelLeft.Slot0.kV = 0.12; - configsWheelLeft.Voltage.PeakForwardVoltage = 12; - configsWheelLeft.Voltage.PeakReverseVoltage = -12; - // configsWheelUpper.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; - configsWheelLeft.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; - configsWheelLeft.MotorOutput.NeutralMode = NeutralModeValue.Coast; - configsWheelLeft.CurrentLimits.SupplyCurrentLimit = 60; - configsWheelLeft.CurrentLimits.SupplyCurrentLimitEnable = true; - configsWheelLeft.ClosedLoopRamps.VoltageClosedLoopRampPeriod = 0.5; - - configsWheelRight.Slot0.kP = 0.1; - configsWheelRight.Slot0.kI = 0.0; - configsWheelRight.Slot0.kD = 0.0000; - configsWheelRight.Slot0.kV = 0.12; - configsWheelRight.Voltage.PeakForwardVoltage = 12; - configsWheelRight.Voltage.PeakReverseVoltage = -12; - configsWheelRight.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; - configsWheelRight.MotorOutput.NeutralMode = NeutralModeValue.Coast; - configsWheelRight.CurrentLimits.SupplyCurrentLimit = 60; - configsWheelRight.CurrentLimits.SupplyCurrentLimitEnable = true; - configsWheelRight.ClosedLoopRamps.VoltageClosedLoopRampPeriod = 0.5; - - m_PidController.setOutputRange(kMinOutput, kMaxOutput); - - wheelLeftController.getConfigurator().apply(configsWheelLeft); - wheelRightController.getConfigurator().apply(configsWheelRight); - - leftAppliedVolts = wheelLeftController.getMotorVoltage(); - rightAppliedVolts = wheelRightController.getMotorVoltage(); - leftCurrentAmpsStator = wheelLeftController.getStatorCurrent(); - rightCurrentAmpsStator = wheelRightController.getStatorCurrent(); - leftCurrentAmpsSupply = wheelLeftController.getSupplyCurrent(); - rightCurrentAmpsSupply = wheelRightController.getSupplyCurrent(); - leftVelocity = wheelLeftController.getVelocity(); - rightVelocity = wheelRightController.getVelocity(); - // leftError = wheelLeftController.getClosedLoopReference(); - // rightError = wheelRightController.getClosedLoopReference(); - - BaseStatusSignal.setUpdateFrequencyForAll( - 50, - leftAppliedVolts, - rightAppliedVolts, - leftCurrentAmpsStator, - rightCurrentAmpsStator, - rightCurrentAmpsSupply, - leftCurrentAmpsSupply, - leftVelocity, - rightVelocity); - - wheelLeftController.optimizeBusUtilization(); - wheelRightController.optimizeBusUtilization(); - - // } - } - - /*-------------------------------- Generic Subsystem Functions --------------------------------*/ - - @Override - public void updateInputs(ShooterIOInputs inputs) { - BaseStatusSignal.refreshAll( - leftAppliedVolts, - rightAppliedVolts, - leftCurrentAmpsStator, - rightCurrentAmpsStator, - rightCurrentAmpsSupply, - leftCurrentAmpsSupply, - leftVelocity, - rightVelocity); - inputs.pivotPosition = Rotation2d.fromRotations(pivotEncoder.getPosition() * 18 / 255); - inputs.pivotAppliedVolts = pivotShooter.getAppliedOutput() * pivotShooter.getBusVoltage(); - inputs.wheelLeftVelocityRadPerSec = Units.rotationsToRadians(leftVelocity.getValueAsDouble()); - inputs.wheelRightVelocityRadPerSec = Units.rotationsToRadians(rightVelocity.getValueAsDouble()); - - inputs.leftWheelReference = leftSetpoint; - inputs.rightWheelReference = rightSetpoint; - - inputs.wheelLeftAppliedVolts = leftAppliedVolts.getValueAsDouble(); - inputs.wheelRightAppliedVolts = rightAppliedVolts.getValueAsDouble(); - - inputs.lowerLimitSwitch = !lowerLimitSwitch.get(); - inputs.upperLimitSwitch = !upperLimitSwitch.get(); - - inputs.wheelRightAmpsStator = rightCurrentAmpsStator.getValueAsDouble(); - inputs.wheelLeftAmpsStator = leftCurrentAmpsStator.getValueAsDouble(); - inputs.wheelLeftAmpsSupply = leftCurrentAmpsSupply.getValueAsDouble(); - inputs.wheelRightAmpsSupply = rightCurrentAmpsSupply.getValueAsDouble(); - - inputs.pivotAmpsStator = pivotShooter.getOutputCurrent(); - } - - @Override - public void setPivotVoltage(double voltage) { - pivotShooter.setVoltage(voltage); - } - - @Override - public void setFlywheelVelocity(double velocity) { - wheelRightController.setControl(flywheelVelocity.withVelocity(velocity)); - wheelLeftController.setControl(flywheelVelocity.withVelocity(velocity)); - leftSetpoint = velocity; - rightSetpoint = velocity; - } - - @Override - public void setFlywheelLeftVelocity(double velocity) { - wheelLeftController.setControl(flywheelVelocity.withVelocity(velocity)); - leftSetpoint = velocity; - } - - @Override - public void setFlywheelRightVelocity(double velocity) { - wheelRightController.setControl(flywheelVelocity.withVelocity(velocity)); - rightSetpoint = velocity; - } - - @Override - public void setWheelLeftVoltage(double velocity) { - wheelLeftController.set(velocity); - } - - @Override - public void setWheelRightVoltage(double velocity) { - wheelRightController.set(velocity); - } - - @Override - public void reset() { - // to be implemented - } -} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/transfer/Transfer.java b/src/main/java/team3176/robot/subsystems/superstructure/transfer/Transfer.java deleted file mode 100644 index 454b9d3..0000000 --- a/src/main/java/team3176/robot/subsystems/superstructure/transfer/Transfer.java +++ /dev/null @@ -1,51 +0,0 @@ -package team3176.robot.subsystems.superstructure.transfer; - -import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import org.littletonrobotics.junction.Logger; -import team3176.robot.subsystems.superstructure.shooter.Shooter; -import team3176.robot.util.LoggedTunableNumber; - -public class Transfer extends SubsystemBase { - private TransferIOTalon io; - - private TransferIOInputsAutoLogged inputs; - private LoggedTunableNumber transferVelocity; - private InterpolatingDoubleTreeMap transferLookup; - - public Transfer() { - io = new TransferIOTalon(); - inputs = new TransferIOInputsAutoLogged(); - this.transferVelocity = new LoggedTunableNumber("transfer/velocity", 0.5); - this.transferLookup = new InterpolatingDoubleTreeMap(); - transferLookup.put(1.0, 0.6); - transferLookup.put(3.2, 1.0); - } - - public Command spinup() { - return this.runEnd( - () -> io.setTransferController(transferVelocity.get()), () -> io.setTransferController(0)); - } - - public Command shootLookup() { - return this.runEnd( - () -> io.setTransferController(transferLookup.get(Shooter.getInstance().getDistance())), - () -> io.setTransferController(0)); - } - - public Command shoot(double velocity) { - return this.runEnd(() -> io.setTransferController(velocity), () -> io.setTransferController(0)); - } - - public Command spit() { - return this.runEnd(() -> io.setTransferController(-1.5), () -> io.setTransferController(0)); - } - - @Override - public void periodic() { - // TODO Auto-generated method stub - io.updateInputs(inputs); - Logger.processInputs("transfer", inputs); - } -} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/transfer/TransferIO.java b/src/main/java/team3176/robot/subsystems/superstructure/transfer/TransferIO.java deleted file mode 100644 index 326e1e6..0000000 --- a/src/main/java/team3176/robot/subsystems/superstructure/transfer/TransferIO.java +++ /dev/null @@ -1,32 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package team3176.robot.subsystems.superstructure.transfer; - -import org.littletonrobotics.junction.AutoLog; - -/** Template hardware interface for a closed loop subsystem. */ -public interface TransferIO { - /** Contains all of the input data received from hardware. */ - @AutoLog - public static class TransferIOInputs { - - public double transferWheelVelocity = 0.0; - public double transferAppliedVolts = 0.0; - public double ampsStator = 0.0; - public double ampsSupply = 0.0; - // public double[] TempCelcius = new double[] {}; - - // constructor if needed for some inputs - TransferIOInputs() {} - } - - /** Updates the set of loggable inputs. */ - public default void updateInputs(TransferIOInputs inputs) {} - - public default void setTransferController(double voltage) {} -} diff --git a/src/main/java/team3176/robot/subsystems/superstructure/transfer/TransferIOTalon.java b/src/main/java/team3176/robot/subsystems/superstructure/transfer/TransferIOTalon.java deleted file mode 100644 index 85a13f8..0000000 --- a/src/main/java/team3176/robot/subsystems/superstructure/transfer/TransferIOTalon.java +++ /dev/null @@ -1,56 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package team3176.robot.subsystems.superstructure.transfer; - -import com.ctre.phoenix6.BaseStatusSignal; -import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.hardware.TalonFX; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.units.measure.AngularVelocity; -import edu.wpi.first.units.measure.Current; -import edu.wpi.first.units.measure.Voltage; -import team3176.robot.constants.Hardwaremap; - -public class TransferIOTalon implements TransferIO { - - private TalonFX transferController = - new TalonFX(Hardwaremap.shooterTransfer_CID, Hardwaremap.shooterTransfer_CBN); - - private TalonFXConfiguration configs = new TalonFXConfiguration(); - private StatusSignal velocity; - private StatusSignal volts; - private StatusSignal ampsStator; - private StatusSignal ampsSupply; - - public TransferIOTalon() { - configs.CurrentLimits.SupplyCurrentLimit = 50; - configs.CurrentLimits.SupplyCurrentLimitEnable = true; - transferController.getConfigurator().apply(configs); - velocity = transferController.getVelocity(); - volts = transferController.getMotorVoltage(); - ampsStator = transferController.getStatorCurrent(); - ampsSupply = transferController.getSupplyCurrent(); - BaseStatusSignal.setUpdateFrequencyForAll(50, velocity, volts, ampsStator, ampsSupply); - transferController.optimizeBusUtilization(); - } - - @Override - public void updateInputs(TransferIOInputs inputs) { - BaseStatusSignal.refreshAll(velocity, volts, ampsStator, ampsSupply); - inputs.transferWheelVelocity = Units.rotationsToRadians(velocity.getValueAsDouble()); - inputs.transferAppliedVolts = volts.getValueAsDouble(); - inputs.ampsStator = ampsStator.getValueAsDouble(); - inputs.ampsSupply = ampsSupply.getValueAsDouble(); - } - - @Override - public void setTransferController(double velocity) { - transferController.set(velocity); - } -} diff --git a/src/main/java/team3176/robot/subsystems/vision/LoggedAprilPhotonCam.java b/src/main/java/team3176/robot/subsystems/vision/LoggedAprilPhotonCam.java index 01ea234..f50788d 100644 --- a/src/main/java/team3176/robot/subsystems/vision/LoggedAprilPhotonCam.java +++ b/src/main/java/team3176/robot/subsystems/vision/LoggedAprilPhotonCam.java @@ -79,7 +79,7 @@ public LoggedAprilPhotonCam(String name, Transform3d robot2Camera) { robot2Camera.getRotation().getX(), robot2Camera.getRotation().getX()); try { - field = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField(); + field = AprilTagFields.k2025Reefscape.loadAprilTagLayoutField(); field.setOrigin(OriginPosition.kBlueAllianceWallRightSide); } catch (Exception e) { System.out.println("woops can't load the field"); diff --git a/src/main/java/team3176/robot/subsystems/vision/PhotonVisionSystem.java b/src/main/java/team3176/robot/subsystems/vision/PhotonVisionSystem.java index f111d1d..fe0c9c3 100644 --- a/src/main/java/team3176/robot/subsystems/vision/PhotonVisionSystem.java +++ b/src/main/java/team3176/robot/subsystems/vision/PhotonVisionSystem.java @@ -82,7 +82,7 @@ private PhotonVisionSystem() { aprilCameras.add(new LoggedAprilPhotonCam("camera2", Robot2camera2)); aprilCameras.add(new LoggedAprilPhotonCam("camera3", Robot2camera3)); try { - field = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField(); + field = AprilTagFields.k2025Reefscape.loadAprilTagLayoutField(); field.setOrigin(OriginPosition.kBlueAllianceWallRightSide); } catch (Exception e) { System.out.println("woops can't load the field"); diff --git a/src/main/java/team3176/robot/util/God/SparkMaxDerivedVelocityController.java b/src/main/java/team3176/robot/util/God/SparkMaxDerivedVelocityController.java index 29a9184..ed48026 100644 --- a/src/main/java/team3176/robot/util/God/SparkMaxDerivedVelocityController.java +++ b/src/main/java/team3176/robot/util/God/SparkMaxDerivedVelocityController.java @@ -1,7 +1,7 @@ package team3176.robot.util.God; -import com.revrobotics.CANSparkLowLevel.PeriodicFrame; -import com.revrobotics.CANSparkMax; +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.config.SparkMaxConfig; import edu.wpi.first.hal.CANData; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.filter.LinearFilter; @@ -34,7 +34,7 @@ public class SparkMaxDerivedVelocityController { private static final int deviceType = 2; // Spark Max private static final int apiId = 98; // Periodic status 2 - private final CANSparkMax sparkMax; + private final SparkMax sparkMax; private final CAN canInterface; private final LinearFilter velocityFilter; private final PIDController velocityController; @@ -48,17 +48,19 @@ public class SparkMaxDerivedVelocityController { private double velocity = 0.0; /** Creates a new SparkMaxDerivedVelocityController using a default set of parameters. */ - public SparkMaxDerivedVelocityController(CANSparkMax sparkMax) { + public SparkMaxDerivedVelocityController(SparkMax sparkMax) { this(sparkMax, 0.02, 5); } /** Creates a new SparkMaxDerivedVelocityController. */ public SparkMaxDerivedVelocityController( - CANSparkMax sparkMax, double periodSeconds, int averagingTaps) { + SparkMax sparkMax, double periodSeconds, int averagingTaps) { this.sparkMax = sparkMax; - sparkMax.getEncoder().setPositionConversionFactor(1.0); + SparkMaxConfig config = new SparkMaxConfig(); + + config.encoder.positionConversionFactor(1.0); int periodMs = (int) (periodSeconds * 1000); - sparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus2, periodMs); + config.signals.primaryEncoderPositionPeriodMs(periodMs); canInterface = new CAN(sparkMax.getDeviceId(), deviceManufacturer, deviceType); velocityFilter = LinearFilter.movingAverage(averagingTaps); diff --git a/src/main/java/team3176/robot/util/NoteVisualizer.java b/src/main/java/team3176/robot/util/NoteVisualizer.java deleted file mode 100644 index e871f1c..0000000 --- a/src/main/java/team3176/robot/util/NoteVisualizer.java +++ /dev/null @@ -1,96 +0,0 @@ -package team3176.robot.util; - -// Copyright 2021-2024 FRC 6328 -// http://github.com/Mechanical-Advantage -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. - -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation3d; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.ScheduleCommand; -import java.util.Set; -import java.util.function.Supplier; -import org.littletonrobotics.junction.Logger; -import team3176.robot.FieldConstants; -import team3176.robot.subsystems.superstructure.shooter.Shooter; - -public class NoteVisualizer { - private static final Translation3d blueSpeaker = new Translation3d(0.225, 5.55, 2.1); - private static final Translation3d redSpeaker = new Translation3d(16.317, 5.55, 2.1); - private static Transform3d launcherTransform = - new Transform3d(0.35, 0, 0.8, new Rotation3d(0.0, Units.degreesToRadians(-55.0), 0.0)); - private static final double shotSpeed = 5.0; // Meters per sec - private static Supplier robotPoseSupplier = () -> new Pose2d(); - - public static void setRobotPoseSupplier(Supplier supplier) { - robotPoseSupplier = supplier; - } - - public static Command shoot() { - return new ScheduleCommand( // Branch off and exit immediately - Commands.defer( - () -> { - launcherTransform = - new Transform3d( - -0.01, - 0.0, - 0.4309, - new Rotation3d(0.0, Shooter.getInstance().getAngle().getRadians(), 0.0)); - final Pose3d startPose = - new Pose3d(robotPoseSupplier.get()).transformBy(launcherTransform); - final boolean isRed = - DriverStation.getAlliance().isPresent() - && DriverStation.getAlliance().get().equals(Alliance.Red); - Translation3d unit = new Translation3d(-10.0, 0.0, 0.0); - final Pose3d endPose = - startPose.transformBy(new Transform3d(unit, new Rotation3d())); - // new Pose3d(isRed ? redSpeaker : blueSpeaker, startPose.getRotation()); - - final double duration = - startPose.getTranslation().getDistance(endPose.getTranslation()) / shotSpeed; - final Timer timer = new Timer(); - timer.start(); - return Commands.run( - () -> { - Pose3d currentPose = - startPose.interpolate(endPose, timer.get() / duration); - Logger.recordOutput("NoteVisualizer", new Pose3d[] {currentPose}); - double distance = - currentPose - .getTranslation() - .getDistance( - AllianceFlipUtil.apply( - FieldConstants.Speaker.centerSpeakerOpening)); - if (distance < 0.15) { - Logger.recordOutput("notescored", true); - } else { - Logger.recordOutput("notescored", false); - } - }) - .until(() -> timer.hasElapsed(duration)) - .finallyDo( - () -> { - Logger.recordOutput("NoteVisualizer", new Pose3d[] {}); - }); - }, - Set.of()) - .ignoringDisable(true)); - } -} diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json index 498e436..03df051 100644 --- a/vendordeps/AdvantageKit.json +++ b/vendordeps/AdvantageKit.json @@ -1,40 +1,33 @@ { "fileName": "AdvantageKit.json", "name": "AdvantageKit", - "version": "4.0.0-alpha-1", + "version": "4.1.0", "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", "frcYear": "2025", - "mavenUrls": [], + "mavenUrls": [ + "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" + ], "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", - "javaDependencies": [ - { - "groupId": "org.littletonrobotics.akit.junction", - "artifactId": "wpilib-shim", - "version": "4.0.0-alpha-1" - }, - { - "groupId": "org.littletonrobotics.akit.junction", - "artifactId": "junction-core", - "version": "4.0.0-alpha-1" - }, + "javaDependencies": [ { - "groupId": "org.littletonrobotics.akit.conduit", - "artifactId": "conduit-api", - "version": "4.0.0-alpha-1" + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-java", + "version": "4.1.0" } ], - "jniDependencies": [ + "jniDependencies": [ { - "groupId": "org.littletonrobotics.akit.conduit", - "artifactId": "conduit-wpilibio", - "version": "4.0.0-alpha-1", + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-wpilibio", + "version": "4.1.0", "skipInvalidPlatforms": false, "isJar": false, "validPlatforms": [ "linuxathena", - "windowsx86-64", "linuxx86-64", - "osxuniversal" + "linuxarm64", + "osxuniversal", + "windowsx86-64" ] } ], diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json index e01bab1..91b52d1 100644 --- a/vendordeps/NavX.json +++ b/vendordeps/NavX.json @@ -1,40 +1,40 @@ -{ - "fileName": "NavX.json", - "name": "NavX", - "version": "2024.1.0", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "frcYear": "2025", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2024/" - ], - "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json", - "javaDependencies": [ - { - "groupId": "com.kauailabs.navx.frc", - "artifactId": "navx-frc-java", - "version": "2024.1.0" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "com.kauailabs.navx.frc", - "artifactId": "navx-frc-cpp", - "version": "2024.1.0", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": false, - "libName": "navx_frc", - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxraspbian", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ] - } - ] +{ + "fileName": "NavX.json", + "name": "NavX", + "version": "2024.1.0", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "frcYear": "2025", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2024/" + ], + "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json", + "javaDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-java", + "version": "2024.1.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-cpp", + "version": "2024.1.0", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": false, + "libName": "navx_frc", + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "linuxarm32", + "linuxarm64", + "linuxx86-64", + "osxuniversal", + "windowsx86-64" + ] + } + ] } \ No newline at end of file diff --git a/vendordeps/PathplannerLib-beta.json b/vendordeps/PathplannerLib-2025.2.3.json similarity index 83% rename from vendordeps/PathplannerLib-beta.json rename to vendordeps/PathplannerLib-2025.2.3.json index 4be8001..9151ce4 100644 --- a/vendordeps/PathplannerLib-beta.json +++ b/vendordeps/PathplannerLib-2025.2.3.json @@ -1,18 +1,18 @@ { - "fileName": "PathplannerLib-beta.json", + "fileName": "PathplannerLib-2025.2.3.json", "name": "PathplannerLib", - "version": "2025.0.0-beta-6.1", + "version": "2025.2.3", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", "frcYear": "2025", "mavenUrls": [ "https://3015rangerrobotics.github.io/pathplannerlib/repo" ], - "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib-beta.json", + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", "javaDependencies": [ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - "version": "2025.0.0-beta-6.1" + "version": "2025.2.3" } ], "jniDependencies": [], @@ -20,15 +20,15 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-cpp", - "version": "2025.0.0-beta-6.1", + "version": "2025.2.3", "libName": "PathplannerLib", "headerClassifier": "headers", "sharedLibrary": false, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", - "osxuniversal", "linuxx86-64", + "osxuniversal", "linuxathena", "linuxarm32", "linuxarm64" diff --git a/vendordeps/Phoenix6-frc2025-beta-latest.json b/vendordeps/Phoenix6-25.2.2.json similarity index 85% rename from vendordeps/Phoenix6-frc2025-beta-latest.json rename to vendordeps/Phoenix6-25.2.2.json index 0b786d1..d617643 100644 --- a/vendordeps/Phoenix6-frc2025-beta-latest.json +++ b/vendordeps/Phoenix6-25.2.2.json @@ -1,32 +1,32 @@ { - "fileName": "Phoenix6-frc2025-beta-latest.json", + "fileName": "Phoenix6-25.2.2.json", "name": "CTRE-Phoenix (v6)", - "version": "25.0.0-beta-4", + "version": "25.2.2", "frcYear": "2025", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-beta-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json", "conflictsWith": [ { "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2025-beta-latest.json" + "offlineFileName": "Phoenix6-replay-frc2025-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "25.0.0-beta-4" + "version": "25.2.2" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "25.0.0-beta-4", + "version": "25.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.0.0-beta-4", + "version": "25.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "25.0.0-beta-4", + "version": "25.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.0.0-beta-4", + "version": "25.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.0.0-beta-4", + "version": "25.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.0.0-beta-4", + "version": "25.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.0.0-beta-4", + "version": "25.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "25.0.0-beta-4", + "version": "25.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +138,21 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.0.0-beta-4", + "version": "25.2.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "25.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.0.0-beta-4", + "version": "25.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.0.0-beta-4", + "version": "25.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +194,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.0.0-beta-4", + "version": "25.2.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -196,7 +210,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "25.0.0-beta-4", + "version": "25.2.2", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -212,7 +226,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.0.0-beta-4", + "version": "25.2.2", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -228,7 +242,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "25.0.0-beta-4", + "version": "25.2.2", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -244,7 +258,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.0.0-beta-4", + "version": "25.2.2", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -260,7 +274,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.0.0-beta-4", + "version": "25.2.2", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -276,7 +290,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.0.0-beta-4", + "version": "25.2.2", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -292,7 +306,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.0.0-beta-4", + "version": "25.2.2", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -308,7 +322,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "25.0.0-beta-4", + "version": "25.2.2", "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -324,7 +338,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.0.0-beta-4", + "version": "25.2.2", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -337,10 +351,26 @@ ], "simMode": "swsim" }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "25.2.2", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.0.0-beta-4", + "version": "25.2.2", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -356,7 +386,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.0.0-beta-4", + "version": "25.2.2", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -372,7 +402,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.0.0-beta-4", + "version": "25.2.2", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib-2025.0.2.json similarity index 85% rename from vendordeps/REVLib.json rename to vendordeps/REVLib-2025.0.2.json index b10691d..c29aefa 100644 --- a/vendordeps/REVLib.json +++ b/vendordeps/REVLib-2025.0.2.json @@ -1,30 +1,29 @@ { - "fileName": "REVLib.json", + "fileName": "REVLib-2025.0.2.json", "name": "REVLib", - "version": "2024.2.4", + "version": "2025.0.2", "frcYear": "2025", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json", + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", "javaDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2024.2.4" + "version": "2025.0.2" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2024.2.4", + "version": "2025.0.2", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ "windowsx86-64", - "windowsx86", "linuxarm64", "linuxx86-64", "linuxathena", @@ -37,14 +36,13 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2024.2.4", + "version": "2025.0.2", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", - "windowsx86", "linuxarm64", "linuxx86-64", "linuxathena", @@ -55,14 +53,13 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2024.2.4", + "version": "2025.0.2", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", - "windowsx86", "linuxarm64", "linuxx86-64", "linuxathena", diff --git a/vendordeps/URCL.json b/vendordeps/URCL.json new file mode 100644 index 0000000..2310eee --- /dev/null +++ b/vendordeps/URCL.json @@ -0,0 +1,65 @@ +{ + "fileName": "URCL.json", + "name": "URCL", + "version": "2025.0.1", + "frcYear": "2025", + "uuid": "84246d17-a797-4d1e-bd9f-c59cd8d2477c", + "mavenUrls": [ + "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" + ], + "jsonUrl": "https://raw.githubusercontent.com/Mechanical-Advantage/URCL/main/URCL.json", + "javaDependencies": [ + { + "groupId": "org.littletonrobotics.urcl", + "artifactId": "URCL-java", + "version": "2025.0.1" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.urcl", + "artifactId": "URCL-driver", + "version": "2025.0.1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "org.littletonrobotics.urcl", + "artifactId": "URCL-cpp", + "version": "2025.0.1", + "libName": "URCL", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena", + "osxuniversal" + ] + }, + { + "groupId": "org.littletonrobotics.urcl", + "artifactId": "URCL-driver", + "version": "2025.0.1", + "libName": "URCLDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json index 3718e0a..a3e1204 100644 --- a/vendordeps/WPILibNewCommands.json +++ b/vendordeps/WPILibNewCommands.json @@ -1,38 +1,38 @@ -{ - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "1.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2025", - "mavenUrls": [], - "jsonUrl": "", - "javaDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-java", - "version": "wpilib" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-cpp", - "version": "wpilib", - "libName": "wpilibNewCommands", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxuniversal" - ] - } - ] -} +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2025", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} diff --git a/vendordeps/maple-sim.json b/vendordeps/maple-sim.json new file mode 100644 index 0000000..579c260 --- /dev/null +++ b/vendordeps/maple-sim.json @@ -0,0 +1,26 @@ +{ + "fileName": "maple-sim.json", + "name": "maplesim", + "version": "0.3.8", + "frcYear": "2025", + "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", + "mavenUrls": [ + "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", + "https://repo1.maven.org/maven2" + ], + "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json", + "javaDependencies": [ + { + "groupId": "org.ironmaple", + "artifactId": "maplesim-java", + "version": "0.3.8" + }, + { + "groupId": "org.dyn4j", + "artifactId": "dyn4j", + "version": "5.0.2" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} \ No newline at end of file diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json index db43d6d..6af3d3e 100644 --- a/vendordeps/photonlib.json +++ b/vendordeps/photonlib.json @@ -1,7 +1,7 @@ { "fileName": "photonlib.json", "name": "photonlib", - "version": "v2025.0.0-beta-8", + "version": "v2025.1.1", "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", "frcYear": "2025", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2025.0.0-beta-8", + "version": "v2025.1.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -28,7 +28,7 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-cpp", - "version": "v2025.0.0-beta-8", + "version": "v2025.1.1", "libName": "photonlib", "headerClassifier": "headers", "sharedLibrary": true, @@ -43,7 +43,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2025.0.0-beta-8", + "version": "v2025.1.1", "libName": "photontargeting", "headerClassifier": "headers", "sharedLibrary": true, @@ -60,12 +60,12 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-java", - "version": "v2025.0.0-beta-8" + "version": "v2025.1.1" }, { "groupId": "org.photonvision", "artifactId": "photontargeting-java", - "version": "v2025.0.0-beta-8" + "version": "v2025.1.1" } ] } \ No newline at end of file