From 63d00c4a0f83516c34001c72932a777d4ecffe70 Mon Sep 17 00:00:00 2001 From: moo Date: Fri, 16 Jan 2026 16:05:23 -0800 Subject: [PATCH] start commiting --- .DataLogTool/datalogtool.json | 6 - .Glass/glass.json | 8 - .gitattributes | 4 - .github/CODEOWNERS | 2 - .github/PULL_REQUEST_TEMPLATE.md | 21 - .github/workflows/main.yml | 42 - .gitignore | 38 +- .pathplanner/settings.json | 15 - .vscode/settings.json | 3 +- .wpilib/wpilib_preferences.json | 2 +- README.md | 5 - WPILib-License.md | 2 +- build.gradle | 62 +- choreo_paths.chor | 14676 ---------------- settings.gradle | 7 +- .../drive_comm/SysIDDriveCommand.java | 2 +- vendordeps/AdvantageKit.json | 8 +- vendordeps/ChoreoLib-2025.0.3.json | 44 - vendordeps/ChoreoLib2026.json | 44 + vendordeps/PathplannerLib.json | 8 +- ...test.json => Phoenix5-frc2026-latest.json} | 36 +- ...test.json => Phoenix6-frc2026-latest.json} | 110 +- vendordeps/REVLib.json | 77 +- vendordeps/Studica-2025.0.1.json | 71 - vendordeps/StudicaLib.json | 78 + vendordeps/WPILibNewCommands.json | 5 +- ...plefrc2025.json => libgrapplefrc2026.json} | 23 +- vendordeps/photonlib.json | 138 +- 28 files changed, 391 insertions(+), 15146 deletions(-) delete mode 100644 .DataLogTool/datalogtool.json delete mode 100644 .Glass/glass.json delete mode 100644 .gitattributes delete mode 100644 .github/CODEOWNERS delete mode 100644 .github/PULL_REQUEST_TEMPLATE.md delete mode 100644 .github/workflows/main.yml delete mode 100644 .pathplanner/settings.json delete mode 100644 README.md delete mode 100644 choreo_paths.chor delete mode 100644 vendordeps/ChoreoLib-2025.0.3.json create mode 100644 vendordeps/ChoreoLib2026.json rename vendordeps/{Phoenix5-frc2025-latest.json => Phoenix5-frc2026-latest.json} (87%) rename vendordeps/{Phoenix6-frc2025-latest.json => Phoenix6-frc2026-latest.json} (90%) delete mode 100644 vendordeps/Studica-2025.0.1.json create mode 100644 vendordeps/StudicaLib.json rename vendordeps/{libgrapplefrc2025.json => libgrapplefrc2026.json} (80%) diff --git a/.DataLogTool/datalogtool.json b/.DataLogTool/datalogtool.json deleted file mode 100644 index a3dc0c4..0000000 --- a/.DataLogTool/datalogtool.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "download": { - "localDir": "D:\\loggies", - "serverTeam": "972" - } -} diff --git a/.Glass/glass.json b/.Glass/glass.json deleted file mode 100644 index bd13c22..0000000 --- a/.Glass/glass.json +++ /dev/null @@ -1,8 +0,0 @@ -{ - "NetworkTables Log": { - "visible": true - }, - "NetworkTables Settings": { - "mode": "Server" - } -} diff --git a/.gitattributes b/.gitattributes deleted file mode 100644 index 286213b..0000000 --- a/.gitattributes +++ /dev/null @@ -1,4 +0,0 @@ -*.gradle text eol=lf -*.java text eol=lf -*.md text eol=lf -*.xml text eol=lf \ No newline at end of file diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS deleted file mode 100644 index 80743dc..0000000 --- a/.github/CODEOWNERS +++ /dev/null @@ -1,2 +0,0 @@ -# Make the pull reviewers code owners for every file, they will get requested for review when a PR is made -* @Saara21 @MaxwellTTan20 @Arnav814 @ericoj100 @mm-MS13-Mehaan diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md deleted file mode 100644 index c89f33b..0000000 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ /dev/null @@ -1,21 +0,0 @@ - - -## Overview - -This PR will... - - -## Documentation - - - -## Tests Ran - - - -## Additional Notes - \ No newline at end of file diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml deleted file mode 100644 index faa5948..0000000 --- a/.github/workflows/main.yml +++ /dev/null @@ -1,42 +0,0 @@ -# This is a basic workflow to build robot code. credit: WPI - -name: CI - -# Controls when the action will run. Triggers the workflow on push or pull request -# events but only for the main branch. -on: - push: - branches: [ main ] - pull_request: - branches: [ main ] - -# A workflow run is made up of one or more jobs that can run sequentially or in parallel -jobs: - # This workflow contains a single job called "build" - build: - # The type of runner that the job will run on - runs-on: ubuntu-latest - - # This grabs the WPILib docker container - container: wpilib/roborio-cross-ubuntu:2023-22.04 - - # Steps represent a sequence of tasks that will be executed as part of the job - steps: - # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it - - uses: actions/checkout@v3 - - # Declares the repository safe and not under dubious ownership. - - name: Add repository to git safe directories - run: git config --global --add safe.directory $GITHUB_WORKSPACE - - # Grant execute permission for gradlew - - name: Grant execute permission for gradlew - run: chmod +x gradlew - - # Call gversion to make the version file - - name: Create BuildData.java - run: ./gradlew createVersionFile - - # Runs a single command using the runners shell - - name: Compile and run tests on robot code - run: ./gradlew build diff --git a/.gitignore b/.gitignore index 3f0f45e..34cbaac 100644 --- a/.gitignore +++ b/.gitignore @@ -158,28 +158,30 @@ gradle-app.setting .settings/ bin/ -# Simulation GUI and other tools window save file -*-window.json -*simgui.json -simgui-ds.json -networktables.json -networktables.json.bck - -# Simulation puts log files in root of repo -*.wpilog +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ -# Don't commit ctre_sim directory -ctre_sim/* +# Fleet +.fleet -# File that has git and version data -src/main/java/frc/robot/util/BuildData.java +# Simulation GUI and other tools window save file +networktables.json +simgui.json +*-window.json -# Log files from simulation +# Simulation data log directory logs/ -# IntelliJ IDEA files -.idea/ +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ -# I don't know what this is but it has local paths in it -.factorypath +# clangd +/.cache +compile_commands.json +# Eclipse generated file for annotation processors +.factorypath diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json deleted file mode 100644 index 0c64c43..0000000 --- a/.pathplanner/settings.json +++ /dev/null @@ -1,15 +0,0 @@ -{ - "robotWidth": 0.76, - "robotLength": 0.91, - "holonomicMode": true, - "pathFolders": [ - "Final Stuff", - "Stuff" - ], - "autoFolders": [], - "defaultMaxVel": 3.0, - "defaultMaxAccel": 3.0, - "defaultMaxAngVel": 540.0, - "defaultMaxAngAccel": 720.0, - "maxModuleSpeed": 4.5 -} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json index 612cdd0..5e6ede8 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -56,5 +56,6 @@ "edu.wpi.first.math.proto.*", "edu.wpi.first.math.**.proto.*", "edu.wpi.first.math.**.struct.*", - ] + ], + "java.dependency.enableDependencyCheckup": false } diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json index e56da02..83be30a 100644 --- a/.wpilib/wpilib_preferences.json +++ b/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2025", + "projectYear": "2026", "teamNumber": 972 } \ No newline at end of file diff --git a/README.md b/README.md deleted file mode 100644 index f478cf3..0000000 --- a/README.md +++ /dev/null @@ -1,5 +0,0 @@ -# FRC2026 - -[![CI](https://github.com/iron-claw-972/FRC2026/actions/workflows/main.yml/badge.svg)](https://github.com/iron-claw-972/FRC2026/actions/workflows/main.yml) - -Code for the 2025-2026 FRC Season. diff --git a/WPILib-License.md b/WPILib-License.md index 645e542..eb3061b 100644 --- a/WPILib-License.md +++ b/WPILib-License.md @@ -1,4 +1,4 @@ -Copyright (c) 2009-2024 FIRST and other WPILib contributors +Copyright (c) 2009-2026 FIRST and other WPILib contributors All rights reserved. Redistribution and use in source and binary forms, with or without diff --git a/build.gradle b/build.gradle index 9fa6d84..7c2c6dc 100644 --- a/build.gradle +++ b/build.gradle @@ -1,7 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.3.1" - id "com.peterabeles.gversion" version "1.10.3" + id "edu.wpi.first.GradleRIO" version "2026.2.1" } java { @@ -28,14 +27,6 @@ deploy { // getTargetTypeClass is a shortcut to get the class type using a string frcJava(getArtifactTypeClass('FRCJavaArtifact')) { - jvmArgs.add("-Dcom.sun.management.jmxremote=true") - jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198") - jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false") - jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false") - jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false") - jvmArgs.add("-XX:+HeapDumpOnOutOfMemoryError") - jvmArgs.add("-XX:HeapDumpPath=/home/lvuser/frc-usercode.hprof") - jvmArgs.add("-Djava.rmi.server.hostname=10.9.72.2") // Replace TE.AM with team number } // Static files artifact @@ -52,11 +43,12 @@ deploy { def deployArtifact = deploy.targets.roborio.artifacts.frcJava -// Set to true to use debug for JNI. +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. wpi.java.debugJni = false // Set this to true to enable desktop support. -def includeDesktopSupport = true +def includeDesktopSupport = false // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. // Also defines JUnit 5. @@ -83,44 +75,6 @@ dependencies { testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' - - def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) - annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" - -} - -// Configuration for AdvantageKit -task(replayWatch, type: JavaExec) { - mainClass = "org.littletonrobotics.junction.ReplayWatch" - classpath = sourceSets.main.runtimeClasspath -} - -// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. -// Also defines JUnit 4. -dependencies { - annotationProcessor wpi.java.deps.wpilibAnnotations() - implementation wpi.java.deps.wpilib() - implementation wpi.java.vendor.java() - - roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) - roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) - - roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) - roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) - - nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) - nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) - simulationDebug wpi.sim.enableDebug() - - nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) - nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) - simulationRelease wpi.sim.enableRelease() - - testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' - testRuntimeOnly 'org.junit.platform:junit-platform-launcher' - - def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) - annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" } test { @@ -137,17 +91,21 @@ wpi.sim.addDriverstation() // knows where to look for our Robot Class. jar { from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } - from sourceSets.main.allSource + from('src') { into 'backup/src' } + from('vendordeps') { into 'backup/vendordeps' } + from('build.gradle') { into 'backup' } manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) duplicatesStrategy = DuplicatesStrategy.INCLUDE } + gversion { srcDir = file("src/main/java") classPackage = "frc.robot.util" className = "BuildData" // This will generate BuildData.java } + // Configure jar and deploy tasks deployArtifact.jarTask = jar wpi.java.configureExecutableTasks(jar) @@ -155,7 +113,5 @@ wpi.java.configureTestTasks(test) // Configure string concat to always inline compile tasks.withType(JavaCompile) { - options.encoding = 'UTF-8' // prevent breaks in CI options.compilerArgs.add '-XDstringConcat=inline' } - diff --git a/choreo_paths.chor b/choreo_paths.chor deleted file mode 100644 index ba97e56..0000000 --- a/choreo_paths.chor +++ /dev/null @@ -1,14676 +0,0 @@ -{ - "version": "v0.3.1", - "robotConfiguration": { - "mass": 73.8410170797483, - "rotationalInertia": 5.8275989259364, - "motorMaxTorque": 0.6789855072463769, - "motorMaxVelocity": 4640, - "gearing": 5.903, - "wheelbase": 0.5270497153931537, - "trackWidth": 0.5270497153931537, - "bumperLength": 0.8732515284441746, - "bumperWidth": 0.8732515284441746, - "wheelRadius": 0.050799972568014815 - }, - "paths": { - "Center 6": { - "waypoints": [ - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 2.6305306911468507, - "y": 4.355533123016357, - "heading": -0.6, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "x": 2.7529065132141115, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 2.6305306911468507, - "y": 6.870196914672851, - "heading": 0.6, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "x": 5.372490882873535, - "y": 6.594394683837891, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 8.173408317565917, - "y": 7.465926647186279, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 5.372490882873535, - "y": 6.594394683837891, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "x": 5.372490882873535, - "y": 6.594394683837891, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 8.160777854919433, - "y": 5.798648357391357, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 5.372490882873535, - "y": 6.594394683837891, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 4.251064518955209e-23, - "angularVelocity": -1.474314261329566e-20, - "velocityX": 3.7387078793459146e-19, - "velocityY": -3.5824936616210366e-19, - "timestamp": 0 - }, - { - "x": 1.3700049879548286, - "y": 5.56309045957489, - "heading": -0.009280219609018163, - "angularVelocity": -0.12291476177728405, - "velocityX": 0.26496229964597995, - "velocityY": -0.25385449119608827, - "timestamp": 0.07550126180802841 - }, - { - "x": 1.4100151408697066, - "y": 5.524757983351538, - "heading": -0.02784117001944216, - "angularVelocity": -0.24583629420151398, - "velocityX": 0.529926943692794, - "velocityY": -0.5077064317258396, - "timestamp": 0.15100252361605682 - }, - { - "x": 1.4700306924160145, - "y": 5.467259673777908, - "heading": -0.05568513031548327, - "angularVelocity": -0.36878801266709876, - "velocityX": 0.794894682673056, - "velocityY": -0.7615542866002325, - "timestamp": 0.22650378542408522 - }, - { - "x": 1.5500518988129126, - "y": 5.390595964752488, - "heading": -0.09281752021598637, - "angularVelocity": -0.4918115142885552, - "velocityX": 1.0598658152278608, - "velocityY": -1.0153963945708073, - "timestamp": 0.30200504723211363 - }, - { - "x": 1.6500789877423618, - "y": 5.29476741780182, - "heading": -0.13924857672911986, - "angularVelocity": -0.6149706031561483, - "velocityX": 1.3248399633873773, - "velocityY": -1.269231065228089, - "timestamp": 0.37750630904014204 - }, - { - "x": 1.7701120892018134, - "y": 5.179774707267526, - "heading": -0.19499506458965388, - "angularVelocity": -0.7383517377799143, - "velocityX": 1.5898158333386678, - "velocityY": -1.5230568043574852, - "timestamp": 0.45300757084817045 - }, - { - "x": 1.9101511510897655, - "y": 5.04561857790655, - "heading": -0.26008157143235316, - "angularVelocity": -0.8620585309976676, - "velocityX": 1.854791013215372, - "velocityY": -1.7768726793213794, - "timestamp": 0.5285088326561989 - }, - { - "x": 2.070195845092578, - "y": 4.892299771059555, - "heading": -0.3345408337552403, - "angularVelocity": -0.9861989129692874, - "velocityX": 2.1197618446397177, - "velocityY": -2.030678735367728, - "timestamp": 0.6040100944642273 - }, - { - "x": 2.210251097690708, - "y": 4.758137158014049, - "heading": -0.40081482224653847, - "angularVelocity": -0.8777865018972559, - "velocityX": 1.855005456123874, - "velocityY": -1.776958554502474, - "timestamp": 0.6795113562722557 - }, - { - "x": 2.330301718519033, - "y": 4.643136516439017, - "heading": -0.4576616163795054, - "angularVelocity": -0.752925087232411, - "velocityX": 1.5900478740814894, - "velocityY": -1.523161849499088, - "timestamp": 0.7550126180802841 - }, - { - "x": 2.4303482300309223, - "y": 4.547297740543023, - "heading": -0.5050607440151612, - "angularVelocity": -0.6277925229405316, - "velocityX": 1.3250972118356075, - "velocityY": -1.2693665456833927, - "timestamp": 0.8305138798883125 - }, - { - "x": 2.510391075160622, - "y": 4.470620833949426, - "heading": -0.5429978618626794, - "angularVelocity": -0.5024699844616926, - "velocityX": 1.060152416170463, - "velocityY": -1.0155711938769658, - "timestamp": 0.9060151416963409 - }, - { - "x": 2.5704305889794776, - "y": 4.4131058554979345, - "heading": -0.5714637486145556, - "angularVelocity": -0.3770253115008103, - "velocityX": 0.7952120584621968, - "velocityY": -0.7617750627496834, - "timestamp": 0.9815164035043693 - }, - { - "x": 2.6104669873911317, - "y": 4.374752877259734, - "heading": -0.5904533440855589, - "angularVelocity": -0.2515136173390948, - "velocityX": 0.5302745603570374, - "velocityY": -0.5079779770531248, - "timestamp": 1.0570176653123977 - }, - { - "x": 2.6305003641950035, - "y": 4.355561956718282, - "heading": -0.5999649881801159, - "angularVelocity": -0.1259799355240121, - "velocityX": 0.2653383046075278, - "velocityY": -0.25418012999898976, - "timestamp": 1.1325189271204261 - }, - { - "x": 2.6305306911468507, - "y": 4.355533123016357, - "heading": -0.6, - "angularVelocity": -0.0004637249636049969, - "velocityX": 0.0004016747683561972, - "velocityY": -0.00038189695422426704, - "timestamp": 1.2080201889284545 - }, - { - "x": 2.610550178329772, - "y": 4.374673695560834, - "heading": -0.5905590496217955, - "angularVelocity": 0.12501971996346353, - "velocityX": -0.2645875697942839, - "velocityY": 0.25346484449015166, - "timestamp": 1.2835358786209563 - }, - { - "x": 2.5705586389053807, - "y": 4.412983573513255, - "heading": -0.5716455307114111, - "angularVelocity": 0.2504581364137668, - "velocityX": -0.5295792117801764, - "velocityY": 0.507310177638816, - "timestamp": 1.359051568313458 - }, - { - "x": 2.5105557750803515, - "y": 4.470462660598173, - "heading": -0.5432668457654932, - "angularVelocity": 0.3757985269216927, - "velocityX": -0.7945747972290169, - "velocityY": 0.7611542358809293, - "timestamp": 1.4345672580059599 - }, - { - "x": 2.430541183538218, - "y": 4.547110911961194, - "heading": -0.5054353006402181, - "angularVelocity": 0.5009759598213868, - "velocityX": -1.0595757235079437, - "velocityY": 1.014997700148553, - "timestamp": 1.5100829476984616 - }, - { - "x": 2.330514381369411, - "y": 4.642928388936716, - "heading": -0.45816894222168364, - "angularVelocity": 0.6259144107800899, - "velocityX": -1.3245830446111697, - "velocityY": 1.2688419766235208, - "timestamp": 1.5855986373909634 - }, - { - "x": 2.210474854671869, - "y": 4.757915322387685, - "heading": -0.401491937913021, - "angularVelocity": 0.7505328301899918, - "velocityX": -1.5895971709500427, - "velocityY": 1.5226893102505303, - "timestamp": 1.6611143270834652 - }, - { - "x": 2.0704221363896043, - "y": 4.892072174009052, - "heading": -0.33543399057621603, - "angularVelocity": 0.8747579159482137, - "velocityX": -1.8546174821756414, - "velocityY": 1.7765427577719441, - "timestamp": 1.736630016775967 - }, - { - "x": 1.9103559157267933, - "y": 5.045399678728609, - "heading": -0.2600283702226508, - "angularVelocity": 0.9985424308592702, - "velocityX": -2.1196419090469347, - "velocityY": 2.0304059374138372, - "timestamp": 1.8121457064684687 - }, - { - "x": 1.7702658106581808, - "y": 5.1796120110222805, - "heading": -0.19499833457123836, - "angularVelocity": 0.8611460203331687, - "velocityX": -1.8551125685146552, - "velocityY": 1.7772774484372842, - "timestamp": 1.8876613961609705 - }, - { - "x": 1.650189127018009, - "y": 5.294652307387748, - "heading": -0.13927528164735775, - "angularVelocity": 0.7379003376753047, - "velocityX": -1.5900892136338995, - "velocityY": 1.5233959569714512, - "timestamp": 1.9631770858534723 - }, - { - "x": 1.5501256774020051, - "y": 5.3905199561224375, - "heading": -0.092847301921564, - "angularVelocity": 0.6148123643556385, - "velocityX": -1.3250683404132293, - "velocityY": 1.269506365168085, - "timestamp": 2.0386927755459743 - }, - { - "x": 1.4700752292390322, - "y": 5.467214496036427, - "heading": -0.055707914242732186, - "angularVelocity": 0.4918102162618465, - "velocityX": -1.0600505469649628, - "velocityY": 1.0156106661581024, - "timestamp": 2.1142084652384763 - }, - { - "x": 1.4100375649931816, - "y": 5.524735600725888, - "heading": -0.027854100312408023, - "angularVelocity": 0.3688480373250149, - "velocityX": -0.795035634188372, - "velocityY": 0.7617106448167867, - "timestamp": 2.1897241549309783 - }, - { - "x": 1.3700125191328987, - "y": 5.563083065206659, - "heading": -0.009284821466752706, - "angularVelocity": 0.24589961266683785, - "velocityX": -0.5300229134271852, - "velocityY": 0.5078079090175974, - "timestamp": 2.2652398446234803 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 1.5518121767006254e-21, - "angularVelocity": 0.12295221701027016, - "velocityX": -0.2650114064294312, - "velocityY": 0.2539039085419965, - "timestamp": 2.3407555343159823 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 1.7406173041226286e-22, - "angularVelocity": -1.5911931901870827e-20, - "velocityX": 3.5223689868208494e-19, - "velocityY": -3.372608251853029e-19, - "timestamp": 2.4162712240084843 - }, - { - "x": 1.3889696841330885, - "y": 5.58225679397583, - "heading": -6.407798473621889e-19, - "angularVelocity": -7.175883313096834e-18, - "velocityX": 0.4362901951704297, - "velocityY": 2.0950088972512994e-17, - "timestamp": 2.505591783041138 - }, - { - "x": 1.466909051129583, - "y": 5.58225679397583, - "heading": -2.0240616740468293e-18, - "angularVelocity": -1.5486712596203492e-17, - "velocityX": 0.8725803761259643, - "velocityY": 4.333390986706464e-17, - "timestamp": 2.594912342073792 - }, - { - "x": 1.5838180988942594, - "y": 5.58225679397583, - "heading": -4.31930166451708e-18, - "angularVelocity": -2.5696659484827644e-17, - "velocityX": 1.3088705336241426, - "velocityY": 6.752712300201592e-17, - "timestamp": 2.6842329011064456 - }, - { - "x": 1.739696823313371, - "y": 5.58225679397583, - "heading": -7.859560105579577e-18, - "angularVelocity": -3.963542637204652e-17, - "velocityX": 1.7451606450663326, - "velocityY": 9.527288452189843e-17, - "timestamp": 2.7735534601390994 - }, - { - "x": 1.9345452126267868, - "y": 5.58225679397583, - "heading": -1.3596874858950657e-17, - "angularVelocity": -6.423285764769935e-17, - "velocityX": 2.1814506248464403, - "velocityY": 1.331744714968596e-16, - "timestamp": 2.862874019171753 - }, - { - "x": 2.1683629455887066, - "y": 5.58225679397583, - "heading": -8.610584120256401e-18, - "angularVelocity": 5.582467007271055e-17, - "velocityX": 2.617737008077176, - "velocityY": 4.485060032849567e-16, - "timestamp": 2.952194578204407 - }, - { - "x": 2.3632110176723393, - "y": 5.58225679397583, - "heading": -5.705566749802383e-18, - "angularVelocity": 3.252350188947776e-17, - "velocityX": 2.1814470732589166, - "velocityY": 4.562389679160296e-16, - "timestamp": 3.041515137237061 - }, - { - "x": 2.5190894141011864, - "y": 5.58225679397583, - "heading": -3.685453907320999e-18, - "angularVelocity": 2.2616437518674518e-17, - "velocityX": 1.7451569730084335, - "velocityY": 4.512114906158933e-16, - "timestamp": 3.1308356962697146 - }, - { - "x": 2.6359981302057838, - "y": 5.58225679397583, - "heading": -2.172184802335044e-18, - "angularVelocity": 1.6942002170479532e-17, - "velocityX": 1.3088668204803557, - "velocityY": 4.421516421317778e-16, - "timestamp": 3.2201562553023684 - }, - { - "x": 2.7139371636966168, - "y": 5.58225679397583, - "heading": -9.80397662414107e-19, - "angularVelocity": 1.3342808787156727e-17, - "velocityX": 0.8725766423197178, - "velocityY": 4.311146572193661e-16, - "timestamp": 3.309476814335022 - }, - { - "x": 2.7529065132141115, - "y": 5.58225679397583, - "heading": 5.080985322169408e-30, - "angularVelocity": 1.0976170246252972e-17, - "velocityX": 0.4362864489377896, - "velocityY": 4.1890359689650406e-16, - "timestamp": 3.398797373367676 - }, - { - "x": 2.744525884733328, - "y": 5.58225679397583, - "heading": 9.653430149203684e-19, - "angularVelocity": 9.143954657969524e-18, - "velocityX": -0.07938327169603715, - "velocityY": 4.0355164701809737e-16, - "timestamp": 3.5043690927202595 - }, - { - "x": 2.681705118537465, - "y": 5.58225679397583, - "heading": 1.7372399265678157e-18, - "angularVelocity": 7.311587955464892e-18, - "velocityX": -0.5950529799183868, - "velocityY": 3.8819956283656593e-16, - "timestamp": 3.609940812072843 - }, - { - "x": 2.564444216810358, - "y": 5.58225679397583, - "heading": 2.315701250129161e-18, - "angularVelocity": 5.4793208552192475e-18, - "velocityX": -1.1107226674549495, - "velocityY": 3.728472544116715e-16, - "timestamp": 3.7155125314254267 - }, - { - "x": 2.3927431839196713, - "y": 5.58225679397583, - "heading": 2.700660449129098e-18, - "angularVelocity": 3.646423505928536e-18, - "velocityX": -1.6263923136199703, - "velocityY": 3.5749449791095625e-16, - "timestamp": 3.8210842507780103 - }, - { - "x": 2.1666020329683717, - "y": 5.58225679397583, - "heading": 2.8921372367337455e-18, - "angularVelocity": 1.8137128843547566e-18, - "velocityX": -2.1420618356706225, - "velocityY": 3.421403973689333e-16, - "timestamp": 3.926655970130594 - }, - { - "x": 1.8944013714726986, - "y": 5.58225679397583, - "heading": 1.9264146661700297e-18, - "angularVelocity": -9.147549897618139e-18, - "velocityX": -2.5783482846063124, - "velocityY": -7.6372503608359e-17, - "timestamp": 4.032227689483178 - }, - { - "x": 1.6766408280374865, - "y": 5.58225679397583, - "heading": 1.154320231308916e-18, - "angularVelocity": -7.313458941346627e-18, - "velocityX": -2.062678762557092, - "velocityY": -6.102339516740112e-17, - "timestamp": 4.137799408835762 - }, - { - "x": 1.5133204157658162, - "y": 5.58225679397583, - "heading": 5.756870468064279e-19, - "angularVelocity": -5.480948762057906e-18, - "velocityX": -1.5470091163924304, - "velocityY": -4.567313800965292e-17, - "timestamp": 4.243371128188346 - }, - { - "x": 1.4044401390253736, - "y": 5.58225679397583, - "heading": 1.9048457565450654e-19, - "angularVelocity": -3.64872783644659e-18, - "velocityX": -1.031339428856028, - "velocityY": -3.032249796435494e-17, - "timestamp": 4.34894284754093 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": -1.3128115287299839e-21, - "angularVelocity": -1.8167496783306206e-18, - "velocityX": -0.5156697206337688, - "velocityY": -1.4971666378034364e-17, - "timestamp": 4.454514566893514 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 2.832404054183828e-22, - "angularVelocity": 1.5118177032219752e-20, - "velocityX": 3.7696639615992387e-19, - "velocityY": 3.7927992176190913e-19, - "timestamp": 4.560086286246098 - }, - { - "x": 1.3700047148687937, - "y": 5.602379495184821, - "heading": 0.009288191856822618, - "angularVelocity": 0.12157329926444245, - "velocityX": 0.2618420490159499, - "velocityY": 0.26338637420506966, - "timestamp": 4.636486218739657 - }, - { - "x": 1.4100143230250328, - "y": 5.642624726402822, - "heading": 0.027864540168642656, - "angularVelocity": 0.24314613515380012, - "velocityX": 0.5236864333566297, - "velocityY": 0.526770507570724, - "timestamp": 4.712886151233216 - }, - { - "x": 1.4700290685888693, - "y": 5.702992212923995, - "heading": 0.05573027757780551, - "angularVelocity": 0.3647351051195263, - "velocityX": 0.7855340129900809, - "velocityY": 0.7901510453070398, - "timestamp": 4.7892860837267754 - }, - { - "x": 1.5500492317268397, - "y": 5.7834815634613825, - "heading": 0.09288926238249703, - "angularVelocity": 0.48637457641503007, - "velocityX": 1.047385259728037, - "velocityY": 1.0535264614818005, - "timestamp": 4.865686016220335 - }, - { - "x": 1.650075082736049, - "y": 5.884092262166466, - "heading": 0.13934967791469124, - "angularVelocity": 0.6081211594802297, - "velocityX": 1.3092400443893395, - "velocityY": 1.3168951257066361, - "timestamp": 4.942085948713894 - }, - { - "x": 1.7701068177219876, - "y": 6.004823674860892, - "heading": 0.19512584033881888, - "angularVelocity": 0.7300551270621883, - "velocityX": 1.571097395878699, - "velocityY": 1.5802554891603338, - "timestamp": 5.018485881207453 - }, - { - "x": 1.9101444770585922, - "y": 6.145675079899509, - "heading": 0.26023970526210166, - "angularVelocity": 0.8522764719559472, - "velocityX": 1.8329552758231984, - "velocityY": 1.843606406988539, - "timestamp": 5.094885813701012 - }, - { - "x": 2.070187850431952, - "y": 6.306645728097026, - "heading": 0.334721545165819, - "angularVelocity": 0.9748940538657789, - "velocityX": 2.094810402965384, - "velocityY": 2.1069475187178845, - "timestamp": 5.171285746194571 - }, - { - "x": 2.2102453512140934, - "y": 6.4475037492072484, - "heading": 0.40094964082687773, - "angularVelocity": 0.8668606568028369, - "velocityX": 1.83321498083718, - "velocityY": 1.8436930048609552, - "timestamp": 5.24768567868813 - }, - { - "x": 2.3302979525685337, - "y": 6.568243321341568, - "heading": 0.4577574427913322, - "angularVelocity": 0.743558274338055, - "velocityX": 1.5713705161265887, - "velocityY": 1.5803622882061914, - "timestamp": 5.324085611181689 - }, - { - "x": 2.4303461105664526, - "y": 6.66886460713537, - "heading": 0.5051246017989356, - "angularVelocity": 0.6199895400640164, - "velocityX": 1.3095320209393337, - "velocityY": 1.3170337002887431, - "timestamp": 5.400485543675249 - }, - { - "x": 2.510390222499523, - "y": 6.7493676560178235, - "heading": 0.5430365397795383, - "angularVelocity": 0.49622999318486116, - "velocityX": 1.0476987259094657, - "velocityY": 1.0537057593505197, - "timestamp": 5.476885476168808 - }, - { - "x": 2.570430594098527, - "y": 6.809752452382176, - "heading": 0.5714836779820867, - "angularVelocity": 0.37234506987223925, - "velocityX": 0.7858694325949297, - "velocityY": 0.7903776141352329, - "timestamp": 5.553285408662367 - }, - { - "x": 2.6104674242959973, - "y": 6.850018954046101, - "heading": 0.5904606458530037, - "angularVelocity": 0.24838985129361124, - "velocityX": 0.5240427431116611, - "velocityY": 0.5270489167947889, - "timestamp": 5.629685341155926 - }, - { - "x": 2.6305007993173484, - "y": 6.870167118249366, - "heading": 0.5999656288193816, - "angularVelocity": 0.1244108817397083, - "velocityX": 0.262217182234288, - "velocityY": 0.26371965976492745, - "timestamp": 5.706085273649485 - }, - { - "x": 2.6305306911468507, - "y": 6.870196914672851, - "heading": 0.6, - "angularVelocity": 0.00044988496058163594, - "velocityX": 0.00039125465856706536, - "velocityY": 0.0003900058876048134, - "timestamp": 5.782485206143044 - }, - { - "x": 2.610549437302289, - "y": 6.850100761877325, - "heading": 0.5905647509563424, - "angularVelocity": -0.1234749074366408, - "velocityX": -0.26148578140433243, - "velocityY": -0.26298941286856325, - "timestamp": 5.858899509579546 - }, - { - "x": 2.570556867464376, - "y": 6.809878732236684, - "heading": 0.5716635252816524, - "angularVelocity": -0.2473519331416332, - "velocityX": -0.523364972778243, - "velocityY": -0.526367811152851, - "timestamp": 5.935313813016047 - }, - { - "x": 2.5105527119270885, - "y": 6.74953087982974, - "heading": 0.5433040446606279, - "angularVelocity": -0.37112790859358535, - "velocityX": -0.7852476936749044, - "velocityY": -0.7897455017317754, - "timestamp": 6.011728116452549 - }, - { - "x": 2.4305366108384567, - "y": 6.669057196782285, - "heading": 0.5054988442861839, - "angularVelocity": -0.4947398415515119, - "velocityX": -1.047135123794239, - "velocityY": -1.0531232953569503, - "timestamp": 6.08814241988905 - }, - { - "x": 2.3305081438358277, - "y": 6.5684575642560175, - "heading": 0.4582658920144913, - "angularVelocity": -0.618116637167829, - "velocityX": -1.3090280550126343, - "velocityY": -1.3165026441661212, - "timestamp": 6.164556723325552 - }, - { - "x": 2.210466881094948, - "y": 6.447731698037168, - "heading": 0.4016287033187306, - "angularVelocity": -0.7411856962463141, - "velocityX": -1.5709266111498505, - "velocityY": -1.5798857123544938, - "timestamp": 6.240971026762053 - }, - { - "x": 2.0704124606025633, - "y": 6.306879099600228, - "heading": 0.335615479546042, - "angularVelocity": -0.863885696838732, - "velocityX": -1.8328299047934917, - "velocityY": -1.8432753045244243, - "timestamp": 6.3173853301985545 - }, - { - "x": 1.9103446925850813, - "y": 6.145899029088003, - "heading": 0.2602568981833521, - "angularVelocity": -0.986184234805082, - "velocityX": -2.0947356819197345, - "velocityY": -2.1066745788763823, - "timestamp": 6.393799633635056 - }, - { - "x": 1.7702572862745904, - "y": 6.004990211385915, - "heading": 0.19517700895499335, - "angularVelocity": -0.8516715628041874, - "velocityX": -1.8332615755229642, - "velocityY": -1.844011021041104, - "timestamp": 6.4702139370715575 - }, - { - "x": 1.6501829922925522, - "y": 5.8842101837041305, - "heading": 0.13940682943388838, - "angularVelocity": -0.7298395328231781, - "velocityX": -1.571358876310599, - "velocityY": -1.5805944993289158, - "timestamp": 6.546628240508059 - }, - { - "x": 1.5501215725938375, - "y": 5.783559506821828, - "heading": 0.09293678090995587, - "angularVelocity": -0.6081328551603944, - "velocityX": -1.3094592922889485, - "velocityY": -1.3171706389490274, - "timestamp": 6.62304254394456 - }, - { - "x": 1.4700727644637088, - "y": 5.703038594475421, - "heading": 0.055762182382246936, - "angularVelocity": -0.48648743567491987, - "velocityX": -1.047563146298221, - "velocityY": -1.0537413641847564, - "timestamp": 6.699456847381062 - }, - { - "x": 1.4100363343772997, - "y": 5.642647734660285, - "heading": 0.027881288300434102, - "angularVelocity": -0.3648648594301607, - "velocityX": -0.7856700563435488, - "velocityY": -0.79030832055309, - "timestamp": 6.775871150817563 - }, - { - "x": 1.3700121102510567, - "y": 5.60238710647987, - "heading": 0.009293825131536333, - "angularVelocity": -0.24324586278985671, - "velocityX": -0.5237792183697898, - "velocityY": -0.5268729330742511, - "timestamp": 6.852285454254065 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": -1.8755644647310815e-21, - "angularVelocity": -0.12162415560405207, - "velocityX": -0.2618895854712081, - "velocityY": -0.2634364457796503, - "timestamp": 6.928699757690566 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": -3.0910168812131e-22, - "angularVelocity": 1.644951644272365e-20, - "velocityX": 3.642271257475659e-19, - "velocityY": 3.6611207460803027e-19, - "timestamp": 7.005114061127068 - }, - { - "x": 1.3751389062520347, - "y": 5.5885822288409, - "heading": 8.044474138243886e-19, - "angularVelocity": 1.104684119406405e-17, - "velocityX": 0.3450801575652578, - "velocityY": 0.08682883964891483, - "timestamp": 7.077963530158855 - }, - { - "x": 1.4254167183820563, - "y": 5.601233098476921, - "heading": 3.3304984787719056e-18, - "angularVelocity": 3.467494133414787e-17, - "velocityX": 0.6901603099959901, - "velocityY": 0.17365767800588378, - "timestamp": 7.150812999190642 - }, - { - "x": 1.5008334359328959, - "y": 5.620209402768863, - "heading": 5.530664896423441e-18, - "angularVelocity": 3.0201543633009046e-17, - "velocityX": 1.0352404561511919, - "velocityY": 0.2604865147838079, - "timestamp": 7.22366246822243 - }, - { - "x": 1.6013890583330925, - "y": 5.645511141572933, - "heading": 9.307328997077923e-18, - "angularVelocity": 5.184202645265804e-17, - "velocityX": 1.3803205944619807, - "velocityY": 0.3473153495879261, - "timestamp": 7.296511937254217 - }, - { - "x": 1.7270835848479098, - "y": 5.677138314704258, - "heading": 1.388759929837292e-17, - "angularVelocity": 6.287307734871695e-17, - "velocityX": 1.7254007226870975, - "velocityY": 0.4341441818542942, - "timestamp": 7.3693614062860044 - }, - { - "x": 1.8779170144977002, - "y": 5.71509092191634, - "heading": 2.114670867599054e-17, - "angularVelocity": 9.964532993924348e-17, - "velocityX": 2.0704808374646535, - "velocityY": 0.520973010736996, - "timestamp": 7.442210875317792 - }, - { - "x": 2.0538893459109575, - "y": 5.759368962864081, - "heading": 2.860167806962463e-17, - "angularVelocity": 1.0233388784665959e-16, - "velocityX": 2.415560933415629, - "velocityY": 0.6078018348825661, - "timestamp": 7.515060344349579 - }, - { - "x": 2.2550005770304224, - "y": 5.809972437029836, - "heading": 3.0384696860296094e-17, - "angularVelocity": 2.447538484936638e-17, - "velocityX": 2.7606410011267433, - "velocityY": 0.6946306519224411, - "timestamp": 7.5879098133813665 - }, - { - "x": 2.4812507044273326, - "y": 5.86690134355086, - "heading": 3.263311662546467e-17, - "angularVelocity": 3.086391424680145e-17, - "velocityX": 3.1057210217714517, - "velocityY": 0.7814594571194984, - "timestamp": 7.660759282413154 - }, - { - "x": 2.7326397212441713, - "y": 5.930155680701671, - "heading": 3.492569144669929e-17, - "angularVelocity": 3.147002787608244e-17, - "velocityX": 3.450800948283466, - "velocityY": 0.8682882386309498, - "timestamp": 7.733608751444941 - }, - { - "x": 3.009167606908465, - "y": 5.999735443305836, - "heading": 3.599237380066186e-17, - "angularVelocity": 1.464228041869e-17, - "velocityX": 3.7958805923984467, - "velocityY": 0.9551169490858475, - "timestamp": 7.8064582204767285 - }, - { - "x": 3.304583058119313, - "y": 6.074067682586061, - "heading": 6.799442288826936e-17, - "angularVelocity": 4.392900801184583e-16, - "velocityX": 4.055148996102434, - "velocityY": 1.0203538923226851, - "timestamp": 7.879307689508516 - }, - { - "x": 3.5999985093303932, - "y": 6.1483999218663445, - "heading": 9.124686962806145e-17, - "angularVelocity": 3.1918484854938582e-16, - "velocityX": 4.055148996105624, - "velocityY": 1.0203538923234874, - "timestamp": 7.952157158540303 - }, - { - "x": 3.8954139605414735, - "y": 6.222732161146628, - "heading": 6.235845734277902e-17, - "angularVelocity": -3.965493869647151e-16, - "velocityX": 4.055148996105624, - "velocityY": 1.0203538923234874, - "timestamp": 8.025006627572091 - }, - { - "x": 4.190829411752554, - "y": 6.297064400426912, - "heading": 1.187079957064157e-17, - "angularVelocity": -6.930408476976731e-16, - "velocityX": 4.055148996105624, - "velocityY": 1.0203538923234874, - "timestamp": 8.097856096603879 - }, - { - "x": 4.486244862963634, - "y": 6.3713966397071955, - "heading": 4.1868203670914044e-17, - "angularVelocity": 4.1177244664893084e-16, - "velocityX": 4.055148996105624, - "velocityY": 1.0203538923234874, - "timestamp": 8.170705565635666 - }, - { - "x": 4.781660314174713, - "y": 6.445728878987481, - "heading": 5.651608381744153e-17, - "angularVelocity": 2.010705135017266e-16, - "velocityX": 4.0551489961056175, - "velocityY": 1.0203538923235147, - "timestamp": 8.243555034667454 - }, - { - "x": 5.077075765372958, - "y": 6.520061118318777, - "heading": 1.7973952569935785e-17, - "angularVelocity": -5.290653694492406e-16, - "velocityX": 4.055148995929428, - "velocityY": 1.0203538930237357, - "timestamp": 8.316404503699241 - }, - { - "x": 5.372490882873535, - "y": 6.594394683837891, - "heading": 4.5271640595913275e-29, - "angularVelocity": -2.467272968321232e-16, - "velocityX": 4.055144415282903, - "velocityY": 1.0203720975190471, - "timestamp": 8.389253972731028 - }, - { - "x": 5.647242858587802, - "y": 6.679885106259968, - "heading": -9.429977726826593e-18, - "angularVelocity": -1.3703765394515705e-16, - "velocityX": 3.9927311876140994, - "velocityY": 1.242357857334978, - "timestamp": 8.458067013931142 - }, - { - "x": 5.921994445476622, - "y": 6.76537677829226, - "heading": -1.6888267565983654e-17, - "angularVelocity": -1.0838483097253208e-16, - "velocityX": 3.9927255371524812, - "velocityY": 1.2423760168319844, - "timestamp": 8.526880055131256 - }, - { - "x": 6.196746032348459, - "y": 6.850868450379129, - "heading": 3.8093668702008635e-18, - "angularVelocity": 3.0078069614698596e-16, - "velocityX": 3.9927255369056973, - "velocityY": 1.2423760176250944, - "timestamp": 8.59569309633137 - }, - { - "x": 6.471497619219933, - "y": 6.936360122466824, - "heading": -1.5257964645179415e-17, - "angularVelocity": -2.7708892359449947e-16, - "velocityX": 3.9927255369004206, - "velocityY": 1.242376017637102, - "timestamp": 8.664506137531484 - }, - { - "x": 6.734791042279063, - "y": 7.0182864892966865, - "heading": -1.5521608741636682e-17, - "angularVelocity": -3.831310052315505e-18, - "velocityX": 3.826214020877989, - "velocityY": 1.190564541270817, - "timestamp": 8.733319178731598 - }, - { - "x": 6.975999483549517, - "y": 7.0933408957400905, - "heading": -1.3888820098781766e-17, - "angularVelocity": 2.372789538662461e-17, - "velocityX": 3.5052722138671455, - "velocityY": 1.0907003256132755, - "timestamp": 8.802132219931712 - }, - { - "x": 7.19512292364644, - "y": 7.161523335765207, - "heading": -1.2272226828080516e-17, - "angularVelocity": 2.349254214730808e-17, - "velocityX": 3.1843301251531018, - "velocityY": 0.990836022300431, - "timestamp": 8.870945261131826 - }, - { - "x": 7.3921613561082085, - "y": 7.2228338073614236, - "heading": -9.91377064737451e-18, - "angularVelocity": 3.427338974634624e-17, - "velocityX": 2.863387942537892, - "velocityY": 0.8909716897691187, - "timestamp": 8.93975830233194 - }, - { - "x": 7.567114777704009, - "y": 7.277272309523435, - "heading": -7.430470042956345e-18, - "angularVelocity": 3.6087645031897434e-17, - "velocityX": 2.5424457129720897, - "velocityY": 0.7911073426285686, - "timestamp": 9.008571343532054 - }, - { - "x": 7.719983186495353, - "y": 7.3248388416480585, - "heading": -5.288724881656081e-18, - "angularVelocity": 3.1124117230174046e-17, - "velocityX": 2.2215034552359305, - "velocityY": 0.6912429867224752, - "timestamp": 9.077384384732168 - }, - { - "x": 7.850766581189917, - "y": 7.3655334033331705, - "heading": -3.488536974859941e-18, - "angularVelocity": 2.6160563105152182e-17, - "velocityX": 1.9005611787195344, - "velocityY": 0.591378624972686, - "timestamp": 9.146197425932282 - }, - { - "x": 7.95946496086461, - "y": 7.399355994291541, - "heading": -1.0573272555421988e-18, - "angularVelocity": 3.5330653563536946e-17, - "velocityX": 1.5796188887886835, - "velocityY": 0.4915142590488284, - "timestamp": 9.215010467132396 - }, - { - "x": 8.046078324827116, - "y": 7.426306614307746, - "heading": 1.2407808813183412e-18, - "angularVelocity": 3.339640418092168e-17, - "velocityX": 1.2586765887969913, - "velocityY": 0.3916498899944195, - "timestamp": 9.28382350833251 - }, - { - "x": 8.110606672538966, - "y": 7.446385263214236, - "heading": 3.1973352292465776e-18, - "angularVelocity": 2.843290041803697e-17, - "velocityX": 0.9377342809802008, - "velocityY": 0.2917855185051375, - "timestamp": 9.352636549532624 - }, - { - "x": 8.153050003569383, - "y": 7.459591940876971, - "heading": 1.989163877112771e-18, - "angularVelocity": -1.7557302091088906e-17, - "velocityX": 0.616791966903332, - "velocityY": 0.191921145067957, - "timestamp": 9.421449590732738 - }, - { - "x": 8.173408317565917, - "y": 7.465926647186279, - "heading": -4.514694690881201e-29, - "angularVelocity": -2.890678630808383e-17, - "velocityX": 0.295849647704581, - "velocityY": 0.09205677003704135, - "timestamp": 9.490262631932852 - }, - { - "x": 8.170410935320641, - "y": 7.464993998545025, - "heading": -1.1479594087562529e-18, - "angularVelocity": -1.587345588598103e-17, - "velocityX": -0.0414464261398678, - "velocityY": -0.012896237403529248, - "timestamp": 9.562582069926373 - }, - { - "x": 8.14302049088619, - "y": 7.456471207485986, - "heading": -2.673164473169197e-18, - "angularVelocity": -2.108983568881684e-17, - "velocityX": -0.3787424957160769, - "velocityY": -0.1178492435160072, - "timestamp": 9.634901507919894 - }, - { - "x": 8.091236984632978, - "y": 7.440358274124418, - "heading": -4.575611442410796e-18, - "angularVelocity": -2.630616362629961e-17, - "velocityX": -0.7160385601703985, - "velocityY": -0.22280224803477408, - "timestamp": 9.707220945913415 - }, - { - "x": 8.015060417013729, - "y": 7.41665519860119, - "heading": -4.947277187842861e-18, - "angularVelocity": -5.139223364033182e-18, - "velocityX": -1.0533346183646357, - "velocityY": -0.3277552506056719, - "timestamp": 9.779540383906935 - }, - { - "x": 7.914490788594349, - "y": 7.385361981092388, - "heading": -5.6961729062268445e-18, - "angularVelocity": -1.0355386313000181e-17, - "velocityX": -1.390630668733768, - "velocityY": -0.4327082507417336, - "timestamp": 9.851859821900456 - }, - { - "x": 7.789528100102434, - "y": 7.346478621824409, - "heading": -8.528749636934408e-18, - "angularVelocity": -3.9167571116071525e-17, - "velocityX": -1.7279267090420518, - "velocityY": -0.5376612477472918, - "timestamp": 9.924179259893977 - }, - { - "x": 7.64017235250811, - "y": 7.3000051210991135, - "heading": -1.201295949426594e-17, - "angularVelocity": -4.817805494591479e-17, - "velocityX": -2.0652227359358726, - "velocityY": -0.642614240578846, - "timestamp": 9.996498697887498 - }, - { - "x": 7.466423547169555, - "y": 7.245941479339108, - "heading": -1.5874361845475978e-17, - "angularVelocity": -5.339369965145435e-17, - "velocityX": -2.402518744049449, - "velocityY": -0.7475672275667952, - "timestamp": 10.068818135881019 - }, - { - "x": 7.268281686124032, - "y": 7.184287697178302, - "heading": -2.0112928949513346e-17, - "angularVelocity": -5.860896076646912e-17, - "velocityX": -2.7398147239926662, - "velocityY": -0.8525202057893394, - "timestamp": 10.14113757387454 - }, - { - "x": 7.045746772766981, - "y": 7.11504377567321, - "heading": -2.557518924430414e-17, - "angularVelocity": -7.552962863536295e-17, - "velocityX": -3.0771106569853086, - "velocityY": -0.9574731694028816, - "timestamp": 10.21345701186806 - }, - { - "x": 6.798818813889274, - "y": 7.03820971693686, - "heading": -2.9820267528270197e-17, - "angularVelocity": -5.869899437443598e-17, - "velocityX": -3.4144064960768983, - "velocityY": -1.062426103798449, - "timestamp": 10.285776449861581 - }, - { - "x": 6.527497829863459, - "y": 6.953785527308316, - "heading": -3.380514122458171e-17, - "angularVelocity": -5.510100474849542e-17, - "velocityX": -3.751702053466217, - "velocityY": -1.1673789505403607, - "timestamp": 10.358095887855102 - }, - { - "x": 6.238746162971835, - "y": 6.863937591938514, - "heading": -5.503987816242723e-18, - "angularVelocity": 3.9133536146805468e-16, - "velocityX": -3.992725536908818, - "velocityY": -1.2423760176047256, - "timestamp": 10.430415325848623 - }, - { - "x": 5.949994496080389, - "y": 6.774089656567438, - "heading": 1.3877748170103676e-17, - "angularVelocity": 2.6800175062346127e-16, - "velocityX": -3.992725536906352, - "velocityY": -1.2423760176223397, - "timestamp": 10.502734763842144 - }, - { - "x": 5.661242829177896, - "y": 6.684241721231868, - "heading": -1.5868862095572502e-17, - "angularVelocity": -4.1132247554688176e-16, - "velocityX": -3.9927255370591226, - "velocityY": -1.2423760171313674, - "timestamp": 10.575054201835664 - }, - { - "x": 5.372490882873535, - "y": 6.594394683837891, - "heading": -6.721600712521686e-29, - "angularVelocity": 2.1942734257626597e-16, - "velocityX": -3.992729400499917, - "velocityY": -1.242363600807112, - "timestamp": 10.647373639829185 - }, - { - "x": 5.061138083926854, - "y": 6.516051319215958, - "heading": 2.3088216109691274e-17, - "angularVelocity": 3.007073899622652e-16, - "velocityX": -4.055146014020917, - "velocityY": -1.020365912387457, - "timestamp": 10.724153316287236 - }, - { - "x": 4.749785061492521, - "y": 6.437708842785697, - "heading": 4.4477316523156246e-17, - "angularVelocity": 2.785776314809067e-16, - "velocityX": -4.055148924786648, - "velocityY": -1.0203543443304697, - "timestamp": 10.800932992745286 - }, - { - "x": 4.438432039050997, - "y": 6.3593663663840205, - "heading": 5.0772646087421463e-17, - "angularVelocity": 8.199213456954237e-17, - "velocityX": -4.0551489248803225, - "velocityY": -1.0203543439581864, - "timestamp": 10.877712669203337 - }, - { - "x": 4.127079016609472, - "y": 6.281023889982345, - "heading": 6.919823627727644e-17, - "angularVelocity": 2.399800447194005e-16, - "velocityX": -4.055148924880325, - "velocityY": -1.0203543439581744, - "timestamp": 10.954492345661388 - }, - { - "x": 3.8157259941679467, - "y": 6.202681413580669, - "heading": 1.0145407846874318e-16, - "angularVelocity": 4.2010911844854016e-16, - "velocityX": -4.055148924880325, - "velocityY": -1.0203543439581744, - "timestamp": 11.031272022119438 - }, - { - "x": 3.5043729717264216, - "y": 6.124338937178994, - "heading": 1.0488814636055141e-16, - "angularVelocity": 4.4726261561856034e-17, - "velocityX": -4.055148924880325, - "velocityY": -1.0203543439581744, - "timestamp": 11.108051698577489 - }, - { - "x": 3.1930199492849143, - "y": 6.0459964607773236, - "heading": 1.0202500821302203e-16, - "angularVelocity": -3.729031274317039e-17, - "velocityX": -4.055148924880093, - "velocityY": -1.020354343958116, - "timestamp": 11.18483137503554 - }, - { - "x": 2.885850005558275, - "y": 5.968706528343063, - "heading": 8.840325766190533e-17, - "angularVelocity": -1.7741349246854113e-16, - "velocityX": -4.000667336680725, - "velocityY": -1.0066457166759242, - "timestamp": 11.26161105149359 - }, - { - "x": 2.606604572932183, - "y": 5.8984429460459165, - "heading": 7.446990987421016e-17, - "angularVelocity": -1.8147182210670663e-16, - "velocityX": -3.636970686880395, - "velocityY": -0.9151325655238358, - "timestamp": 11.33839072795164 - }, - { - "x": 2.35528367155804, - "y": 5.835205718956369, - "heading": 6.231835100914448e-17, - "angularVelocity": -1.5826530438188948e-16, - "velocityX": -3.2732737746225524, - "velocityY": -0.8236193483323324, - "timestamp": 11.415170404409691 - }, - { - "x": 2.1318873081529506, - "y": 5.778994848764575, - "heading": 5.446711019193275e-17, - "angularVelocity": -1.0225675828957241e-16, - "velocityX": -2.909576774879259, - "velocityY": -0.732106109127788, - "timestamp": 11.491950080867742 - }, - { - "x": 1.936415486075461, - "y": 5.72981033631561, - "heading": 4.33435156910529e-17, - "angularVelocity": -1.44876808732947e-16, - "velocityX": -2.545879731393325, - "velocityY": -0.6405928589167442, - "timestamp": 11.568729757325793 - }, - { - "x": 1.7688682073406965, - "y": 5.687652182116517, - "heading": 3.180451468220992e-17, - "angularVelocity": -1.5028717938213945e-16, - "velocityX": -2.182182661661835, - "velocityY": -0.5490796021018084, - "timestamp": 11.645509433783843 - }, - { - "x": 1.6292454732920727, - "y": 5.652520386505328, - "heading": 2.1943940462114387e-17, - "angularVelocity": -1.2842687902434274e-16, - "velocityX": -1.8184855744333217, - "velocityY": -0.45756634088428094, - "timestamp": 11.722289110241894 - }, - { - "x": 1.5175472848891722, - "y": 5.624414949723491, - "heading": 1.6975654570196923e-17, - "angularVelocity": -6.470834628409354e-17, - "velocityX": -1.4547884747069404, - "velocityY": -0.3660530765220469, - "timestamp": 11.799068786699944 - }, - { - "x": 1.4337736428516812, - "y": 5.603335871952093, - "heading": 9.958130236130293e-18, - "angularVelocity": -9.139820142132868e-17, - "velocityX": -1.0910913656071621, - "velocityY": -0.2745398098012838, - "timestamp": 11.875848463157995 - }, - { - "x": 1.3779245477393556, - "y": 5.589283153331981, - "heading": 4.935318887472694e-18, - "angularVelocity": -6.541850109660993e-17, - "velocityX": -0.7273942492169659, - "velocityY": -0.1830265412461097, - "timestamp": 11.952628139616046 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 1.1330935234644406e-28, - "angularVelocity": -6.427897478789963e-17, - "velocityX": -0.36369712699443685, - "velocityY": -0.09151327122340726, - "timestamp": 12.029407816074096 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 1.3072856105106544e-29, - "angularVelocity": -1.4338555853349923e-28, - "velocityX": -1.6135165350121333e-27, - "velocityY": 9.374994749220142e-27, - "timestamp": 12.106187492532147 - }, - { - "x": 1.3749689535834184, - "y": 5.5897009757312865, - "heading": -2.106297966297422e-19, - "angularVelocity": -2.8839388200086933e-18, - "velocityX": 0.34187439625345595, - "velocityY": 0.10192558269393831, - "timestamp": 12.179222951920298 - }, - { - "x": 1.4249068603805064, - "y": 5.604589339131964, - "heading": -1.677218384570217e-18, - "angularVelocity": -2.008050062463534e-17, - "velocityX": 0.6837487874443219, - "velocityY": 0.20385116387852864, - "timestamp": 12.25225841130845 - }, - { - "x": 1.4998137199393493, - "y": 5.62692188404313, - "heading": -4.467707102380705e-18, - "angularVelocity": -3.820731383236851e-17, - "velocityX": 1.0256231724475782, - "velocityY": 0.3057767432183604, - "timestamp": 12.325293870696601 - }, - { - "x": 1.5996895316950535, - "y": 5.656698610296368, - "heading": -4.7388677205012346e-18, - "angularVelocity": -3.712725576261135e-18, - "velocityX": 1.3674975497163229, - "velocityY": 0.40770232025224407, - "timestamp": 12.398329330084753 - }, - { - "x": 1.724534294921327, - "y": 5.693919517675143, - "heading": -4.862675168623981e-18, - "angularVelocity": -1.695169019046009e-18, - "velocityX": 1.7093719170406965, - "velocityY": 0.5096278943213377, - "timestamp": 12.471364789472904 - }, - { - "x": 1.8743480086497812, - "y": 5.738584605890742, - "heading": -6.31034613617928e-18, - "angularVelocity": -1.982148095742636e-17, - "velocityX": 2.05124627110591, - "velocityY": 0.6115534644373783, - "timestamp": 12.544400248861056 - }, - { - "x": 2.0491306715246718, - "y": 5.7906938745389684, - "heading": -8.052005504268843e-18, - "angularVelocity": -2.3846764059595142e-17, - "velocityX": 2.3931206066083033, - "velocityY": 0.7134790290191458, - "timestamp": 12.617435708249207 - }, - { - "x": 2.2488822815123832, - "y": 5.850247323013523, - "heading": -1.0500720583751912e-17, - "angularVelocity": -3.352775624225273e-17, - "velocityX": 2.734994914266474, - "velocityY": 0.815404585299506, - "timestamp": 12.690471167637359 - }, - { - "x": 2.4736028352235584, - "y": 5.917244950303913, - "heading": -1.4273207870070583e-17, - "angularVelocity": -5.165281793044341e-17, - "velocityX": 3.07686917551763, - "velocityY": 0.9173301277441942, - "timestamp": 12.76350662702551 - }, - { - "x": 2.7232923258794886, - "y": 5.99168675438915, - "heading": -1.7375627711302575e-17, - "angularVelocity": -4.247826832535968e-17, - "velocityX": 3.418743343954855, - "velocityY": 1.0192556425175678, - "timestamp": 12.836542086413662 - }, - { - "x": 2.997950733144114, - "y": 6.073572729206291, - "heading": -2.1801449098877115e-17, - "angularVelocity": -6.059825493774254e-17, - "velocityX": 3.760617233951168, - "velocityY": 1.1211810742772599, - "timestamp": 12.909577545801813 - }, - { - "x": 3.290621803248295, - "y": 6.1608289545479265, - "heading": -2.5658304246841473e-17, - "angularVelocity": -5.280798094786635e-17, - "velocityX": 4.007246241154717, - "velocityY": 1.1947104334335177, - "timestamp": 12.982613005189965 - }, - { - "x": 3.5832928733526748, - "y": 6.248085179889621, - "heading": -2.8530592502284846e-17, - "angularVelocity": -3.93273114105059e-17, - "velocityX": 4.007246241157447, - "velocityY": 1.1947104334343266, - "timestamp": 13.055648464578116 - }, - { - "x": 3.875963943459746, - "y": 6.335341405222288, - "heading": -2.8145685781283686e-17, - "angularVelocity": 5.2701348673896014e-18, - "velocityX": 4.007246241194295, - "velocityY": 1.194710433310735, - "timestamp": 13.128683923966268 - }, - { - "x": 4.168635084046373, - "y": 6.422597394155118, - "heading": -2.4589541837216757e-17, - "angularVelocity": 4.869064936312243e-17, - "velocityX": 4.007247206198914, - "velocityY": 1.1947071965290432, - "timestamp": 13.201719383354419 - }, - { - "x": 4.462992171425512, - "y": 6.503984796246935, - "heading": -1.865851348037744e-17, - "angularVelocity": 8.120751764419801e-17, - "velocityX": 4.030331154826551, - "velocityY": 1.1143546268296594, - "timestamp": 13.27475484274257 - }, - { - "x": 4.763214801309505, - "y": 6.5599881562762, - "heading": -1.185788123219857e-17, - "angularVelocity": 9.311411614613915e-17, - "velocityX": 4.110642041538187, - "velocityY": 0.7667968477014759, - "timestamp": 13.347790302130722 - }, - { - "x": 5.067118338085079, - "y": 6.590198145999091, - "heading": -5.110846102885528e-18, - "angularVelocity": 9.238026550270056e-17, - "velocityX": 4.161040942598275, - "velocityY": 0.41363455472140287, - "timestamp": 13.420825761518874 - }, - { - "x": 5.372490882873535, - "y": 6.594394683837891, - "heading": 7.435571865732989e-29, - "angularVelocity": 6.997759918061287e-17, - "velocityX": 4.181154569940233, - "velocityY": 0.05745890932919486, - "timestamp": 13.493861220907025 - }, - { - "x": 5.658666545780349, - "y": 6.575364753181748, - "heading": 4.576818453416559e-19, - "angularVelocity": 6.672831036873803e-18, - "velocityX": 4.172334701892643, - "velocityY": -0.2774493094372273, - "timestamp": 13.562450076632574 - }, - { - "x": 5.942400266786845, - "y": 6.533486061480876, - "heading": -2.3827590815129613e-18, - "angularVelocity": -4.141257201051082e-17, - "velocityX": 4.136732097439099, - "velocityY": -0.6105757452558301, - "timestamp": 13.631038932358123 - }, - { - "x": 6.221870758893712, - "y": 6.469027595137471, - "heading": -4.3182265395820836e-18, - "angularVelocity": -2.821839550453941e-17, - "velocityX": 4.07457580609218, - "velocityY": -0.9397804593989688, - "timestamp": 13.699627788083673 - }, - { - "x": 6.495284408168433, - "y": 6.3824041196974175, - "heading": -2.8846127148492644e-18, - "angularVelocity": 2.0901556230520604e-17, - "velocityX": 3.98626929087078, - "velocityY": -1.2629380461844821, - "timestamp": 13.768216643809222 - }, - { - "x": 6.753350615235624, - "y": 6.291966909385253, - "heading": -3.3860339612335026e-18, - "angularVelocity": -7.310535233140868e-18, - "velocityX": 3.762509293052168, - "velocityY": -1.3185408818312967, - "timestamp": 13.836805499534771 - }, - { - "x": 6.989730454687167, - "y": 6.209128001792428, - "heading": -3.8610537876315765e-18, - "angularVelocity": -6.925612351618996e-18, - "velocityX": 3.4463301209950634, - "velocityY": -1.207760454909701, - "timestamp": 13.90539435526032 - }, - { - "x": 7.204423917011262, - "y": 6.133887431043579, - "heading": -4.30969012277514e-18, - "angularVelocity": -6.540950864334822e-18, - "velocityX": 3.130150810259459, - "velocityY": -1.0969795304636218, - "timestamp": 13.97398321098587 - }, - { - "x": 7.397430999037374, - "y": 6.066245208513786, - "heading": -4.7319640256573494e-18, - "angularVelocity": -6.156596409336524e-18, - "velocityX": 2.813971453298626, - "velocityY": -0.9861984401730881, - "timestamp": 14.042572066711418 - }, - { - "x": 7.568751699180255, - "y": 6.0062013398906515, - "heading": -4.48443110171988e-18, - "angularVelocity": 3.608937943647087e-18, - "velocityX": 2.4977920732254844, - "velocityY": -0.8754172669594278, - "timestamp": 14.111160922436968 - }, - { - "x": 7.718386016488768, - "y": 5.953755828586764, - "heading": -5.202509665797113e-18, - "angularVelocity": -1.0469318324083915e-17, - "velocityX": 2.1816126792850916, - "velocityY": -0.7646360439915042, - "timestamp": 14.179749778162517 - }, - { - "x": 7.846333950328824, - "y": 5.9089086768771955, - "heading": -5.894233408781161e-18, - "angularVelocity": -1.008507483708594e-17, - "velocityX": 1.8654332760999357, - "velocityY": -0.6538547878538727, - "timestamp": 14.248338633888066 - }, - { - "x": 7.952595500247506, - "y": 5.871659886387006, - "heading": -4.927257324037146e-18, - "angularVelocity": 1.4098151580412308e-17, - "velocityX": 1.549253866311417, - "velocityY": -0.5430735080234801, - "timestamp": 14.316927489613615 - }, - { - "x": 8.037170665905128, - "y": 5.842009458334993, - "heading": -3.93393020805799e-18, - "angularVelocity": 1.448233981268987e-17, - "velocityX": 1.2330744515704004, - "velocityY": -0.43229221042344845, - "timestamp": 14.385516345339164 - }, - { - "x": 8.100059447037491, - "y": 5.8199573936691165, - "heading": -2.914254186351223e-18, - "angularVelocity": 1.4866497055858427e-17, - "velocityX": 0.9168950329774561, - "velocityY": -0.32151089900254415, - "timestamp": 14.454105201064714 - }, - { - "x": 8.141261843433236, - "y": 5.8055036931477435, - "heading": -1.470300622541165e-18, - "angularVelocity": 2.1052305779669128e-17, - "velocityX": 0.6007156113029791, - "velocityY": -0.21072957652491553, - "timestamp": 14.522694056790263 - }, - { - "x": 8.160777854919433, - "y": 5.798648357391357, - "heading": 3.515192231280365e-30, - "angularVelocity": 2.1436436094366998e-17, - "velocityX": 0.2845361871072536, - "velocityY": -0.09994824500086058, - "timestamp": 14.591282912515812 - }, - { - "x": 8.15740465483607, - "y": 5.7998119860439035, - "heading": 1.5702668702365359e-18, - "angularVelocity": 2.1839117027368502e-17, - "velocityX": -0.046914134644165766, - "velocityY": 0.016183632732190804, - "timestamp": 14.663184485654664 - }, - { - "x": 8.130199655390193, - "y": 5.809325678962654, - "heading": 3.16948883770298e-18, - "angularVelocity": 2.2241821668858154e-17, - "velocityX": -0.378364453769859, - "velocityY": 0.1323155044240569, - "timestamp": 14.735086058793517 - }, - { - "x": 8.079162856808358, - "y": 5.827189435626364, - "heading": 5.55395968868795e-18, - "angularVelocity": 3.3162985827562857e-17, - "velocityX": -0.7098147697446826, - "velocityY": 0.2484473688664962, - "timestamp": 14.806987631932369 - }, - { - "x": 8.00429425936746, - "y": 5.8534032553979545, - "heading": 7.967390201909252e-18, - "angularVelocity": 3.3565753958663505e-17, - "velocityX": -1.0412650818684488, - "velocityY": 0.3645792244485113, - "timestamp": 14.878889205071221 - }, - { - "x": 7.90559386341362, - "y": 5.887967137481077, - "heading": 1.0409784598773327e-17, - "angularVelocity": 3.396858080066931e-17, - "velocityX": -1.3727153891784034, - "velocityY": 0.4807110689549696, - "timestamp": 14.950790778210074 - }, - { - "x": 7.7830616693918495, - "y": 5.930881080851848, - "heading": 1.2881147946027218e-17, - "angularVelocity": 3.437147811049413e-17, - "velocityX": -1.704165690299189, - "velocityY": 0.59684289922138, - "timestamp": 15.022692351348926 - }, - { - "x": 7.636697677895493, - "y": 5.982145084145087, - "heading": 1.5381486333713155e-17, - "angularVelocity": 3.4774460120026703e-17, - "velocityX": -2.0356159831677796, - "velocityY": 0.7129747105009819, - "timestamp": 15.094593924487778 - }, - { - "x": 7.466501889755232, - "y": 6.04175914544953, - "heading": 1.6910300359972597e-17, - "angularVelocity": 2.1262594954707737e-17, - "velocityX": -2.367066264483349, - "velocityY": 0.8291064951989165, - "timestamp": 15.16649549762663 - }, - { - "x": 7.27247430621708, - "y": 6.109723261898264, - "heading": 2.2846387162938302e-17, - "angularVelocity": 8.255851080616128e-17, - "velocityX": -2.6985165284694865, - "velocityY": 0.9452382400241005, - "timestamp": 15.238397070765483 - }, - { - "x": 7.05461492935771, - "y": 6.186037428713062, - "heading": 2.7078383309752413e-17, - "angularVelocity": 5.88581857401056e-17, - "velocityX": -3.029966763573451, - "velocityY": 1.0613699183941856, - "timestamp": 15.310298643904336 - }, - { - "x": 6.812923763330427, - "y": 6.270701636337379, - "heading": 3.133942989918459e-17, - "angularVelocity": 5.926221643581749e-17, - "velocityX": -3.361416940913657, - "velocityY": 1.1775014638527852, - "timestamp": 15.382200217043188 - }, - { - "x": 6.547400820594944, - "y": 6.3637158561012495, - "heading": 3.5629653523192204e-17, - "angularVelocity": 5.966800776000847e-17, - "velocityX": -3.692866944965416, - "velocityY": 1.293632610572301, - "timestamp": 15.45410179018204 - }, - { - "x": 6.261992928035358, - "y": 6.458260863280659, - "heading": 1.2977811491721515e-17, - "angularVelocity": -3.1503958874068347e-16, - "velocityX": -3.9694248693059904, - "velocityY": 1.3149226512308523, - "timestamp": 15.526003363320893 - }, - { - "x": 5.9696584968278374, - "y": 6.528524677524475, - "heading": 8.30491658549572e-18, - "angularVelocity": -6.499016227646973e-17, - "velocityX": -4.065758486855054, - "velocityY": 0.9772222105367047, - "timestamp": 15.597904936459745 - }, - { - "x": 5.672459000416948, - "y": 6.574009641563384, - "heading": 3.9900100019018806e-18, - "angularVelocity": -6.001129593177065e-17, - "velocityX": -4.133421334703643, - "velocityY": 0.6326004015387804, - "timestamp": 15.669806509598597 - }, - { - "x": 5.372490882873535, - "y": 6.594394683837891, - "heading": 4.637949774599644e-29, - "angularVelocity": -5.549266626130552e-17, - "velocityX": -4.171927044824572, - "velocityY": 0.28351316090317685, - "timestamp": 15.74170808273745 - }, - { - "x": 5.050773644251368, - "y": 6.587292971608332, - "heading": 4.510908674878247e-19, - "angularVelocity": 5.861667091112072e-18, - "velocityX": -4.180530989625617, - "velocityY": -0.0922826771180165, - "timestamp": 15.818664153490314 - }, - { - "x": 4.730994022144736, - "y": 6.551328956326083, - "heading": 3.8554219387702585e-18, - "angularVelocity": 4.423732966002132e-17, - "velocityX": -4.155352774358414, - "velocityY": -0.46733175083411, - "timestamp": 15.895620224243178 - }, - { - "x": 4.415736028009693, - "y": 6.486793579258048, - "heading": 4.369824303813874e-18, - "angularVelocity": 6.684363689090542e-18, - "velocityX": -4.096596812322474, - "velocityY": -0.8386002096609608, - "timestamp": 15.972576294996042 - }, - { - "x": 4.107092112871089, - "y": 6.39573672005434, - "heading": 4.788552904489025e-18, - "angularVelocity": 5.441137996400068e-18, - "velocityX": -4.010650649378687, - "velocityY": -1.1832316581771465, - "timestamp": 16.049532365748906 - }, - { - "x": 3.7984505091445313, - "y": 6.304672026515864, - "heading": 1.0411227800571568e-17, - "angularVelocity": 7.306343529532718e-17, - "velocityX": -4.01062061390491, - "velocityY": -1.183333460863932, - "timestamp": 16.12648843650177 - }, - { - "x": 3.489808905492053, - "y": 6.213607332726315, - "heading": 1.1712240643296965e-17, - "angularVelocity": 1.6905915673051655e-17, - "velocityX": -4.0106206129422866, - "velocityY": -1.1833334641265096, - "timestamp": 16.203444507254634 - }, - { - "x": 3.181167301839591, - "y": 6.12254263893676, - "heading": 1.739759563187972e-17, - "angularVelocity": 7.387792714615859e-17, - "velocityX": -4.010620612942067, - "velocityY": -1.1833334641265585, - "timestamp": 16.280400578007498 - }, - { - "x": 2.8759727989575126, - "y": 6.032495012102541, - "heading": 6.160394566309594e-18, - "angularVelocity": -1.460209825642653e-16, - "velocityX": -3.965827515572878, - "velocityY": -1.1701172623976306, - "timestamp": 16.357356648760362 - }, - { - "x": 2.5985232218869587, - "y": 5.950633524607093, - "heading": -5.014948305455115e-18, - "angularVelocity": -1.452171708155591e-16, - "velocityX": -3.6052981182154618, - "velocityY": -1.0637430769865972, - "timestamp": 16.434312719513226 - }, - { - "x": 2.3488185906123467, - "y": 5.876958182346815, - "heading": -1.021650025995837e-17, - "angularVelocity": -6.759118421281684e-17, - "velocityX": -3.244768461171998, - "velocityY": -0.9573688149552048, - "timestamp": 16.51126879026609 - }, - { - "x": 2.1268589117951118, - "y": 5.8114689872871645, - "heading": -1.3728338188268751e-17, - "angularVelocity": -4.5634319606004684e-17, - "velocityX": -2.884238717567016, - "velocityY": -0.8509945273838397, - "timestamp": 16.588224861018954 - }, - { - "x": 1.9326441887659624, - "y": 5.754165940410867, - "heading": -1.4828016154735985e-17, - "angularVelocity": -1.4289684436291385e-17, - "velocityX": -2.5237089306813805, - "velocityY": -0.7446202270425196, - "timestamp": 16.66518093177182 - }, - { - "x": 1.7661744235233214, - "y": 5.705049042307557, - "heading": -1.1178654192587566e-17, - "angularVelocity": 4.742136554528476e-17, - "velocityX": -2.163179117827389, - "velocityY": -0.638245919039237, - "timestamp": 16.742137002524682 - }, - { - "x": 1.6274496173994693, - "y": 5.664118293370325, - "heading": -6.756440882155054e-18, - "angularVelocity": 5.746412553450026e-17, - "velocityX": -1.802649287661176, - "velocityY": -0.531871605927984, - "timestamp": 16.819093073277546 - }, - { - "x": 1.5164697713460344, - "y": 5.631373693879946, - "heading": -7.46157239431928e-18, - "angularVelocity": -9.162779561300321e-18, - "velocityX": -1.4421194451290982, - "velocityY": -0.4254972891681831, - "timestamp": 16.89604914403041 - }, - { - "x": 1.4332348860767379, - "y": 5.606815244047006, - "heading": -5.695849774050075e-18, - "angularVelocity": 2.2944552690216655e-17, - "velocityX": -1.0815895933226263, - "velocityY": -0.31912296967197257, - "timestamp": 16.973005214783274 - }, - { - "x": 1.3777449621466955, - "y": 5.59044294403529, - "heading": -1.8422092172377636e-18, - "angularVelocity": 5.007584871555877e-17, - "velocityX": -0.7210597343027396, - "velocityY": -0.21274864804744426, - "timestamp": 17.04996128553614 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": -9.960155146068815e-29, - "angularVelocity": 2.3938452146369842e-17, - "velocityX": -0.36052986951212246, - "velocityY": -0.10637432472026213, - "timestamp": 17.126917356289002 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": -4.80920215685678e-29, - "angularVelocity": 4.4408560495863134e-29, - "velocityX": -1.71528985939966e-27, - "velocityY": 5.60383945615098e-27, - "timestamp": 17.203873427041867 - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 1.2080201889284545, - "isStopPoint": false, - "x": 2.6305306911468507, - "y": 4.355533123016357, - "heading": -0.6, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 2.4162712240084843, - "isStopPoint": true, - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "timestamp": 3.398797373367676, - "isStopPoint": false, - "x": 2.7529065132141115, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "timestamp": 4.560086286246098, - "isStopPoint": true, - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 5.782485206143044, - "isStopPoint": false, - "x": 2.6305306911468507, - "y": 6.870196914672851, - "heading": 0.6, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 7.005114061127068, - "isStopPoint": true, - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "timestamp": 8.389253972731028, - "isStopPoint": false, - "x": 5.372490882873535, - "y": 6.594394683837891, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 9.490262631932852, - "isStopPoint": false, - "x": 8.173408317565917, - "y": 7.465926647186279, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 10.647373639829185, - "isStopPoint": false, - "x": 5.372490882873535, - "y": 6.594394683837891, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "timestamp": 12.106187492532147, - "isStopPoint": true, - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "timestamp": 13.493861220907025, - "isStopPoint": false, - "x": 5.372490882873535, - "y": 6.594394683837891, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 14.591282912515812, - "isStopPoint": false, - "x": 8.160777854919433, - "y": 5.798648357391357, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 15.74170808273745, - "isStopPoint": false, - "x": 5.372490882873535, - "y": 6.594394683837891, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "timestamp": 17.203873427041867, - "isStopPoint": true, - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "constraints": [ - { - "scope": [ - "first" - ], - "type": "StopPoint" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint" - }, - { - "scope": [ - 2 - ], - "type": "StopPoint" - }, - { - "scope": [ - 4 - ], - "type": "StopPoint" - }, - { - "scope": [ - 6 - ], - "type": "StopPoint" - }, - { - "scope": [ - 10 - ], - "type": "StopPoint" - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": false - }, - "Source 3": { - "waypoints": [ - { - "x": 0.7043527960777283, - "y": 4.401524543762207, - "heading": -1.03622, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "x": 3.952295303344726, - "y": 1.2853265047073366, - "heading": -0.6, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "x": 6.344450855255133, - "y": 0.6604639410972595, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 13 - }, - { - "x": 8.144450855255126, - "y": 0.6604639410972595, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "x": 3.952295303344726, - "y": 1.2853265047073366, - "heading": -0.6, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 18 - }, - { - "x": 1.9563456773757935, - "y": 2.7954604625701904, - "heading": -1.0362799738795863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 14 - }, - { - "x": 0.7043527960777283, - "y": 4.401524543762207, - "heading": -1.0362799738795863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "x": 3.952295303344726, - "y": 1.5853265047073366, - "heading": -0.6, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 20 - }, - { - "x": 6.352611541748047, - "y": 1.5393844842910767, - "heading": 0.305878931297, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 16 - }, - { - "x": 8.2424898147583, - "y": 2.4419312477111816, - "heading": 0.6435004368303741, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 27 - }, - { - "x": 3.952295303344726, - "y": 1.5853265047073366, - "heading": -0.6, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 18 - }, - { - "x": 1.8480632305145264, - "y": 2.7954604625701904, - "heading": -1.0362799738795863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 14 - }, - { - "x": 0.7043527960777284, - "y": 4.401524543762207, - "heading": -1.0362799738795863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - }, - { - "x": 2.6081254482269287, - "y": 2.3851616382598877, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 0.7043527960777283, - "y": 4.401524543762207, - "heading": -1.03622, - "angularVelocity": 7.233895438617747e-28, - "velocityX": 4.805672207333151e-25, - "velocityY": 5.304283343813489e-25, - "timestamp": 0 - }, - { - "x": 0.7175301442807854, - "y": 4.387776624576329, - "heading": -1.031337197748148, - "angularVelocity": 0.07304296649540387, - "velocityX": 0.1971229948804499, - "velocityY": -0.20565829797731885, - "timestamp": 0.06684835633229075 - }, - { - "x": 0.7438862242893792, - "y": 4.360280179260933, - "heading": -1.0216329619423168, - "angularVelocity": 0.1451679044671403, - "velocityX": 0.39426668738993087, - "velocityY": -0.41132567536466397, - "timestamp": 0.1336967126645815 - }, - { - "x": 0.783422636003079, - "y": 4.319034521528578, - "heading": -1.0071786936695828, - "angularVelocity": 0.216224737088293, - "velocityX": 0.5914343131665276, - "velocityY": -0.6170033190843506, - "timestamp": 0.20054506899687224 - }, - { - "x": 0.8361412515663075, - "y": 4.264038862538382, - "heading": -0.9880588752449545, - "angularVelocity": 0.28601777924930255, - "velocityX": 0.7886299447838971, - "velocityY": -0.8226927632568858, - "timestamp": 0.267393425329163 - }, - { - "x": 0.9020442909887891, - "y": 4.19529228059345, - "heading": -0.9643753261297147, - "angularVelocity": 0.3542876805753188, - "velocityX": 0.9858587860394051, - "velocityY": -1.0283959953062354, - "timestamp": 0.33424178166145374 - }, - { - "x": 0.9811344267458814, - "y": 4.112793681403445, - "heading": -0.9362533192061244, - "angularVelocity": 0.4206835959256975, - "velocityX": 1.1831276054709545, - "velocityY": -1.234115597097437, - "timestamp": 0.4010901379937445 - }, - { - "x": 1.0734149329571012, - "y": 4.016541746348792, - "heading": -0.9038507047307363, - "angularVelocity": 0.48471819283514717, - "velocityX": 1.380445403212468, - "velocityY": -1.439854924423246, - "timestamp": 0.46793849432603524 - }, - { - "x": 1.1788899063626475, - "y": 3.9065348671821556, - "heading": -0.867372192915153, - "angularVelocity": 0.5456904824144841, - "velocityX": 1.577824485036696, - "velocityY": -1.6456183098924886, - "timestamp": 0.534786850658326 - }, - { - "x": 1.297564608530482, - "y": 3.7827710716251666, - "heading": -0.827093163780206, - "angularVelocity": 0.6025432986673191, - "velocityX": 1.7752822758711535, - "velocityY": -1.8514111991293054, - "timestamp": 0.6016352069906168 - }, - { - "x": 1.4294460217667793, - "y": 3.6452479711516896, - "heading": -0.7834028226957228, - "angularVelocity": 0.6535739019117648, - "velocityX": 1.9728445166361182, - "velocityY": -2.057239818880132, - "timestamp": 0.6684835633229076 - }, - { - "x": 1.5745437873512116, - "y": 3.49396288510523, - "heading": -0.7368919667230378, - "angularVelocity": 0.695766635479982, - "velocityX": 2.170550983530205, - "velocityY": -2.2631085391905352, - "timestamp": 0.7353319196551984 - }, - { - "x": 1.7328717195301693, - "y": 3.3289139649585624, - "heading": -0.6885644312079015, - "angularVelocity": 0.7229427642904057, - "velocityX": 2.3684641009262695, - "velocityY": -2.4690049120466098, - "timestamp": 0.8021802759874892 - }, - { - "x": 1.904448192532791, - "y": 3.150108401693767, - "heading": -0.6405130662040369, - "angularVelocity": 0.7188114658348472, - "velocityX": 2.56665208265925, - "velocityY": -2.674793713341072, - "timestamp": 0.86902863231978 - }, - { - "x": 2.0892282062966747, - "y": 2.957686751038487, - "heading": -0.6000020926775056, - "angularVelocity": 0.6060130083851152, - "velocityX": 2.7641668980667053, - "velocityY": -2.8784799090465154, - "timestamp": 0.9358769886520708 - }, - { - "x": 2.2825884833700547, - "y": 2.7558237851902505, - "heading": -0.6000020755746027, - "angularVelocity": 2.558462724502468e-7, - "velocityX": 2.8925210383965143, - "velocityY": -3.019714723348049, - "timestamp": 1.0027253449843616 - }, - { - "x": 2.4759485486145203, - "y": 2.553960616434876, - "heading": -0.6000020584735544, - "angularVelocity": 2.558185308983695e-7, - "velocityX": 2.8925178695988683, - "velocityY": -3.0197177586827917, - "timestamp": 1.0695737013166524 - }, - { - "x": 2.6693086138453803, - "y": 2.3520974476664738, - "heading": -0.6000020413725061, - "angularVelocity": 2.5581853093723834e-7, - "velocityX": 2.8925178693953844, - "velocityY": -3.0197177588777038, - "timestamp": 1.1364220576489432 - }, - { - "x": 2.862668680951388, - "y": 2.1502342806942307, - "heading": -0.6000020242714578, - "angularVelocity": 2.5581853089079124e-7, - "velocityX": 2.892517897446146, - "velocityY": -3.019717732008527, - "timestamp": 1.203270413981234 - }, - { - "x": 3.0560576886556707, - "y": 1.948398839231791, - "heading": -0.6000020071702018, - "angularVelocity": 2.5582163847929273e-7, - "velocityX": 2.8929508265391246, - "velocityY": -3.0193029797045874, - "timestamp": 1.2701187703135248 - }, - { - "x": 3.2625807834998075, - "y": 1.760024040188964, - "heading": -0.6000019898927613, - "angularVelocity": 2.584572200422514e-7, - "velocityX": 3.0894266691846277, - "velocityY": -2.8179421212161233, - "timestamp": 1.3369671266458156 - }, - { - "x": 3.4814847915941782, - "y": 1.5861911074303183, - "heading": -0.6000019721069275, - "angularVelocity": 2.660623943281706e-7, - "velocityX": 3.274635609681117, - "velocityY": -2.6004069852451583, - "timestamp": 1.4038154829781064 - }, - { - "x": 3.7117480772714337, - "y": 1.4277118597724805, - "heading": -0.6000019534349248, - "angularVelocity": 2.793188025212715e-7, - "velocityX": 3.4445616662982457, - "velocityY": -2.3707276641188693, - "timestamp": 1.4706638393103972 - }, - { - "x": 3.952295303344726, - "y": 1.2853265047073366, - "heading": -0.6, - "angularVelocity": 0.00002922188416015573, - "velocityX": 3.5984015056043734, - "velocityY": -2.12997540818166, - "timestamp": 1.537512195642688 - }, - { - "x": 4.073584345445593, - "y": 1.2180047789733814, - "heading": -0.5929917130855997, - "angularVelocity": 0.2082403637392416, - "velocityX": 3.6039155578478117, - "velocityY": -2.000360548251316, - "timestamp": 1.5711669914207824 - }, - { - "x": 4.1949158538302544, - "y": 1.1550645250202634, - "heading": -0.5791131956918127, - "angularVelocity": 0.41237859487533596, - "velocityX": 3.605177377532477, - "velocityY": -1.8701719174919447, - "timestamp": 1.6048217871988768 - }, - { - "x": 4.3161484807623705, - "y": 1.0965096037793065, - "heading": -0.5584136500132624, - "angularVelocity": 0.6150548591955444, - "velocityX": 3.60223926870563, - "velocityY": -1.739868565153195, - "timestamp": 1.6384765829769712 - }, - { - "x": 4.437139610321772, - "y": 1.0423284939440405, - "heading": -0.5308573563764309, - "angularVelocity": 0.8187924781515704, - "velocityX": 3.5950635492536227, - "velocityY": -1.6099075505468483, - "timestamp": 1.6721313787550656 - }, - { - "x": 4.55774200997228, - "y": 0.992492159013808, - "heading": -0.4963159496655149, - "angularVelocity": 1.0263442672084038, - "velocityX": 3.5835130436003593, - "velocityY": -1.4808093104719087, - "timestamp": 1.70578617453316 - }, - { - "x": 4.67780133943619, - "y": 0.9469498117340087, - "heading": -0.4545524229930145, - "angularVelocity": 1.2409383479214, - "velocityX": 3.5673765562427637, - "velocityY": -1.3532201348089068, - "timestamp": 1.7394409703112543 - }, - { - "x": 4.797163762965293, - "y": 0.9056279106107681, - "heading": -0.40521985466870114, - "angularVelocity": 1.4658406679865637, - "velocityX": 3.5466690784911457, - "velocityY": -1.227816130446904, - "timestamp": 1.7730957660893487 - }, - { - "x": 4.915796573719093, - "y": 0.8685122267311245, - "heading": -0.34817511875559193, - "angularVelocity": 1.6949957530343842, - "velocityX": 3.5249897677589033, - "velocityY": -1.102834916140014, - "timestamp": 1.806750561867443 - }, - { - "x": 5.036950148745924, - "y": 0.8353847117520539, - "heading": -0.2947632712692716, - "angularVelocity": 1.5870501142985936, - "velocityX": 3.5998903640856996, - "velocityY": -0.9843326697775702, - "timestamp": 1.8404053576455375 - }, - { - "x": 5.1614000342462845, - "y": 0.8048309238478079, - "heading": -0.24930473318253552, - "angularVelocity": 1.3507298747694276, - "velocityX": 3.69783511155234, - "velocityY": -0.9078583660321533, - "timestamp": 1.8740601534236319 - }, - { - "x": 5.288723665341134, - "y": 0.7775918945406379, - "heading": -0.21076034358050552, - "angularVelocity": 1.1452866882977288, - "velocityX": 3.783223999764152, - "velocityY": -0.8093654612190252, - "timestamp": 1.9077149492017262 - }, - { - "x": 5.418289324941767, - "y": 0.75437891499721, - "heading": -0.17727721642858435, - "angularVelocity": 0.994899133326939, - "velocityX": 3.8498423955663323, - "velocityY": -0.6897376438259984, - "timestamp": 1.9413697449798206 - }, - { - "x": 5.549779888092408, - "y": 0.7347009595308325, - "heading": -0.14854912765415715, - "angularVelocity": 0.8536105511930082, - "velocityX": 3.907037915714417, - "velocityY": -0.5846998922865582, - "timestamp": 1.975024540757915 - }, - { - "x": 5.680534523642805, - "y": 0.7195857320422079, - "heading": -0.11505529703891493, - "angularVelocity": 0.995217170120021, - "velocityX": 3.8851709697643155, - "velocityY": -0.4491255150763042, - "timestamp": 2.008679336536009 - }, - { - "x": 5.8094562989699625, - "y": 0.7066518872545531, - "heading": -0.0751084136690073, - "angularVelocity": 1.1869596129271087, - "velocityX": 3.8307103741533206, - "velocityY": -0.3843091151981713, - "timestamp": 2.0423341323141035 - }, - { - "x": 5.939054292128191, - "y": 0.6923931933660783, - "heading": -0.03929641038115861, - "angularVelocity": 1.064098071608519, - "velocityX": 3.850803137025198, - "velocityY": -0.4236749491065335, - "timestamp": 2.075988928092198 - }, - { - "x": 6.072255728678552, - "y": 0.6785723607822262, - "heading": -0.015832129828706364, - "angularVelocity": 0.6972046631085195, - "velocityX": 3.9578738622762195, - "velocityY": -0.410664580316609, - "timestamp": 2.1096437238702923 - }, - { - "x": 6.2080495696602656, - "y": 0.6681080409062233, - "heading": 6.6289175254501184e-21, - "angularVelocity": 0.470427154961713, - "velocityX": 4.0349031346700315, - "velocityY": -0.31093101693441927, - "timestamp": 2.1432985196483867 - }, - { - "x": 6.344450855255133, - "y": 0.6604639410972595, - "heading": 6.1943375615915975e-21, - "angularVelocity": -3.3470862706211174e-23, - "velocityX": 4.052952408157215, - "velocityY": -0.2271325566604413, - "timestamp": 2.176953315426481 - }, - { - "x": 6.601107058435761, - "y": 0.6504176052648494, - "heading": 5.751674625392007e-21, - "angularVelocity": -2.9986081284790827e-23, - "velocityX": 3.7733050076657766, - "velocityY": -0.14769909643853868, - "timestamp": 2.2449722544359716 - }, - { - "x": 6.8381422866926505, - "y": 0.6428253473271538, - "heading": 5.309011689192419e-21, - "angularVelocity": -2.9986081284790274e-23, - "velocityX": 3.484841600128703, - "velocityY": -0.11161976426354472, - "timestamp": 2.312991193445462 - }, - { - "x": 7.0554956222161564, - "y": 0.6371380022468355, - "heading": 4.8663487529928285e-21, - "angularVelocity": -2.9986081284790274e-23, - "velocityX": 3.1954825918878096, - "velocityY": -0.08361413987250188, - "timestamp": 2.3810101324549526 - }, - { - "x": 7.253146101633396, - "y": 0.6331249451031679, - "heading": 4.423685816793239e-21, - "angularVelocity": -2.9986081284790257e-23, - "velocityX": 2.9058153845896255, - "velocityY": -0.0589991141012556, - "timestamp": 2.449029071464443 - }, - { - "x": 7.431083352269109, - "y": 0.6306593023093592, - "heading": 3.9810228805936516e-21, - "angularVelocity": -2.998608128479027e-23, - "velocityX": 2.6159956804219875, - "velocityY": -0.03624935686610544, - "timestamp": 2.5170480104739337 - }, - { - "x": 7.589301236096254, - "y": 0.6296608053560406, - "heading": 3.538359944394063e-21, - "angularVelocity": -2.998608128479026e-23, - "velocityX": 2.326085736283958, - "velocityY": -0.014679690213620148, - "timestamp": 2.585066949483424 - }, - { - "x": 7.727795711567633, - "y": 0.6300740984956901, - "heading": 3.0956970081944744e-21, - "angularVelocity": -2.998608128479027e-23, - "velocityX": 2.0361163741771477, - "velocityY": 0.006076147991541318, - "timestamp": 2.6530858884929147 - }, - { - "x": 7.846563921922145, - "y": 0.6318586995087562, - "heading": 2.6530340719948856e-21, - "angularVelocity": -2.998608128479025e-23, - "velocityX": 1.7461050125751612, - "velocityY": 0.02623682519978192, - "timestamp": 2.7211048275024052 - }, - { - "x": 7.94560374326088, - "y": 0.6349837154726694, - "heading": 2.2103711357952968e-21, - "angularVelocity": -2.9986081284790257e-23, - "velocityX": 1.456062425862283, - "velocityY": 0.04594332121935558, - "timestamp": 2.7891237665118958 - }, - { - "x": 8.024913535772157, - "y": 0.6394247965173088, - "heading": 1.7677081995957073e-21, - "angularVelocity": -2.998608128479025e-23, - "velocityX": 1.1659957309862647, - "velocityY": 0.06529183061823228, - "timestamp": 2.8571427055213863 - }, - { - "x": 8.084491995768397, - "y": 0.6451622562559024, - "heading": 1.3250452633961187e-21, - "angularVelocity": -2.9986081284790257e-23, - "velocityX": 0.875909869572164, - "velocityY": 0.08435091493845756, - "timestamp": 2.925161644530877 - }, - { - "x": 8.124338062283094, - "y": 0.6521798491863118, - "heading": 8.823823271965344e-22, - "angularVelocity": -2.99860812847192e-23, - "velocityX": 0.5858084100537775, - "velocityY": 0.1031711613353776, - "timestamp": 2.9931805835403673 - }, - { - "x": 8.144450855255126, - "y": 0.6604639410972595, - "heading": 4.407410385367316e-22, - "angularVelocity": -1.496603606409474e-23, - "velocityX": 0.29569401206363705, - "velocityY": 0.12179096045282119, - "timestamp": 3.061199522549858 - }, - { - "x": 8.145205258312048, - "y": 0.6698373190850176, - "heading": -0.006376457776647946, - "angularVelocity": -0.09515043658591296, - "velocityX": 0.011257312875227653, - "velocityY": 0.13987091878601224, - "timestamp": 3.1282140104013196 - }, - { - "x": 8.126895205856489, - "y": 0.6804219813671147, - "heading": -0.01902497003587162, - "angularVelocity": -0.18874295193092017, - "velocityX": -0.27322528370501487, - "velocityY": 0.15794588038273327, - "timestamp": 3.1952284982527814 - }, - { - "x": 8.089517204789008, - "y": 0.6922175506286075, - "heading": -0.03782482149772114, - "angularVelocity": -0.28053413619334927, - "velocityX": -0.5577600048265854, - "velocityY": 0.17601521163062275, - "timestamp": 3.2622429861042432 - }, - { - "x": 8.03306724564719, - "y": 0.7052235716462792, - "heading": -0.06263444861696359, - "angularVelocity": -0.3702128885060376, - "velocityX": -0.8423545557333496, - "velocityY": 0.19407774997101565, - "timestamp": 3.329257473955705 - }, - { - "x": 7.957540677867716, - "y": 0.7194394630709334, - "heading": -0.09328537538182405, - "angularVelocity": -0.457377617102716, - "velocityX": -1.1270185030269546, - "velocityY": 0.21213161333357952, - "timestamp": 3.396271961807167 - }, - { - "x": 7.86293205227133, - "y": 0.7348644513578727, - "heading": -0.12957394218488386, - "angularVelocity": -0.5415033072175939, - "velocityX": -1.4117637637712936, - "velocityY": 0.2301739337489082, - "timestamp": 3.4632864496586286 - }, - { - "x": 7.749234920592138, - "y": 0.7514974800960112, - "heading": -0.17124964470192677, - "angularVelocity": -0.6218909351276025, - "velocityX": -1.6966052464834631, - "velocityY": 0.24820049024333068, - "timestamp": 3.5303009375100904 - }, - { - "x": 7.616441577963973, - "y": 0.7693370841976203, - "heading": -0.2179978979951545, - "angularVelocity": -0.6975842805341689, - "velocityX": -1.9815617023367158, - "velocityY": 0.2662051844841503, - "timestamp": 3.5973154253615522 - }, - { - "x": 7.464542732509, - "y": 0.7883812084602433, - "heading": -0.2694129359586248, - "angularVelocity": -0.767222724695476, - "velocityX": -2.2666568129515383, - "velocityY": 0.2841792106929851, - "timestamp": 3.664329913213014 - }, - { - "x": 7.2935271024834005, - "y": 0.8086269223991472, - "heading": -0.32495180452365857, - "angularVelocity": -0.8287591287444611, - "velocityX": -2.5519202713994456, - "velocityY": 0.30210950777955076, - "timestamp": 3.731344401064476 - }, - { - "x": 7.10338105268464, - "y": 0.8300699017901093, - "heading": -0.3838485504571199, - "angularVelocity": -0.8788658664975039, - "velocityX": -2.837387196336119, - "velocityY": 0.3199752781591175, - "timestamp": 3.7983588889159376 - }, - { - "x": 6.894088991530415, - "y": 0.8527032772677037, - "heading": -0.4449335451483212, - "angularVelocity": -0.911519234864506, - "velocityX": -3.1230867811468057, - "velocityY": 0.33773854286197624, - "timestamp": 3.8653733767673994 - }, - { - "x": 6.66563899361204, - "y": 0.876514357446011, - "heading": -0.5061812369696652, - "angularVelocity": -0.9139470252626605, - "velocityX": -3.4089643186519996, - "velocityY": 0.3553124248458716, - "timestamp": 3.9323878646188613 - }, - { - "x": 6.4180709439467645, - "y": 0.9014720885867831, - "heading": -0.5632031512454849, - "angularVelocity": -0.8508893539887942, - "velocityX": -3.6942466860898726, - "velocityY": 0.3724229184007376, - "timestamp": 3.999402352470323 - }, - { - "x": 6.152323100168746, - "y": 0.9276310220541838, - "heading": -0.5999998003509488, - "angularVelocity": -0.5490849857276159, - "velocityX": -3.9655282357309254, - "velocityY": 0.39034743539907785, - "timestamp": 4.066416840321785 - }, - { - "x": 5.872690526203783, - "y": 0.9458335250059967, - "heading": -0.5999998233332822, - "angularVelocity": -3.429457439481182e-7, - "velocityX": -4.172718212586672, - "velocityY": 0.27162041426264033, - "timestamp": 4.133431328173247 - }, - { - "x": 5.593039502470092, - "y": 0.9637503473437068, - "heading": -0.5999998459733419, - "angularVelocity": -3.378382864464675e-7, - "velocityX": -4.172993522737036, - "velocityY": 0.2673574463095649, - "timestamp": 4.2004458160247085 - }, - { - "x": 5.313388500530538, - "y": 0.9816675098474326, - "heading": -0.599999868613403, - "angularVelocity": -3.3783830667742366e-7, - "velocityX": -4.1729931975217545, - "velocityY": 0.2673625223166588, - "timestamp": 4.26746030387617 - }, - { - "x": 5.034117072190086, - "y": 1.004758133272553, - "heading": -0.5999998913039959, - "angularVelocity": -3.385923495322561e-7, - "velocityX": -4.167329144698685, - "velocityY": 0.3445616636853435, - "timestamp": 4.334474791727632 - }, - { - "x": 4.75708110726362, - "y": 1.0469100197154555, - "heading": -0.599999914385774, - "angularVelocity": -3.444296746456035e-7, - "velocityX": -4.133971232317993, - "velocityY": 0.6289966213922602, - "timestamp": 4.401489279579094 - }, - { - "x": 4.483580467446654, - "y": 1.1079272876104984, - "heading": -0.5999999383317541, - "angularVelocity": -3.5732542015957227e-7, - "velocityX": -4.081216593390693, - "velocityY": 0.9105086056956437, - "timestamp": 4.468503767430556 - }, - { - "x": 4.214898341412512, - "y": 1.1875239044147397, - "heading": -0.5999999636887432, - "angularVelocity": -3.783807033968074e-7, - "velocityX": -4.009314025195234, - "velocityY": 1.1877523705123063, - "timestamp": 4.5355182552820175 - }, - { - "x": 3.952295303344726, - "y": 1.2853265047073366, - "heading": -0.6, - "angularVelocity": -5.418418901139292e-7, - "velocityX": -3.9186009844595686, - "velocityY": 1.459424721850854, - "timestamp": 4.602532743133479 - }, - { - "x": 3.8160925290954975, - "y": 1.3417239464495747, - "heading": -0.6007169196903561, - "angularVelocity": -0.020304857924182462, - "velocityX": -3.8575840742138063, - "velocityY": 1.5973086766438414, - "timestamp": 4.637840534649855 - }, - { - "x": 3.6823065921813996, - "y": 1.402858783989713, - "heading": -0.6025143699711063, - "angularVelocity": -0.05090803484313769, - "velocityX": -3.7891335359236398, - "velocityY": 1.7314829082919216, - "timestamp": 4.67314832616623 - }, - { - "x": 3.5512210452916233, - "y": 1.4685621311984904, - "heading": -0.605901427445284, - "angularVelocity": -0.09592946283844166, - "velocityX": -3.712652116147769, - "velocityY": 1.860873886102604, - "timestamp": 4.708456117682606 - }, - { - "x": 3.4231385033293678, - "y": 1.5386145338053958, - "heading": -0.6115606852705346, - "angularVelocity": -0.16028354032355382, - "velocityX": -3.6275999279890074, - "velocityY": 1.984049400949251, - "timestamp": 4.743763909198981 - }, - { - "x": 3.2983746783283663, - "y": 1.6127301792840456, - "heading": -0.6203687484454834, - "angularVelocity": -0.2494651406011415, - "velocityX": -3.5336060297947993, - "velocityY": 2.0991300303864997, - "timestamp": 4.779071700715357 - }, - { - "x": 3.1772451571651232, - "y": 1.6905419145686205, - "heading": -0.633385976023098, - "angularVelocity": -0.3686786122427844, - "velocityX": -3.4306739663131984, - "velocityY": 2.20381201833274, - "timestamp": 4.8143794922317324 - }, - { - "x": 3.060043504806466, - "y": 1.7715964442241068, - "heading": -0.6517847535007312, - "angularVelocity": -0.5210968085925122, - "velocityX": -3.319427450009183, - "velocityY": 2.295655609552751, - "timestamp": 4.849687283748108 - }, - { - "x": 2.947017305338435, - "y": 1.8553668515452788, - "heading": -0.6767173903792927, - "angularVelocity": -0.7061511300415926, - "velocityX": -3.2011687679647043, - "velocityY": 2.372575675890688, - "timestamp": 4.8849950752644835 - }, - { - "x": 2.8383532557888453, - "y": 1.9412747030571285, - "heading": -0.7091821281066824, - "angularVelocity": -0.9194780056501994, - "velocityX": -3.077622385393145, - "velocityY": 2.4331131408206836, - "timestamp": 4.920302866780859 - }, - { - "x": 2.7341728601513613, - "y": 2.028705258017072, - "heading": -0.7499487938265991, - "angularVelocity": -1.1546082031499747, - "velocityX": -2.9506347229099466, - "velocityY": 2.4762396968214184, - "timestamp": 4.955610658297235 - }, - { - "x": 2.6345289236594747, - "y": 2.117005920551524, - "heading": -0.7995562186790833, - "angularVelocity": -1.4049993704499368, - "velocityX": -2.8221514915673502, - "velocityY": 2.500883197225741, - "timestamp": 4.99091844981361 - }, - { - "x": 2.5393709341735584, - "y": 2.2053997028238324, - "heading": -0.8584340708283553, - "angularVelocity": -1.667559754394875, - "velocityX": -2.695098883253072, - "velocityY": 2.503520568011431, - "timestamp": 5.026226241329986 - }, - { - "x": 2.4468481236667095, - "y": 2.294669095310899, - "heading": -0.9198458442656634, - "angularVelocity": -1.7393263866086284, - "velocityX": -2.6204643942099364, - "velocityY": 2.528319916176743, - "timestamp": 5.061534032846361 - }, - { - "x": 2.3517474716897926, - "y": 2.3869836058958684, - "heading": -0.9675055780358813, - "angularVelocity": -1.3498361614635055, - "velocityX": -2.6934749496526904, - "velocityY": 2.6145648487290294, - "timestamp": 5.096841824362737 - }, - { - "x": 2.2546678426174425, - "y": 2.482949029345561, - "heading": -1.00231711789936, - "angularVelocity": -0.9859449817849257, - "velocityX": -2.7495242523828574, - "velocityY": 2.7179673190600213, - "timestamp": 5.132149615879112 - }, - { - "x": 2.156133466715771, - "y": 2.5829110015292103, - "heading": -1.0250587051096054, - "angularVelocity": -0.6440954314488436, - "velocityX": -2.790726116527927, - "velocityY": 2.831159013083336, - "timestamp": 5.167457407395488 - }, - { - "x": 2.0565769235323215, - "y": 2.6870555947722727, - "heading": -1.0362799738795865, - "angularVelocity": -0.31781281943892153, - "velocityX": -2.8196763067798187, - "velocityY": 2.949620714588201, - "timestamp": 5.202765198911863 - }, - { - "x": 1.9563456773757937, - "y": 2.7954604625701904, - "heading": -1.0362799738795865, - "angularVelocity": 4.542642020492645e-25, - "velocityX": -2.8387854876180527, - "velocityY": 3.0702817463856076, - "timestamp": 5.238072990428239 - }, - { - "x": 1.7730322630777298, - "y": 3.0210268959304614, - "heading": -1.0362799738795865, - "angularVelocity": 2.002705937424186e-25, - "velocityX": -2.533007078205092, - "velocityY": 3.116855220305981, - "timestamp": 5.310442868852725 - }, - { - "x": 1.606193927798652, - "y": 3.2314395516520142, - "heading": -1.0362799738795865, - "angularVelocity": 2.00271753679935e-25, - "velocityX": -2.3053560253408945, - "velocityY": 2.9074617824749667, - "timestamp": 5.382812747277211 - }, - { - "x": 1.4543761946227032, - "y": 3.425255597367628, - "heading": -1.0362799738795865, - "angularVelocity": 2.002717536795154e-25, - "velocityX": -2.0978027942158572, - "velocityY": 2.6781314261547466, - "timestamp": 5.455182625701697 - }, - { - "x": 1.317018366640586, - "y": 3.601984297874042, - "heading": -1.0362799738795865, - "angularVelocity": 2.0027175368278648e-25, - "velocityX": -1.8979972189043135, - "velocityY": 2.44202013812722, - "timestamp": 5.5275525041261835 - }, - { - "x": 1.1938248299897818, - "y": 3.761379815843054, - "heading": -1.0362799738795865, - "angularVelocity": 2.0027175368332326e-25, - "velocityX": -1.7022764074330956, - "velocityY": 2.2025118936096018, - "timestamp": 5.59992238255067 - }, - { - "x": 1.0846132178875603, - "y": 3.9032947091678634, - "heading": -1.0362799738795865, - "angularVelocity": 2.0027175368296866e-25, - "velocityX": -1.5090755225764045, - "velocityY": 1.960966308281009, - "timestamp": 5.672292260975156 - }, - { - "x": 0.9892598461227126, - "y": 4.027630760526036, - "heading": -1.0362799738795865, - "angularVelocity": 2.0027175368205547e-25, - "velocityX": -1.3175836942208314, - "velocityY": 1.7180635654640377, - "timestamp": 5.744662139399642 - }, - { - "x": 0.9076753302290267, - "y": 4.134317869708134, - "heading": -1.0362799738795865, - "angularVelocity": 2.0027175368262682e-25, - "velocityX": -1.1273269717982857, - "velocityY": 1.4741921847142516, - "timestamp": 5.817032017824128 - }, - { - "x": 0.8397920613678915, - "y": 4.223303498353317, - "heading": -1.0362799738795865, - "angularVelocity": 2.0027175368232324e-25, - "velocityX": -0.93800446178679, - "velocityY": 1.2295948339616842, - "timestamp": 5.889401896248614 - }, - { - "x": 0.7855571157672845, - "y": 4.2945468080907165, - "heading": -1.0362799738795865, - "angularVelocity": 2.0027175368176088e-25, - "velocityX": -0.7494132473526036, - "velocityY": 0.9844331825393212, - "timestamp": 5.9617717746731005 - }, - { - "x": 0.7449279402703854, - "y": 4.348015145319637, - "heading": -1.0362799738795865, - "angularVelocity": 2.0027175368190736e-25, - "velocityX": -0.5614100283351063, - "velocityY": 0.7388203268119757, - "timestamp": 6.034141653097587 - }, - { - "x": 0.7178695768260748, - "y": 4.383681805542776, - "heading": -1.0362799738795865, - "angularVelocity": 2.0027175368211496e-25, - "velocityX": -0.37388985629628485, - "velocityY": 0.49283847091654137, - "timestamp": 6.106511531522073 - }, - { - "x": 0.7043527960777283, - "y": 4.401524543762207, - "heading": -1.0362799738795865, - "angularVelocity": 2.0027175368141127e-25, - "velocityX": -0.18677357268811703, - "velocityY": 0.24654923578529575, - "timestamp": 6.178881409946559 - }, - { - "x": 0.7043527960777283, - "y": 4.401524543762207, - "heading": -1.0362799738795865, - "angularVelocity": 6.759494810993815e-26, - "velocityX": -5.770106844992042e-25, - "velocityY": -3.7765094249209375e-25, - "timestamp": 6.251251288371045 - }, - { - "x": 0.7167356642093481, - "y": 4.3880630372989495, - "heading": -1.0323294869077149, - "angularVelocity": 0.0603254224142757, - "velocityX": 0.18909105537091309, - "velocityY": -0.20556226852806772, - "timestamp": 6.3167375595610284 - }, - { - "x": 0.7415026145057688, - "y": 4.361138808128861, - "heading": -1.0245186649242746, - "angularVelocity": 0.11927419047543625, - "velocityX": 0.3782006494852768, - "velocityY": -0.41114310955310973, - "timestamp": 6.382223830751012 - }, - { - "x": 0.7786550164722235, - "y": 4.320750485584969, - "heading": -1.012951720288187, - "angularVelocity": 0.17663159660641478, - "velocityX": 0.5673311564598186, - "velocityY": -0.6167448811785445, - "timestamp": 6.447710101940995 - }, - { - "x": 0.8281944252622419, - "y": 4.266896512217522, - "heading": -0.9977506488970705, - "angularVelocity": 0.2321260794803288, - "velocityX": 0.7564854112138795, - "velocityY": -0.8223704356476602, - "timestamp": 6.513196373130978 - }, - { - "x": 0.8901226189866902, - "y": 4.199575103915774, - "heading": -0.9790603164668716, - "angularVelocity": 0.2854084083666306, - "velocityX": 0.945666818389875, - "velocityY": -1.0280232341591105, - "timestamp": 6.578682644320962 - }, - { - "x": 0.9644416446349294, - "y": 4.118784201180533, - "heading": -0.9570555981446492, - "angularVelocity": 0.336020327961321, - "velocityX": 1.1348794838635836, - "velocityY": -1.233707481998122, - "timestamp": 6.644168915510945 - }, - { - "x": 1.0511538736294015, - "y": 4.02452141118641, - "heading": -0.9319517389785453, - "angularVelocity": 0.3833453746858561, - "velocityX": 1.324128361850215, - "velocityY": -1.4394282691811102, - "timestamp": 6.709655186700928 - }, - { - "x": 1.150262065510173, - "y": 3.916783943927492, - "heading": -0.9040200178440649, - "angularVelocity": 0.42652789091391524, - "velocityX": 1.5134193790519348, - "velocityY": -1.6451916608041222, - "timestamp": 6.7751414578909115 - }, - { - "x": 1.26176942881864, - "y": 3.7955685577539087, - "heading": -0.8736126776022465, - "angularVelocity": 0.4643315261240514, - "velocityX": 1.7027593918879715, - "velocityY": -1.8510045536403001, - "timestamp": 6.840627729080895 - }, - { - "x": 1.3856796349802256, - "y": 3.66087156928865, - "heading": -0.8412052975881391, - "angularVelocity": 0.4948728859532958, - "velocityX": 1.8921554687715691, - "velocityY": -2.0568736930292832, - "timestamp": 6.906114000270878 - }, - { - "x": 1.521996617397842, - "y": 3.5126891243586433, - "heading": -0.8074753577540704, - "angularVelocity": 0.5150688720115713, - "velocityX": 2.0816116101975704, - "velocityY": -2.2628016870912, - "timestamp": 6.971600271460861 - }, - { - "x": 1.6707234642510467, - "y": 3.3510185124370526, - "heading": -0.7734667417988786, - "angularVelocity": 0.5193243612318167, - "velocityX": 2.2711149092873253, - "velocityY": -2.468771071917722, - "timestamp": 7.037086542650845 - }, - { - "x": 1.8318569074079185, - "y": 3.1758644206376023, - "heading": -0.741004452502463, - "angularVelocity": 0.4957113713535259, - "velocityX": 2.460568302773024, - "velocityY": -2.6746688827541845, - "timestamp": 7.102572813840828 - }, - { - "x": 2.005350740806108, - "y": 2.9872805245573906, - "heading": -0.7141541604245535, - "angularVelocity": 0.4100140623370287, - "velocityX": 2.6493161123018125, - "velocityY": -2.879747047027718, - "timestamp": 7.168059085030811 - }, - { - "x": 2.190424030896748, - "y": 2.7863157366197826, - "heading": -0.7119881829198739, - "angularVelocity": 0.03307529143621359, - "velocityX": 2.8261387727165057, - "velocityY": -3.0688079239476664, - "timestamp": 7.2335453562207945 - }, - { - "x": 2.3763825220142154, - "y": 2.5853069329321596, - "heading": -0.7119881669601573, - "angularVelocity": 2.4371087893295916e-7, - "velocityX": 2.8396561254492445, - "velocityY": -3.0694800610111423, - "timestamp": 7.299031627410778 - }, - { - "x": 2.5753608002161195, - "y": 2.397177338599563, - "heading": -0.7119881508365082, - "angularVelocity": 2.4621418712778765e-7, - "velocityX": 3.0384731728677012, - "velocityY": -2.872809688412548, - "timestamp": 7.364517898600761 - }, - { - "x": 2.7864781410109636, - "y": 2.222779610597699, - "heading": -0.71198813425094, - "angularVelocity": 2.5326786554372286e-7, - "velocityX": 3.2238412259321843, - "velocityY": -2.663118922986393, - "timestamp": 7.430004169790744 - }, - { - "x": 3.0087889994109913, - "y": 2.0628953375517414, - "heading": -0.7119881168686832, - "angularVelocity": 2.654336029118244e-7, - "velocityX": 3.3947704512763814, - "velocityY": -2.4414930051844577, - "timestamp": 7.495490440980728 - }, - { - "x": 3.2412974577495883, - "y": 1.918240900042732, - "heading": -0.7119880410502188, - "angularVelocity": 0.000001157776478274293, - "velocityX": 3.55049163914161, - "velocityY": -2.2089276863748983, - "timestamp": 7.560976712170711 - }, - { - "x": 3.479287995502474, - "y": 1.7906960053033385, - "heading": -0.6997868981239171, - "angularVelocity": 0.18631604311237665, - "velocityX": 3.6342050544066913, - "velocityY": -1.9476585308907035, - "timestamp": 7.626462983360694 - }, - { - "x": 3.7169780040060765, - "y": 1.6799303664576555, - "heading": -0.6633844580774498, - "angularVelocity": 0.5558789557716548, - "velocityX": 3.6296158596972896, - "velocityY": -1.6914329802706074, - "timestamp": 7.691949254550678 - }, - { - "x": 3.952295303344726, - "y": 1.5853265047073366, - "heading": -0.6, - "angularVelocity": 0.9679045229734358, - "velocityX": 3.5933836980268095, - "velocityY": -1.444636563225013, - "timestamp": 7.757435525740661 - }, - { - "x": 4.074112481863887, - "y": 1.5402828586317625, - "heading": -0.5592952549143817, - "angularVelocity": 1.1918777883706093, - "velocityX": 3.5669352311031557, - "velocityY": -1.3189253771711302, - "timestamp": 7.791587303282606 - }, - { - "x": 4.195092381666415, - "y": 1.49959651079917, - "heading": -0.5111868480910893, - "angularVelocity": 1.408664798317049, - "velocityX": 3.5424188288279144, - "velocityY": -1.1913390974341513, - "timestamp": 7.825739080824551 - }, - { - "x": 4.31528397568399, - "y": 1.4633173395591519, - "heading": -0.45584958746005705, - "angularVelocity": 1.6203332480444814, - "velocityX": 3.5193364055489167, - "velocityY": -1.0622923271112426, - "timestamp": 7.859890858366496 - }, - { - "x": 4.434745610407602, - "y": 1.4314952831678345, - "heading": -0.39345071655264674, - "angularVelocity": 1.8271046311066104, - "velocityX": 3.4979624289509004, - "velocityY": -0.931783312076039, - "timestamp": 7.894042635908441 - }, - { - "x": 4.553564809111248, - "y": 1.4041887809787912, - "heading": -0.32420952229913425, - "angularVelocity": 2.0274550619940936, - "velocityX": 3.479151225956343, - "velocityY": -0.799563131245678, - "timestamp": 7.928194413450386 - }, - { - "x": 4.671875409339677, - "y": 1.3814688601488554, - "heading": -0.2484642063556595, - "angularVelocity": 2.2179025923451543, - "velocityX": 3.4642589271706443, - "velocityY": -0.6652632004888026, - "timestamp": 7.962346190992331 - }, - { - "x": 4.789867622790203, - "y": 1.3634163593108408, - "heading": -0.1667309654451272, - "angularVelocity": 2.3932353392191157, - "velocityX": 3.4549362271292985, - "velocityY": -0.5285962294595843, - "timestamp": 7.9964979685342765 - }, - { - "x": 4.9072638759133165, - "y": 1.3502270995004428, - "heading": -0.08189101561832554, - "angularVelocity": 2.484203046901497, - "velocityX": 3.4374858813403817, - "velocityY": -0.38619541235295707, - "timestamp": 8.030649746076222 - }, - { - "x": 5.023862752348719, - "y": 1.3419409683639283, - "heading": 0.004341393754814386, - "angularVelocity": 2.5249757283418135, - "velocityX": 3.414137852479163, - "velocityY": -0.2426266429715844, - "timestamp": 8.064801523618167 - }, - { - "x": 5.139798735192581, - "y": 1.3385933374859216, - "heading": 0.09105898183003379, - "angularVelocity": 2.5391822715146737, - "velocityX": 3.394727630252062, - "velocityY": -0.09802215635467636, - "timestamp": 8.098953301160112 - }, - { - "x": 5.255334333875942, - "y": 1.3402095329646513, - "heading": 0.17703367140947002, - "angularVelocity": 2.5174294214654838, - "velocityX": 3.3830039605247926, - "velocityY": 0.04732390508062842, - "timestamp": 8.133105078702057 - }, - { - "x": 5.370884716650611, - "y": 1.3467609864460404, - "heading": 0.26064984374400246, - "angularVelocity": 2.4483695535857777, - "velocityX": 3.383436854282362, - "velocityY": 0.19183345503298238, - "timestamp": 8.167256856244002 - }, - { - "x": 5.486974245992485, - "y": 1.3581084639316627, - "heading": 0.3400681433878616, - "angularVelocity": 2.3254514218569815, - "velocityX": 3.3992236333612103, - "velocityY": 0.33226608693165577, - "timestamp": 8.201408633785947 - }, - { - "x": 5.604095520081233, - "y": 1.3740075206335363, - "heading": 0.4136873978805543, - "angularVelocity": 2.1556492748371334, - "velocityX": 3.429434205727671, - "velocityY": 0.46554111809689713, - "timestamp": 8.235560411327892 - }, - { - "x": 5.722741961380415, - "y": 1.394099394895898, - "heading": 0.4800808054598774, - "angularVelocity": 1.94406887014239, - "velocityX": 3.474092707281825, - "velocityY": 0.5883112302920394, - "timestamp": 8.269712188869837 - }, - { - "x": 5.843764195041286, - "y": 1.4176581219817168, - "heading": 0.5371133918016127, - "angularVelocity": 1.6699741696223076, - "velocityX": 3.5436584087675294, - "velocityY": 0.6898243307214182, - "timestamp": 8.303863966411782 - }, - { - "x": 5.967478132998898, - "y": 1.4443969152926162, - "heading": 0.5841910806451285, - "angularVelocity": 1.3784842907721413, - "velocityX": 3.6224743442904956, - "velocityY": 0.7829400176333111, - "timestamp": 8.338015743953727 - }, - { - "x": 6.094050696019468, - "y": 1.474151537150211, - "heading": 0.6210751522017017, - "angularVelocity": 1.080004445193888, - "velocityX": 3.7061778955755575, - "velocityY": 0.871246652419496, - "timestamp": 8.372167521495673 - }, - { - "x": 6.223075829158687, - "y": 1.5062918435411075, - "heading": 0.6435004368303741, - "angularVelocity": 0.6566359423350606, - "velocityX": 3.7779917306134942, - "velocityY": 0.9411020071040859, - "timestamp": 8.406319299037618 - }, - { - "x": 6.352611541748047, - "y": 1.5393844842910769, - "heading": 0.6435004368303741, - "angularVelocity": -1.4718933529794898e-27, - "velocityX": 3.7929420344304243, - "velocityY": 0.9689873597157704, - "timestamp": 8.440471076579563 - }, - { - "x": 6.580062653914693, - "y": 1.6130439412495936, - "heading": 0.6435004368303741, - "angularVelocity": 1.0474807729513566e-29, - "velocityX": 3.7848236766813983, - "velocityY": 1.22570540127247, - "timestamp": 8.500566640229724 - }, - { - "x": 6.79440770982544, - "y": 1.694856967245299, - "heading": 0.6435004368303741, - "angularVelocity": -1.650371396897613e-30, - "velocityX": 3.566736758781869, - "velocityY": 1.3613821225135523, - "timestamp": 8.560662203879886 - }, - { - "x": 6.993347493866424, - "y": 1.7776330405952192, - "heading": 0.6435004368303741, - "angularVelocity": 1.3963817165306325e-30, - "velocityX": 3.310390517328132, - "velocityY": 1.3774073878695936, - "timestamp": 8.620757767530048 - }, - { - "x": 7.176977880245271, - "y": 1.8584412636517398, - "heading": 0.6435004368303741, - "angularVelocity": -1.580328410175052e-30, - "velocityX": 3.0556396383571194, - "velocityY": 1.3446620373998812, - "timestamp": 8.68085333118021 - }, - { - "x": 7.345549173736612, - "y": 1.9358621673435095, - "heading": 0.6435004368303741, - "angularVelocity": 2.4054088974712413e-30, - "velocityX": 2.805053871740944, - "velocityY": 1.2882964896121982, - "timestamp": 8.740948894830371 - }, - { - "x": 7.49926861078026, - "y": 2.009079186830037, - "heading": 0.6435004368303741, - "angularVelocity": 2.3808121740418405e-30, - "velocityX": 2.55791655335002, - "velocityY": 1.2183431694351197, - "timestamp": 8.801044458480533 - }, - { - "x": 7.6382952437083365, - "y": 2.0775663187372784, - "heading": 0.6435004368303741, - "angularVelocity": 2.380805137763221e-30, - "velocityX": 2.3134258917580244, - "velocityY": 1.139637067154071, - "timestamp": 8.861140022130694 - }, - { - "x": 7.762751887009844, - "y": 2.1409577892840943, - "heading": 0.6435004368303741, - "angularVelocity": 2.3808050924755408e-30, - "velocityX": 2.070978883333475, - "velocityY": 1.0548444293798613, - "timestamp": 8.921235585780856 - }, - { - "x": 7.872735273758024, - "y": 2.198985004826962, - "heading": 0.6435004368303741, - "angularVelocity": 2.380805092475582e-30, - "velocityX": 1.8301415290558403, - "velocityY": 0.9655823494836527, - "timestamp": 8.981331149431018 - }, - { - "x": 7.968323195692331, - "y": 2.2514425705825416, - "heading": 0.6435004368303741, - "angularVelocity": 2.380807288621953e-30, - "velocityX": 1.5905986420355245, - "velocityY": 0.872902466826909, - "timestamp": 9.04142671308118 - }, - { - "x": 8.049579405713123, - "y": 2.2981684302536656, - "heading": 0.6435004368303741, - "angularVelocity": 2.380808241833061e-30, - "velocityX": 1.3521166136957175, - "velocityY": 0.7775259409019353, - "timestamp": 9.101522276731341 - }, - { - "x": 8.116557022491735, - "y": 2.339031508309391, - "heading": 0.6435004368303741, - "angularVelocity": 2.6392759987141426e-30, - "velocityX": 1.1145184887275905, - "velocityY": 0.6799682967216062, - "timestamp": 9.161617840381503 - }, - { - "x": 8.169300943138342, - "y": 2.3739236285016685, - "heading": 0.6435004368303741, - "angularVelocity": 2.3804976901317442e-30, - "velocityX": 0.8776674590099443, - "velocityY": 0.5806105820954999, - "timestamp": 9.221713404031664 - }, - { - "x": 8.207849590345619, - "y": 2.4027540109969827, - "heading": 0.6435004368303741, - "angularVelocity": 2.3808070805983946e-30, - "velocityX": 0.6414557891774174, - "velocityY": 0.47974227620438903, - "timestamp": 9.281808967681826 - }, - { - "x": 8.232236204057223, - "y": 2.4254453979327417, - "heading": 0.6435004368303741, - "angularVelocity": 2.3808068323507875e-30, - "velocityX": 0.4057972374394851, - "velocityY": 0.3775883868542062, - "timestamp": 9.341904531331988 - }, - { - "x": 8.2424898147583, - "y": 2.4419312477111816, - "heading": 0.6435004368303741, - "angularVelocity": -3.2178293818866526e-30, - "velocityX": 0.1706217577185593, - "velocityY": 0.27432723444296603, - "timestamp": 9.40200009498215 - }, - { - "x": 8.2393017204798, - "y": 2.4522166219660964, - "heading": 0.6319049962965602, - "angularVelocity": -0.1961915039244878, - "velocityX": -0.05394163415594769, - "velocityY": 0.1740255609619532, - "timestamp": 9.461102758970478 - }, - { - "x": 8.222821560618591, - "y": 2.4565750369075374, - "heading": 0.608972533665731, - "angularVelocity": -0.3880106425550933, - "velocityX": -0.27883954375497194, - "velocityY": 0.0737431216687946, - "timestamp": 9.520205422958806 - }, - { - "x": 8.19302770545567, - "y": 2.4550084997233315, - "heading": 0.5749872344457952, - "angularVelocity": -0.5750214444927056, - "velocityX": -0.5041034219507514, - "velocityY": -0.02650535658621403, - "timestamp": 9.579308086947135 - }, - { - "x": 8.149895912141313, - "y": 2.447519382114308, - "heading": 0.5302786937880936, - "angularVelocity": -0.7564555916892447, - "velocityX": -0.7297774821600979, - "velocityY": -0.12671370634836995, - "timestamp": 9.638410750935464 - }, - { - "x": 8.09339864804559, - "y": 2.4341097073401863, - "heading": 0.4752444136142709, - "angularVelocity": -0.9311641212093363, - "velocityX": -0.9559173865137355, - "velocityY": -0.22688782314059242, - "timestamp": 9.697513414923792 - }, - { - "x": 8.023504638887696, - "y": 2.4147802557579743, - "heading": 0.41037330333687494, - "angularVelocity": -1.0976004447144125, - "velocityX": -1.1825864426634942, - "velocityY": -0.32704873651768396, - "timestamp": 9.75661607891212 - }, - { - "x": 7.940178760571984, - "y": 2.3895296850369747, - "heading": 0.33626751416330763, - "angularVelocity": -1.2538485437509457, - "velocityX": -1.4098497883643064, - "velocityY": -0.4272323617423738, - "timestamp": 9.815718742900449 - }, - { - "x": 7.843382276245969, - "y": 2.358354061171314, - "heading": 0.2536606944782709, - "angularVelocity": -1.3976835240683847, - "velocityX": -1.6377685504181283, - "velocityY": -0.5274825492099173, - "timestamp": 9.874821406888778 - }, - { - "x": 7.733073216109231, - "y": 2.321247319783134, - "heading": 0.16343500685588275, - "angularVelocity": -1.526592568487364, - "velocityX": -1.8663974293700505, - "velocityY": -0.6278353441988297, - "timestamp": 9.933924070877106 - }, - { - "x": 7.609206539592904, - "y": 2.2782030815405587, - "heading": 0.06664871856515628, - "angularVelocity": -1.6375960364466748, - "velocityX": -2.095788381735004, - "velocityY": -0.7282960756400965, - "timestamp": 9.993026734865435 - }, - { - "x": 7.471733974955729, - "y": 2.229217918807126, - "heading": -0.03539885417690381, - "angularVelocity": -1.7266154493850245, - "velocityX": -2.325996078016428, - "velocityY": -0.8288148017000726, - "timestamp": 10.052129398853763 - }, - { - "x": 7.320604827398418, - "y": 2.174296101814293, - "heading": -0.14101890697055008, - "angularVelocity": -1.787060779773037, - "velocityX": -2.5570615156561423, - "velocityY": -0.9292612766774592, - "timestamp": 10.111232062842092 - }, - { - "x": 7.155773189909133, - "y": 2.113457738944985, - "heading": -0.24782868572534286, - "angularVelocity": -1.8071905993253574, - "velocityX": -2.7889036866736787, - "velocityY": -1.0293675236250293, - "timestamp": 10.17033472683042 - }, - { - "x": 6.977229587916178, - "y": 2.046760806821276, - "heading": -0.35216325005396515, - "angularVelocity": -1.7653106863207704, - "velocityX": -3.0209061647070943, - "velocityY": -1.1284928228764857, - "timestamp": 10.229437390818749 - }, - { - "x": 6.785127223955647, - "y": 1.9743718586500072, - "heading": -0.44791637926652805, - "angularVelocity": -1.620115283322456, - "velocityX": -3.2503165000898613, - "velocityY": -1.224800089985181, - "timestamp": 10.288540054807077 - }, - { - "x": 6.580482239369349, - "y": 1.8965267551833909, - "heading": -0.523907298024649, - "angularVelocity": -1.285744391710116, - "velocityX": -3.4625340175310977, - "velocityY": -1.3171166613063143, - "timestamp": 10.347642718795406 - }, - { - "x": 6.365568212552411, - "y": 1.8126473637838463, - "heading": -0.5685150089578763, - "angularVelocity": -0.7547495818807144, - "velocityX": -3.636283245360637, - "velocityY": -1.4192150698335522, - "timestamp": 10.406745382783734 - }, - { - "x": 6.1391542252718745, - "y": 1.727320392022171, - "heading": -0.5825906454165231, - "angularVelocity": -0.23815570244729414, - "velocityX": -3.8308592540811275, - "velocityY": -1.4437077113567243, - "timestamp": 10.465848046772063 - }, - { - "x": 5.903469838213687, - "y": 1.6529470737325385, - "heading": -0.5825907170739721, - "angularVelocity": -0.0000012124233368564011, - "velocityX": -3.987711740112587, - "velocityY": -1.2583750591059566, - "timestamp": 10.524950710760391 - }, - { - "x": 5.663724751126659, - "y": 1.5929402727768625, - "heading": -0.5825907737674252, - "angularVelocity": -9.592368472200333e-7, - "velocityX": -4.056417611469635, - "velocityY": -1.0152977362835247, - "timestamp": 10.58405337474872 - }, - { - "x": 5.4207938290604085, - "y": 1.547519030326998, - "heading": -0.5825908335297906, - "angularVelocity": -0.0000010111619577208565, - "velocityX": -4.110321018934508, - "velocityY": -0.7685143001140271, - "timestamp": 10.643156038737049 - }, - { - "x": 5.175563573210271, - "y": 1.5168491316802175, - "heading": -0.582590897808758, - "angularVelocity": -0.0000010875815561180186, - "velocityX": -4.149225082283343, - "velocityY": -0.5189258246098157, - "timestamp": 10.702258702725377 - }, - { - "x": 4.928928882781426, - "y": 1.5010425173093036, - "heading": -0.582590968507317, - "angularVelocity": -0.0000011961991942253073, - "velocityX": -4.172987709615762, - "velocityY": -0.26744334864559327, - "timestamp": 10.761361366713706 - }, - { - "x": 4.6817897858705155, - "y": 1.500156880852723, - "heading": -0.5825910482884903, - "angularVelocity": -0.000001349874404780368, - "velocityX": -4.181522121569922, - "velocityY": -0.014984712986125005, - "timestamp": 10.820464030702034 - }, - { - "x": 4.435048362369104, - "y": 1.5141954560145352, - "heading": -0.5825917399367928, - "angularVelocity": -0.000011702489461728115, - "velocityX": -4.174793602368545, - "velocityY": 0.23752863601181112, - "timestamp": 10.879566694690363 - }, - { - "x": 4.191238550201924, - "y": 1.5428059629228041, - "heading": -0.5872689519449389, - "angularVelocity": -0.07913707593738419, - "velocityX": -4.125191585532014, - "velocityY": 0.48408151134979194, - "timestamp": 10.938669358678691 - }, - { - "x": 3.952295303344726, - "y": 1.5853265047073366, - "heading": -0.6, - "angularVelocity": -0.21540565510845927, - "velocityX": -4.042850706431503, - "velocityY": 0.7194352828652425, - "timestamp": 10.99777202266702 - }, - { - "x": 3.8134740215452583, - "y": 1.615040134332196, - "heading": -0.6109765742860589, - "angularVelocity": -0.31488494666214406, - "velocityX": -3.9823656065913373, - "velocityY": 0.8523947850875385, - "timestamp": 11.03263102244587 - }, - { - "x": 3.6768690053953224, - "y": 1.6493458750794194, - "heading": -0.6252964897864377, - "angularVelocity": -0.41079536392972205, - "velocityX": -3.918787601955746, - "velocityY": 0.9841286601699233, - "timestamp": 11.06749002222472 - }, - { - "x": 3.542588683535768, - "y": 1.688198377556308, - "heading": -0.6428198278038513, - "angularVelocity": -0.5026919340366556, - "velocityX": -3.852099105294062, - "velocityY": 1.1145615973887317, - "timestamp": 11.102349022003569 - }, - { - "x": 3.4107408609461936, - "y": 1.7315503308123263, - "heading": -0.6633872651355344, - "angularVelocity": -0.590018000004748, - "velocityX": -3.782318007574331, - "velocityY": 1.2436373255414277, - "timestamp": 11.137208021782419 - }, - { - "x": 3.2814309719594807, - "y": 1.7793535620510226, - "heading": -0.6868149980921183, - "angularVelocity": -0.6720712902037491, - "velocityX": -3.709512315530314, - "velocityY": 1.3713311208573407, - "timestamp": 11.172067021561269 - }, - { - "x": 3.154759713968678, - "y": 1.8315607122204742, - "heading": -0.7128878595460402, - "angularVelocity": -0.7479520817961316, - "velocityX": -3.633817917737781, - "velocityY": 1.497666327222826, - "timestamp": 11.206926021340118 - }, - { - "x": 3.0308199060377405, - "y": 1.8881276343253246, - "heading": -0.7413498638418092, - "angularVelocity": -0.8164894138195471, - "velocityX": -3.5554608197948028, - "velocityY": 1.6227350888929106, - "timestamp": 11.241785021118968 - }, - { - "x": 2.909692349791607, - "y": 1.9490166364375032, - "heading": -0.7718912775944233, - "angularVelocity": -0.8761414253527852, - "velocityX": -3.474785765930811, - "velocityY": 1.7467225823593937, - "timestamp": 11.276644020897818 - }, - { - "x": 2.791440373924634, - "y": 2.0142005993273084, - "heading": -0.8041312385312992, - "angularVelocity": -0.9248676422562412, - "velocityX": -3.392294002041893, - "velocityY": 1.8699321065819634, - "timestamp": 11.311503020676668 - }, - { - "x": 2.6761026118014377, - "y": 2.0836677838154385, - "heading": -0.8375950488175486, - "angularVelocity": -0.9599762040950126, - "velocityX": -3.3086939629626064, - "velocityY": 1.992804869010546, - "timestamp": 11.346362020455517 - }, - { - "x": 2.563683426803659, - "y": 2.157426720429071, - "heading": -0.8716858609029794, - "angularVelocity": -0.9779630024299947, - "velocityX": -3.2249687515700507, - "velocityY": 2.1159223466412884, - "timestamp": 11.381221020234367 - }, - { - "x": 2.4541405159302982, - "y": 2.2355097870550096, - "heading": -0.9056525586852363, - "angularVelocity": -0.9744025358658038, - "velocityX": -3.1424570862134558, - "velocityY": 2.239968648593113, - "timestamp": 11.416080020013217 - }, - { - "x": 2.3473705926939137, - "y": 2.317972680271922, - "heading": -0.9385621397982856, - "angularVelocity": -0.9440770338171433, - "velocityX": -3.062908399946827, - "velocityY": 2.365612718094827, - "timestamp": 11.450939019792067 - }, - { - "x": 2.2431987205449455, - "y": 2.404885409895606, - "heading": -0.9692995356278491, - "angularVelocity": -0.8817635624821536, - "velocityX": -2.988378117841816, - "velocityY": 2.493265158927951, - "timestamp": 11.485798019570916 - }, - { - "x": 2.141383918660014, - "y": 2.496312439027103, - "heading": -0.996629601543935, - "angularVelocity": -0.7840175016343364, - "velocityX": -2.9207608517415142, - "velocityY": 2.6227668525064347, - "timestamp": 11.520657019349766 - }, - { - "x": 2.041650396130837, - "y": 2.5922897101709004, - "heading": -1.0193236199557545, - "angularVelocity": -0.651023223723952, - "velocityX": -2.861055198425048, - "velocityY": 2.7532996285805456, - "timestamp": 11.555516019128616 - }, - { - "x": 1.943731375644481, - "y": 2.6928135229166212, - "heading": -1.0362799738795865, - "angularVelocity": -0.48642686340414926, - "velocityX": -2.809002584915431, - "velocityY": 2.8837262509956236, - "timestamp": 11.590375018907466 - }, - { - "x": 1.8480632305145264, - "y": 2.7954604625701904, - "heading": -1.0362799738795865, - "angularVelocity": 2.1736687540126838e-29, - "velocityX": -2.7444317317446116, - "velocityY": 2.9446323848869578, - "timestamp": 11.625234018686315 - }, - { - "x": 1.672640445377056, - "y": 3.013300327645549, - "heading": -1.0362799738795865, - "angularVelocity": -2.795107901873647e-30, - "velocityX": -2.460711972616185, - "velocityY": 3.0557100303929148, - "timestamp": 11.696523461371866 - }, - { - "x": 1.5164302211322118, - "y": 3.221006881583978, - "heading": -1.0362799738795865, - "angularVelocity": 8.418621207211218e-30, - "velocityX": -2.1912111858395145, - "velocityY": 2.913566807565, - "timestamp": 11.767812904057417 - }, - { - "x": 1.3764341718321418, - "y": 3.4142598003253495, - "heading": -1.0362799738795865, - "angularVelocity": 4.531432261764684e-30, - "velocityX": -1.9637697255900248, - "velocityY": 2.7108210060469538, - "timestamp": 11.839102346742967 - }, - { - "x": 1.2511473564025137, - "y": 3.591530049792972, - "heading": -1.0362799738795865, - "angularVelocity": 4.531432118047956e-30, - "velocityX": -1.7574385590620065, - "velocityY": 2.4866269504944793, - "timestamp": 11.910391789428518 - }, - { - "x": 1.1397098089961486, - "y": 3.7520669438694583, - "heading": -1.0362799738795865, - "angularVelocity": 4.5314299990799685e-30, - "velocityX": -1.5631704107703956, - "velocityY": 2.251902778712901, - "timestamp": 11.981681232114068 - }, - { - "x": 1.0415712767381338, - "y": 3.895429913411281, - "heading": -1.0362799738795865, - "angularVelocity": 4.5314368609894865e-30, - "velocityX": -1.3766208369855277, - "velocityY": 2.010998601492499, - "timestamp": 12.052970674799619 - }, - { - "x": 0.9563509320037674, - "y": 4.021330695987133, - "heading": -1.0362799738795865, - "angularVelocity": 4.531437736881817e-30, - "velocityX": -1.1954132550911205, - "velocityY": 1.7660508741972465, - "timestamp": 12.12426011748517 - }, - { - "x": 0.8837700445121739, - "y": 4.129566493346561, - "heading": -1.0362799738795865, - "angularVelocity": 4.531436969781661e-30, - "velocityX": -1.0181155127237986, - "velocityY": 1.5182584304501188, - "timestamp": 12.19554956017072 - }, - { - "x": 0.8236159650487832, - "y": 4.219987070970065, - "heading": -1.0362799738795865, - "angularVelocity": 4.531436969781641e-30, - "velocityX": -0.8438006694584916, - "velocityY": 1.2683585986544863, - "timestamp": 12.26683900285627 - }, - { - "x": 0.7757211998785677, - "y": 4.29247675769312, - "heading": -1.0362799738795865, - "angularVelocity": 4.531437053865754e-30, - "velocityX": -0.6718353148231706, - "velocityY": 1.0168362101356112, - "timestamp": 12.338128445541821 - }, - { - "x": 0.7399504493458321, - "y": 4.346943794130791, - "heading": -1.0362799738795865, - "angularVelocity": 4.5314376706268254e-30, - "velocityX": -0.501767852085982, - "velocityY": 0.7640266831362128, - "timestamp": 12.409417888227372 - }, - { - "x": 0.7161921614034822, - "y": 4.383313637078767, - "heading": -1.0362799738795865, - "angularVelocity": 4.531437521414341e-30, - "velocityX": -0.33326516588360594, - "velocityY": 0.5101715145733307, - "timestamp": 12.480707330912923 - }, - { - "x": 0.7043527960777284, - "y": 4.401524543762207, - "heading": -1.0362799738795865, - "angularVelocity": 4.531437376556036e-30, - "velocityX": -0.16607459505576197, - "velocityY": 0.25545026019864153, - "timestamp": 12.551996773598473 - }, - { - "x": 0.7043527960777284, - "y": 4.401524543762207, - "heading": -1.0362799738795865, - "angularVelocity": 1.5152982881175701e-30, - "velocityX": -8.315280281271062e-29, - "velocityY": 1.901615622375989e-28, - "timestamp": 12.623286216284024 - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 0.7043527960777283, - "y": 4.401524543762207, - "heading": -1.03622, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "timestamp": 1.537512195642688, - "isStopPoint": false, - "x": 3.952295303344726, - "y": 1.2853265047073366, - "heading": -0.6, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "timestamp": 2.176953315426481, - "isStopPoint": false, - "x": 6.344450855255133, - "y": 0.6604639410972595, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 13 - }, - { - "timestamp": 3.061199522549858, - "isStopPoint": false, - "x": 8.144450855255126, - "y": 0.6604639410972595, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "timestamp": 4.602532743133479, - "isStopPoint": false, - "x": 3.952295303344726, - "y": 1.2853265047073366, - "heading": -0.6, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 18 - }, - { - "timestamp": 5.238072990428239, - "isStopPoint": false, - "x": 1.9563456773757935, - "y": 2.7954604625701904, - "heading": -1.0362799738795863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 14 - }, - { - "timestamp": 6.251251288371045, - "isStopPoint": true, - "x": 0.7043527960777283, - "y": 4.401524543762207, - "heading": -1.0362799738795863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "timestamp": 7.757435525740661, - "isStopPoint": false, - "x": 3.952295303344726, - "y": 1.5853265047073366, - "heading": -0.6, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 20 - }, - { - "timestamp": 8.440471076579563, - "isStopPoint": false, - "x": 6.352611541748047, - "y": 1.5393844842910767, - "heading": 0.305878931297, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 16 - }, - { - "timestamp": 9.40200009498215, - "isStopPoint": false, - "x": 8.2424898147583, - "y": 2.4419312477111816, - "heading": 0.6435004368303741, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 27 - }, - { - "timestamp": 10.99777202266702, - "isStopPoint": false, - "x": 3.952295303344726, - "y": 1.5853265047073366, - "heading": -0.6, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 18 - }, - { - "timestamp": 11.625234018686315, - "isStopPoint": false, - "x": 1.8480632305145264, - "y": 2.7954604625701904, - "heading": -1.0362799738795863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 14 - }, - { - "timestamp": 12.623286216284024, - "isStopPoint": true, - "x": 0.7043527960777284, - "y": 4.401524543762207, - "heading": -1.0362799738795863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "constraints": [ - { - "scope": [ - "first" - ], - "type": "StopPoint" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint" - }, - { - "scope": [ - 6 - ], - "type": "StopPoint" - }, - { - "scope": [ - 2, - 3 - ], - "type": "ZeroAngularVelocity" - }, - { - "scope": [ - 5, - 6 - ], - "type": "ZeroAngularVelocity" - }, - { - "scope": [ - 8, - 9 - ], - "type": "ZeroAngularVelocity" - }, - { - "scope": [ - 11, - 12 - ], - "type": "ZeroAngularVelocity" - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": true - }, - "Distance Source 4": { - "waypoints": [ - { - "x": 0.6802782416343689, - "y": 4.38139533996582, - "heading": -1.0378726274695866, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "x": 3.517277717590332, - "y": 1.2412056922912598, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 18 - }, - { - "x": 7.967684268951416, - "y": 0.8080758452415466, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 15 - }, - { - "x": 4.870807647705078, - "y": 1.8692435026168823, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 3.1599457263946533, - "y": 3, - "heading": -0.7431853071795862, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 4.870807647705078, - "y": 1.8692435026168823, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 - }, - { - "x": 6.3759331703186035, - "y": 1.8584154844284058, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "x": 7.924371719360352, - "y": 2.432312250137329, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "x": 6.3759331703186035, - "y": 1.8584154844284058, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 - }, - { - "x": 4.870807647705078, - "y": 1.8692435026168823, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 3.1599459648132324, - "y": 3, - "heading": -0.7431853071795862, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "x": 4.5134758949279785, - "y": 3.504307985305786, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 9 - }, - { - "x": 5.336422443389893, - "y": 4.143174171447754, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "x": 7.924371719360352, - "y": 4.143174171447754, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "x": 4.5134758949279785, - "y": 3.504307985305786, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 3.959945964813233, - "y": 2.5999999999999996, - "heading": -0.7431853071795862, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 8 - }, - { - "x": 3.1599459648132324, - "y": 3, - "heading": -0.7431853071795862, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 0.6802782416343689, - "y": 4.38139533996582, - "heading": -1.0378726274695866, - "angularVelocity": -3.347916590381317e-25, - "velocityX": -7.79504417865945e-25, - "velocityY": 1.5644415406561792e-24, - "timestamp": 0 - }, - { - "x": 0.6928709180148234, - "y": 4.366129172079192, - "heading": -1.0148952648842788, - "angularVelocity": 0.39308459587811256, - "velocityX": 0.2154288634153295, - "velocityY": -0.2611655455252246, - "timestamp": 0.05845398885188716 - }, - { - "x": 0.7181419130531553, - "y": 4.335559528214801, - "heading": -0.9698560026458198, - "angularVelocity": 0.7705079349260691, - "velocityX": 0.43232284972655155, - "velocityY": -0.5229693381892135, - "timestamp": 0.11690797770377433 - }, - { - "x": 0.7561908960261392, - "y": 4.2896399224059945, - "heading": -0.9039183675220187, - "angularVelocity": 1.128026271926048, - "velocityX": 0.6509219254376942, - "velocityY": -0.7855683882439376, - "timestamp": 0.1753619665556615 - }, - { - "x": 0.8071292746845115, - "y": 4.228302195171338, - "heading": -0.8186581069281054, - "angularVelocity": 1.4585875535363195, - "velocityX": 0.8714269061678875, - "velocityY": -1.0493334747450136, - "timestamp": 0.23381595540754865 - }, - { - "x": 0.871072837229944, - "y": 4.15144639527446, - "heading": -0.7161964133960428, - "angularVelocity": 1.7528605924855503, - "velocityX": 1.0939127303605414, - "velocityY": -1.314808474261995, - "timestamp": 0.2922699442594358 - }, - { - "x": 0.9481336446587337, - "y": 4.0589407507578334, - "heading": -0.5992730958902776, - "angularVelocity": 2.00026242523893, - "velocityX": 1.3183156349526337, - "velocityY": -1.58253775890335, - "timestamp": 0.350723933111323 - }, - { - "x": 1.03842141694975, - "y": 3.9506371946873022, - "heading": -0.47137491438003465, - "angularVelocity": 2.188014608110252, - "velocityX": 1.544595571053174, - "velocityY": -1.852800094531693, - "timestamp": 0.4091779219632102 - }, - { - "x": 1.1420524474939961, - "y": 3.8264005587076344, - "heading": -0.33738265270345347, - "angularVelocity": 2.2922689162598577, - "velocityX": 1.7728649931287002, - "velocityY": -2.1253748190643313, - "timestamp": 0.46763191081509736 - }, - { - "x": 1.2590920368315979, - "y": 3.6861968307243496, - "heading": -0.20574611612623897, - "angularVelocity": 2.2519684141788834, - "velocityX": 2.0022515423910754, - "velocityY": -2.3985314045639927, - "timestamp": 0.5260858996669845 - }, - { - "x": 1.3890539557520782, - "y": 3.530716769695316, - "heading": -0.09362413816745035, - "angularVelocity": 1.9181236415343244, - "velocityX": 2.2233199388630713, - "velocityY": -2.659870850268142, - "timestamp": 0.5845398885188716 - }, - { - "x": 1.526819292676983, - "y": 3.3606093766178162, - "heading": -0.02492102014455636, - "angularVelocity": 1.1753366942498389, - "velocityX": 2.356816696872128, - "velocityY": -2.9101075293342884, - "timestamp": 0.6429938773707587 - }, - { - "x": 1.6725539368788018, - "y": 3.1759976053864527, - "heading": -8.429679741259334e-7, - "angularVelocity": 0.4263212428449645, - "velocityX": 2.493151401029047, - "velocityY": -3.158240778044072, - "timestamp": 0.7014478662226459 - }, - { - "x": 1.8287790494270222, - "y": 2.98801124535308, - "heading": -7.696371008390055e-7, - "angularVelocity": 0.0000012545058896277584, - "velocityX": 2.6726167985570535, - "velocityY": -3.2159714627807388, - "timestamp": 0.759901855074533 - }, - { - "x": 1.9850045217267513, - "y": 2.800025184289596, - "heading": -6.963070170753428e-7, - "angularVelocity": 0.0000012544923828803064, - "velocityX": 2.6726229529960572, - "velocityY": -3.215966348161622, - "timestamp": 0.8183558439264201 - }, - { - "x": 2.1412299940437136, - "y": 2.6120391232404336, - "heading": -6.229769330118699e-7, - "angularVelocity": 0.0000012544923880093, - "velocityX": 2.6726229532908703, - "velocityY": -3.2159663479166176, - "timestamp": 0.8768098327783073 - }, - { - "x": 2.297455466360677, - "y": 2.4240530621912724, - "heading": -5.496468485640347e-7, - "angularVelocity": 0.0000012544923945847663, - "velocityX": 2.6726229532908814, - "velocityY": -3.215966347916608, - "timestamp": 0.9352638216301944 - }, - { - "x": 2.453680938677642, - "y": 2.2360670011421124, - "heading": -4.7631676369736977e-7, - "angularVelocity": 0.0000012544924017498851, - "velocityX": 2.6726229532909214, - "velocityY": -3.2159663479165745, - "timestamp": 0.9937178104820815 - }, - { - "x": 2.6099064110461754, - "y": 2.0480809401358084, - "heading": -4.029866785187995e-7, - "angularVelocity": 0.0000012544924070857982, - "velocityX": 2.6726229541731215, - "velocityY": -3.2159663471834232, - "timestamp": 1.0521717993339688 - }, - { - "x": 2.766132959939523, - "y": 1.8600957737787043, - "heading": -3.2965660566972314e-7, - "angularVelocity": 0.0000012544921961593194, - "velocityX": 2.672641370791651, - "velocityY": -3.2159510419969424, - "timestamp": 1.1106257881858559 - }, - { - "x": 2.933382193240376, - "y": 1.6818463665507355, - "heading": -2.5592792501793225e-7, - "angularVelocity": 0.0000012613113681361818, - "velocityX": 2.8612116398871454, - "velocityY": -3.0493968115610293, - "timestamp": 1.169079777037743 - }, - { - "x": 3.1152217469834365, - "y": 1.5185076592751214, - "heading": -1.793173771215745e-7, - "angularVelocity": 0.000001310612832436061, - "velocityX": 3.1108151439213563, - "velocityY": -2.7943124239046795, - "timestamp": 1.2275337658896301 - }, - { - "x": 3.3103273336088685, - "y": 1.3712698739724987, - "heading": -9.63896176110914e-8, - "angularVelocity": 0.0000014186843556666162, - "velocityX": 3.3377634350976035, - "velocityY": -2.5188663458998373, - "timestamp": 1.2859877547415173 - }, - { - "x": 3.517277717590332, - "y": 1.2412056922912598, - "heading": 2.0248701458039248e-25, - "angularVelocity": 0.0000016489827213558838, - "velocityX": 3.5403979787562827, - "velocityY": -2.2250693962186263, - "timestamp": 1.3444417435934044 - }, - { - "x": 3.8085805078161967, - "y": 1.1011465689731057, - "heading": 1.2027671540774088e-13, - "angularVelocity": 1.5560191716883039e-12, - "velocityX": 3.768582512599393, - "velocityY": -1.8119440684297683, - "timestamp": 1.4217394514854198 - }, - { - "x": 4.113810562883195, - "y": 0.9948051908350006, - "heading": 1.2024608996754215e-13, - "angularVelocity": -3.962011427529581e-16, - "velocityX": 3.9487594573102207, - "velocityY": -1.3757377940192446, - "timestamp": 1.4990371593774352 - }, - { - "x": 4.429079571376881, - "y": 0.9235357844694564, - "heading": 1.2023024929371935e-13, - "angularVelocity": -2.0493070564434177e-16, - "velocityX": 4.078633339737774, - "velocityY": -0.9220118980126479, - "timestamp": 1.5763348672694506 - }, - { - "x": 4.74851734223509, - "y": 0.8742064147498704, - "heading": 1.2026218341744134e-13, - "angularVelocity": 4.1313157391792204e-16, - "velocityX": 4.132564594340397, - "velocityY": -0.6381737707992456, - "timestamp": 1.653632575161466 - }, - { - "x": 5.067955221408222, - "y": 0.8248777464405996, - "heading": 1.2017533765568414e-13, - "angularVelocity": -1.1235231176431118e-15, - "velocityX": 4.132565995609943, - "velocityY": -0.6381646966580525, - "timestamp": 1.7309302830534814 - }, - { - "x": 5.387393100583508, - "y": 0.7755490781452744, - "heading": 1.2011087822013848e-13, - "angularVelocity": -8.339113449011661e-16, - "velocityX": 4.132565995637804, - "velocityY": -0.6381646964776388, - "timestamp": 1.8082279909454968 - }, - { - "x": 5.706830979759032, - "y": 0.7262204098514907, - "heading": 1.2009725083714761e-13, - "angularVelocity": -1.7629737495368953e-16, - "velocityX": 4.132565995640883, - "velocityY": -0.6381646964576962, - "timestamp": 1.8855256988375122 - }, - { - "x": 6.02626887090532, - "y": 0.6768918190768992, - "heading": 1.200782994529034e-13, - "angularVelocity": -2.4517394837846764e-16, - "velocityX": 4.1325661505065865, - "velocityY": -0.6381636935923554, - "timestamp": 1.9628234067295276 - }, - { - "x": 6.346278711766802, - "y": 0.6314211922985453, - "heading": 1.2000563974027956e-13, - "angularVelocity": -9.399982820393656e-16, - "velocityX": 4.139965460664552, - "velocityY": -0.588253235682956, - "timestamp": 2.040121114621543 - }, - { - "x": 6.669374055375815, - "y": 0.6222974986610686, - "heading": 1.1998245156455226e-13, - "angularVelocity": -2.999852952930381e-16, - "velocityX": 4.179882591866463, - "velocityY": -0.11803317182732602, - "timestamp": 2.1174188225135584 - }, - { - "x": 6.957333126631289, - "y": 0.6229872679410849, - "heading": 1.0411186745728865e-13, - "angularVelocity": -2.0531765481888398e-13, - "velocityX": 3.7253248396155745, - "velocityY": 0.008923541186757694, - "timestamp": 2.194716530405574 - }, - { - "x": 7.209511372482262, - "y": 0.6307902356507334, - "heading": 8.529380764861957e-14, - "angularVelocity": -2.4344913092323517e-13, - "velocityX": 3.262428508271763, - "velocityY": 0.10094694813653739, - "timestamp": 2.272014238297589 - }, - { - "x": 7.425794423178197, - "y": 0.6451047906108485, - "heading": 6.637626916620301e-14, - "angularVelocity": -2.4473608595023864e-13, - "velocityX": 2.7980525761266, - "velocityY": 0.18518731474046324, - "timestamp": 2.3493119461896046 - }, - { - "x": 7.606135287145741, - "y": 0.6656663723850257, - "heading": 4.8622136850652897e-14, - "angularVelocity": -2.2968510709725984e-13, - "velocityX": 2.3330687142687285, - "velocityY": 0.266005064508531, - "timestamp": 2.42660965408162 - }, - { - "x": 7.750508424686906, - "y": 0.6923262301695847, - "heading": 3.272151062184158e-14, - "angularVelocity": -2.057063095716186e-13, - "velocityX": 1.8677544454856772, - "velocityY": 0.3448984259895882, - "timestamp": 2.5039073619736354 - }, - { - "x": 7.858897802002306, - "y": 0.7249890399184212, - "heading": 1.9124643365638934e-14, - "angularVelocity": -1.7590259306521183e-13, - "velocityX": 1.4022327475326948, - "velocityY": 0.42255858083743525, - "timestamp": 2.581205069865651 - }, - { - "x": 7.931292420667315, - "y": 0.7635885039265983, - "heading": 8.143934963506789e-15, - "angularVelocity": -1.4205736109888667e-13, - "velocityX": 0.9365687630239243, - "velocityY": 0.49936104265989784, - "timestamp": 2.658502777757666 - }, - { - "x": 7.967684268951416, - "y": 0.8080758452415466, - "heading": -2.356364968162154e-28, - "angularVelocity": -1.053580395279536e-13, - "velocityX": 0.4708011308037708, - "velocityY": 0.5755324773290436, - "timestamp": 2.7358004856496816 - }, - { - "x": 7.968682020134014, - "y": 0.8574283512733433, - "heading": -5.0773941325982076e-15, - "angularVelocity": -6.686084313137058e-14, - "velocityX": 0.013138725015563199, - "velocityY": 0.6498904906252848, - "timestamp": 2.8117402120246786 - }, - { - "x": 7.934920196939559, - "y": 0.9123978556608698, - "heading": -7.250674587273434e-15, - "angularVelocity": -2.861849203858442e-14, - "velocityX": -0.44458710619704805, - "velocityY": 0.7238570246629862, - "timestamp": 2.8876799383996756 - }, - { - "x": 7.866392659944353, - "y": 0.9729462284683079, - "heading": -6.561254231060817e-15, - "angularVelocity": 9.078520415102618e-15, - "velocityX": -0.9023937834172842, - "velocityY": 0.7973214508101477, - "timestamp": 2.9636196647746726 - }, - { - "x": 7.7630913157264, - "y": 1.039022791795512, - "heading": -3.0532129081230325e-15, - "angularVelocity": 4.6195074572890516e-14, - "velocityX": -1.3603070375555597, - "velocityY": 0.8701185332287369, - "timestamp": 3.0395593911496697 - }, - { - "x": 7.6250050093039485, - "y": 1.1105569064458902, - "heading": 3.2228615065427893e-15, - "angularVelocity": 8.264547048371132e-14, - "velocityX": -1.8183671842662383, - "velocityY": 0.9419854148161748, - "timestamp": 3.1154991175246667 - }, - { - "x": 7.452117387393709, - "y": 1.1874432876779466, - "heading": 1.2177403879633131e-14, - "angularVelocity": 1.1791644242793474e-13, - "velocityX": -2.2766426765419903, - "velocityY": 1.0124658713199024, - "timestamp": 3.1914388438996637 - }, - { - "x": 7.244402183717801, - "y": 1.2695082427410065, - "heading": 2.365643857652256e-14, - "angularVelocity": 1.5115981114028605e-13, - "velocityX": -2.735264052048239, - "velocityY": 1.0806590829392273, - "timestamp": 3.2673785702746607 - }, - { - "x": 7.00181043141649, - "y": 1.3564109624551457, - "heading": 3.7383567341129667e-14, - "angularVelocity": 1.8076347413765312e-13, - "velocityX": -3.194530239724227, - "velocityY": 1.1443644040143879, - "timestamp": 3.3433182966496577 - }, - { - "x": 6.724221087183376, - "y": 1.447179537855358, - "heading": 5.2548800981821277e-14, - "angularVelocity": 1.9970092551827854e-13, - "velocityX": -3.6553903665961816, - "velocityY": 1.1952712991351762, - "timestamp": 3.4192580230246548 - }, - { - "x": 6.415496495875919, - "y": 1.5215059011095828, - "heading": 5.2606937821813504e-14, - "angularVelocity": 7.655655711115095e-16, - "velocityX": -4.065389830125926, - "velocityY": 0.9787546887803473, - "timestamp": 3.4951977493996518 - }, - { - "x": 6.102420468620207, - "y": 1.5745971909728977, - "heading": 5.2547023381561494e-14, - "angularVelocity": -7.889736125229508e-16, - "velocityX": -4.122691010364133, - "velocityY": 0.6991240605891275, - "timestamp": 3.571137475774649 - }, - { - "x": 5.7893443139235865, - "y": 1.6276877293196694, - "heading": 5.251469887397708e-14, - "angularVelocity": -4.256600481369481e-16, - "velocityX": -4.1226926885491135, - "velocityY": 0.6991141643651176, - "timestamp": 3.647077202149646 - }, - { - "x": 5.47626834023763, - "y": 1.6807793350795175, - "heading": 5.2545327836571197e-14, - "angularVelocity": 4.03332538271171e-16, - "velocityX": -4.122690304939467, - "velocityY": 0.6991282204215097, - "timestamp": 3.723016928524643 - }, - { - "x": 5.168305647623383, - "y": 1.7582019652150536, - "heading": 5.2570129566972103e-14, - "angularVelocity": 3.265975739589384e-16, - "velocityX": -4.055356890456809, - "velocityY": 1.0195273782422736, - "timestamp": 3.79895665489964 - }, - { - "x": 4.870807647705078, - "y": 1.8692435026168823, - "heading": 8.0561270048309e-28, - "angularVelocity": -6.922612455485455e-13, - "velocityX": -3.917554277839153, - "velocityY": 1.4622325191625807, - "timestamp": 3.874896381274637 - }, - { - "x": 4.665184835706644, - "y": 1.965165570466657, - "heading": -6.025901704154455e-8, - "angularVelocity": -0.0000011105355093099177, - "velocityX": -3.7894981607646425, - "velocityY": 1.7677829427613814, - "timestamp": 3.929157606184941 - }, - { - "x": 4.467801167505074, - "y": 2.0770649526386022, - "heading": -1.1951961632035804e-7, - "angularVelocity": -0.000001092135302451678, - "velocityX": -3.6376559601787903, - "velocityY": 2.062234723910474, - "timestamp": 3.983418831095245 - }, - { - "x": 4.282026375471247, - "y": 2.202504243233706, - "heading": -0.0074900260123963456, - "angularVelocity": -0.13803423172184429, - "velocityX": -3.423711726761048, - "velocityY": 2.31176665846485, - "timestamp": 4.0376800560055495 - }, - { - "x": 4.109553140955502, - "y": 2.3223494763438204, - "heading": -0.05391384347341113, - "angularVelocity": -0.855561545795458, - "velocityX": -3.178572448389246, - "velocityY": 2.2086717229149047, - "timestamp": 4.0919412809158535 - }, - { - "x": 3.9503579748540636, - "y": 2.43525476975937, - "heading": -0.1359907520094868, - "angularVelocity": -1.5126254276742177, - "velocityX": -2.933866059319426, - "velocityY": 2.080773030874018, - "timestamp": 4.146202505826158 - }, - { - "x": 3.8058392953370093, - "y": 2.5380816662907524, - "heading": -0.22641050474906085, - "angularVelocity": -1.6663787610589593, - "velocityX": -2.6633877092887084, - "velocityY": 1.8950345610767008, - "timestamp": 4.200463730736462 - }, - { - "x": 3.6760560842265666, - "y": 2.630611385450664, - "heading": -0.3168870123533691, - "angularVelocity": -1.6674247172611631, - "velocityX": -2.3918223616399943, - "velocityY": 1.7052641054982942, - "timestamp": 4.254724955646766 - }, - { - "x": 3.5609332686690274, - "y": 2.7128111323244637, - "heading": -0.40322451991269215, - "angularVelocity": -1.5911455685352158, - "velocityX": -2.1216405591256335, - "velocityY": 1.5148892604190034, - "timestamp": 4.30898618055707 - }, - { - "x": 3.4603899159226676, - "y": 2.7846878010678795, - "heading": -0.4828129395591552, - "angularVelocity": -1.4667641539243872, - "velocityX": -1.8529502957694302, - "velocityY": 1.3246414702622478, - "timestamp": 4.363247405467374 - }, - { - "x": 3.3743546742713244, - "y": 2.846257792560545, - "heading": -0.5538376442912536, - "angularVelocity": -1.308940313262462, - "velocityX": -1.585574999340014, - "velocityY": 1.1346959379269979, - "timestamp": 4.417508630377678 - }, - { - "x": 3.302766303961918, - "y": 2.8975376071130285, - "heading": -0.6149635904061515, - "angularVelocity": -1.126512462922489, - "velocityX": -1.3193283127637558, - "velocityY": 0.9450544958623966, - "timestamp": 4.471769855287982 - }, - { - "x": 3.245572544711835, - "y": 2.938541171103499, - "heading": -0.6651772993510998, - "angularVelocity": -0.925406844905429, - "velocityX": -1.0540447500886079, - "velocityY": 0.7556697081249255, - "timestamp": 4.526031080198286 - }, - { - "x": 3.202728904985161, - "y": 2.9692797964201003, - "heading": -0.7036896903252039, - "angularVelocity": -0.7097589676194475, - "velocityX": -0.7895811382344551, - "velocityY": 0.5664933913197379, - "timestamp": 4.58029230510859 - }, - { - "x": 3.1741974612408677, - "y": 2.989763077707769, - "heading": -0.7298679174991396, - "angularVelocity": -0.48244814261398083, - "velocityX": -0.5258164332164795, - "velocityY": 0.377493897742418, - "timestamp": 4.634553530018894 - }, - { - "x": 3.1599457263946533, - "y": 3, - "heading": -0.7431853071795862, - "angularVelocity": -0.24543105509432933, - "velocityX": -0.2626504445812457, - "velocityY": 0.18865999264028846, - "timestamp": 4.688814754929198 - }, - { - "x": 3.1599457263946533, - "y": 3, - "heading": -0.7431853071795862, - "angularVelocity": -2.718854590960149e-28, - "velocityX": -1.846408155148528e-27, - "velocityY": 4.7057945380444184e-27, - "timestamp": 4.743075979839502 - }, - { - "x": 3.1707764655908464, - "y": 2.9881322043781373, - "heading": -0.732035938934007, - "angularVelocity": 0.21513876739040086, - "velocityX": 0.2089904853146997, - "velocityY": -0.22900157798098394, - "timestamp": 4.794900057762878 - }, - { - "x": 3.1926755779502765, - "y": 2.9645842050264797, - "heading": -0.7101668692970703, - "angularVelocity": 0.4219866616685564, - "velocityX": 0.42256636754461707, - "velocityY": -0.4543833734287422, - "timestamp": 4.846724135686254 - }, - { - "x": 3.2259183969876806, - "y": 2.9295838122377513, - "heading": -0.6780905954162056, - "angularVelocity": 0.6189453853533228, - "velocityX": 0.6414550990478732, - "velocityY": -0.6753693300723632, - "timestamp": 4.89854821360963 - }, - { - "x": 3.2708261994975825, - "y": 2.8834123046214346, - "heading": -0.6364219103258802, - "angularVelocity": 0.8040410318912782, - "velocityX": 0.8665432036494631, - "velocityY": -0.8909277205970338, - "timestamp": 4.950372291533006 - }, - { - "x": 3.327776902619988, - "y": 2.826423972607863, - "heading": -0.5859053180091909, - "angularVelocity": 0.9747706923291543, - "velocityX": 1.0989236162891207, - "velocityY": -1.0996497052553655, - "timestamp": 5.0021963694563825 - }, - { - "x": 3.3972187070235824, - "y": 2.759075775607749, - "heading": -0.5274547304559486, - "angularVelocity": 1.127865461295109, - "velocityX": 1.3399525314520095, - "velocityY": -1.2995541782661457, - "timestamp": 5.0540204473797585 - }, - { - "x": 3.4796866107524327, - "y": 2.6819736466469406, - "heading": -0.46221377382092116, - "angularVelocity": 1.25889276277117, - "velocityX": 1.591304795635387, - "velocityY": -1.4877665372996447, - "timestamp": 5.105844525303135 - }, - { - "x": 3.575819480010563, - "y": 2.5959468307633444, - "heading": -0.3916508199590152, - "angularVelocity": 1.3615862874827402, - "velocityX": 1.8549846540495372, - "velocityY": -1.659977742600455, - "timestamp": 5.157668603226511 - }, - { - "x": 3.6863681532781767, - "y": 2.502169766316827, - "heading": -0.31770965056129546, - "angularVelocity": 1.426772503449932, - "velocityX": 2.133152729336816, - "velocityY": -1.8095269265604703, - "timestamp": 5.209492681149887 - }, - { - "x": 3.812163930499293, - "y": 2.4023610752274767, - "heading": -0.24304232225652234, - "angularVelocity": 1.4407845020450063, - "velocityX": 2.427361609927921, - "velocityY": -1.925913495980028, - "timestamp": 5.261316759073263 - }, - { - "x": 3.953961837508726, - "y": 2.299083056269231, - "heading": -0.17136133589722868, - "angularVelocity": 1.3831598984795583, - "velocityX": 2.736139506796171, - "velocityY": -1.9928578200840514, - "timestamp": 5.313140836996639 - }, - { - "x": 4.111973704806276, - "y": 2.196045409033803, - "heading": -0.1079080247435874, - "angularVelocity": 1.224398266139137, - "velocityX": 3.0490048955849653, - "velocityY": -1.9882195952964754, - "timestamp": 5.364964914920015 - }, - { - "x": 4.285069061395649, - "y": 2.097867124268194, - "heading": -0.05873651399697375, - "angularVelocity": 0.9488159310680954, - "velocityX": 3.3400566594798016, - "velocityY": -1.8944530939994642, - "timestamp": 5.416788992843391 - }, - { - "x": 4.470523752035761, - "y": 2.009092656335386, - "heading": -0.026966372471160117, - "angularVelocity": 0.6130382401166306, - "velocityX": 3.578542987572568, - "velocityY": -1.7129965739875637, - "timestamp": 5.468613070766767 - }, - { - "x": 4.6664061186047086, - "y": 1.9323261388767596, - "heading": -0.008453101034109357, - "angularVelocity": 0.3572330117368095, - "velocityX": 3.7797559439179373, - "velocityY": -1.4812905609652864, - "timestamp": 5.520437148690143 - }, - { - "x": 4.870807647705078, - "y": 1.8692435026168823, - "heading": 5.290053653169388e-26, - "angularVelocity": 0.16311146040278007, - "velocityX": 3.9441421302774584, - "velocityY": -1.2172457048468346, - "timestamp": 5.572261226613519 - }, - { - "x": 5.017762639572388, - "y": 1.8322127421815186, - "heading": 0.001461003033461962, - "angularVelocity": 0.04008169041354506, - "velocityX": 4.031616878161617, - "velocityY": -1.0159153961722736, - "timestamp": 5.608711860765622 - }, - { - "x": 5.167108391738545, - "y": 1.8029062751901384, - "heading": 0.0007309116487781689, - "angularVelocity": -0.020029593494512152, - "velocityX": 4.097205868708966, - "velocityY": -0.804004310846535, - "timestamp": 5.645162494917725 - }, - { - "x": 5.3178754828089545, - "y": 1.781586355190015, - "heading": 0.00021715295944246574, - "angularVelocity": -0.01409464337964255, - "velocityX": 4.136199398926305, - "velocityY": -0.5848984659953738, - "timestamp": 5.681613129069827 - }, - { - "x": 5.469655961827876, - "y": 1.7683146760745116, - "heading": 0.000005188258876374356, - "angularVelocity": -0.00581511695191908, - "velocityX": 4.1640010537421, - "velocityY": -0.36410008835848723, - "timestamp": 5.71806376322193 - }, - { - "x": 5.621987131567847, - "y": 1.7631363342262816, - "heading": 0.0000016303066679806213, - "angularVelocity": -0.00009761015936093163, - "velocityX": 4.179108903958118, - "velocityY": -0.14206452010194576, - "timestamp": 5.754514397374033 - }, - { - "x": 5.774378851652096, - "y": 1.7660700536906622, - "heading": 0.000001013880704578562, - "angularVelocity": -0.00001691125484483525, - "velocityX": 4.180770064200893, - "velocityY": 0.08048473044772596, - "timestamp": 5.790965031526135 - }, - { - "x": 5.92639870788874, - "y": 1.7771075275794117, - "heading": 6.402152729336533e-7, - "angularVelocity": -0.000010251273821071673, - "velocityX": 4.1705682156938835, - "velocityY": 0.3028060867937732, - "timestamp": 5.827415665678238 - }, - { - "x": 6.077616038227422, - "y": 1.7962174809956766, - "heading": 3.7516129965530495e-7, - "angularVelocity": -0.000007271587434455114, - "velocityX": 4.148551427327075, - "velocityY": 0.524269436205752, - "timestamp": 5.863866299830341 - }, - { - "x": 6.227602479279352, - "y": 1.8233457636897183, - "heading": 1.6965700440858202e-7, - "angularVelocity": -0.000005637879834660427, - "velocityX": 4.114782761420892, - "velocityY": 0.7442472079042579, - "timestamp": 5.9003169339824435 - }, - { - "x": 6.3759331703186035, - "y": 1.8584154844284055, - "heading": -5.246500142800949e-26, - "angularVelocity": -0.000004654432175325993, - "velocityX": 4.0693583113065195, - "velocityY": 0.9621155174515489, - "timestamp": 5.936767568134546 - }, - { - "x": 6.630268920645483, - "y": 1.9443807518692906, - "heading": -2.614202058840289e-14, - "angularVelocity": -4.071729614915087e-13, - "velocityX": 3.961386241119695, - "velocityY": 1.3389451825660532, - "timestamp": 6.000971292499225 - }, - { - "x": 6.86532424088555, - "y": 2.033995146724681, - "heading": -1.479716531157944e-14, - "angularVelocity": 1.7670089062722164e-13, - "velocityX": 3.661085436491938, - "velocityY": 1.3957818762409848, - "timestamp": 6.065175016863903 - }, - { - "x": 7.076902889512762, - "y": 2.114538206034381, - "heading": -5.459326745393024e-15, - "angularVelocity": 1.4544076155375644e-13, - "velocityX": 3.2954264058801392, - "velocityY": 1.2544920112766957, - "timestamp": 6.129378741228582 - }, - { - "x": 7.265004863010539, - "y": 2.1860098840684987, - "heading": 1.931554215731149e-15, - "angularVelocity": 1.1511607830012644e-13, - "velocityX": 2.9297673204961416, - "velocityY": 1.1132014340501033, - "timestamp": 6.19358246559326 - }, - { - "x": 7.429630160202282, - "y": 2.248410165595121, - "heading": 7.392353831711916e-15, - "angularVelocity": 8.50542498899784e-14, - "velocityX": 2.564108216786111, - "velocityY": 0.9719106195800618, - "timestamp": 6.257786189957939 - }, - { - "x": 7.570778780498211, - "y": 2.3017390430021187, - "heading": 1.0931792990306175e-14, - "angularVelocity": 5.5128252973146285e-14, - "velocityX": 2.198449103890015, - "velocityY": 0.8306196865479084, - "timestamp": 6.321989914322617 - }, - { - "x": 7.6884507235438, - "y": 2.345996511723915, - "heading": 1.255617668617468e-14, - "angularVelocity": 2.5300458998949426e-14, - "velocityX": 1.8327899854720402, - "velocityY": 0.689328682404981, - "timestamp": 6.3861936386872955 - }, - { - "x": 7.782645989102363, - "y": 2.3811825687176684, - "heading": 1.2272281762787649e-14, - "angularVelocity": -4.4217827890265095e-15, - "velocityX": 1.467130863367541, - "velocityY": 0.5480376308685124, - "timestamp": 6.450397363051974 - }, - { - "x": 7.853364577004646, - "y": 2.407297211810409, - "heading": 1.0083593884875461e-14, - "angularVelocity": -3.408973388335696e-14, - "velocityX": 1.1014717386268686, - "velocityY": 0.4067465454871274, - "timestamp": 6.5146010874166524 - }, - { - "x": 7.900606487123601, - "y": 2.4243404393726915, - "heading": 5.993744788639443e-15, - "angularVelocity": -6.370111915946951e-14, - "velocityX": 0.7358126119073701, - "velocityY": 0.26545543472644506, - "timestamp": 6.578804811781331 - }, - { - "x": 7.924371719360352, - "y": 2.432312250137329, - "heading": 3.300747525630688e-29, - "angularVelocity": -9.33550950190197e-14, - "velocityX": 0.3701534836478256, - "velocityY": 0.12416430422879107, - "timestamp": 6.643008536146009 - }, - { - "x": 7.922491017378158, - "y": 2.4302702205202578, - "heading": -8.756695320067185e-15, - "angularVelocity": -1.2558246039990905e-13, - "velocityX": -0.02697172547062432, - "velocityY": -0.0292853746930814, - "timestamp": 6.7127371852916164 - }, - { - "x": 7.892909500405094, - "y": 2.4175537778122855, - "heading": -1.9591167293870617e-14, - "angularVelocity": -1.553804943385475e-13, - "velocityX": -0.4242376316697698, - "velocityY": -0.1823704153714205, - "timestamp": 6.7824658344372235 - }, - { - "x": 7.835614963213244, - "y": 2.3941946511690215, - "heading": -3.229380659597313e-14, - "angularVelocity": -1.8217245648308838e-13, - "velocityX": -0.8216785767957127, - "velocityY": -0.33500041847197504, - "timestamp": 6.852194483582831 - }, - { - "x": 7.750591807680805, - "y": 2.3602335487177615, - "heading": -4.660838607004271e-14, - "angularVelocity": -2.0528978618498788e-13, - "velocityX": -1.2193432193830964, - "velocityY": -0.48704661380062597, - "timestamp": 6.921923132728438 - }, - { - "x": 7.6378194003421855, - "y": 2.3157245966907354, - "heading": -6.217925570771978e-14, - "angularVelocity": -2.23306629749304e-13, - "velocityX": -1.6173037728456214, - "velocityY": -0.6383165681882451, - "timestamp": 6.991651781874045 - }, - { - "x": 7.4972691666560305, - "y": 2.2607432816644524, - "heading": -7.852975653361751e-14, - "angularVelocity": -2.3448756036783125e-13, - "velocityX": -2.015674122592836, - "velocityY": -0.7885039463688946, - "timestamp": 7.061380431019652 - }, - { - "x": 7.328898919845841, - "y": 2.195402199778693, - "heading": -9.493163002335684e-14, - "angularVelocity": -2.3522431153784627e-13, - "velocityX": -2.414649485874868, - "velocityY": -0.9370765486839444, - "timestamp": 7.131109080165259 - }, - { - "x": 7.132640115356717, - "y": 2.1198873257690747, - "heading": -1.1019249654185571e-13, - "angularVelocity": -2.1886077968657218e-13, - "velocityX": -2.8146078676972013, - "velocityY": -1.082982030125505, - "timestamp": 7.200837729310866 - }, - { - "x": 6.908362069234848, - "y": 2.034564322766841, - "heading": -1.2195634420509482e-13, - "angularVelocity": -1.6870895689767396e-13, - "velocityX": -3.2164404282884083, - "velocityY": -1.22364342415501, - "timestamp": 7.270566378456473 - }, - { - "x": 6.65571980868215, - "y": 1.940480754591585, - "heading": -1.2356989243287506e-13, - "angularVelocity": -2.314039132481892e-14, - "velocityX": -3.6232203498612474, - "velocityY": -1.3492813833061756, - "timestamp": 7.34029502760208 - }, - { - "x": 6.3759331703186035, - "y": 1.8584154844284055, - "heading": -5.564026809490533e-25, - "angularVelocity": 1.7721538269625782e-12, - "velocityX": -4.012506219348913, - "velocityY": -1.176923275708542, - "timestamp": 7.410023676747687 - }, - { - "x": 6.227730472222822, - "y": 1.8233818050436732, - "heading": 8.669024554559813e-8, - "angularVelocity": 0.0000023803669135590183, - "velocityX": -4.069394391804057, - "velocityY": -0.9619653369627125, - "timestamp": 7.446442535139557 - }, - { - "x": 6.077875008438939, - "y": 1.7962757602738582, - "heading": 1.8100925853170345e-7, - "angularVelocity": 0.0000025898399112686397, - "velocityX": -4.114776530648671, - "velocityY": -0.7442859542205248, - "timestamp": 7.482861393531427 - }, - { - "x": 5.926790527292132, - "y": 1.777174025334229, - "heading": 2.8543132587338983e-7, - "angularVelocity": 0.0000028672526254968387, - "velocityX": -4.148523260150717, - "velocityY": -0.5245012002873043, - "timestamp": 7.519280251923297 - }, - { - "x": 5.774904257799345, - "y": 1.7661306301784576, - "heading": 4.032163201326794e-7, - "angularVelocity": 0.0000032341759039208115, - "velocityX": -4.170539006425706, - "velocityY": -0.30323287558724765, - "timestamp": 7.5556991103151665 - }, - { - "x": 5.622645699142081, - "y": 1.7631768121104108, - "heading": 5.387462462721234e-7, - "angularVelocity": 0.0000037214215965017684, - "velocityX": -4.180761434610339, - "velocityY": -0.0811068275744295, - "timestamp": 7.592117968707036 - }, - { - "x": 5.470445405221861, - "y": 1.7683209297554319, - "heading": 6.980137884656088e-7, - "angularVelocity": 0.00000437321621890928, - "velocityX": -4.179161583884165, - "velocityY": 0.1412487340945748, - "timestamp": 7.628536827098906 - }, - { - "x": 5.3187337669307375, - "y": 1.7815484404811406, - "heading": 8.894300959206496e-7, - "angularVelocity": 0.000005255966713601673, - "velocityX": -4.165743930210383, - "velocityY": 0.363204979776674, - "timestamp": 7.664955685490776 - }, - { - "x": 5.167939795459854, - "y": 1.8028219419315428, - "heading": 0.000001125567179046142, - "angularVelocity": 0.0000064839232626305455, - "velocityX": -4.140546357832767, - "velocityY": 0.5841342202849328, - "timestamp": 7.701374543882646 - }, - { - "x": 5.018489910628665, - "y": 1.8320812776224336, - "heading": 0.0000014279951382221296, - "angularVelocity": 0.000008304158134827807, - "velocityX": -4.103640021416827, - "velocityY": 0.8034116659028133, - "timestamp": 7.737793402274516 - }, - { - "x": 4.870807647705078, - "y": 1.8692435026168823, - "heading": 5.5585714874022985e-25, - "angularVelocity": -0.00003921032128071638, - "velocityX": -4.0551041258491365, - "velocityY": 1.0204115844209116, - "timestamp": 7.774212260666386 - }, - { - "x": 4.65506239891728, - "y": 1.942261032325749, - "heading": -0.00511152183249568, - "angularVelocity": -0.0931448282956492, - "velocityX": -3.9314229328313473, - "velocityY": 1.3305636736338056, - "timestamp": 7.829089401201459 - }, - { - "x": 4.448768572924891, - "y": 2.030799601998699, - "heading": -0.019590181225012573, - "angularVelocity": -0.2638377155103962, - "velocityX": -3.75919415590793, - "velocityY": 1.6133961939281727, - "timestamp": 7.883966541736533 - }, - { - "x": 4.254744422441319, - "y": 2.1321986523330394, - "heading": -0.04966705851292773, - "angularVelocity": -0.5480766124957241, - "velocityX": -3.535609701813157, - "velocityY": 1.8477466089825263, - "timestamp": 7.938843682271607 - }, - { - "x": 4.075334891626867, - "y": 2.2420858584907077, - "heading": -0.10369466963717666, - "angularVelocity": -0.984519430084333, - "velocityX": -3.269294446925206, - "velocityY": 2.002422230572227, - "timestamp": 7.99372082280668 - }, - { - "x": 3.9133815236402523, - "y": 2.3539668793447595, - "heading": -0.1763064959762628, - "angularVelocity": -1.3231707343183676, - "velocityX": -2.9511991041717054, - "velocityY": 2.0387545663488873, - "timestamp": 8.048597963341754 - }, - { - "x": 3.7693508978633568, - "y": 2.462531049535678, - "heading": -0.25707153727623516, - "angularVelocity": -1.4717428880674346, - "velocityX": -2.624601507522793, - "velocityY": 1.9783131761672412, - "timestamp": 8.103475103876828 - }, - { - "x": 3.6424532901295272, - "y": 2.564437617081841, - "heading": -0.33942786854657614, - "angularVelocity": -1.5007402074403637, - "velocityX": -2.312394678303705, - "velocityY": 1.8569948534587097, - "timestamp": 8.158352244411903 - }, - { - "x": 3.5317645016321078, - "y": 2.6576956051105367, - "heading": -0.419267219922559, - "angularVelocity": -1.4548744813872836, - "velocityX": -2.017029083843642, - "velocityY": 1.6993959072829385, - "timestamp": 8.213229384946978 - }, - { - "x": 3.436490735414249, - "y": 2.7410565467131964, - "heading": -0.49379047622142197, - "angularVelocity": -1.3580018122706745, - "velocityX": -1.7361284733297266, - "velocityY": 1.519046743140355, - "timestamp": 8.268106525482052 - }, - { - "x": 3.3559896499896893, - "y": 2.8136894224648494, - "heading": -0.5609733911044363, - "angularVelocity": -1.2242422660502008, - "velocityX": -1.4669329458430604, - "velocityY": 1.323554307740043, - "timestamp": 8.322983666017127 - }, - { - "x": 3.2897444136235245, - "y": 2.87501111637633, - "heading": -0.6192864512733086, - "angularVelocity": -1.0626111273345644, - "velocityX": -1.2071553969512154, - "velocityY": 1.1174360273434412, - "timestamp": 8.377860806552201 - }, - { - "x": 3.2373352351965794, - "y": 2.924594143237033, - "heading": -0.6675358072055315, - "angularVelocity": -0.8792250372700273, - "velocityX": -0.9550275017235731, - "velocityY": 0.9035278875183412, - "timestamp": 8.432737947087276 - }, - { - "x": 3.198416700348633, - "y": 2.962113820712204, - "heading": -0.7047663179682083, - "angularVelocity": -0.6784338688143081, - "velocityX": -0.7091939278992236, - "velocityY": 0.683703216117661, - "timestamp": 8.48761508762235 - }, - { - "x": 3.172701033774837, - "y": 2.987316560934767, - "heading": -0.7301983883543345, - "angularVelocity": -0.46343650813714726, - "velocityX": -0.46860434641925003, - "velocityY": 0.45925753377136663, - "timestamp": 8.542492228157425 - }, - { - "x": 3.1599459648132324, - "y": 3, - "heading": -0.7431853071795862, - "angularVelocity": -0.23665443750574666, - "velocityX": -0.23242954784520237, - "velocityY": 0.23112427035308772, - "timestamp": 8.5973693686925 - }, - { - "x": 3.1599459648132324, - "y": 3, - "heading": -0.7431853071795862, - "angularVelocity": -2.558321101390672e-29, - "velocityX": -1.8146718133161694e-27, - "velocityY": -1.261978589298381e-27, - "timestamp": 8.652246509227574 - }, - { - "x": 3.174254445852066, - "y": 3.0012413490099736, - "heading": -0.7319622185405995, - "angularVelocity": 0.22829900262778544, - "velocityX": 0.29106176163811776, - "velocityY": 0.025251403602526624, - "timestamp": 8.70140611356139 - }, - { - "x": 3.202850559042552, - "y": 3.004179613349041, - "heading": -0.7098801566610144, - "angularVelocity": 0.4491912044213771, - "velocityX": 0.5816994171943644, - "velocityY": 0.059769893978703525, - "timestamp": 8.750565717895206 - }, - { - "x": 3.2456916729749725, - "y": 3.009348914628675, - "heading": -0.6773899559870106, - "angularVelocity": 0.6609125747510244, - "velocityX": 0.8714698686651375, - "velocityY": 0.1051534354209254, - "timestamp": 8.799725322229023 - }, - { - "x": 3.302701027134029, - "y": 3.0173829462286443, - "heading": -0.6350563836414606, - "angularVelocity": 0.861145505933815, - "velocityX": 1.1596788650278267, - "velocityY": 0.1634275073781015, - "timestamp": 8.848884926562839 - }, - { - "x": 3.3737478770473053, - "y": 3.0290415179761236, - "heading": -0.5835964640538578, - "angularVelocity": 1.0467927943066175, - "velocityX": 1.4452282697565253, - "velocityY": 0.2371575586392502, - "timestamp": 8.898044530896655 - }, - { - "x": 3.458615323369708, - "y": 3.045243216249596, - "heading": -0.5239353255211855, - "angularVelocity": 1.2136212107718845, - "velocityX": 1.726365528618052, - "velocityY": 0.32957340672345015, - "timestamp": 8.947204135230471 - }, - { - "x": 3.5569478978283247, - "y": 3.0671028955065203, - "heading": -0.4572868659527135, - "angularVelocity": 1.3557566313166185, - "velocityX": 2.0002718856501422, - "velocityY": 0.44466751824296896, - "timestamp": 8.996363739564288 - }, - { - "x": 3.6681669875857352, - "y": 3.0959670977371183, - "heading": -0.3852650574831731, - "angularVelocity": 1.4650607840632703, - "velocityX": 2.2624081553257263, - "velocityY": 0.5871528589733368, - "timestamp": 9.045523343898104 - }, - { - "x": 3.7913406802540934, - "y": 3.1334264012320054, - "heading": -0.31001862368724636, - "angularVelocity": 1.5306558060347588, - "velocityX": 2.5055875517620856, - "velocityY": 0.761993592147766, - "timestamp": 9.09468294823192 - }, - { - "x": 3.925009228556469, - "y": 3.1812569342680064, - "heading": -0.23433608155223415, - "angularVelocity": 1.539527080427534, - "velocityX": 2.719072907802623, - "velocityY": 0.9729641579539594, - "timestamp": 9.143842552565737 - }, - { - "x": 4.06702482491259, - "y": 3.2412227402695866, - "heading": -0.16161028675015265, - "angularVelocity": 1.479381207143992, - "velocityX": 2.8888677661392754, - "velocityY": 1.219818727473582, - "timestamp": 9.193002156899553 - }, - { - "x": 4.214551884068752, - "y": 3.3147260265586795, - "heading": -0.09566981004789035, - "angularVelocity": 1.3413549111277785, - "velocityX": 3.000981418694643, - "velocityY": 1.4951968650921703, - "timestamp": 9.242161761233369 - }, - { - "x": 4.364378322917566, - "y": 3.402451984218925, - "heading": -0.04058781830439109, - "angularVelocity": 1.1204726419168822, - "velocityX": 3.047755181905567, - "velocityY": 1.7845130946243346, - "timestamp": 9.291321365567185 - }, - { - "x": 4.5134758949279785, - "y": 3.504307985305786, - "heading": 3.3631785914154804e-27, - "angularVelocity": 0.825633543117669, - "velocityX": 3.032928641938876, - "velocityY": 2.0719450953106353, - "timestamp": 9.340480969901002 - }, - { - "x": 4.600523359700349, - "y": 3.569285870650025, - "heading": 0.01816599344926272, - "angularVelocity": 0.6249216900973263, - "velocityX": 2.994487967650624, - "velocityY": 2.235280445392861, - "timestamp": 9.369550201673759 - }, - { - "x": 4.686546893692203, - "y": 3.6390136130428754, - "heading": 0.030283751359764955, - "angularVelocity": 0.4168585535809847, - "velocityX": 2.9592640997300075, - "velocityY": 2.398678538804583, - "timestamp": 9.398619433446516 - }, - { - "x": 4.771736384884454, - "y": 3.7134909076284828, - "heading": 0.035957094180445175, - "angularVelocity": 0.19516658936948508, - "velocityX": 2.930572498723082, - "velocityY": 2.562066144981634, - "timestamp": 9.427688665219273 - }, - { - "x": 4.856660629697274, - "y": 3.792667533709231, - "heading": 0.03406209145937424, - "angularVelocity": -0.06518929484909297, - "velocityX": 2.9214478551306744, - "velocityY": 2.723726127325746, - "timestamp": 9.45675789699203 - }, - { - "x": 4.94653857071501, - "y": 3.871098031264581, - "heading": 0.0279504475909309, - "angularVelocity": -0.21024442325203974, - "velocityX": 3.0918581447331515, - "velocityY": 2.698058833080388, - "timestamp": 9.485827128764788 - }, - { - "x": 5.0396307624325205, - "y": 3.9454940296259062, - "heading": 0.021490360496799883, - "angularVelocity": -0.2222310910942296, - "velocityX": 3.2024304063223243, - "velocityY": 2.5592695033325716, - "timestamp": 9.514896360537545 - }, - { - "x": 5.135720972459086, - "y": 4.015693585929082, - "heading": 0.01454272767997795, - "angularVelocity": -0.2390029730105524, - "velocityX": 3.3055641366008026, - "velocityY": 2.414909236403115, - "timestamp": 9.543965592310302 - }, - { - "x": 5.234684813317334, - "y": 4.081609056683672, - "heading": 0.007288208288849233, - "angularVelocity": -0.24956006570243372, - "velocityX": 3.404418858808358, - "velocityY": 2.2675339778453596, - "timestamp": 9.57303482408306 - }, - { - "x": 5.336422443389893, - "y": 4.143174171447754, - "heading": -2.9790128893571064e-27, - "angularVelocity": -0.25071898513944774, - "velocityX": 3.4998389660885882, - "velocityY": 2.1178789740765374, - "timestamp": 9.602104055855817 - }, - { - "x": 5.601458841609157, - "y": 4.267372818196447, - "heading": -0.014576784799321342, - "angularVelocity": -0.2046562124623809, - "velocityX": 3.7210774646787157, - "velocityY": 1.7437332708461397, - "timestamp": 9.67332976957316 - }, - { - "x": 5.879046341382613, - "y": 4.363262401476311, - "heading": -0.02679043418253227, - "angularVelocity": -0.17147809050647556, - "velocityX": 3.8972933409281296, - "velocityY": 1.3462776050289633, - "timestamp": 9.744555483290503 - }, - { - "x": 6.164615438298519, - "y": 4.429223569887391, - "heading": -0.03945167341125408, - "angularVelocity": -0.1777621952511066, - "velocityX": 4.009353953955124, - "velocityY": 0.926086450643998, - "timestamp": 9.815781197007846 - }, - { - "x": 6.44981818392364, - "y": 4.464212612650885, - "heading": -0.051564894166171, - "angularVelocity": -0.17006808528430892, - "velocityX": 4.004210428230155, - "velocityY": 0.4912417291084996, - "timestamp": 9.887006910725189 - }, - { - "x": 6.723678067297048, - "y": 4.470383566214521, - "heading": -0.06187724212677704, - "angularVelocity": -0.14478405932905375, - "velocityX": 3.844958078766487, - "velocityY": 0.08663940649474564, - "timestamp": 9.958232624442532 - }, - { - "x": 6.976222932545455, - "y": 4.454096398362661, - "heading": -0.06932431769193947, - "angularVelocity": -0.10455599777793567, - "velocityX": 3.5456979237950708, - "velocityY": -0.22866977390349366, - "timestamp": 10.029458338159875 - }, - { - "x": 7.201595271822139, - "y": 4.422975711797285, - "heading": -0.07334279579410785, - "angularVelocity": -0.056418923622381, - "velocityX": 3.164199100497136, - "velocityY": -0.436930498006333, - "timestamp": 10.100684051877218 - }, - { - "x": 7.3972346520908046, - "y": 4.383240926841446, - "heading": -0.07372930856311687, - "angularVelocity": -0.005426590325831984, - "velocityX": 2.746752121643222, - "velocityY": -0.5578713484504427, - "timestamp": 10.171909765594561 - }, - { - "x": 7.562198130742167, - "y": 4.339357119000387, - "heading": -0.07044283334517008, - "angularVelocity": 0.046141695834583545, - "velocityX": 2.316066347976712, - "velocityY": -0.6161231042936308, - "timestamp": 10.243135479311904 - }, - { - "x": 7.696221986430261, - "y": 4.294484349506991, - "heading": -0.06350267472615741, - "angularVelocity": 0.09743894805399134, - "velocityX": 1.8816779600126234, - "velocityY": -0.6300080006424584, - "timestamp": 10.314361193029248 - }, - { - "x": 7.799317237709317, - "y": 4.250909609152329, - "heading": -0.05294727053269687, - "angularVelocity": 0.14819653805575428, - "velocityX": 1.4474442711544644, - "velocityY": -0.6117838359273932, - "timestamp": 10.38558690674659 - }, - { - "x": 7.871602327588269, - "y": 4.210338954621034, - "heading": -0.03881874513325574, - "angularVelocity": 0.1983627072592022, - "velocityX": 1.0148735071411497, - "velocityY": -0.5696068514286532, - "timestamp": 10.456812620463934 - }, - { - "x": 7.913232875268372, - "y": 4.174082836279598, - "heading": -0.021157400982541673, - "angularVelocity": 0.2479630351027785, - "velocityX": 0.5844876170046177, - "velocityY": -0.5090313097502501, - "timestamp": 10.528038334181277 - }, - { - "x": 7.924371719360352, - "y": 4.143174171447754, - "heading": -1.0097437960393402e-29, - "angularVelocity": 0.2970472302531645, - "velocityX": 0.15638796033947933, - "velocityY": -0.4339537397196697, - "timestamp": 10.59926404789862 - }, - { - "x": 7.901061879854102, - "y": 4.117014647255202, - "heading": 0.026867149185379923, - "angularVelocity": 0.3495205221621958, - "velocityX": -0.3032427154636389, - "velocityY": -0.34031487643917635, - "timestamp": 10.676132636384283 - }, - { - "x": 7.842409228188353, - "y": 4.098003471379881, - "heading": 0.0576084810480504, - "angularVelocity": 0.39992059784477624, - "velocityX": -0.7630249601459601, - "velocityY": -0.2473204757606027, - "timestamp": 10.753001224869946 - }, - { - "x": 7.7483989682142225, - "y": 4.086076859183639, - "heading": 0.09201917280173504, - "angularVelocity": 0.4476560898487505, - "velocityX": -1.2229996911113385, - "velocityY": -0.15515586315814983, - "timestamp": 10.829869813355609 - }, - { - "x": 7.619011693227179, - "y": 4.081149603953839, - "heading": 0.12982621784579915, - "angularVelocity": 0.49183998026860576, - "velocityX": -1.6832268880698338, - "velocityY": -0.06409972300609605, - "timestamp": 10.906738401841272 - }, - { - "x": 7.45422085196502, - "y": 4.083102110399606, - "heading": 0.1706474007379839, - "angularVelocity": 0.5310515477957343, - "velocityX": -2.143799496108805, - "velocityY": 0.025400576285222472, - "timestamp": 10.983606990326935 - }, - { - "x": 7.253987975144995, - "y": 4.091754328818402, - "heading": 0.2139089238500665, - "angularVelocity": 0.5627984585686955, - "velocityX": -2.6048725593207736, - "velocityY": 0.1125585702722947, - "timestamp": 11.060475578812598 - }, - { - "x": 7.018252601475449, - "y": 4.106804485403023, - "heading": 0.2586522067646371, - "angularVelocity": 0.5820749905264067, - "velocityX": -3.0667321764795115, - "velocityY": 0.19579072389794971, - "timestamp": 11.137344167298261 - }, - { - "x": 6.746907774405913, - "y": 4.127643106983061, - "heading": 0.30295013129710396, - "angularVelocity": 0.5762812275488699, - "velocityX": -3.5299832144068213, - "velocityY": 0.27109410996826905, - "timestamp": 11.214212755783924 - }, - { - "x": 6.439749090740071, - "y": 4.152402452088509, - "heading": 0.3409535387391942, - "angularVelocity": 0.49439450093686, - "velocityX": -3.9958933774766843, - "velocityY": 0.3220996455537399, - "timestamp": 11.291081344269587 - }, - { - "x": 6.1183816256646795, - "y": 4.146072576447017, - "heading": 0.3409535574726789, - "angularVelocity": 2.4370793128443506e-7, - "velocityX": -4.180738470764694, - "velocityY": -0.08234671360814934, - "timestamp": 11.36794993275525 - }, - { - "x": 5.79974773485045, - "y": 4.103769418408104, - "heading": 0.34095356182725745, - "angularVelocity": 5.664964963804072e-8, - "velocityX": -4.145176815282082, - "velocityY": -0.5503308812129776, - "timestamp": 11.444818521240913 - }, - { - "x": 5.489237994025465, - "y": 4.026346742277124, - "heading": 0.3360287742583908, - "angularVelocity": -0.06406762067427833, - "velocityX": -4.0394880007832965, - "velocityY": -1.0072082453474474, - "timestamp": 11.521687109726576 - }, - { - "x": 5.199567022679866, - "y": 3.922330280425125, - "heading": 0.28775237995316766, - "angularVelocity": -0.6280379964857458, - "velocityX": -3.7683919667605905, - "velocityY": -1.3531725234085639, - "timestamp": 11.59855569821224 - }, - { - "x": 4.938883364377543, - "y": 3.798508366694055, - "heading": 0.21191876629762135, - "angularVelocity": -0.9865357898394373, - "velocityX": -3.391289776980151, - "velocityY": -1.6108259065296096, - "timestamp": 11.675424286697902 - }, - { - "x": 4.709807126039821, - "y": 3.658502172134417, - "heading": 0.11482976825156727, - "angularVelocity": -1.2630516568437093, - "velocityX": -2.9801020527448228, - "velocityY": -1.8213706966370415, - "timestamp": 11.752292875183565 - }, - { - "x": 4.5134758949279785, - "y": 3.504307985305786, - "heading": 1.6717492530612703e-28, - "angularVelocity": -1.4938451520153042, - "velocityX": -2.5541152111627516, - "velocityY": -2.0059453395243487, - "timestamp": 11.829161463669228 - }, - { - "x": 4.400933042470042, - "y": 3.3997056562283166, - "heading": -0.08028643635941543, - "angularVelocity": -1.6227759765270617, - "velocityX": -2.2747533155038484, - "velocityY": -2.1142568335677403, - "timestamp": 11.878636214048043 - }, - { - "x": 4.302937398056285, - "y": 3.291951339386866, - "heading": -0.16507306663801824, - "angularVelocity": -1.7137353827844055, - "velocityX": -1.9807203404449545, - "velocityY": -2.177965851599104, - "timestamp": 11.928110964426859 - }, - { - "x": 4.219869139195696, - "y": 3.1838203852492617, - "heading": -0.2519454962217678, - "angularVelocity": -1.755894247441151, - "velocityX": -1.6790030919722805, - "velocityY": -2.185578569061436, - "timestamp": 11.977585714805674 - }, - { - "x": 4.151481762948963, - "y": 3.0784802030686347, - "heading": -0.3381364984876326, - "angularVelocity": -1.7421210133638232, - "velocityX": -1.382268242348026, - "velocityY": -2.1291705642588132, - "timestamp": 12.027060465184489 - }, - { - "x": 4.096769953274228, - "y": 2.9790758688649013, - "heading": -0.42082279924897953, - "angularVelocity": -1.671282828680057, - "velocityX": -1.1058531726955891, - "velocityY": -2.0091932438793374, - "timestamp": 12.076535215563304 - }, - { - "x": 4.054136857799692, - "y": 2.888285052434389, - "heading": -0.49746057385028863, - "angularVelocity": -1.5490280196365382, - "velocityX": -0.8617142107459757, - "velocityY": -1.8350939769346957, - "timestamp": 12.126009965942119 - }, - { - "x": 4.021745584566135, - "y": 2.808098433899372, - "heading": -0.5658222077410688, - "angularVelocity": -1.3817479293448123, - "velocityX": -0.6547031159438974, - "velocityY": -1.6207584256827539, - "timestamp": 12.175484716320934 - }, - { - "x": 3.997836195630109, - "y": 2.7398606697094916, - "heading": -0.6241866316468845, - "angularVelocity": -1.1796810182756619, - "velocityX": -0.48326446829864, - "velocityY": -1.3792442340264681, - "timestamp": 12.22495946669975 - }, - { - "x": 3.9808795710102305, - "y": 2.684447813014619, - "heading": -0.6715007313655615, - "angularVelocity": -0.9563282150269545, - "velocityX": -0.3427328989039043, - "velocityY": -1.1200229666767407, - "timestamp": 12.274434217078564 - }, - { - "x": 3.9695943024140083, - "y": 2.6424340619644666, - "heading": -0.7072413229342775, - "angularVelocity": -0.722400644673479, - "velocityX": -0.22810157726544558, - "velocityY": -0.8491958166229038, - "timestamp": 12.32390896745738 - }, - { - "x": 3.962913327171321, - "y": 2.61420036575793, - "heading": -0.7311750968478933, - "angularVelocity": -0.48375734552192345, - "velocityX": -0.13503807884896393, - "velocityY": -0.5706687955039338, - "timestamp": 12.373383717836195 - }, - { - "x": 3.959945964813233, - "y": 2.5999999999999996, - "heading": -0.7431853071795862, - "angularVelocity": -0.2427543391272071, - "velocityX": -0.059977308331374074, - "velocityY": -0.2870224841803447, - "timestamp": 12.42285846821501 - }, - { - "x": 3.959945964813233, - "y": 2.5999999999999996, - "heading": -0.7431853071795862, - "angularVelocity": -6.99438774695564e-29, - "velocityX": 3.9418487096305405e-23, - "velocityY": -1.9709900600874517e-23, - "timestamp": 12.472333218593825 - }, - { - "x": 3.909945960323692, - "y": 2.62500000224477, - "heading": -0.7431853071795862, - "angularVelocity": 4.859579089269393e-17, - "velocityX": -0.522546012525329, - "velocityY": 0.2612730062626647, - "timestamp": 12.568018580822319 - }, - { - "x": 3.8099459537390326, - "y": 2.6750000055371, - "heading": -0.7431853071795862, - "angularVelocity": 1.916132911010009e-16, - "velocityX": -1.0450920000267447, - "velocityY": 0.5225460000133729, - "timestamp": 12.663703943050812 - }, - { - "x": 3.6599459506462395, - "y": 2.7500000070834965, - "heading": -0.7431853071795862, - "angularVelocity": 2.752945533306333e-16, - "velocityX": -1.5676379291390343, - "velocityY": 0.7838189645695182, - "timestamp": 12.759389305279306 - }, - { - "x": 3.4599459789802265, - "y": 2.849999992916503, - "heading": -0.7431853071795862, - "angularVelocity": 3.1955367206396795e-16, - "velocityX": -2.090183566305787, - "velocityY": 1.0450917831528945, - "timestamp": 12.8550746675078 - }, - { - "x": 3.309945975887433, - "y": 2.9249999944628997, - "heading": -0.7431853071795862, - "angularVelocity": 2.9470794803491527e-16, - "velocityX": -1.5676379291390345, - "velocityY": 0.783818964569518, - "timestamp": 12.950760029736294 - }, - { - "x": 3.2099459693027734, - "y": 2.9749999977552295, - "heading": -0.7431853071795862, - "angularVelocity": 2.1840033759327932e-16, - "velocityX": -1.0450920000267447, - "velocityY": 0.5225460000133729, - "timestamp": 13.046445391964788 - }, - { - "x": 3.1599459648132324, - "y": 3, - "heading": -0.7431853071795862, - "angularVelocity": 1.4984441245497084e-16, - "velocityX": -0.522546012525329, - "velocityY": 0.26127300626266475, - "timestamp": 13.142130754193282 - }, - { - "x": 3.1599459648132324, - "y": 3, - "heading": -0.7431853071795862, - "angularVelocity": -1.1440552586496935e-29, - "velocityX": -3.941408736271529e-23, - "velocityY": 1.9707570184447103e-23, - "timestamp": 13.237816116421776 - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 0.6802782416343689, - "y": 4.38139533996582, - "heading": -1.0378726274695866, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "timestamp": 1.3444417435934044, - "isStopPoint": false, - "x": 3.517277717590332, - "y": 1.2412056922912598, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 18 - }, - { - "timestamp": 2.7358004856496816, - "isStopPoint": false, - "x": 7.967684268951416, - "y": 0.8080758452415466, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 15 - }, - { - "timestamp": 3.874896381274637, - "isStopPoint": false, - "x": 4.870807647705078, - "y": 1.8692435026168823, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 4.743075979839502, - "isStopPoint": true, - "x": 3.1599457263946533, - "y": 3, - "heading": -0.7431853071795862, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 5.572261226613519, - "isStopPoint": false, - "x": 4.870807647705078, - "y": 1.8692435026168823, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 - }, - { - "timestamp": 5.936767568134546, - "isStopPoint": false, - "x": 6.3759331703186035, - "y": 1.8584154844284058, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "timestamp": 6.643008536146009, - "isStopPoint": false, - "x": 7.924371719360352, - "y": 2.432312250137329, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "timestamp": 7.410023676747687, - "isStopPoint": false, - "x": 6.3759331703186035, - "y": 1.8584154844284058, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 - }, - { - "timestamp": 7.774212260666386, - "isStopPoint": false, - "x": 4.870807647705078, - "y": 1.8692435026168823, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 8.652246509227574, - "isStopPoint": true, - "x": 3.1599459648132324, - "y": 3, - "heading": -0.7431853071795862, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "timestamp": 9.340480969901002, - "isStopPoint": false, - "x": 4.5134758949279785, - "y": 3.504307985305786, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 9 - }, - { - "timestamp": 9.602104055855817, - "isStopPoint": false, - "x": 5.336422443389893, - "y": 4.143174171447754, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "timestamp": 10.59926404789862, - "isStopPoint": false, - "x": 7.924371719360352, - "y": 4.143174171447754, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 16 - }, - { - "timestamp": 11.829161463669228, - "isStopPoint": false, - "x": 4.5134758949279785, - "y": 3.504307985305786, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 12.472333218593825, - "isStopPoint": true, - "x": 3.959945964813233, - "y": 2.5999999999999996, - "heading": -0.7431853071795862, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 8 - }, - { - "timestamp": 13.237816116421776, - "isStopPoint": true, - "x": 3.1599459648132324, - "y": 3, - "heading": -0.7431853071795862, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "constraints": [ - { - "scope": [ - "first" - ], - "type": "StopPoint" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint" - }, - { - "scope": [ - 4 - ], - "type": "StopPoint" - }, - { - "scope": [ - 10 - ], - "type": "StopPoint" - }, - { - "scope": [ - 15 - ], - "type": "StopPoint" - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": true - }, - "Distance Center 6": { - "waypoints": [ - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 15 - }, - { - "x": 2.542736291885376, - "y": 6.991001605987549, - "heading": 0.610560190519, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "x": 7.946028232574463, - "y": 7.456615924835205, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 6.018601417541504, - "y": 6.676982402801514, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "x": 7.891887187957764, - "y": 5.810723304748535, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "x": 6.018601417541504, - "y": 6.676982402801514, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "x": 1.990496039390564, - "y": 6.157227039337158, - "heading": -0.6763337151495863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "x": 2.4885952472686768, - "y": 5.583330154418945, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "x": 1.990496039390564, - "y": 4.75, - "heading": -0.6763337151495863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 7 - }, - { - "x": 2.477766990661621, - "y": 4.240628242492676, - "heading": -0.6763337151495863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 1.823684249569662e-28, - "angularVelocity": 1.4442982636716686e-28, - "velocityX": -9.525967417566346e-28, - "velocityY": -1.281458100821258e-28, - "timestamp": 0 - }, - { - "x": 1.3712979426432907, - "y": 5.607416241994932, - "heading": 0.010815420235994461, - "angularVelocity": 0.14684104373961251, - "velocityX": 0.28916233109823775, - "velocityY": 0.3415900192895115, - "timestamp": 0.07365393190185317 - }, - { - "x": 1.413894107001652, - "y": 5.657734961213299, - "heading": 0.03244400597180746, - "angularVelocity": 0.2936514749088203, - "velocityX": 0.5783284511561763, - "velocityY": 0.6831776378947206, - "timestamp": 0.14730786380370633 - }, - { - "x": 1.4777889053988098, - "y": 5.733212662791941, - "heading": 0.06488357959528479, - "angularVelocity": 0.44043234062105985, - "velocityX": 0.8675001693365169, - "velocityY": 1.02476133493076, - "timestamp": 0.22096179570555952 - }, - { - "x": 1.5629828503604866, - "y": 5.8338489085152085, - "heading": 0.10813427799106332, - "angularVelocity": 0.5872150648170668, - "velocityX": 1.1566788460825288, - "velocityY": 1.3663390823095432, - "timestamp": 0.29461572760741267 - }, - { - "x": 1.6694764937636932, - "y": 5.959643075254826, - "heading": 0.16220151122014106, - "angularVelocity": 0.73407124145286, - "velocityX": 1.445865015666968, - "velocityY": 1.707908369470939, - "timestamp": 0.3682696595092658 - }, - { - "x": 1.7972703292010448, - "y": 6.110594337397887, - "heading": 0.22709931173769698, - "angularVelocity": 0.8811179368405597, - "velocityX": 1.7350578867621362, - "velocityY": 2.0494664472795554, - "timestamp": 0.441923591411119 - }, - { - "x": 1.9463646521461748, - "y": 6.286701685728506, - "heading": 0.3028533408965006, - "angularVelocity": 1.0285130366122057, - "velocityX": 2.0242547695051, - "velocityY": 2.391010822956316, - "timestamp": 0.5155775233129721 - }, - { - "x": 2.0954593391167733, - "y": 6.462777598713869, - "heading": 0.3796919635365941, - "angularVelocity": 1.0432385706507032, - "velocityX": 2.024259711881685, - "velocityY": 2.390584025031971, - "timestamp": 0.5892314552148253 - }, - { - "x": 2.2232538317965016, - "y": 6.613699108565928, - "heading": 0.4456074038458184, - "angularVelocity": 0.8949344401200363, - "velocityX": 1.735066810146942, - "velocityY": 2.0490625001957663, - "timestamp": 0.6628853871166785 - }, - { - "x": 2.3297485254769024, - "y": 6.739466694851569, - "heading": 0.5005708250556786, - "angularVelocity": 0.7462387925616956, - "velocityX": 1.4458792752885092, - "velocityY": 1.7075474864428304, - "timestamp": 0.7365393190185318 - }, - { - "x": 2.414943830059909, - "y": 6.840080642329488, - "heading": 0.544560026646676, - "angularVelocity": 0.5972417283793449, - "velocityX": 1.1566973056717835, - "velocityY": 1.3660363388609074, - "timestamp": 0.810193250920385 - }, - { - "x": 2.4788400911601216, - "y": 6.915541090400898, - "heading": 0.5775596586986871, - "angularVelocity": 0.448036258213403, - "velocityX": 0.8675200284671415, - "velocityY": 1.0245270839303438, - "timestamp": 0.8838471828222382 - }, - { - "x": 2.5214375444702517, - "y": 6.9658480830621485, - "heading": 0.5995607651691287, - "angularVelocity": 0.2987091917884169, - "velocityX": 0.578345951264258, - "velocityY": 0.6830184263385521, - "timestamp": 0.9575011147240914 - }, - { - "x": 2.542736291885376, - "y": 6.991001605987549, - "heading": 0.610560190519, - "angularVelocity": 0.14933928258614232, - "velocityX": 0.2891732574916107, - "velocityY": 0.34150957424673456, - "timestamp": 1.0311550466259445 - }, - { - "x": 2.542736291885376, - "y": 6.991001605987549, - "heading": 0.610560190519, - "angularVelocity": -1.9066998701598976e-24, - "velocityX": -9.94898252689215e-24, - "velocityY": 6.590062338164459e-24, - "timestamp": 1.1048089785277977 - }, - { - "x": 2.5860882804994176, - "y": 6.997986329604455, - "heading": 0.6040705470130452, - "angularVelocity": -0.07648715527237229, - "velocityX": 0.5109479868109409, - "velocityY": 0.08232218600769788, - "timestamp": 1.189655165875792 - }, - { - "x": 2.6727971429282147, - "y": 7.011957094513919, - "heading": 0.5914830277795109, - "angularVelocity": -0.1483569224142865, - "velocityX": 1.0219535507607762, - "velocityY": 0.16465990218469131, - "timestamp": 1.274501353223786 - }, - { - "x": 2.8028689447073436, - "y": 7.0329156007946185, - "heading": 0.5733232484637217, - "angularVelocity": -0.21403176599211712, - "velocityX": 1.533030603315665, - "velocityY": 0.2470176555457783, - "timestamp": 1.3593475405717803 - }, - { - "x": 2.976311299631257, - "y": 7.0608641143026825, - "heading": 0.550333584482233, - "angularVelocity": -0.2709569480971165, - "velocityX": 2.044197392306438, - "velocityY": 0.3294021143629483, - "timestamp": 1.4441937279197745 - }, - { - "x": 3.1931336411091458, - "y": 7.095805765761892, - "heading": 0.5236415617438719, - "angularVelocity": -0.3145930721540211, - "velocityX": 2.5554753637732515, - "velocityY": 0.4118234719952363, - "timestamp": 1.5290399152677687 - }, - { - "x": 3.4533461169129187, - "y": 7.137744979228221, - "heading": 0.49516279138937963, - "angularVelocity": -0.3356517392783657, - "velocityX": 3.0668729372189607, - "velocityY": 0.4942969716991197, - "timestamp": 1.613886102615763 - }, - { - "x": 3.7569462055816967, - "y": 7.1866871771577365, - "heading": 0.4688699375076152, - "angularVelocity": -0.3098884546682701, - "velocityX": 3.5782407926424726, - "velocityY": 0.576834380651426, - "timestamp": 1.6987322899637571 - }, - { - "x": 4.1036936295460995, - "y": 7.242619011134652, - "heading": 0.4580775990586799, - "angularVelocity": -0.12719886168450764, - "velocityX": 4.086776728602178, - "velocityY": 0.6592144647291258, - "timestamp": 1.7835784773117513 - }, - { - "x": 4.453970286773956, - "y": 7.299020832288215, - "heading": 0.45807758779565816, - "angularVelocity": -1.3274634993655314e-7, - "velocityX": 4.128372389807061, - "velocityY": 0.664753749302052, - "timestamp": 1.8684246646597455 - }, - { - "x": 4.804246944243858, - "y": 7.355422651938624, - "heading": 0.45807757653265324, - "angularVelocity": -1.3274615245620227e-7, - "velocityX": 4.128372392659827, - "velocityY": 0.6647537315858247, - "timestamp": 1.9532708520077398 - }, - { - "x": 5.1545236017137634, - "y": 7.41182447158901, - "heading": 0.4580775652696484, - "angularVelocity": -1.327461517119493e-7, - "velocityX": 4.128372392659871, - "velocityY": 0.66475373158555, - "timestamp": 2.038117039355734 - }, - { - "x": 5.5048002591836696, - "y": 7.468226291239396, - "heading": 0.45807755400664346, - "angularVelocity": -1.3274615213673127e-7, - "velocityX": 4.128372392659871, - "velocityY": 0.6647537315855488, - "timestamp": 2.122963226703728 - }, - { - "x": 5.855076916654743, - "y": 7.524628110882535, - "heading": 0.4580775427436386, - "angularVelocity": -1.3274615192395048e-7, - "velocityX": 4.128372392673625, - "velocityY": 0.664753731500135, - "timestamp": 2.2078094140517224 - }, - { - "x": 6.205353649404039, - "y": 7.5810294630174075, - "heading": 0.45807753148063285, - "angularVelocity": -1.3274616274715188e-7, - "velocityX": 4.128373279905273, - "velocityY": 0.6647482214320765, - "timestamp": 2.2926556013997166 - }, - { - "x": 6.558504100556125, - "y": 7.6150832124269465, - "heading": 0.45807750773089817, - "angularVelocity": -2.7991516688896703e-7, - "velocityX": 4.162243021052327, - "velocityY": 0.4013586287604083, - "timestamp": 2.377501788747711 - }, - { - "x": 6.882961359930591, - "y": 7.623821022982591, - "heading": 0.38150693231968036, - "angularVelocity": -0.9024633611073862, - "velocityX": 3.8240641037140963, - "velocityY": 0.10298412726321374, - "timestamp": 2.462347976095705 - }, - { - "x": 7.164467598037234, - "y": 7.623239648813218, - "heading": 0.3068146622390825, - "angularVelocity": -0.8803255916998344, - "velocityX": 3.317841931447713, - "velocityY": -0.006852095392192507, - "timestamp": 2.547194163443699 - }, - { - "x": 7.402821150081126, - "y": 7.614460764318352, - "heading": 0.23751214172935955, - "angularVelocity": -0.8168018231093954, - "velocityX": 2.8092429311678027, - "velocityY": -0.10346822608374351, - "timestamp": 2.6320403507916934 - }, - { - "x": 7.597964025430219, - "y": 7.597880541854749, - "heading": 0.1748380247592176, - "angularVelocity": -0.7386792374427614, - "velocityX": 2.299960451360303, - "velocityY": -0.19541505613681964, - "timestamp": 2.7168865381396876 - }, - { - "x": 7.749869224899896, - "y": 7.5737014715455055, - "heading": 0.11942485607561616, - "angularVelocity": -0.6531014582461551, - "velocityX": 1.790359758260474, - "velocityY": -0.2849753308309952, - "timestamp": 2.801732725487682 - }, - { - "x": 7.8585212115542395, - "y": 7.542046503417778, - "heading": 0.07165557432406013, - "angularVelocity": -0.563010351374208, - "velocityX": 1.2805759463145991, - "velocityY": -0.3730865123956133, - "timestamp": 2.886578912835676 - }, - { - "x": 7.923909903080463, - "y": 7.502998223175264, - "heading": 0.03178626375944312, - "angularVelocity": -0.46990102691467095, - "velocityX": 0.7706733038932455, - "velocityY": -0.46022433609607355, - "timestamp": 2.9714251001836702 - }, - { - "x": 7.946028232574463, - "y": 7.456615924835205, - "heading": 4.872348893999645e-24, - "angularVelocity": -0.3746339670994609, - "velocityX": 0.2606873707039118, - "velocityY": -0.5466633185274797, - "timestamp": 3.0562712875316644 - }, - { - "x": 7.922039225710158, - "y": 7.400326502118091, - "heading": -0.024206358094073104, - "angularVelocity": -0.2736076214341235, - "velocityX": -0.271150872146958, - "velocityY": -0.6362466836884642, - "timestamp": 3.1447423541167057 - }, - { - "x": 7.8509861658143585, - "y": 7.336150571120965, - "heading": -0.039787388549924835, - "angularVelocity": -0.17611441861475394, - "velocityX": -0.8031219995239999, - "velocityY": -0.7253889149786428, - "timestamp": 3.233213420701747 - }, - { - "x": 7.732853496113255, - "y": 7.264141046256132, - "heading": -0.04716434286147303, - "angularVelocity": -0.08338267635167741, - "velocityX": -1.3352689671436382, - "velocityY": -0.8139330477678314, - "timestamp": 3.321684487286788 - }, - { - "x": 7.5676196522986485, - "y": 7.1843737716186435, - "heading": -0.04693804499155485, - "angularVelocity": 0.002557874327203416, - "velocityX": -1.8676596789502777, - "velocityY": -0.9016199048624852, - "timestamp": 3.4101555538718293 - }, - { - "x": 7.355252804098637, - "y": 7.096966555657978, - "heading": -0.040037308652199996, - "angularVelocity": 0.07799992252519808, - "velocityX": -2.400410172470089, - "velocityY": -0.9879751576934634, - "timestamp": 3.4986266204568706 - }, - { - "x": 7.09570163072694, - "y": 7.002127255801257, - "heading": -0.028090499343208248, - "angularVelocity": 0.13503634318128263, - "velocityX": -2.933740751528163, - "velocityY": -1.071980970926346, - "timestamp": 3.587097687041912 - }, - { - "x": 6.78887318109941, - "y": 6.900320277003001, - "heading": -0.014696086966441679, - "angularVelocity": 0.1513987893871656, - "velocityX": -3.4681219688088203, - "velocityY": -1.1507375544116039, - "timestamp": 3.675568753626953 - }, - { - "x": 6.434688295787984, - "y": 6.793487938945866, - "heading": -0.014695897490859833, - "angularVelocity": 0.000002141667204427998, - "velocityX": -4.003397935425274, - "velocityY": -1.2075398452944421, - "timestamp": 3.7640398202119942 - }, - { - "x": 6.07023453147431, - "y": 6.729977275374465, - "heading": -0.014695885109107147, - "angularVelocity": 1.3995256487596975e-7, - "velocityX": -4.119468413589764, - "velocityY": -0.7178693105316132, - "timestamp": 3.8525108867970355 - }, - { - "x": 5.70577998818262, - "y": 6.666471082103607, - "heading": -0.014695872727371504, - "angularVelocity": 1.39952372261179e-7, - "velocityX": -4.119477218479835, - "velocityY": -0.7178187821417759, - "timestamp": 3.9409819533820767 - }, - { - "x": 5.341325440621852, - "y": 6.602964913334049, - "heading": -0.014695860345028063, - "angularVelocity": 1.399592422510824e-7, - "velocityX": -4.119477266733788, - "velocityY": -0.7178185052003817, - "timestamp": 4.029453019967118 - }, - { - "x": 5.012545454341452, - "y": 6.545672600238492, - "heading": 0.062448454910025174, - "angularVelocity": 0.8719722529952728, - "velocityX": -3.716243049521347, - "velocityY": -0.6475824843875421, - "timestamp": 4.11792408655216 - }, - { - "x": 4.730734074716532, - "y": 6.496564334374803, - "heading": 0.12856972259022606, - "angularVelocity": 0.7473773091301318, - "velocityX": -3.18535076497619, - "velocityY": -0.5550771315329972, - "timestamp": 4.206395153137201 - }, - { - "x": 4.495891252721745, - "y": 6.455640399436969, - "heading": 0.183666717807647, - "angularVelocity": 0.6227685201970513, - "velocityX": -2.6544590345709054, - "velocityY": -0.4625685720483159, - "timestamp": 4.294866219722243 - }, - { - "x": 4.30801697716886, - "y": 6.422901026579304, - "heading": 0.22774087166689647, - "angularVelocity": 0.4981759072259397, - "velocityX": -2.123567430627664, - "velocityY": -0.3700573997962927, - "timestamp": 4.383337286307285 - }, - { - "x": 4.167111258222206, - "y": 6.398346386946046, - "heading": 0.26079453276814246, - "angularVelocity": 0.3736098407887256, - "velocityX": -1.5926757117956818, - "velocityY": -0.2775442930786397, - "timestamp": 4.471808352892326 - }, - { - "x": 4.073174110202746, - "y": 6.38197659167395, - "heading": 0.28282976197594306, - "angularVelocity": 0.249067068572296, - "velocityX": -1.061783831091989, - "velocityY": -0.18502993016773903, - "timestamp": 4.560279419477368 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "angularVelocity": 0.12453576635098247, - "velocityX": -0.5308918758680198, - "velocityY": -0.09251495826569413, - "timestamp": 4.64875048606241 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "angularVelocity": -1.7260583733230727e-24, - "velocityX": -2.8721435656913086e-23, - "velocityY": 9.699536718146445e-24, - "timestamp": 4.737221552647451 - }, - { - "x": 4.048121646310105, - "y": 6.381836946527732, - "heading": 0.2879220023652063, - "angularVelocity": -0.09569026109228784, - "velocityX": 0.35391656262382837, - "velocityY": 0.12992033412904042, - "timestamp": 4.799146053846991 - }, - { - "x": 4.092109802394514, - "y": 6.39750532464796, - "heading": 0.27630914546149715, - "angularVelocity": -0.1875325061769808, - "velocityX": 0.7103513994027256, - "velocityY": 0.25302388903770934, - "timestamp": 4.861070555046531 - }, - { - "x": 4.158348380070515, - "y": 6.420279601349659, - "heading": 0.2593011930834734, - "angularVelocity": -0.27465626768989004, - "velocityX": 1.0696667133831064, - "velocityY": 0.36777489136832514, - "timestamp": 4.922995056246071 - }, - { - "x": 4.247041342694878, - "y": 6.449512566443521, - "heading": 0.23726388208727434, - "angularVelocity": -0.35587385557112505, - "velocityX": 1.4322757697888755, - "velocityY": 0.4720742925270236, - "timestamp": 4.984919557445611 - }, - { - "x": 4.358419967210315, - "y": 6.484373638974516, - "heading": 0.21066668095834623, - "angularVelocity": -0.42951013918099495, - "velocityX": 1.7986196474403566, - "velocityY": 0.5629608935994745, - "timestamp": 5.046844058645151 - }, - { - "x": 4.492739232760998, - "y": 6.523763810645006, - "heading": 0.1801310666057291, - "angularVelocity": -0.4931103805619993, - "velocityX": 2.1690811060046427, - "velocityY": 0.6360999427926483, - "timestamp": 5.108768559844691 - }, - { - "x": 4.650257629888207, - "y": 6.566174217155756, - "heading": 0.14651122621435186, - "angularVelocity": -0.5429166120053787, - "velocityX": 2.543716849969224, - "velocityY": 0.6848727997677386, - "timestamp": 5.170693061044231 - }, - { - "x": 4.831166826127315, - "y": 6.609441866820435, - "heading": 0.11103492926681961, - "angularVelocity": -0.5728959662221038, - "velocityX": 2.9214477748663974, - "velocityY": 0.6987161596224655, - "timestamp": 5.232617562243771 - }, - { - "x": 5.035367402593747, - "y": 6.650325238947526, - "heading": 0.07555553837017441, - "angularVelocity": -0.572945929468525, - "velocityX": 3.297573214331347, - "velocityY": 0.6602131843638516, - "timestamp": 5.294542063443311 - }, - { - "x": 5.261782084531844, - "y": 6.683862940799087, - "heading": 0.04296427542789473, - "angularVelocity": -0.5263064265509467, - "velocityX": 3.656302070298779, - "velocityY": 0.5415901816228108, - "timestamp": 5.356466564642851 - }, - { - "x": 5.5066279243005445, - "y": 6.7031170566524425, - "heading": 0.017406971953643092, - "angularVelocity": -0.41271714715792507, - "velocityX": 3.953941251456059, - "velocityY": 0.31092888082073744, - "timestamp": 5.418391065842391 - }, - { - "x": 5.761751882534451, - "y": 6.701608504256703, - "heading": 0.0031721000803410847, - "angularVelocity": -0.22987463116469584, - "velocityX": 4.119919471160824, - "velocityY": -0.024361155383045233, - "timestamp": 5.480315567041931 - }, - { - "x": 6.018601417541504, - "y": 6.676982402801514, - "heading": 1.3856044746201851e-28, - "angularVelocity": -0.051225282705460874, - "velocityX": 4.1477852874325745, - "velocityY": -0.39767944800776983, - "timestamp": 5.542240068241471 - }, - { - "x": 6.298785976787896, - "y": 6.621524323291068, - "heading": -1.1062883462477051e-7, - "angularVelocity": -0.0000016196318539939486, - "velocityX": 4.1019670747856205, - "velocityY": -0.8119191749701038, - "timestamp": 5.610544994667785 - }, - { - "x": 6.570847588785804, - "y": 6.538762513850569, - "heading": -1.7625665609767657e-7, - "angularVelocity": -9.608065612032315e-7, - "velocityX": 3.983045238931686, - "velocityY": -1.2116521277536396, - "timestamp": 5.678849921094098 - }, - { - "x": 6.822289575216137, - "y": 6.436346015436509, - "heading": -1.9920369427970006e-7, - "angularVelocity": -3.359499729024442e-7, - "velocityX": 3.681169127699538, - "velocityY": -1.4994013429550492, - "timestamp": 5.747154847520412 - }, - { - "x": 7.046075124873892, - "y": 6.327103284773838, - "heading": -1.9303612449853094e-7, - "angularVelocity": 9.029465521528115e-8, - "velocityX": 3.2762724647565618, - "velocityY": -1.5993389697962725, - "timestamp": 5.815459773946726 - }, - { - "x": 7.24149070801809, - "y": 6.220433729890437, - "heading": -1.707914860870973e-7, - "angularVelocity": 3.256666769918985e-7, - "velocityX": 2.860929560549486, - "velocityY": -1.5616670782666768, - "timestamp": 5.88376470037304 - }, - { - "x": 7.409535890143074, - "y": 6.121659591172554, - "heading": -1.4083076615117047e-7, - "angularVelocity": 4.3863190407280574e-7, - "velocityX": 2.4602205275232807, - "velocityY": -1.446076350355775, - "timestamp": 5.952069626799354 - }, - { - "x": 7.551301991175276, - "y": 6.033880291623994, - "heading": -1.0837809038008853e-7, - "angularVelocity": 4.7511471674142645e-7, - "velocityX": 2.0754886718915797, - "velocityY": -1.285109349224681, - "timestamp": 6.020374553225667 - }, - { - "x": 7.6676940976057, - "y": 5.959048466238134, - "heading": -7.68763569270851e-8, - "angularVelocity": 4.6119270016324603e-7, - "velocityX": 1.704007492870772, - "velocityY": -1.0955553179109054, - "timestamp": 6.088679479651981 - }, - { - "x": 7.75943039247277, - "y": 5.898484356691668, - "heading": -4.872749406160536e-8, - "angularVelocity": 4.1210589540487035e-7, - "velocityX": 1.3430406804702926, - "velocityY": -0.8866726415670821, - "timestamp": 6.156984406078295 - }, - { - "x": 7.827081854833763, - "y": 5.853132007538663, - "heading": -2.56890633614765e-8, - "angularVelocity": 3.372879806112141e-7, - "velocityX": 0.9904331341894409, - "velocityY": -0.6639689335136235, - "timestamp": 6.225289332504609 - }, - { - "x": 7.871108582498892, - "y": 5.823696591560291, - "heading": -9.097335168428086e-9, - "angularVelocity": 2.4290675740566603e-7, - "velocityX": 0.6445615267974086, - "velocityY": -0.43094133203006635, - "timestamp": 6.293594258930923 - }, - { - "x": 7.891887187957764, - "y": 5.810723304748535, - "heading": 7.7887817466186635e-28, - "angularVelocity": 1.3318710149321612e-7, - "velocityX": 0.30420361379478605, - "velocityY": -0.18993193449599038, - "timestamp": 6.361899185357236 - }, - { - "x": 7.888143888902488, - "y": 5.815954260813035, - "heading": 2.765818870905722e-10, - "angularVelocity": 3.82019160949285e-9, - "velocityX": -0.051703022902955066, - "velocityY": 0.07225077056721455, - "timestamp": 6.434299189169424 - }, - { - "x": 7.858277690270956, - "y": 5.839675291870993, - "heading": -8.025005255471161e-9, - "angularVelocity": -1.1466279979897161e-7, - "velocityX": -0.41251653396327165, - "velocityY": 0.3276385332726272, - "timestamp": 6.506699192981612 - }, - { - "x": 7.801862071405289, - "y": 5.881268564071655, - "heading": -2.3925602238115484e-8, - "angularVelocity": -2.1962149372107496e-7, - "velocityX": -0.7792212140211278, - "velocityY": 0.5744926797042514, - "timestamp": 6.5790991967938 - }, - { - "x": 7.718377433983251, - "y": 5.939936873772295, - "heading": -4.617816836254086e-8, - "angularVelocity": -3.0735586951280266e-7, - "velocityX": -1.1531026661076393, - "velocityY": 0.8103357266780017, - "timestamp": 6.651499200605988 - }, - { - "x": 7.6071812503843494, - "y": 6.014616392636198, - "heading": -7.314569126794996e-8, - "angularVelocity": -3.7247957852827054e-7, - "velocityX": -1.5358588086176677, - "velocityY": 1.03148501286863, - "timestamp": 6.723899204418176 - }, - { - "x": 7.467468982650147, - "y": 6.1038259312718015, - "heading": -1.0259692735622503e-7, - "angularVelocity": -4.06785007424503e-7, - "velocityX": -1.929727353283392, - "velocityY": 1.232175883125927, - "timestamp": 6.796299208230364 - }, - { - "x": 7.298232339066578, - "y": 6.205388592850735, - "heading": -1.3134543452628007e-7, - "angularVelocity": -3.9707880740767756e-7, - "velocityX": -2.33752257834935, - "velocityY": 1.402799119215454, - "timestamp": 6.868699212042552 - }, - { - "x": 7.098262109849036, - "y": 6.315880698175479, - "heading": -1.545804802746847e-7, - "angularVelocity": -3.209260293504718e-7, - "velocityX": -2.7620195951409254, - "velocityY": 1.52613397108887, - "timestamp": 6.94109921585474 - }, - { - "x": 6.866440435797629, - "y": 6.429499058364546, - "heading": -1.6464439215056105e-7, - "angularVelocity": -1.3900430035864317e-7, - "velocityX": -3.201956655316912, - "velocityY": 1.5693142846207861, - "timestamp": 7.013499219666928 - }, - { - "x": 6.603388966204105, - "y": 6.536118308127826, - "heading": -1.4954692300634435e-7, - "angularVelocity": 2.085285683600351e-7, - "velocityX": -3.63330739976067, - "velocityY": 1.47264149377475, - "timestamp": 7.085899223479116 - }, - { - "x": 6.316248920025813, - "y": 6.6216655877567385, - "heading": -9.596874319673351e-8, - "angularVelocity": 7.400300689016137e-7, - "velocityX": -3.966022528440158, - "velocityY": 1.181592197851674, - "timestamp": 7.1582992272913035 - }, - { - "x": 6.018601417541504, - "y": 6.676982402801514, - "heading": 3.619661729671041e-26, - "angularVelocity": 0.000001325535057231274, - "velocityX": -4.111153132759927, - "velocityY": 0.7640443664653904, - "timestamp": 7.230699231103491 - }, - { - "x": 5.740842709923353, - "y": 6.700963706149043, - "heading": 0.0018237295021199065, - "angularVelocity": 0.027302725220575197, - "velocityX": -4.158275480494951, - "velocityY": 0.35901976415240183, - "timestamp": 7.297495841602489 - }, - { - "x": 5.465613780315343, - "y": 6.698113446403688, - "heading": 0.01705683549279003, - "angularVelocity": 0.2280520804405013, - "velocityX": -4.120402630491888, - "velocityY": -0.04267072421882417, - "timestamp": 7.364292452101486 - }, - { - "x": 5.204358543644784, - "y": 6.6722541835752125, - "heading": 0.046262668986232006, - "angularVelocity": 0.4372352620179803, - "velocityX": -3.911204995566067, - "velocityY": -0.3871343565982821, - "timestamp": 7.431089062600483 - }, - { - "x": 4.966474467989701, - "y": 6.632584406687531, - "heading": 0.08307800660337901, - "angularVelocity": 0.5511557748532727, - "velocityX": -3.561319562145362, - "velocityY": -0.593889069989206, - "timestamp": 7.49788567309948 - }, - { - "x": 4.755212132064066, - "y": 6.587176716637979, - "heading": 0.12225145158563697, - "angularVelocity": 0.5864585746135442, - "velocityX": -3.162770301478206, - "velocityY": -0.6797903323288379, - "timestamp": 7.5646822835984775 - }, - { - "x": 4.571183536225408, - "y": 6.5411456783481245, - "heading": 0.16051492442030083, - "angularVelocity": 0.572835545828158, - "velocityX": -2.7550588939152947, - "velocityY": -0.689122366329426, - "timestamp": 7.631478894097475 - }, - { - "x": 4.414262802682262, - "y": 6.497671625821495, - "heading": 0.19585610790995653, - "angularVelocity": 0.5290864794731811, - "velocityX": -2.3492319800493826, - "velocityY": -0.6508421939655534, - "timestamp": 7.698275504596472 - }, - { - "x": 4.284155725885966, - "y": 6.458840625879828, - "heading": 0.22695656960626623, - "angularVelocity": 0.46559939889130514, - "velocityX": -1.9478095643528162, - "velocityY": -0.581331891717008, - "timestamp": 7.765072115095469 - }, - { - "x": 4.180556238781294, - "y": 6.426101360577794, - "heading": 0.2528995134208406, - "angularVelocity": 0.3883871295380163, - "velocityX": -1.5509692232995544, - "velocityY": -0.4901336318932807, - "timestamp": 7.831868725594466 - }, - { - "x": 4.103186927937392, - "y": 6.4005094673645, - "heading": 0.27301572769159327, - "angularVelocity": 0.3011562131742396, - "velocityX": -1.1582819886506504, - "velocityY": -0.38313161434557874, - "timestamp": 7.8986653360934636 - }, - { - "x": 4.05180613335198, - "y": 6.382864598687039, - "heading": 0.2867974869909083, - "angularVelocity": 0.20632423107040648, - "velocityX": -0.7692126022799183, - "velocityY": -0.26415814433767054, - "timestamp": 7.965461946592461 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "angularVelocity": 0.1055455809722198, - "velocityX": -0.383261866992415, - "velocityY": -0.13582880894924632, - "timestamp": 8.032258557091458 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "angularVelocity": -2.6570810296558003e-27, - "velocityX": -7.92943357698847e-27, - "velocityY": 1.86287757068553e-26, - "timestamp": 8.099055167590455 - }, - { - "x": 4.001912054553803, - "y": 6.377610355104089, - "heading": 0.27793057177759545, - "angularVelocity": -0.248523754884058, - "velocityX": -0.37931188575122854, - "velocityY": 0.05962352837962387, - "timestamp": 8.16310136825578 - }, - { - "x": 3.9532989917689947, - "y": 6.385094713412846, - "heading": 0.24611473380028503, - "angularVelocity": -0.49676386181851123, - "velocityX": -0.7590311724943191, - "velocityY": 0.11685873995658545, - "timestamp": 8.227147568921106 - }, - { - "x": 3.8803348270353966, - "y": 6.396044749749356, - "heading": 0.19840169352590004, - "angularVelocity": -0.7449784652131087, - "velocityX": -1.1392426713158736, - "velocityY": 0.17097089636479054, - "timestamp": 8.291193769586432 - }, - { - "x": 3.7829788345403452, - "y": 6.410188068322517, - "heading": 0.13480855568773095, - "angularVelocity": -0.992925999943011, - "velocityX": -1.520090051926524, - "velocityY": 0.22082993879789267, - "timestamp": 8.355239970251757 - }, - { - "x": 3.6611743486827018, - "y": 6.427129765366101, - "heading": 0.0554387772249063, - "angularVelocity": -1.239258186095577, - "velocityX": -1.9018221938586934, - "velocityY": 0.264523060971458, - "timestamp": 8.419286170917083 - }, - { - "x": 3.5148377265715247, - "y": 6.446239524609827, - "heading": -0.0393712537936742, - "angularVelocity": -1.4803381002100633, - "velocityX": -2.284860313195802, - "velocityY": 0.29837459591997334, - "timestamp": 8.483332371582408 - }, - { - "x": 3.343848310096575, - "y": 6.466345188072757, - "heading": -0.14873635590657566, - "angularVelocity": -1.707597031155534, - "velocityX": -2.6697823555289077, - "velocityY": 0.3139243741871967, - "timestamp": 8.547378572247734 - }, - { - "x": 3.14815023920896, - "y": 6.484576821653784, - "heading": -0.2703054170409716, - "angularVelocity": -1.8981463361059787, - "velocityX": -3.0555765815093188, - "velocityY": 0.2846637800780145, - "timestamp": 8.61142477291306 - }, - { - "x": 2.932193940008419, - "y": 6.488086466497611, - "heading": -0.39300827574348024, - "angularVelocity": -1.9158491437094674, - "velocityX": -3.3718830618700366, - "velocityY": 0.05479864234519086, - "timestamp": 8.675470973578385 - }, - { - "x": 2.7340316065376515, - "y": 6.475211847713753, - "heading": -0.4935227085605528, - "angularVelocity": -1.5694050821579926, - "velocityX": -3.094052908872265, - "velocityY": -0.20102080451476154, - "timestamp": 8.73951717424371 - }, - { - "x": 2.5578914607417174, - "y": 6.452000594790772, - "heading": -0.5736763053972732, - "angularVelocity": -1.251496513517863, - "velocityX": -2.750204445636945, - "velocityY": -0.36241420539950464, - "timestamp": 8.803563374909036 - }, - { - "x": 2.4046623857559206, - "y": 6.420343190075613, - "heading": -0.6349490103430218, - "angularVelocity": -0.9566953903468849, - "velocityX": -2.392477202301163, - "velocityY": -0.4942901278498211, - "timestamp": 8.867609575574361 - }, - { - "x": 2.274706473608676, - "y": 6.381144596576831, - "heading": -0.6781364741434692, - "angularVelocity": -0.6743173420406988, - "velocityX": -2.0290963522775014, - "velocityY": -0.6120362034215643, - "timestamp": 8.931655776239687 - }, - { - "x": 2.1682152530987344, - "y": 6.3349342062757374, - "heading": -0.7036879484930157, - "angularVelocity": -0.3989537877986885, - "velocityX": -1.6627250235562485, - "velocityY": -0.7215164962332046, - "timestamp": 8.995701976905012 - }, - { - "x": 2.085304191805873, - "y": 6.282058814568287, - "heading": -0.7118496672173015, - "angularVelocity": -0.12743486170139653, - "velocityX": -1.2945508153733418, - "velocityY": -0.8255820198258502, - "timestamp": 9.059748177570338 - }, - { - "x": 2.026047892095963, - "y": 6.222762660032223, - "heading": -0.7027306858009142, - "angularVelocity": 0.14238130164876692, - "velocityX": -0.925211786091023, - "velocityY": -0.9258340685330668, - "timestamp": 9.123794378235663 - }, - { - "x": 1.990496039390564, - "y": 6.157227039337158, - "heading": -0.6763337151495863, - "angularVelocity": 0.41215513765236195, - "velocityX": -0.5550969821172682, - "velocityY": -1.0232554002308782, - "timestamp": 9.187840578900989 - }, - { - "x": 1.978661907650031, - "y": 6.085722412992096, - "heading": -0.632671818562567, - "angularVelocity": 0.6828637108843474, - "velocityX": -0.18508355676508165, - "velocityY": -1.1183186784859962, - "timestamp": 9.251779979825479 - }, - { - "x": 1.9906295592630834, - "y": 6.008657807318728, - "heading": -0.5719280710449405, - "angularVelocity": 0.9500205919877586, - "velocityX": 0.18717178203132864, - "velocityY": -1.2052756916565248, - "timestamp": 9.315719380749968 - }, - { - "x": 2.026610081409329, - "y": 5.926878777279561, - "heading": -0.49455650916344973, - "angularVelocity": 1.2100764280363472, - "velocityX": 0.5627284839396147, - "velocityY": -1.2790083869528952, - "timestamp": 9.379658781674458 - }, - { - "x": 2.086926247462202, - "y": 5.8419986579151795, - "heading": -0.40162648863024836, - "angularVelocity": 1.4534077452953975, - "velocityX": 0.9433332996676658, - "velocityY": -1.3275088308165748, - "timestamp": 9.443598182598947 - }, - { - "x": 2.171907866002122, - "y": 5.758194669745824, - "heading": -0.29634456613068483, - "angularVelocity": 1.6465891293523014, - "velocityX": 1.3290962585070243, - "velocityY": -1.3106783447709351, - "timestamp": 9.507537583523437 - }, - { - "x": 2.2727395248667923, - "y": 5.693604569796404, - "heading": -0.19652914952300654, - "angularVelocity": 1.5610940228476111, - "velocityX": 1.5769878573580702, - "velocityY": -1.0101768082828597, - "timestamp": 9.571476984447926 - }, - { - "x": 2.3578316910702357, - "y": 5.647359218392216, - "heading": -0.11735526130423977, - "angularVelocity": 1.238264467198687, - "velocityX": 1.3308252028187528, - "velocityY": -0.7232684500563616, - "timestamp": 9.635416385372416 - }, - { - "x": 2.4228249155353856, - "y": 5.614614683745836, - "heading": -0.05848104065944221, - "angularVelocity": 0.9207815493036267, - "velocityX": 1.0164815985984024, - "velocityY": -0.5121182584280018, - "timestamp": 9.699355786296906 - }, - { - "x": 2.4665798931428133, - "y": 5.593575115113347, - "heading": -0.019455306739924745, - "angularVelocity": 0.6103550135792704, - "velocityX": 0.6843194802388106, - "velocityY": -0.3290548289205331, - "timestamp": 9.763295187221395 - }, - { - "x": 2.4885952472686768, - "y": 5.583330154418945, - "heading": -2.950378951534863e-27, - "angularVelocity": 0.30427727596166787, - "velocityX": 0.34431592738666283, - "velocityY": -0.16022922558346586, - "timestamp": 9.827234588145885 - }, - { - "x": 2.4885952472686768, - "y": 5.583330154418945, - "heading": -1.2597633775469736e-27, - "angularVelocity": 2.52578953066849e-28, - "velocityX": 5.932691751344987e-28, - "velocityY": -9.915062724222499e-27, - "timestamp": 9.891173989070374 - }, - { - "x": 2.4743714672940076, - "y": 5.57364847936169, - "heading": -0.01214464618202118, - "angularVelocity": -0.22627917912193768, - "velocityX": -0.26501762245193394, - "velocityY": -0.18038907446510918, - "timestamp": 9.944845061367648 - }, - { - "x": 2.4462340281188424, - "y": 5.553844302753565, - "heading": -0.03641057081599083, - "angularVelocity": -0.45212297044421884, - "velocityX": -0.5242570712826018, - "velocityY": -0.36899163293093734, - "timestamp": 9.998516133664921 - }, - { - "x": 2.4046457242182946, - "y": 5.523311043473541, - "heading": -0.07278723106010666, - "angularVelocity": -0.6777703274239201, - "velocityX": -0.7748737284434789, - "velocityY": -0.568896017409645, - "timestamp": 10.052187205962195 - }, - { - "x": 2.3503574105372382, - "y": 5.481175509134353, - "heading": -0.12134175658440335, - "angularVelocity": -0.9046684451423458, - "velocityX": -1.0115004481439094, - "velocityY": -0.7850697318996741, - "timestamp": 10.105858278259468 - }, - { - "x": 2.284734671597692, - "y": 5.426115387645732, - "heading": -0.18232155955050056, - "angularVelocity": -1.136176348934157, - "velocityX": -1.2226835822484632, - "velocityY": -1.0258807795688225, - "timestamp": 10.159529350556742 - }, - { - "x": 2.210690375930078, - "y": 5.356070422302002, - "heading": -0.2559264629038059, - "angularVelocity": -1.3714073560077662, - "velocityX": -1.379594118364116, - "velocityY": -1.3050785524791577, - "timestamp": 10.213200422854015 - }, - { - "x": 2.135682836612729, - "y": 5.268691707848941, - "heading": -0.33902159970532053, - "angularVelocity": -1.5482294883408945, - "velocityX": -1.3975412844725235, - "velocityY": -1.6280411535116714, - "timestamp": 10.266871495151289 - }, - { - "x": 2.0724663596543236, - "y": 5.168263556709831, - "heading": -0.4225586144389228, - "angularVelocity": -1.556462562754615, - "velocityX": -1.1778500829694967, - "velocityY": -1.8711783990984618, - "timestamp": 10.320542567448562 - }, - { - "x": 2.0260137993243106, - "y": 5.062857319928912, - "heading": -0.4997989805362741, - "angularVelocity": -1.4391433372065379, - "velocityX": -0.8655046068899471, - "velocityY": -1.9639301446614508, - "timestamp": 10.374213639745836 - }, - { - "x": 1.996941498368396, - "y": 4.956716720914925, - "heading": -0.5683761952809107, - "angularVelocity": -1.2777314074293329, - "velocityX": -0.5416754261008351, - "velocityY": -1.9776127897370002, - "timestamp": 10.42788471204311 - }, - { - "x": 1.9851616081186387, - "y": 4.852009928485605, - "heading": -0.6273903061238789, - "angularVelocity": -1.0995515520185801, - "velocityX": -0.2194830426437353, - "velocityY": -1.950898089931401, - "timestamp": 10.481555784340383 - }, - { - "x": 1.990496039390564, - "y": 4.75, - "heading": -0.6763337151495863, - "angularVelocity": -0.9119141267500614, - "velocityX": 0.09939118120053472, - "velocityY": -1.9006500917401496, - "timestamp": 10.535226856637657 - }, - { - "x": 2.0404464839460696, - "y": 4.59880499645476, - "heading": -0.7273828368780748, - "angularVelocity": -0.6071201159183436, - "velocityX": 0.5940537008649031, - "velocityY": -1.7981411818772612, - "timestamp": 10.619310912477696 - }, - { - "x": 2.1298849994259657, - "y": 4.462832545778162, - "heading": -0.7498828617388094, - "angularVelocity": -0.26758967126346256, - "velocityX": 1.0636798449642342, - "velocityY": -1.617101474449241, - "timestamp": 10.703394968317735 - }, - { - "x": 2.249114137990773, - "y": 4.356577462238403, - "heading": -0.739452965709272, - "angularVelocity": 0.12404130515991267, - "velocityX": 1.4179755885185839, - "velocityY": -1.2636769537128287, - "timestamp": 10.787479024157774 - }, - { - "x": 2.359728475062173, - "y": 4.292347233042172, - "heading": -0.7129681413379042, - "angularVelocity": 0.3149803385049905, - "velocityX": 1.315520950628657, - "velocityY": -0.7638811966732779, - "timestamp": 10.871563079997813 - }, - { - "x": 2.437807047108505, - "y": 4.256472630548062, - "heading": -0.689567924920021, - "angularVelocity": 0.2782955244499613, - "velocityX": 0.9285776151767543, - "velocityY": -0.42665166583255143, - "timestamp": 10.955647135837852 - }, - { - "x": 2.477766990661621, - "y": 4.240628242492676, - "heading": -0.6763337151495863, - "angularVelocity": 0.1573926190669421, - "velocityX": 0.47523805974745176, - "velocityY": -0.1884351069545121, - "timestamp": 11.039731191677891 - }, - { - "x": 2.477766990661621, - "y": 4.240628242492676, - "heading": -0.6763337151495863, - "angularVelocity": 1.021747484041298e-28, - "velocityX": -7.166324056649742e-28, - "velocityY": 5.068526190074515e-27, - "timestamp": 11.12381524751793 - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 15 - }, - { - "timestamp": 1.1048089785277977, - "isStopPoint": true, - "x": 2.542736291885376, - "y": 6.991001605987549, - "heading": 0.610560190519, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "timestamp": 3.0562712875316644, - "isStopPoint": false, - "x": 7.946028232574463, - "y": 7.456615924835205, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "timestamp": 4.737221552647451, - "isStopPoint": true, - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 5.542240068241471, - "isStopPoint": false, - "x": 6.018601417541504, - "y": 6.676982402801514, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "timestamp": 6.361899185357236, - "isStopPoint": false, - "x": 7.891887187957764, - "y": 5.810723304748535, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "timestamp": 7.230699231103491, - "isStopPoint": false, - "x": 6.018601417541504, - "y": 6.676982402801514, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 8.099055167590455, - "isStopPoint": true, - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "timestamp": 9.187840578900989, - "isStopPoint": false, - "x": 1.990496039390564, - "y": 6.157227039337158, - "heading": -0.6763337151495863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "timestamp": 9.891173989070374, - "isStopPoint": true, - "x": 2.4885952472686768, - "y": 5.583330154418945, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "timestamp": 10.535226856637657, - "isStopPoint": false, - "x": 1.990496039390564, - "y": 4.75, - "heading": -0.6763337151495863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 7 - }, - { - "timestamp": 11.12381524751793, - "isStopPoint": true, - "x": 2.477766990661621, - "y": 4.240628242492676, - "heading": -0.6763337151495863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "constraints": [ - { - "scope": [ - "first" - ], - "type": "StopPoint" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint" - }, - { - "scope": [ - 1 - ], - "type": "StopPoint" - }, - { - "scope": [ - 3 - ], - "type": "StopPoint" - }, - { - "scope": [ - 7 - ], - "type": "StopPoint" - }, - { - "scope": [ - 9 - ], - "type": "StopPoint" - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": false - }, - "Distance Center 7": { - "waypoints": [ - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "x": 2.6293623447418213, - "y": 6.7744364738464355, - "heading": 0.610560190519, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "x": 7.946028232574463, - "y": 7.456615924835205, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 6.018601417541504, - "y": 6.676982402801514, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "x": 7.891887187957764, - "y": 5.810723304748535, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "x": 6.018601417541504, - "y": 6.676982402801514, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 6.007773399353027, - "y": 6.4279327392578125, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 18 - }, - { - "x": 8.010997772216797, - "y": 4.30559778213501, - "heading": -0.6499245399095859, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 18 - }, - { - "x": 6.007773399353027, - "y": 6.4279327392578125, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "x": 2.9650378227233887, - "y": 6.406276702880859, - "heading": -1.265712572039586, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 8 - }, - { - "x": 2.60770583152771, - "y": 5.854036331176758, - "heading": -1.374993138249586, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 1.990496039390564, - "y": 4.75, - "heading": -0.6763337151495863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 7 - }, - { - "x": 2.477766990661621, - "y": 4.240628242492676, - "heading": -0.6763337151495863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 3.125039836628047e-22, - "angularVelocity": -2.4778681964275978e-21, - "velocityX": -1.6966574578954054e-22, - "velocityY": -5.560554740883435e-23, - "timestamp": 0 - }, - { - "x": 1.3761104747158472, - "y": 5.6065902507064385, - "heading": 0.012329157086594333, - "angularVelocity": 0.16082740054460393, - "velocityX": 0.3405974752403179, - "velocityY": 0.31741720579612304, - "timestamp": 0.07666079937152849 - }, - { - "x": 1.4283317379990463, - "y": 5.655256776007888, - "heading": 0.036989563809549715, - "angularVelocity": 0.32168209730557745, - "velocityX": 0.6811990445092346, - "velocityY": 0.6348293482512852, - "timestamp": 0.15332159874305698 - }, - { - "x": 1.5066641753369279, - "y": 5.728255747741762, - "heading": 0.07398796382390593, - "angularVelocity": 0.48262476151660494, - "velocityX": 1.0218056422585864, - "velocityY": 0.9522333752364306, - "timestamp": 0.22998239811458548 - }, - { - "x": 1.61110814877825, - "y": 5.825586301435188, - "heading": 0.12333895950365491, - "angularVelocity": 0.6437579060527999, - "velocityX": 1.3624169627444864, - "velocityY": 1.269626125625491, - "timestamp": 0.30664319748611396 - }, - { - "x": 1.7416638579543184, - "y": 5.94724735627152, - "heading": 0.18506856130544258, - "angularVelocity": 0.8052303433808673, - "velocityX": 1.7030308873162687, - "velocityY": 1.5870047773271128, - "timestamp": 0.38330399685764244 - }, - { - "x": 1.8983311632556052, - "y": 6.093237705653962, - "heading": 0.2592169764309428, - "angularVelocity": 0.9672272626084648, - "velocityX": 2.0436429907548357, - "velocityY": 1.9043676896051687, - "timestamp": 0.4599647962291709 - }, - { - "x": 2.0811093927308018, - "y": 6.263556191912837, - "heading": 0.3458391806253537, - "angularVelocity": 1.129941311655328, - "velocityX": 2.384246328940312, - "velocityY": 2.2217155006882288, - "timestamp": 0.5366255956006994 - }, - { - "x": 2.237755248322454, - "y": 6.4095214814608905, - "heading": 0.4214192098887476, - "angularVelocity": 0.9859019196643553, - "velocityX": 2.0433631905204215, - "velocityY": 1.9040407971830313, - "timestamp": 0.6132863949722279 - }, - { - "x": 2.3682919967752616, - "y": 6.5311594209661115, - "heading": 0.48444328648392837, - "angularVelocity": 0.8221160894728113, - "velocityX": 1.7027835546062429, - "velocityY": 1.586703249932421, - "timestamp": 0.6899471943437564 - }, - { - "x": 2.4727205283209286, - "y": 6.628470028391072, - "heading": 0.5348829907239893, - "angularVelocity": 0.657959539341745, - "velocityX": 1.362215531298668, - "velocityY": 1.2693659369941386, - "timestamp": 0.7666079937152849 - }, - { - "x": 2.5510415142038663, - "y": 6.70145317297353, - "heading": 0.5727208811580081, - "angularVelocity": 0.493575474613063, - "velocityX": 1.0216562640230678, - "velocityY": 0.9520269183308826, - "timestamp": 0.8432687930868134 - }, - { - "x": 2.60325538804063, - "y": 6.750108693952396, - "heading": 0.5979476766685491, - "angularVelocity": 0.3290703425655907, - "velocityX": 0.6811026530484638, - "velocityY": 0.634685802623348, - "timestamp": 0.9199295924583418 - }, - { - "x": 2.6293623447418213, - "y": 6.7744364738464355, - "heading": 0.610560190519, - "angularVelocity": 0.1645236412071015, - "velocityX": 0.34055158458062124, - "velocityY": 0.3173431544346181, - "timestamp": 0.9965903918298703 - }, - { - "x": 2.6293623447418213, - "y": 6.7744364738464355, - "heading": 0.610560190519, - "angularVelocity": 2.9094056410031188e-21, - "velocityX": -2.0988135133774157e-22, - "velocityY": 3.818316675059001e-22, - "timestamp": 1.073251191201399 - }, - { - "x": 2.6720197676214497, - "y": 6.782417422598798, - "heading": 0.6038766101713076, - "angularVelocity": -0.07923422323582437, - "velocityX": 0.5057061621584873, - "velocityY": 0.09461459908935298, - "timestamp": 1.1576033823978742 - }, - { - "x": 2.7573390707361796, - "y": 6.798381015719943, - "heading": 0.5908586177943566, - "angularVelocity": -0.15432903629769548, - "velocityX": 1.0114651665183407, - "velocityY": 0.1892492998073053, - "timestamp": 1.2419555735943495 - }, - { - "x": 2.885325839743734, - "y": 6.8223294638474, - "heading": 0.5719744160417135, - "angularVelocity": -0.22387328040663998, - "velocityX": 1.5172903891665839, - "velocityY": 0.2839102077582811, - "timestamp": 1.3263077647908248 - }, - { - "x": 3.0559871968712695, - "y": 6.854265761931121, - "heading": 0.5478849059076967, - "angularVelocity": -0.2855825058285316, - "velocityX": 2.023200046220811, - "velocityY": 0.37860662101039444, - "timestamp": 1.4106599559873 - }, - { - "x": 3.269332249645403, - "y": 6.894194168881417, - "heading": 0.5195930329458099, - "angularVelocity": -0.3354017549584274, - "velocityX": 2.5292176735184513, - "velocityY": 0.47335352388527485, - "timestamp": 1.4950121471837754 - }, - { - "x": 3.525371770387385, - "y": 6.942121092388337, - "heading": 0.4888001874449035, - "angularVelocity": -0.36505092593484567, - "velocityX": 3.0353630072941193, - "velocityY": 0.568176390288274, - "timestamp": 1.5793643383802507 - }, - { - "x": 3.824109398072704, - "y": 6.998056361458239, - "heading": 0.4590231888113175, - "angularVelocity": -0.35300800383748954, - "velocityX": 3.5415514813301257, - "velocityY": 0.663115780117865, - "timestamp": 1.663716529576726 - }, - { - "x": 4.165377594624907, - "y": 7.062001251881552, - "heading": 0.4419288520213311, - "angularVelocity": -0.2026543299885333, - "velocityX": 4.045753781989037, - "velocityY": 0.7580702945151749, - "timestamp": 1.7480687207732013 - }, - { - "x": 4.512094110834224, - "y": 7.126817088416808, - "heading": 0.4419288475732292, - "angularVelocity": -5.2732499850975034e-8, - "velocityX": 4.110343919836483, - "velocityY": 0.7683954099578318, - "timestamp": 1.8324209119696766 - }, - { - "x": 4.858810627216134, - "y": 7.191632924028826, - "heading": 0.44192884312513186, - "angularVelocity": -5.27324452565932e-8, - "velocityX": 4.110343921882592, - "velocityY": 0.7683953990127874, - "timestamp": 1.916773103166152 - }, - { - "x": 5.205527143597466, - "y": 7.256448759643943, - "heading": 0.4419288386770344, - "angularVelocity": -5.273244693132246e-8, - "velocityX": 4.110343921875726, - "velocityY": 0.7683953990495135, - "timestamp": 2.001125294362627 - }, - { - "x": 5.55224365998293, - "y": 7.321264595236958, - "heading": 0.44192883422893686, - "angularVelocity": -5.273244840969362e-8, - "velocityX": 4.110343921924708, - "velocityY": 0.768395398787497, - "timestamp": 2.0854774855591027 - }, - { - "x": 5.898960176356647, - "y": 7.386080430892807, - "heading": 0.44192882978083925, - "angularVelocity": -5.273244895227244e-8, - "velocityX": 4.110343921785453, - "velocityY": 0.7683953995324063, - "timestamp": 2.1698296767555783 - }, - { - "x": 6.24567671797852, - "y": 7.450896131489656, - "heading": 0.44192882533274175, - "angularVelocity": -5.2732447593359085e-8, - "velocityX": 4.110344221103768, - "velocityY": 0.7683937984002956, - "timestamp": 2.2541818679520538 - }, - { - "x": 6.595261801688144, - "y": 7.49783974677019, - "heading": 0.44192881540719375, - "angularVelocity": -1.1766793324652698e-7, - "velocityX": 4.144350949880616, - "velocityY": 0.5565192156205201, - "timestamp": 2.3385340591485293 - }, - { - "x": 6.9128163797305655, - "y": 7.523763714384209, - "heading": 0.36817463115775373, - "angularVelocity": -0.8743600279173521, - "velocityX": 3.764627492636967, - "velocityY": 0.30733010306319974, - "timestamp": 2.422886250345005 - }, - { - "x": 7.188041974628758, - "y": 7.539922522639208, - "heading": 0.2960994016568734, - "angularVelocity": -0.8544559243636105, - "velocityX": 3.262815002127576, - "velocityY": 0.19156358626608547, - "timestamp": 2.5072384415414803 - }, - { - "x": 7.420776182221607, - "y": 7.5471672706134445, - "heading": 0.22917449817448735, - "angularVelocity": -0.7933985179650258, - "velocityX": 2.75907720109792, - "velocityY": 0.08588689720415285, - "timestamp": 2.591590632737956 - }, - { - "x": 7.610971318020134, - "y": 7.545802222186919, - "heading": 0.168638193399793, - "angularVelocity": -0.7176613187639852, - "velocityX": 2.2547740977530752, - "velocityY": -0.016182726342533954, - "timestamp": 2.6759428239344314 - }, - { - "x": 7.758604986098777, - "y": 7.535983661526973, - "heading": 0.1151255004194216, - "angularVelocity": -0.6343960034864801, - "velocityX": 1.7502054894433117, - "velocityY": -0.11639959224149259, - "timestamp": 2.760295015130907 - }, - { - "x": 7.863664232769146, - "y": 7.517806741993987, - "heading": 0.06902173017336893, - "angularVelocity": -0.5465628052111479, - "velocityX": 1.2454833144246713, - "velocityY": -0.21548840966854907, - "timestamp": 2.8446472063273824 - }, - { - "x": 7.926140623551973, - "y": 7.491335488819979, - "heading": 0.03058497546670338, - "angularVelocity": -0.4556699021266401, - "velocityX": 0.7406611481769909, - "velocityY": -0.31381820434695645, - "timestamp": 2.928999397523858 - }, - { - "x": 7.946028232574463, - "y": 7.456615924835205, - "heading": -1.1630164830490874e-22, - "angularVelocity": -0.3625866149163102, - "velocityX": 0.23576873037201065, - "velocityY": -0.41160239576827296, - "timestamp": 3.0133515887203335 - }, - { - "x": 7.920037662049596, - "y": 7.411169444194395, - "heading": -0.0232873594647728, - "angularVelocity": -0.2632383110672307, - "velocityX": -0.29379517669185795, - "velocityY": -0.5137231134312821, - "timestamp": 3.101816521390507 - }, - { - "x": 7.8471886878468275, - "y": 7.356716657006662, - "heading": -0.03810345649711681, - "angularVelocity": -0.16747988819008414, - "velocityX": -0.8234785468539669, - "velocityY": -0.6155296290198013, - "timestamp": 3.1902814540606808 - }, - { - "x": 7.727467357765122, - "y": 7.293295235469457, - "heading": -0.044875887681678404, - "angularVelocity": -0.076554980376365, - "velocityX": -1.3533196314981237, - "velocityY": -0.7169103013242628, - "timestamp": 3.2787463867308544 - }, - { - "x": 7.560854391886669, - "y": 7.220959149263091, - "heading": -0.04421375783355388, - "angularVelocity": 0.007484658927997671, - "velocityX": -1.8833786546771185, - "velocityY": -0.8176809049983522, - "timestamp": 3.367211319401028 - }, - { - "x": 7.34732146541913, - "y": 7.139792163137446, - "heading": -0.03705684189341484, - "angularVelocity": 0.08090116302718922, - "velocityX": -2.413757858875676, - "velocityY": -0.9175046391349556, - "timestamp": 3.4556762520712017 - }, - { - "x": 7.086823282403413, - "y": 7.049941858740973, - "heading": -0.02504724603475039, - "angularVelocity": 0.13575543999383538, - "velocityX": -2.9446490847049964, - "velocityY": -1.0156601229943323, - "timestamp": 3.5441411847413753 - }, - { - "x": 6.779279315725815, - "y": 6.9517369192823635, - "heading": -0.011789177436815698, - "angularVelocity": 0.14986806859804128, - "velocityX": -3.476450582110584, - "velocityY": -1.1101002000956572, - "timestamp": 3.632606117411549 - }, - { - "x": 6.424632928888111, - "y": 6.846536629082463, - "heading": -0.011789088874469935, - "angularVelocity": 0.000001001101149226084, - "velocityX": -4.008892293627146, - "velocityY": -1.1891750439931048, - "timestamp": 3.7210710500817226 - }, - { - "x": 6.061695217745179, - "y": 6.775000553604086, - "heading": -0.011789083969654859, - "angularVelocity": 5.544360832077928e-8, - "velocityX": -4.102616711370633, - "velocityY": -0.808637652447976, - "timestamp": 3.809535982751896 - }, - { - "x": 5.698757430246908, - "y": 6.703464865514997, - "heading": -0.011789079064840387, - "angularVelocity": 5.544360147801105e-8, - "velocityX": -4.102617574484819, - "velocityY": -0.8086332734327347, - "timestamp": 3.89800091542207 - }, - { - "x": 5.33581964060784, - "y": 6.631929188287501, - "heading": -0.011789074159930215, - "angularVelocity": 5.5444683287550804e-8, - "velocityX": -4.102617598684197, - "velocityY": -0.8086331506542177, - "timestamp": 3.9864658480922435 - }, - { - "x": 5.008416015419383, - "y": 6.567395761473697, - "heading": 0.06462490200896195, - "angularVelocity": 0.8637770228547912, - "velocityX": -3.7009424560252184, - "velocityY": -0.7294803134526322, - "timestamp": 4.0749307807624175 - }, - { - "x": 4.727784426794771, - "y": 6.512080858011152, - "heading": 0.13012220422079274, - "angularVelocity": 0.7403758781575775, - "velocityX": -3.172235372301678, - "velocityY": -0.625274917336753, - "timestamp": 4.163395713432592 - }, - { - "x": 4.493924797623965, - "y": 6.465984740956769, - "heading": 0.18470070193798652, - "angularVelocity": 0.6169506500466159, - "velocityX": -2.6435291602234257, - "velocityY": -0.5210665476482677, - "timestamp": 4.251860646102766 - }, - { - "x": 4.30683709599071, - "y": 6.429107629337118, - "heading": 0.22836093103558394, - "angularVelocity": 0.4935314794210844, - "velocityX": -2.1148233089237682, - "velocityY": -0.4168557021022203, - "timestamp": 4.34032557877294 - }, - { - "x": 4.166521316526833, - "y": 6.401449688021447, - "heading": 0.26110453763292085, - "angularVelocity": 0.3701309163871272, - "velocityX": -1.5861175183054803, - "velocityY": -0.3126429928883621, - "timestamp": 4.428790511443114 - }, - { - "x": 4.072977463595493, - "y": 6.383011025435591, - "heading": 0.2829331362314755, - "angularVelocity": 0.24674860353919897, - "velocityX": -1.0574116783663996, - "velocityY": -0.20842905803818979, - "timestamp": 4.517255444113288 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "angularVelocity": 0.12337586761318343, - "velocityX": -0.5287058100920702, - "velocityY": -0.10421452338466086, - "timestamp": 4.605720376783462 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "angularVelocity": -3.545196144958051e-23, - "velocityX": -1.2710664244245501e-21, - "velocityY": 5.161280003041427e-22, - "timestamp": 4.694185309453636 - }, - { - "x": 4.048121639777245, - "y": 6.381836957223538, - "heading": 0.2879219902009138, - "angularVelocity": -0.09569046695813048, - "velocityX": 0.35391649199799335, - "velocityY": 0.12992051965342163, - "timestamp": 4.7561098045517625 - }, - { - "x": 4.09210978411728, - "y": 6.3975053544995015, - "heading": 0.2763091104232377, - "angularVelocity": -0.18753289403933296, - "velocityX": 0.7103512797372235, - "velocityY": 0.25302422330831614, - "timestamp": 4.818034299649889 - }, - { - "x": 4.1583483462814845, - "y": 6.420279656151659, - "heading": 0.2593011262084734, - "angularVelocity": -0.27465680887366445, - "velocityX": 1.0696665682819408, - "velocityY": 0.3677753305226003, - "timestamp": 4.879958794748015 - }, - { - "x": 4.247041291177504, - "y": 6.4495126487830605, - "heading": 0.2372637765315283, - "angularVelocity": -0.35587451527904157, - "velocityX": 1.4322756246211616, - "velocityY": 0.4720747837358832, - "timestamp": 4.941883289846142 - }, - { - "x": 4.358419897352032, - "y": 6.484373747552581, - "heading": 0.21066653247243172, - "angularVelocity": -0.4295108747669278, - "velocityX": 1.7986195284763546, - "velocityY": 0.5629613727859919, - "timestamp": 5.003807784944268 - }, - { - "x": 4.492739145472355, - "y": 6.523763939464936, - "heading": 0.18013087413356532, - "angularVelocity": -0.49311113946878693, - "velocityX": 2.16908103824632, - "velocityY": 0.6361003323472623, - "timestamp": 5.065732280042394 - }, - { - "x": 4.650257527226494, - "y": 6.56617435469435, - "heading": 0.14651099259101713, - "angularVelocity": -0.5429173300367439, - "velocityX": 2.5437168523462796, - "velocityY": 0.6848730080432686, - "timestamp": 5.127656775140521 - }, - { - "x": 4.831166710355601, - "y": 6.609441995709787, - "heading": 0.11103466181531912, - "angularVelocity": -0.5728965689503284, - "velocityX": 2.921447851006871, - "velocityY": 0.6987160887928849, - "timestamp": 5.189581270238647 - }, - { - "x": 5.035367274609871, - "y": 6.650325338062944, - "heading": 0.0755552485953242, - "angularVelocity": -0.5729463464138673, - "velocityX": 3.297573342030341, - "velocityY": 0.6602127686042919, - "timestamp": 5.251505765336773 - }, - { - "x": 5.261781944494072, - "y": 6.683862994996324, - "heading": 0.042963975482345464, - "angularVelocity": -0.5263066426514128, - "velocityX": 3.6563022358991017, - "velocityY": 0.541589509615474, - "timestamp": 5.3134302604349 - }, - { - "x": 5.506627789251162, - "y": 6.703117076456781, - "heading": 0.017406668728306682, - "angularVelocity": -0.4127172407871934, - "velocityX": 3.9539417215934254, - "velocityY": 0.31092835605597996, - "timestamp": 5.375354755533026 - }, - { - "x": 5.761751812356917, - "y": 6.701608512470805, - "heading": 0.003171834984879961, - "angularVelocity": -0.22987403806635848, - "velocityX": 4.119920924691961, - "velocityY": -0.024361344950586963, - "timestamp": 5.4372792506311525 - }, - { - "x": 6.018601417541504, - "y": 6.676982402801514, - "heading": -1.3559620024912911e-24, - "angularVelocity": -0.051221006806011604, - "velocityX": 4.147786829389234, - "velocityY": -0.39767961983813094, - "timestamp": 5.499203745729279 - }, - { - "x": 6.298786009014622, - "y": 6.621524313440803, - "heading": -4.414364457925229e-8, - "angularVelocity": -6.462732937493416e-7, - "velocityX": 4.101968029940426, - "velocityY": -0.8119194148513419, - "timestamp": 5.567508664107004 - }, - { - "x": 6.570847718915352, - "y": 6.538762468325385, - "heading": -7.033434259435762e-8, - "angularVelocity": -3.8343795201205294e-7, - "velocityX": 3.983047141586983, - "velocityY": -1.2116527928156882, - "timestamp": 5.6358135824847295 - }, - { - "x": 6.822289711502508, - "y": 6.436346018958693, - "heading": -7.949311143160773e-8, - "angularVelocity": -1.3408652048454663e-7, - "velocityX": 3.6811696516008747, - "velocityY": -1.499400801569386, - "timestamp": 5.704118500862455 - }, - { - "x": 7.0460752580417605, - "y": 6.327103349848984, - "heading": -7.703336636195349e-8, - "angularVelocity": 3.6011243817786175e-8, - "velocityX": 3.2762728051547096, - "velocityY": -1.5993382571017543, - "timestamp": 5.77242341924018 - }, - { - "x": 7.241490832586327, - "y": 6.220433828516969, - "heading": -6.8157674853432e-8, - "angularVelocity": 1.2994220210379365e-7, - "velocityX": 2.8609297717613993, - "velocityY": -1.5616667710827985, - "timestamp": 5.8407283376179056 - }, - { - "x": 7.409535997448797, - "y": 6.121659695713664, - "heading": -5.6202483858229566e-8, - "angularVelocity": 1.750267957146284e-7, - "velocityX": 2.460220564691751, - "velocityY": -1.4460764341607861, - "timestamp": 5.909033255995631 - }, - { - "x": 7.551302074325524, - "y": 6.033880383414205, - "heading": -4.325249063148238e-8, - "angularVelocity": 1.895909333370981e-7, - "velocityX": 2.0754885628112913, - "velocityY": -1.2851096873294061, - "timestamp": 5.977338174373356 - }, - { - "x": 7.667694153636149, - "y": 5.959048535338257, - "heading": -3.068159533861856e-8, - "angularVelocity": 1.840408508117524e-7, - "velocityX": 1.7040072966192434, - "velocityY": -1.095555779191907, - "timestamp": 6.045643092751082 - }, - { - "x": 7.7594304227528665, - "y": 5.89848440024899, - "heading": -1.9448297882684093e-8, - "angularVelocity": 1.644581052540686e-7, - "velocityX": 1.343040461733904, - "velocityY": -0.8866731199991837, - "timestamp": 6.113948011128807 - }, - { - "x": 7.827081864823745, - "y": 5.853132028276085, - "heading": -1.0253962002990125e-8, - "angularVelocity": 1.3460723031465246e-7, - "velocityX": 0.9904329538433378, - "velocityY": -0.6639693458398959, - "timestamp": 6.182252929506532 - }, - { - "x": 7.8711085813221855, - "y": 5.823696596603824, - "heading": -3.6318337075530827e-9, - "angularVelocity": 9.69495089477567e-8, - "velocityX": 0.6445614392652327, - "velocityY": -0.430941612571493, - "timestamp": 6.250557847884258 - }, - { - "x": 7.891887187957764, - "y": 5.810723304748535, - "heading": -2.0933118512576364e-26, - "angularVelocity": 5.317089594440484e-8, - "velocityX": 0.30420366686733796, - "velocityY": -0.18993203071478146, - "timestamp": 6.318862766261983 - }, - { - "x": 7.888143904798224, - "y": 5.815954272618714, - "heading": 1.1238376512921276e-10, - "angularVelocity": 1.5522619182937645e-9, - "velocityX": -0.05170280503827788, - "velocityY": 0.0722509359902741, - "timestamp": 6.391262767708095 - }, - { - "x": 7.858277731902267, - "y": 5.8396753308857665, - "heading": -3.1980355240507115e-9, - "angularVelocity": -4.572402241792647e-8, - "velocityX": -0.41251619198083334, - "velocityY": 0.32763891979626797, - "timestamp": 6.463662769154206 - }, - { - "x": 7.801862145221396, - "y": 5.881268642056604, - "heading": -9.54060326150597e-9, - "angularVelocity": -8.760452501062605e-8, - "velocityX": -0.7792207949451817, - "velocityY": 0.5744932367411117, - "timestamp": 6.536062770600318 - }, - { - "x": 7.718377542515441, - "y": 5.939936997849849, - "heading": -1.8417788083637822e-8, - "angularVelocity": -1.226130475803823e-7, - "velocityX": -1.1531022242878466, - "velocityY": 0.8103363897984549, - "timestamp": 6.60846277204643 - }, - { - "x": 7.607181391684359, - "y": 6.014616563892487, - "heading": -2.9176471451729494e-8, - "angularVelocity": -1.4860059603865473e-7, - "velocityX": -1.5358584062162697, - "velocityY": 1.0314856982181417, - "timestamp": 6.680862773492541 - }, - { - "x": 7.4674691498308405, - "y": 6.103826142786331, - "heading": -4.092645392613916e-8, - "angularVelocity": -1.6229257237177443e-7, - "velocityX": -1.9297270588800863, - "velocityY": 1.2321764794472392, - "timestamp": 6.753262774938653 - }, - { - "x": 7.298232520371032, - "y": 6.205388827036514, - "heading": -5.239643950278259e-8, - "angularVelocity": -1.5842521198263621e-7, - "velocityX": -2.337522459661463, - "velocityY": 1.402799478198597, - "timestamp": 6.825662776384765 - }, - { - "x": 7.0982622904373915, - "y": 6.315880924025181, - "heading": -6.166708665777315e-8, - "angularVelocity": -1.2804761008037847e-7, - "velocityX": -2.762019695296288, - "velocityY": 1.526133905824668, - "timestamp": 6.8980627778308765 - }, - { - "x": 6.866440603568656, - "y": 6.429499233364628, - "heading": -6.568320426031161e-8, - "angularVelocity": -5.547123649614453e-8, - "velocityX": -3.2019569369937573, - "velocityY": 1.5693136335641493, - "timestamp": 6.970462779276988 - }, - { - "x": 6.60338911605519, - "y": 6.536118404749743, - "heading": -5.966101479819827e-8, - "angularVelocity": 8.317941079871027e-8, - "velocityX": -3.6333077660123805, - "velocityY": 1.472640459330275, - "timestamp": 7.0428627807231 - }, - { - "x": 6.316249006337029, - "y": 6.621665638178002, - "heading": -3.828640775690033e-8, - "angularVelocity": 2.9522937312656454e-7, - "velocityX": -3.9660235356747005, - "velocityY": 1.1815915983362697, - "timestamp": 7.115262782169212 - }, - { - "x": 6.018601417541504, - "y": 6.676982402801514, - "heading": 7.9356951670816615e-25, - "angularVelocity": 5.288177761349547e-7, - "velocityX": -4.11115445925878, - "velocityY": 0.7640436950085439, - "timestamp": 7.187662783615323 - }, - { - "x": 5.740842572720578, - "y": 6.700963658984785, - "heading": 0.0018231984576357557, - "angularVelocity": 0.027294778663288, - "velocityX": -4.158278085090587, - "velocityY": 0.35901910559907296, - "timestamp": 7.2544593852704224 - }, - { - "x": 5.465613553779653, - "y": 6.698113364745584, - "heading": 0.01705607864209539, - "angularVelocity": 0.2280487301302209, - "velocityX": -4.12040451342204, - "velocityY": -0.04267124626965841, - "timestamp": 7.321255986925522 - }, - { - "x": 5.204358328316174, - "y": 6.672254128794052, - "heading": 0.046261831986706164, - "angularVelocity": 0.43723412001426465, - "velocityX": -3.911205345632041, - "velocityY": -0.3871340054851043, - "timestamp": 7.388052588580621 - }, - { - "x": 4.966474282232876, - "y": 6.6325844049513245, - "heading": 0.0830771823140007, - "angularVelocity": 0.5511560381078753, - "velocityX": -3.5613195909516313, - "velocityY": -0.593888354493849, - "timestamp": 7.45484919023572 - }, - { - "x": 4.755211974738486, - "y": 6.587176755241801, - "heading": 0.12225070699122965, - "angularVelocity": 0.5864598453600871, - "velocityX": -3.162770294591211, - "velocityY": -0.6797898184099774, - "timestamp": 7.521645791890819 - }, - { - "x": 4.571183406962543, - "y": 6.54114573684605, - "heading": 0.16051429938187217, - "angularVelocity": 0.5728374115230364, - "velocityX": -2.7550588385643326, - "velocityY": -0.6891221597384368, - "timestamp": 7.588442393545918 - }, - { - "x": 4.414262701798846, - "y": 6.497671687179865, - "heading": 0.1958556202852531, - "angularVelocity": 0.5290886067208012, - "velocityX": -2.3492318662250016, - "velocityY": -0.6508422373141216, - "timestamp": 7.655238995201017 - }, - { - "x": 4.284155652887569, - "y": 6.458840678668644, - "heading": 0.2269562205060937, - "angularVelocity": 0.46560153436288354, - "velocityX": -1.9478094047819534, - "velocityY": -0.5813320969788546, - "timestamp": 7.7220355968561165 - }, - { - "x": 4.180556191608258, - "y": 6.426101398719019, - "heading": 0.25289929121670346, - "angularVelocity": 0.38838908069852646, - "velocityX": -1.5509690420216515, - "velocityY": -0.49013391607366485, - "timestamp": 7.788832198511216 - }, - { - "x": 4.103186902723614, - "y": 6.4005094893734436, - "heading": 0.27301561090145554, - "angularVelocity": 0.301157831181616, - "velocityX": -1.1582818132595463, - "velocityY": -0.38313190658586416, - "timestamp": 7.855628800166315 - }, - { - "x": 4.051806124428388, - "y": 6.382864606916464, - "heading": 0.28679744635493554, - "angularVelocity": 0.20632539847822937, - "velocityX": -0.7692124602465237, - "velocityY": -0.2641583856030227, - "timestamp": 7.922425401821414 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "angularVelocity": 0.10554620330039294, - "velocityX": -0.3832617841429427, - "velocityY": -0.13582895013430246, - "timestamp": 7.989222003476513 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "angularVelocity": 2.005442344245764e-24, - "velocityX": 1.8885981121979073e-24, - "velocityY": 6.519144438430986e-24, - "timestamp": 8.056018605131612 - }, - { - "x": 4.0487237842181845, - "y": 6.381905764315973, - "heading": 0.289763925680258, - "angularVelocity": -0.0651795729135273, - "velocityX": 0.35941624407112255, - "velocityY": 0.12950958254097514, - "timestamp": 8.118670877771688 - }, - { - "x": 4.09402733620905, - "y": 6.397352444809068, - "heading": 0.28163512088907877, - "angularVelocity": -0.1297447713968433, - "velocityX": 0.7230951102304722, - "velocityY": 0.24654621200788543, - "timestamp": 8.181323150411764 - }, - { - "x": 4.162408374331436, - "y": 6.419155700762566, - "heading": 0.2695155327794676, - "angularVelocity": -0.19344211468968972, - "velocityX": 1.0914374729105671, - "velocityY": 0.3480042308880483, - "timestamp": 8.24397542305184 - }, - { - "x": 4.254175470208227, - "y": 6.446070164240337, - "heading": 0.25348421107280095, - "angularVelocity": -0.255877736451212, - "velocityX": 1.4647049821157165, - "velocityY": 0.4295847914789773, - "timestamp": 8.306627695691915 - }, - { - "x": 4.369627429708199, - "y": 6.476469024717609, - "heading": 0.23366000099411213, - "angularVelocity": -0.3164164561527553, - "velocityX": 1.8427417655416987, - "velocityY": 0.4851996455405065, - "timestamp": 8.369279968331991 - }, - { - "x": 4.508985987745745, - "y": 6.508175804754511, - "heading": 0.2102282566283648, - "angularVelocity": -0.3739967183689891, - "velocityX": 2.224317684980605, - "velocityY": 0.5060754973574803, - "timestamp": 8.431932240972067 - }, - { - "x": 4.6722331784478675, - "y": 6.538223031668598, - "heading": 0.18348837802396292, - "angularVelocity": -0.426798222596284, - "velocityX": 2.605606849091409, - "velocityY": 0.47958718252252885, - "timestamp": 8.494584513612143 - }, - { - "x": 4.858743027816154, - "y": 6.562565877888605, - "heading": 0.15393434470481, - "angularVelocity": -0.4717152638490063, - "velocityX": 2.9769047715116295, - "velocityY": 0.3885389179711166, - "timestamp": 8.557236786252219 - }, - { - "x": 5.066570002168237, - "y": 6.575971754133761, - "heading": 0.1223656565639417, - "angularVelocity": -0.5038713970078006, - "velocityX": 3.3171498110851902, - "velocityY": 0.21397270490362202, - "timestamp": 8.619889058892294 - }, - { - "x": 5.291589628159925, - "y": 6.572681851877193, - "heading": 0.08994651870042891, - "angularVelocity": -0.5174455210867492, - "velocityX": 3.591563665764864, - "velocityY": -0.05251050150194843, - "timestamp": 8.68254133153237 - }, - { - "x": 5.527619341276251, - "y": 6.548104466256015, - "heading": 0.05802485635108468, - "angularVelocity": -0.5095052582166943, - "velocityX": 3.767296909918484, - "velocityY": -0.3922824278437735, - "timestamp": 8.745193604172446 - }, - { - "x": 5.768129964554371, - "y": 6.499988313354724, - "heading": 0.027769937254171585, - "angularVelocity": -0.48290218091084397, - "velocityX": 3.8388172231166338, - "velocityY": -0.7679873510368684, - "timestamp": 8.807845876812522 - }, - { - "x": 6.007773399353027, - "y": 6.4279327392578125, - "heading": 4.2309997245679596e-24, - "angularVelocity": -0.44323910504738345, - "velocityX": 3.8249759298495123, - "velocityY": -1.1500871566280768, - "timestamp": 8.870498149452597 - }, - { - "x": 6.229030281346825, - "y": 6.339362395858419, - "heading": -0.023466940923758877, - "angularVelocity": -0.39811204237675923, - "velocityX": 3.753579534147267, - "velocityY": -1.5025784749406275, - "timestamp": 8.929443718603581 - }, - { - "x": 6.443849172872896, - "y": 6.230687798127142, - "heading": -0.039879946371075364, - "angularVelocity": -0.27844341285900365, - "velocityX": 3.6443602906917305, - "velocityY": -1.8436431999310363, - "timestamp": 8.988389287754565 - }, - { - "x": 6.650509698951262, - "y": 6.102546806166999, - "heading": -0.049142702906474676, - "angularVelocity": -0.15714084483048257, - "velocityX": 3.505955223691552, - "velocityY": -2.173886753589912, - "timestamp": 9.047334856905549 - }, - { - "x": 6.8468725839470075, - "y": 5.955927867022489, - "heading": -0.05303207582244352, - "angularVelocity": -0.06598244740001617, - "velocityX": 3.331257765834417, - "velocityY": -2.487361497332514, - "timestamp": 9.106280426056532 - }, - { - "x": 7.030112126915743, - "y": 5.792643403875283, - "heading": -0.05586334395844049, - "angularVelocity": -0.0480319076866473, - "velocityX": 3.108622846602461, - "velocityY": -2.7700888378728914, - "timestamp": 9.165225995207516 - }, - { - "x": 7.196822404953559, - "y": 5.61624162712754, - "heading": -0.06598691122862967, - "angularVelocity": -0.17174432982839563, - "velocityX": 2.8282071144448753, - "velocityY": -2.992621486034079, - "timestamp": 9.2241715643585 - }, - { - "x": 7.344318297823079, - "y": 5.433198235403824, - "heading": -0.09660333760407158, - "angularVelocity": -0.5194016584524004, - "velocityX": 2.5022388449880117, - "velocityY": -3.1052951792672387, - "timestamp": 9.283117133509483 - }, - { - "x": 7.472388333611968, - "y": 5.252274949850564, - "heading": -0.15660945149917227, - "angularVelocity": -1.0179919332257161, - "velocityX": 2.1726829960848693, - "velocityY": -3.0693279946087215, - "timestamp": 9.342062702660467 - }, - { - "x": 7.582263019092128, - "y": 5.081723782489176, - "heading": -0.22798352839802205, - "angularVelocity": -1.2108471921957489, - "velocityX": 1.8640024528175283, - "velocityY": -2.8933670472251234, - "timestamp": 9.40100827181145 - }, - { - "x": 7.676466487781464, - "y": 4.9254488732019475, - "heading": -0.3020784286066942, - "angularVelocity": -1.2570054251047096, - "velocityX": 1.5981433387815942, - "velocityY": -2.6511731337590945, - "timestamp": 9.459953840962434 - }, - { - "x": 7.7568938758586405, - "y": 4.785294368443394, - "heading": -0.37402343822514994, - "angularVelocity": -1.2205329536164857, - "velocityX": 1.364434837691845, - "velocityY": -2.3776936379994624, - "timestamp": 9.518899410113418 - }, - { - "x": 7.824872010815036, - "y": 4.662247591209576, - "heading": -0.4407895129961546, - "angularVelocity": -1.1326733414005847, - "velocityX": 1.1532357043202854, - "velocityY": -2.0874644015845227, - "timestamp": 9.577844979264402 - }, - { - "x": 7.88135001784302, - "y": 4.556897034423127, - "heading": -0.5003478187596111, - "angularVelocity": -1.0103949562502774, - "velocityX": 0.9581382933689164, - "velocityY": -1.7872514983543952, - "timestamp": 9.636790548415386 - }, - { - "x": 7.927030718663331, - "y": 4.469623470627648, - "heading": -0.5512507357361617, - "angularVelocity": -0.863557985947457, - "velocityX": 0.7749641148311569, - "velocityY": -1.4805788637299317, - "timestamp": 9.69573611756637 - }, - { - "x": 7.962451814207847, - "y": 4.400689098568436, - "heading": -0.5924140389845107, - "angularVelocity": -0.6983273525260651, - "velocityX": 0.6009119269641297, - "velocityY": -1.1694580789039828, - "timestamp": 9.754681686717353 - }, - { - "x": 7.988036352165696, - "y": 4.350283491457437, - "heading": -0.6229985575776359, - "angularVelocity": -0.5188603491941064, - "velocityX": 0.434036660029808, - "velocityY": -0.8551212217815544, - "timestamp": 9.813627255868337 - }, - { - "x": 8.004125055669116, - "y": 4.31854932275225, - "heading": -0.6423430672717187, - "angularVelocity": -0.3281758064721266, - "velocityX": 0.27294169409427244, - "velocityY": -0.5383639374810789, - "timestamp": 9.87257282501932 - }, - { - "x": 8.010997772216797, - "y": 4.30559778213501, - "heading": -0.6499245399095859, - "angularVelocity": -0.12861819381958664, - "velocityX": 0.1165942859941986, - "velocityY": -0.21972034206788113, - "timestamp": 9.931518394170304 - }, - { - "x": 8.008640625334808, - "y": 4.3120713019161, - "heading": -0.6449603194163791, - "angularVelocity": 0.08240933446076017, - "velocityX": -0.03913019295512813, - "velocityY": 0.10746469813501351, - "timestamp": 9.991756964542093 - }, - { - "x": 7.996662965285712, - "y": 4.338162984806749, - "heading": -0.6277276549089263, - "angularVelocity": 0.2860735970507537, - "velocityX": -0.19883705697477932, - "velocityY": 0.43313914539493714, - "timestamp": 10.051995534913882 - }, - { - "x": 7.9747782083324354, - "y": 4.383759514989304, - "heading": -0.598776455290747, - "angularVelocity": 0.4806090091364049, - "velocityX": -0.36330140005325046, - "velocityY": 0.75693247534156, - "timestamp": 10.11223410528567 - }, - { - "x": 7.942638409560382, - "y": 4.448715501539106, - "heading": -0.5587851834199348, - "angularVelocity": 0.6638814902808625, - "velocityX": -0.533541858209585, - "velocityY": 1.0783122200427058, - "timestamp": 10.17247267565746 - }, - { - "x": 7.89981288541696, - "y": 4.532838211183571, - "heading": -0.5085984817650532, - "angularVelocity": 0.8331323493424854, - "velocityX": -0.7109319474068704, - "velocityY": 1.3964924652969615, - "timestamp": 10.232711246029249 - }, - { - "x": 7.845756103945311, - "y": 4.635862370094525, - "heading": -0.4492930873299135, - "angularVelocity": 0.9845086639525084, - "velocityX": -0.8973782269069894, - "velocityY": 1.710268990035694, - "timestamp": 10.292949816401038 - }, - { - "x": 7.779757952213243, - "y": 4.757405734926412, - "heading": -0.382295753262504, - "angularVelocity": 1.1121999352558545, - "velocityX": -1.0956128494539268, - "velocityY": 2.0177000231201787, - "timestamp": 10.353188386772826 - }, - { - "x": 7.700864385195838, - "y": 4.896884050165335, - "heading": -0.3095988880574394, - "angularVelocity": 1.2068159114066472, - "velocityX": -1.3096852486783623, - "velocityY": 2.315432029313937, - "timestamp": 10.413426957144615 - }, - { - "x": 7.607749192737627, - "y": 5.0533313100207735, - "heading": -0.23416819513379072, - "angularVelocity": 1.252199254698346, - "velocityX": -1.5457736112180178, - "velocityY": 2.597127702232213, - "timestamp": 10.473665527516404 - }, - { - "x": 7.4985230728620555, - "y": 5.224975559172228, - "heading": -0.16073992185561656, - "angularVelocity": 1.2189577678384218, - "velocityX": -1.8132256327039729, - "velocityY": 2.8494077480935314, - "timestamp": 10.533904097888193 - }, - { - "x": 7.370615754860522, - "y": 5.408140956613431, - "heading": -0.09743106837998239, - "angularVelocity": 1.0509687246044361, - "velocityX": -2.123345843237925, - "velocityY": 3.0406664087596154, - "timestamp": 10.594142668259982 - }, - { - "x": 7.222231012592685, - "y": 5.5947592821558745, - "heading": -0.061240832593330456, - "angularVelocity": 0.600781784217115, - "velocityX": -2.4632845924465627, - "velocityY": 3.097987292703733, - "timestamp": 10.654381238631771 - }, - { - "x": 7.053607883062888, - "y": 5.775645840558194, - "heading": -0.04890249083117564, - "angularVelocity": 0.20482461130805693, - "velocityX": -2.7992551697203822, - "velocityY": 3.0028361776499053, - "timestamp": 10.71461980900356 - }, - { - "x": 6.867274277323916, - "y": 5.943523141012965, - "heading": -0.04597480359183944, - "angularVelocity": 0.04860153920099139, - "velocityX": -3.0932607561721848, - "velocityY": 2.7868739151450646, - "timestamp": 10.774858379375349 - }, - { - "x": 6.666800620063063, - "y": 6.094343858364721, - "heading": -0.04319414895342738, - "angularVelocity": 0.04616070104668807, - "velocityX": -3.3279949378535707, - "velocityY": 2.503723385546804, - "timestamp": 10.835096949747138 - }, - { - "x": 6.455252510472756, - "y": 6.226027819661062, - "heading": -0.03567675833355503, - "angularVelocity": 0.12479364256945982, - "velocityX": -3.511838150949524, - "velocityY": 2.18604061290953, - "timestamp": 10.895335520118927 - }, - { - "x": 6.234971447573829, - "y": 6.337451095987177, - "heading": -0.021378533882876995, - "angularVelocity": 0.23735995662629603, - "velocityX": -3.6568109359063894, - "velocityY": 1.8496998789714996, - "timestamp": 10.955574090490716 - }, - { - "x": 6.007773399353027, - "y": 6.4279327392578125, - "heading": 1.0451301322490283e-23, - "angularVelocity": 0.3548977631927474, - "velocityX": -3.771637454517041, - "velocityY": 1.5020549576822213, - "timestamp": 11.015812660862505 - }, - { - "x": 5.747502918390015, - "y": 6.502130719218711, - "heading": 0.02823606248628203, - "angularVelocity": 0.41875457589826204, - "velocityX": -3.8599381527595638, - "velocityY": 1.1003922252307357, - "timestamp": 11.08324132698684 - }, - { - "x": 5.486616061564071, - "y": 6.54859640899773, - "heading": 0.06008791313844042, - "angularVelocity": 0.47237847762588864, - "velocityX": -3.869079307380576, - "velocityY": 0.6891088382697167, - "timestamp": 11.150669993111176 - }, - { - "x": 5.232615422686886, - "y": 6.568179274186433, - "heading": 0.09435854776952027, - "angularVelocity": 0.5082502235456623, - "velocityX": -3.76695333715803, - "velocityY": 0.29042344027083444, - "timestamp": 11.218098659235512 - }, - { - "x": 4.994185583794339, - "y": 6.564780827927549, - "heading": 0.12929833940251856, - "angularVelocity": 0.5181741481964114, - "velocityX": -3.5360307803344355, - "velocityY": -0.05040061526083558, - "timestamp": 11.285527325359848 - }, - { - "x": 4.7782894744816735, - "y": 6.54517331085893, - "heading": 0.1630448352516845, - "angularVelocity": 0.5004769898152576, - "velocityX": -3.201844582162713, - "velocityY": -0.29078903967139774, - "timestamp": 11.352955991484183 - }, - { - "x": 4.588583133594499, - "y": 6.516394405425367, - "heading": 0.19417829885666568, - "angularVelocity": 0.4617244473970761, - "velocityX": -2.813437545054831, - "velocityY": -0.42680520152208584, - "timestamp": 11.420384657608519 - }, - { - "x": 4.426380144437834, - "y": 6.483997287524405, - "heading": 0.22180064905808416, - "angularVelocity": 0.4096529234388779, - "velocityX": -2.4055494269687476, - "velocityY": -0.4804650568235182, - "timestamp": 11.487813323732855 - }, - { - "x": 4.29190849535161, - "y": 6.4519615961956065, - "heading": 0.24536762088418218, - "angularVelocity": 0.3495096845404179, - "velocityX": -1.994280130623705, - "velocityY": -0.47510492450978464, - "timestamp": 11.55524198985719 - }, - { - "x": 4.184982062888447, - "y": 6.423114091223226, - "heading": 0.26454171695590006, - "angularVelocity": 0.2843611949309722, - "velocityX": -1.5857711357658024, - "velocityY": -0.42782256613509534, - "timestamp": 11.622670655981526 - }, - { - "x": 4.105281875933628, - "y": 6.39950678354966, - "heading": 0.2791044377060579, - "angularVelocity": 0.21597225018962463, - "velocityX": -1.1819926380844537, - "velocityY": -0.3501078848280095, - "timestamp": 11.690099322105862 - }, - { - "x": 4.052465191081701, - "y": 6.382673090712085, - "heading": 0.2889078281274289, - "angularVelocity": 0.1453890605413106, - "velocityX": -0.7832971922436318, - "velocityY": -0.24965187367837952, - "timestamp": 11.757527988230198 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "angularVelocity": 0.07325884092771977, - "velocityX": -0.38944343537672876, - "velocityY": -0.13171543471725672, - "timestamp": 11.824956654354533 - }, - { - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "angularVelocity": 8.278440610410196e-25, - "velocityX": 6.433403533567858e-24, - "velocityY": -1.0701732524530557e-23, - "timestamp": 11.89238532047887 - }, - { - "x": 4.018087490415642, - "y": 6.380018770347843, - "heading": 0.2795341228567479, - "angularVelocity": -0.3355412595403682, - "velocityX": -0.1903063381197778, - "velocityY": 0.1459774304073072, - "timestamp": 11.935043118258669 - }, - { - "x": 4.001589705706272, - "y": 6.3921613257192265, - "heading": 0.25120714606109396, - "angularVelocity": -0.66405155141573, - "velocityX": -0.3867472201572967, - "velocityY": 0.28465031022144105, - "timestamp": 11.977700916038469 - }, - { - "x": 3.97639313263677, - "y": 6.409754098035882, - "heading": 0.20896838468257176, - "angularVelocity": -0.9901767924485971, - "velocityX": -0.5906674601339826, - "velocityY": 0.4124163279002243, - "timestamp": 12.020358713818268 - }, - { - "x": 3.9421738742779104, - "y": 6.432121957225729, - "heading": 0.15224609434940017, - "angularVelocity": -1.3297050782127584, - "velocityX": -0.8021806126865689, - "velocityY": 0.524355694715196, - "timestamp": 12.063016511598068 - }, - { - "x": 3.8986904655937336, - "y": 6.458382475722753, - "heading": 0.07940140875468289, - "angularVelocity": -1.7076522789747404, - "velocityX": -1.0193542786395084, - "velocityY": 0.6156088655251506, - "timestamp": 12.105674309377868 - }, - { - "x": 3.8458035667226933, - "y": 6.4875155211783255, - "heading": -0.011842050030088008, - "angularVelocity": -2.1389631798568893, - "velocityX": -1.2397944015779776, - "velocityY": 0.6829477134745302, - "timestamp": 12.148332107157668 - }, - { - "x": 3.7833094863246672, - "y": 6.518292557296895, - "heading": -0.12260101088673928, - "angularVelocity": -2.59645285554573, - "velocityX": -1.4650095328554629, - "velocityY": 0.7214867555386046, - "timestamp": 12.190989904937467 - }, - { - "x": 3.7106930068716886, - "y": 6.548467697277574, - "heading": -0.24923492157262775, - "angularVelocity": -2.9685993482264874, - "velocityX": -1.702302585516201, - "velocityY": 0.7073768818644702, - "timestamp": 12.233647702717267 - }, - { - "x": 3.6287066452771013, - "y": 6.573438773987302, - "heading": -0.38557434807314456, - "angularVelocity": -3.196119668537644, - "velocityX": -1.921954856127452, - "velocityY": 0.5853812903945306, - "timestamp": 12.276305500497067 - }, - { - "x": 3.5407648103952, - "y": 6.589073554075392, - "heading": -0.5249239622169254, - "angularVelocity": -3.266685609583233, - "velocityX": -2.0615652813551293, - "velocityY": 0.36651634406438516, - "timestamp": 12.318963298276866 - }, - { - "x": 3.4508628456235098, - "y": 6.593818697188294, - "heading": -0.660906842350814, - "angularVelocity": -3.1877613756771255, - "velocityX": -2.107515377042373, - "velocityY": 0.11123741402210238, - "timestamp": 12.361621096056666 - }, - { - "x": 3.3616615472274485, - "y": 6.587670279666556, - "heading": -0.7900084359706764, - "angularVelocity": -3.0264476916105565, - "velocityX": -2.091090094629868, - "velocityY": -0.14413349590798102, - "timestamp": 12.404278893836466 - }, - { - "x": 3.274774187468561, - "y": 6.57100680311711, - "heading": -0.9098799975312181, - "angularVelocity": -2.8100738387697106, - "velocityX": -2.036845882373094, - "velocityY": -0.39063143004857287, - "timestamp": 12.446936691616266 - }, - { - "x": 3.191172742303364, - "y": 6.544245662152579, - "heading": -1.018505234653352, - "angularVelocity": -2.546433308227988, - "velocityX": -1.959816247354131, - "velocityY": -0.6273446440595214, - "timestamp": 12.489594489396065 - }, - { - "x": 3.111446083115606, - "y": 6.507722354665327, - "heading": -1.1144658869059407, - "angularVelocity": -2.2495453878782246, - "velocityX": -1.8689820698037456, - "velocityY": -0.856192991391337, - "timestamp": 12.532252287175865 - }, - { - "x": 3.035976307427136, - "y": 6.461676426153115, - "heading": -1.19697800039683, - "angularVelocity": -1.9342797281008164, - "velocityX": -1.7691906196856966, - "velocityY": -1.079425823852935, - "timestamp": 12.574910084955665 - }, - { - "x": 2.9650378227233887, - "y": 6.406276702880859, - "heading": -1.265712572039586, - "angularVelocity": -1.6113014553063978, - "velocityX": -1.662966406984595, - "velocityY": -1.2987009680675718, - "timestamp": 12.617567882735464 - }, - { - "x": 2.9126493602591794, - "y": 6.357513140307781, - "heading": -1.310830078079544, - "angularVelocity": -1.357475138846794, - "velocityX": -1.576240390915871, - "velocityY": -1.4671760406243946, - "timestamp": 12.650804223312786 - }, - { - "x": 2.8630250654829577, - "y": 6.303097416119462, - "heading": -1.3474650887415063, - "angularVelocity": -1.1022576500783743, - "velocityX": -1.4930733622967893, - "velocityY": -1.6372357258082417, - "timestamp": 12.684040563890107 - }, - { - "x": 2.816011074730038, - "y": 6.242970636362372, - "heading": -1.3754971781027352, - "angularVelocity": -0.843416840551841, - "velocityX": -1.4145357141092718, - "velocityY": -1.809067385659103, - "timestamp": 12.717276904467429 - }, - { - "x": 2.771398801296672, - "y": 6.177065835385166, - "heading": -1.39470215946782, - "angularVelocity": -0.5778308030153397, - "velocityX": -1.3422739284302563, - "velocityY": -1.982913877774391, - "timestamp": 12.75051324504475 - }, - { - "x": 2.7288922086629652, - "y": 6.105306533827174, - "heading": -1.404713958079907, - "angularVelocity": -0.3012304735774339, - "velocityX": -1.278919155820414, - "velocityY": -2.1590614463421836, - "timestamp": 12.783749585622072 - }, - { - "x": 2.6880462952478212, - "y": 6.027607098500584, - "heading": -1.4049934257695869, - "angularVelocity": -0.008408497591055405, - "velocityX": -1.228953389742779, - "velocityY": -2.3377855075780865, - "timestamp": 12.816985926199393 - }, - { - "x": 2.6481321260568067, - "y": 5.943876209208477, - "heading": -1.394939336924496, - "angularVelocity": 0.30250288300244654, - "velocityX": -1.2009194904643212, - "velocityY": -2.5192571696428567, - "timestamp": 12.850222266776715 - }, - { - "x": 2.60770583152771, - "y": 5.854036331176758, - "heading": -1.374993138249586, - "angularVelocity": 0.6001322145711994, - "velocityX": -1.2163280862719847, - "velocityY": -2.7030616629624156, - "timestamp": 12.883458607354036 - }, - { - "x": 2.5335974902090035, - "y": 5.699627153541733, - "heading": -1.326359964050082, - "angularVelocity": 0.9256228980196083, - "velocityX": -1.4104853073634442, - "velocityY": -2.9388308050189744, - "timestamp": 12.935999630597472 - }, - { - "x": 2.448082198863997, - "y": 5.538609196121231, - "heading": -1.2379059045506466, - "angularVelocity": 1.6835237313443032, - "velocityX": -1.627590900709989, - "velocityY": -3.0646140383385263, - "timestamp": 12.988540653840907 - }, - { - "x": 2.3666499769197493, - "y": 5.393860387223226, - "heading": -1.1439329584994455, - "angularVelocity": 1.7885633025417567, - "velocityX": -1.5498788740172182, - "velocityY": -2.7549674513826976, - "timestamp": 13.041081677084343 - }, - { - "x": 2.2923433899929266, - "y": 5.264310203060086, - "heading": -1.0550447251034136, - "angularVelocity": 1.6917872532514617, - "velocityX": -1.4142584658571056, - "velocityY": -2.465695872783135, - "timestamp": 13.093622700327778 - }, - { - "x": 2.2258000185216607, - "y": 5.149549363728709, - "heading": -0.9737081275164423, - "angularVelocity": 1.5480588798227184, - "velocityX": -1.2665031505563715, - "velocityY": -2.1842140150119014, - "timestamp": 13.146163723571213 - }, - { - "x": 2.1672914591200874, - "y": 5.049375589010017, - "heading": -0.9010867791693077, - "angularVelocity": 1.382183746415878, - "velocityX": -1.1135786056257322, - "velocityY": -1.9065821054638286, - "timestamp": 13.198704746814649 - }, - { - "x": 2.1169661488037037, - "y": 4.963668228608927, - "heading": -0.8378922046243602, - "angularVelocity": 1.2027663460635734, - "velocityX": -0.9578288965407921, - "velocityY": -1.6312465024517704, - "timestamp": 13.251245770058084 - }, - { - "x": 2.07491635973485, - "y": 4.8923475085199595, - "heading": -0.7846102526515801, - "angularVelocity": 1.0141019090152126, - "velocityX": -0.8003229947393125, - "velocityY": -1.3574292178993321, - "timestamp": 13.30378679330152 - }, - { - "x": 2.0412044621816885, - "y": 4.835357214512788, - "heading": -0.7415891809457651, - "angularVelocity": 0.8188091713876277, - "velocityX": -0.6416300154065587, - "velocityY": -1.0846818445678552, - "timestamp": 13.356327816544955 - }, - { - "x": 2.0158754197230326, - "y": 4.7926558969979665, - "heading": -0.7090843787352074, - "angularVelocity": 0.6186556752036474, - "velocityX": -0.4820812556561803, - "velocityY": -0.8127233707835632, - "timestamp": 13.40886883978839 - }, - { - "x": 1.9989634783303936, - "y": 4.76421184486368, - "heading": -0.6872854235406406, - "angularVelocity": 0.4148939980397224, - "velocityX": -0.3218807009959066, - "velocityY": -0.5413684465659858, - "timestamp": 13.461409863031825 - }, - { - "x": 1.990496039390564, - "y": 4.75, - "heading": -0.6763337151495863, - "angularVelocity": 0.20844109450081444, - "velocityX": -0.1611586226746669, - "velocityY": -0.27049044701382907, - "timestamp": 13.51395088627526 - }, - { - "x": 1.990496039390564, - "y": 4.75, - "heading": -0.6763337151495863, - "angularVelocity": -2.917607263748552e-24, - "velocityX": -1.8295999549572517e-24, - "velocityY": 1.1040980204698261e-23, - "timestamp": 13.566491909518696 - }, - { - "x": 2.0311019529427297, - "y": 4.707552352551894, - "heading": -0.6763337151495863, - "angularVelocity": -5.2261319194150544e-17, - "velocityX": 0.41398186246377605, - "velocityY": -0.4327585469834974, - "timestamp": 13.664578123514891 - }, - { - "x": 2.1123137791008166, - "y": 4.622657058644844, - "heading": -0.6763337151495863, - "angularVelocity": -1.825824738863161e-16, - "velocityX": 0.8279637152804861, - "velocityY": -0.8655170838823737, - "timestamp": 13.762664337511087 - }, - { - "x": 2.2341315150260925, - "y": 4.495314121246338, - "heading": -0.6763337151495863, - "angularVelocity": -9.603465419020808e-17, - "velocityX": 1.2419455391559997, - "velocityY": -1.2982755905273877, - "timestamp": 13.860750551507282 - }, - { - "x": 2.3559492509513684, - "y": 4.367971183847831, - "heading": -0.6763337151495863, - "angularVelocity": -2.328687477765739e-16, - "velocityX": 1.2419455391559997, - "velocityY": -1.2982755905273877, - "timestamp": 13.958836765503477 - }, - { - "x": 2.4371610771094554, - "y": 4.283075889940782, - "heading": -0.6763337151495863, - "angularVelocity": -1.6799417860231906e-16, - "velocityX": 0.8279637152804862, - "velocityY": -0.8655170838823736, - "timestamp": 14.056922979499673 - }, - { - "x": 2.477766990661621, - "y": 4.240628242492676, - "heading": -0.6763337151495863, - "angularVelocity": -1.0297253977874022e-16, - "velocityX": 0.4139818624637761, - "velocityY": -0.4327585469834973, - "timestamp": 14.155009193495868 - }, - { - "x": 2.477766990661621, - "y": 4.240628242492676, - "heading": -0.6763337151495863, - "angularVelocity": -1.0483209862050802e-28, - "velocityX": -1.5321576073165576e-26, - "velocityY": -1.2874611866638058e-26, - "timestamp": 14.253095407492063 - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "timestamp": 1.073251191201399, - "isStopPoint": true, - "x": 2.6293623447418213, - "y": 6.7744364738464355, - "heading": 0.610560190519, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 23 - }, - { - "timestamp": 3.0133515887203335, - "isStopPoint": false, - "x": 7.946028232574463, - "y": 7.456615924835205, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 19 - }, - { - "timestamp": 4.694185309453636, - "isStopPoint": true, - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 5.499203745729279, - "isStopPoint": false, - "x": 6.018601417541504, - "y": 6.676982402801514, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "timestamp": 6.318862766261983, - "isStopPoint": false, - "x": 7.891887187957764, - "y": 5.810723304748535, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 12 - }, - { - "timestamp": 7.187662783615323, - "isStopPoint": false, - "x": 6.018601417541504, - "y": 6.676982402801514, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 8.056018605131612, - "isStopPoint": true, - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 8.870498149452597, - "isStopPoint": false, - "x": 6.007773399353027, - "y": 6.4279327392578125, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 18 - }, - { - "timestamp": 9.931518394170304, - "isStopPoint": false, - "x": 8.010997772216797, - "y": 4.30559778213501, - "heading": -0.6499245399095859, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 18 - }, - { - "timestamp": 11.015812660862505, - "isStopPoint": false, - "x": 6.007773399353027, - "y": 6.4279327392578125, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 11.89238532047887, - "isStopPoint": true, - "x": 4.026205539703369, - "y": 6.373791694641113, - "heading": 0.293847574053, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "timestamp": 12.617567882735464, - "isStopPoint": false, - "x": 2.9650378227233887, - "y": 6.406276702880859, - "heading": -1.265712572039586, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 8 - }, - { - "timestamp": 12.883458607354036, - "isStopPoint": false, - "x": 2.60770583152771, - "y": 5.854036331176758, - "heading": -1.374993138249586, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 13.566491909518696, - "isStopPoint": true, - "x": 1.990496039390564, - "y": 4.75, - "heading": -0.6763337151495863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 7 - }, - { - "timestamp": 14.253095407492063, - "isStopPoint": true, - "x": 2.477766990661621, - "y": 4.240628242492676, - "heading": -0.6763337151495863, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "constraints": [ - { - "scope": [ - "first" - ], - "type": "StopPoint" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint" - }, - { - "scope": [ - 1 - ], - "type": "StopPoint" - }, - { - "scope": [ - 3 - ], - "type": "StopPoint" - }, - { - "scope": [ - 7 - ], - "type": "StopPoint" - }, - { - "scope": [ - 11 - ], - "type": "StopPoint" - }, - { - "scope": [ - 14 - ], - "type": "StopPoint" - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": false - }, - "Distance Center 6 Wing First": { - "waypoints": [ - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "x": 2.629361867904663, - "y": 4.316425800323486, - "heading": -0.4973420499689195, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "x": 2.510251045227051, - "y": 5.334280490875244, - "heading": 0.5713370823927012, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 - }, - { - "x": 3.0191783905029297, - "y": 5.832379341125488, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "x": 2.445281744003296, - "y": 6.449589252471924, - "heading": 0.5224037961561394, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 6 - }, - { - "x": 2.7051594257354736, - "y": 6.882719039916992, - "heading": 0.5224037961561394, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "x": 6.776577949523926, - "y": 6.9043755531311035, - "heading": 0.5224037961561394, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 - }, - { - "x": 8.021825790405273, - "y": 7.337504863739014, - "heading": 0.5224037961561394, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 18 - }, - { - "x": 3.733842372894287, - "y": 6.697348880767819, - "heading": 0.5224037961561394, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 15 - }, - { - "x": 5.7778338432312015, - "y": 6.801184844970702, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 15 - }, - { - "x": 8.03265380859375, - "y": 5.864864349365234, - "heading": -0.302884711661745, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 15 - }, - { - "x": 5.802036285400391, - "y": 6.762963199615477, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 3.733842372894287, - "y": 5.897348880767822, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 1.35, - "y": 5.58225679397583, - "heading": -8.23399117094977e-21, - "angularVelocity": 3.616025777443299e-20, - "velocityX": -8.860914587038282e-20, - "velocityY": 8.140056679610733e-20, - "timestamp": 0 - }, - { - "x": 1.376109320489114, - "y": 5.556422100544237, - "heading": -0.010099266800899679, - "angularVelocity": -0.12998961247130109, - "velocityX": 0.33605810393746355, - "velocityY": -0.33252332606842316, - "timestamp": 0.07769287567596511 - }, - { - "x": 1.4283280795481978, - "y": 5.50475284033716, - "heading": -0.03029817312262219, - "angularVelocity": -0.2599840222926798, - "velocityX": 0.672117727716421, - "velocityY": -0.6650450219216428, - "timestamp": 0.15538575135193022 - }, - { - "x": 1.5066564357182666, - "y": 5.42724921578407, - "heading": -0.0605984277415001, - "angularVelocity": -0.39000042610408264, - "velocityX": 1.0081793921073796, - "velocityY": -0.9975641122660442, - "timestamp": 0.23307862702789534 - }, - { - "x": 1.6110945641629029, - "y": 5.323911514336438, - "heading": -0.10100431936436054, - "angularVelocity": -0.5200720306889132, - "velocityX": 1.3442433110626257, - "velocityY": -1.3300795027670849, - "timestamp": 0.31077150270386045 - }, - { - "x": 1.74164261984874, - "y": 5.194740113776595, - "heading": -0.15152427748693714, - "angularVelocity": -0.6502521329404897, - "velocityX": 1.6803092246233249, - "velocityY": -1.6625900307588073, - "timestamp": 0.38846437837982556 - }, - { - "x": 1.8983006855277498, - "y": 5.039735479549906, - "heading": -0.2121726212286143, - "angularVelocity": -0.7806165393417044, - "velocityX": 2.0163762033006187, - "velocityY": -1.9950945679134022, - "timestamp": 0.46615725405579067 - }, - { - "x": 2.0810686976676913, - "y": 4.8588981712823704, - "heading": -0.282971977534701, - "angularVelocity": -0.9112721815237043, - "velocityX": 2.3524423642421857, - "velocityY": -2.327591902013722, - "timestamp": 0.5438501297317557 - }, - { - "x": 2.2377244681281647, - "y": 4.703905740759624, - "heading": -0.3441858501541506, - "angularVelocity": -0.7878955706924178, - "velocityX": 2.0163466610997847, - "velocityY": -1.9949374916842595, - "timestamp": 0.6215430054077209 - }, - { - "x": 2.3682705543010854, - "y": 4.574745653480951, - "heading": -0.3952223440590563, - "angularVelocity": -0.6569005647025403, - "velocityX": 1.6802838746423994, - "velocityY": -1.6624444153330409, - "timestamp": 0.6992358810836861 - }, - { - "x": 2.4727071860687984, - "y": 4.471417690375359, - "heading": -0.43606485774485665, - "angularVelocity": -0.5256918775428373, - "velocityX": 1.344224047045041, - "velocityY": -1.3299541586868706, - "timestamp": 0.7769287567596512 - }, - { - "x": 2.5510345452184433, - "y": 4.393921749583127, - "heading": -0.4667026260025969, - "angularVelocity": -0.39434462930065384, - "velocityX": 1.0081665592650493, - "velocityY": -0.9974652130968322, - "timestamp": 0.8546216324356164 - }, - { - "x": 2.6032527543826127, - "y": 4.34225778871809, - "heading": -0.4871292250327995, - "angularVelocity": -0.2629146990953991, - "velocityX": 0.6721106499128248, - "velocityY": -0.6649768130673013, - "timestamp": 0.9323145081115816 - }, - { - "x": 2.629361867904663, - "y": 4.316425800323486, - "heading": -0.4973420499689195, - "angularVelocity": -0.1314512411500224, - "velocityX": 0.3360554400244373, - "velocityY": -0.33248850901518073, - "timestamp": 1.0100073837875467 - }, - { - "x": 2.629361867904663, - "y": 4.316425800323486, - "heading": -0.4973420499689195, - "angularVelocity": -4.651997800205279e-20, - "velocityX": 8.78848662911863e-20, - "velocityY": -7.782125385278791e-20, - "timestamp": 1.087700259463512 - }, - { - "x": 2.6233052396026286, - "y": 4.326393541424155, - "heading": -0.47896226252358143, - "angularVelocity": 0.4000703563411541, - "velocityX": -0.13183381201916095, - "velocityY": 0.21696647721963866, - "timestamp": 1.133641647406949 - }, - { - "x": 2.6115515837229393, - "y": 4.3466736424263335, - "heading": -0.44330520584356, - "angularVelocity": 0.7761423473736202, - "velocityX": -0.25584024353292506, - "velocityY": 0.4414342254341193, - "timestamp": 1.1795830353503862 - }, - { - "x": 2.5946459289354515, - "y": 4.3776713184474, - "heading": -0.39137970233868447, - "angularVelocity": 1.1302554369669013, - "velocityX": -0.36798310944156426, - "velocityY": 0.6747222364990407, - "timestamp": 1.2255244232938234 - }, - { - "x": 2.573337356420698, - "y": 4.419766771585406, - "heading": -0.32351956642109647, - "angularVelocity": 1.4771024332381333, - "velocityX": -0.46382082624470733, - "velocityY": 0.9162860553937363, - "timestamp": 1.2714658112372605 - }, - { - "x": 2.548515626258525, - "y": 4.473258670814533, - "heading": -0.23928333849781427, - "angularVelocity": 1.8335586209757855, - "velocityX": -0.5402912552997571, - "velocityY": 1.1643509615988623, - "timestamp": 1.3174071991806977 - }, - { - "x": 2.521204362807651, - "y": 4.538447030993977, - "heading": -0.13846900348834276, - "angularVelocity": 2.19441204374569, - "velocityX": -0.594480590888976, - "velocityY": 1.4189462508120771, - "timestamp": 1.3633485871241349 - }, - { - "x": 2.4928952875938295, - "y": 4.615794515250989, - "heading": -0.02317453113785117, - "angularVelocity": 2.509599241808752, - "velocityX": -0.6161998250613465, - "velocityY": 1.6836122659646693, - "timestamp": 1.409289975067572 - }, - { - "x": 2.4664488301334497, - "y": 4.705652347771511, - "heading": 0.1004658369360928, - "angularVelocity": 2.691263229273123, - "velocityX": -0.57565647544085, - "velocityY": 1.9559233306393553, - "timestamp": 1.4552313630110092 - }, - { - "x": 2.4465017409069274, - "y": 4.806636359026755, - "heading": 0.223493186130365, - "angularVelocity": 2.6779197299337794, - "velocityX": -0.4341856029922523, - "velocityY": 2.1981053637207353, - "timestamp": 1.5011727509544464 - }, - { - "x": 2.437142466873225, - "y": 4.914004319219758, - "heading": 0.3340193354303189, - "angularVelocity": 2.405807796578398, - "velocityX": -0.20372205657403003, - "velocityY": 2.337063919905811, - "timestamp": 1.5471141388978835 - }, - { - "x": 2.4390218774995867, - "y": 5.023216279374713, - "heading": 0.42300384320052303, - "angularVelocity": 1.9369137884941887, - "velocityX": 0.040908877822231356, - "velocityY": 2.377202018568005, - "timestamp": 1.5930555268413207 - }, - { - "x": 2.4523438963207767, - "y": 5.131375051574103, - "heading": 0.4925726441961787, - "angularVelocity": 1.514294715721443, - "velocityX": 0.2899785883176208, - "velocityY": 2.3542774182737958, - "timestamp": 1.6389969147847578 - }, - { - "x": 2.4764740733075925, - "y": 5.235554065862188, - "heading": 0.5432225068747625, - "angularVelocity": 1.1024887350147914, - "velocityX": 0.5252383105300292, - "velocityY": 2.2676505641568747, - "timestamp": 1.684938302728195 - }, - { - "x": 2.510251045227051, - "y": 5.334280490875244, - "heading": 0.5713370823927012, - "angularVelocity": 0.6119661763931314, - "velocityX": 0.7352187957630835, - "velocityY": 2.148964788234253, - "timestamp": 1.7308796906716322 - }, - { - "x": 2.5650236180534773, - "y": 5.445977034086529, - "heading": 0.5690314952034347, - "angularVelocity": -0.041009635460105165, - "velocityX": 0.9742434618308231, - "velocityY": 1.9867539777170269, - "timestamp": 1.7871003120792386 - }, - { - "x": 2.631436378611181, - "y": 5.546741566981676, - "heading": 0.5272160744085959, - "angularVelocity": -0.7437737212413915, - "velocityX": 1.1812882692313675, - "velocityY": 1.792305569954328, - "timestamp": 1.843320933486845 - }, - { - "x": 2.707043830480548, - "y": 5.633772829267234, - "heading": 0.4487228756397609, - "angularVelocity": -1.3961638417289928, - "velocityX": 1.3448348662175675, - "velocityY": 1.5480309556625385, - "timestamp": 1.8995415548944514 - }, - { - "x": 2.7862462006186286, - "y": 5.702826720944244, - "heading": 0.3492973403296841, - "angularVelocity": -1.768488729237435, - "velocityX": 1.4087779208958542, - "velocityY": 1.228266247296711, - "timestamp": 1.9557621763020578 - }, - { - "x": 2.8600121003633747, - "y": 5.75337861080909, - "heading": 0.24738242695849674, - "angularVelocity": -1.8127674653805728, - "velocityX": 1.3120790538748128, - "velocityY": 0.8991698881863764, - "timestamp": 2.0119827977096643 - }, - { - "x": 2.9223194382842412, - "y": 5.7887086014295965, - "heading": 0.1556886936267466, - "angularVelocity": -1.6309626438839835, - "velocityX": 1.1082648387880867, - "velocityY": 0.6284169355646319, - "timestamp": 2.0682034191172707 - }, - { - "x": 2.9703569068277655, - "y": 5.812107898641809, - "heading": 0.08110867474881293, - "angularVelocity": -1.326559846025525, - "velocityX": 0.854445705878034, - "velocityY": 0.416204884015149, - "timestamp": 2.124424040524877 - }, - { - "x": 3.00283548948403, - "y": 5.82606180657968, - "heading": 0.028064925087883746, - "angularVelocity": -0.943492767117523, - "velocityX": 0.5776987490193435, - "velocityY": 0.2481991053905678, - "timestamp": 2.1806446619324835 - }, - { - "x": 3.0191783905029297, - "y": 5.832379341125488, - "heading": -3.6672255294112824e-21, - "angularVelocity": -0.4991927229763187, - "velocityX": 0.2906922870953705, - "velocityY": 0.11237041476304822, - "timestamp": 2.23686528334009 - }, - { - "x": 3.0191783905029297, - "y": 5.832379341125488, - "heading": -2.1726460551285392e-21, - "angularVelocity": 3.7108122990500546e-22, - "velocityX": 2.1269801588032454e-22, - "velocityY": 1.2368753944018978e-21, - "timestamp": 2.2930859047476964 - }, - { - "x": 3.002861357001422, - "y": 5.839481859090172, - "heading": 0.011550492706860791, - "angularVelocity": 0.21199493252787568, - "velocityX": -0.2994788624170613, - "velocityY": 0.1303578864481573, - "timestamp": 2.3475706632706013 - }, - { - "x": 2.970454672747075, - "y": 5.854191308674451, - "heading": 0.034599552401506535, - "angularVelocity": 0.42303683304306455, - "velocityX": -0.5947843971947421, - "velocityY": 0.26997365837814763, - "timestamp": 2.402055421793506 - }, - { - "x": 2.922320531881221, - "y": 5.877237889129693, - "heading": 0.06905281952724152, - "angularVelocity": 0.6323468812154363, - "velocityX": -0.8834423088361375, - "velocityY": 0.4229913296863304, - "timestamp": 2.456540180316411 - }, - { - "x": 2.8591099926637993, - "y": 5.909758325766861, - "heading": 0.11477832447476202, - "angularVelocity": 0.8392347912911837, - "velocityX": -1.1601508555984257, - "velocityY": 0.5968721807493298, - "timestamp": 2.511024938839316 - }, - { - "x": 2.782225597166992, - "y": 5.953695739861746, - "heading": 0.171638299210357, - "angularVelocity": 1.043594140399681, - "velocityX": -1.4111174864524112, - "velocityY": 0.8064166068830917, - "timestamp": 2.565509697362221 - }, - { - "x": 2.695621918494965, - "y": 6.012601850588778, - "heading": 0.23913912308030816, - "angularVelocity": 1.238893696143934, - "velocityX": -1.5895028448298905, - "velocityY": 1.0811484224944983, - "timestamp": 2.619994455885126 - }, - { - "x": 2.6121558310066813, - "y": 6.089315201605884, - "heading": 0.31084169357843383, - "angularVelocity": 1.316011531334634, - "velocityX": -1.5319162597223552, - "velocityY": 1.4079781776927003, - "timestamp": 2.6744792144080307 - }, - { - "x": 2.5439162846102246, - "y": 6.175738160019639, - "heading": 0.3773551147962972, - "angularVelocity": 1.2207711481349772, - "velocityX": -1.2524520296399875, - "velocityY": 1.5861859491847345, - "timestamp": 2.7289639729309356 - }, - { - "x": 2.4931765430661446, - "y": 6.266142072193765, - "heading": 0.43533450902171794, - "angularVelocity": 1.0641396933244534, - "velocityX": -0.9312648696561509, - "velocityY": 1.6592514058059242, - "timestamp": 2.7834487314538405 - }, - { - "x": 2.460287773937943, - "y": 6.357897509213886, - "heading": 0.48380582267307914, - "angularVelocity": 0.8896306960961281, - "velocityX": -0.6036324656624045, - "velocityY": 1.684056963958949, - "timestamp": 2.8379334899767454 - }, - { - "x": 2.445281744003296, - "y": 6.449589252471924, - "heading": 0.5224037961561394, - "angularVelocity": 0.7084178131547396, - "velocityX": -0.275417021961089, - "velocityY": 1.6828879441485027, - "timestamp": 2.8924182484996503 - }, - { - "x": 2.4640368595524906, - "y": 6.587540353459253, - "heading": 0.5579085954415691, - "angularVelocity": 0.42638133020810537, - "velocityX": 0.22523239891554875, - "velocityY": 1.6566710733888894, - "timestamp": 2.975688309287961 - }, - { - "x": 2.52273710591792, - "y": 6.71371975523591, - "heading": 0.5680417649597526, - "angularVelocity": 0.12169043017686823, - "velocityX": 0.704938195189473, - "velocityY": 1.5153033465104557, - "timestamp": 3.0589583700762715 - }, - { - "x": 2.605078049581534, - "y": 6.805600488381497, - "heading": 0.5525667893518443, - "angularVelocity": -0.1858408107476787, - "velocityX": 0.9888421226560808, - "velocityY": 1.1034065818586072, - "timestamp": 3.142228430864582 - }, - { - "x": 2.670460197759116, - "y": 6.858702767349351, - "heading": 0.5337797940272959, - "angularVelocity": -0.22561524690499246, - "velocityX": 0.785181943649555, - "velocityY": 0.6377115432021956, - "timestamp": 3.2254984916528926 - }, - { - "x": 2.7051594257354736, - "y": 6.882719039916992, - "heading": 0.5224037961561394, - "angularVelocity": -0.13661570273230195, - "velocityX": 0.41670712916338404, - "velocityY": 0.28841425525909853, - "timestamp": 3.308768552441203 - }, - { - "x": 2.7051594257354736, - "y": 6.882719039916992, - "heading": 0.5224037961561394, - "angularVelocity": 6.900030919446935e-23, - "velocityX": -5.778219378902074e-20, - "velocityY": -2.504372507974792e-19, - "timestamp": 3.3920386132295137 - }, - { - "x": 2.7398288490574805, - "y": 6.881986068889246, - "heading": 0.5224037961561394, - "angularVelocity": 5.395309096135092e-17, - "velocityX": 0.4600360054616196, - "velocityY": -0.009725949595165711, - "timestamp": 3.4674010259763555 - }, - { - "x": 2.809167695484875, - "y": 6.880520128147862, - "heading": 0.5224037961561394, - "angularVelocity": 1.1380978370170907e-16, - "velocityX": 0.9200720080488729, - "velocityY": -0.019451881753150334, - "timestamp": 3.542763438723197 - }, - { - "x": 2.9131759647111264, - "y": 6.878321218057033, - "heading": 0.5224037961561394, - "angularVelocity": 1.7975067781041165e-16, - "velocityX": 1.380108006568699, - "velocityY": -0.029177809078592246, - "timestamp": 3.618125851470039 - }, - { - "x": 3.0518536562841723, - "y": 6.875389337051742, - "heading": 0.5224037961561394, - "angularVelocity": 2.5102040552411234e-16, - "velocityX": 1.8401439990900241, - "velocityY": -0.03890375717055886, - "timestamp": 3.6934882642168807 - }, - { - "x": 3.2252007695055918, - "y": 6.8717244798411565, - "heading": 0.5224037961561394, - "angularVelocity": 3.2835275620118203e-16, - "velocityX": 2.3001799823438382, - "velocityY": -0.04862977546772752, - "timestamp": 3.7688506769637224 - }, - { - "x": 3.433217303234589, - "y": 6.8673266340826435, - "heading": 0.5224037961561394, - "angularVelocity": 3.215116027866161e-16, - "velocityX": 2.7602159504601937, - "velocityY": -0.05835595754194546, - "timestamp": 3.844213089710564 - }, - { - "x": 3.6759032554627358, - "y": 6.8621957741400355, - "heading": 0.5224037961561394, - "angularVelocity": 4.116551365644819e-16, - "velocityX": 3.220251891926296, - "velocityY": -0.06808247978795974, - "timestamp": 3.919575502457406 - }, - { - "x": 3.9532586221839736, - "y": 6.85633184925441, - "heading": 0.5224037961561394, - "angularVelocity": 5.073242166542338e-16, - "velocityX": 3.680287780235135, - "velocityY": -0.07780967556497664, - "timestamp": 3.9949379152042477 - }, - { - "x": 4.265283392553291, - "y": 6.849734762645486, - "heading": 0.5224037961561394, - "angularVelocity": 5.186061419797297e-16, - "velocityX": 4.140323524639203, - "velocityY": -0.08753815554028055, - "timestamp": 4.070300327951089 - }, - { - "x": 4.580344671204565, - "y": 6.84307401284669, - "heading": 0.5224037961561394, - "angularVelocity": 2.9918936261002046e-16, - "velocityX": 4.180615603558647, - "velocityY": -0.08838291604556786, - "timestamp": 4.14566274069793 - }, - { - "x": 4.895405891408077, - "y": 6.836410498973634, - "heading": 0.5224037961561394, - "angularVelocity": -6.759041033244585e-16, - "velocityX": 4.180614828002794, - "velocityY": -0.08841959313908884, - "timestamp": 4.221025153444772 - }, - { - "x": 5.2104670226750835, - "y": 6.829742781371814, - "heading": 0.5224037961561394, - "angularVelocity": 1.2122501066067013e-16, - "velocityX": 4.180613647885222, - "velocityY": -0.08847537331665184, - "timestamp": 4.296387566191613 - }, - { - "x": 5.525528609681589, - "y": 6.8230966331486265, - "heading": 0.5224037961561394, - "angularVelocity": -5.738963451554141e-16, - "velocityX": 4.18061969519029, - "velocityY": -0.0881891646106545, - "timestamp": 4.371749978938454 - }, - { - "x": 5.840589424991367, - "y": 6.8164140027083135, - "heading": 0.5224037961561394, - "angularVelocity": 2.6947897759150035e-16, - "velocityX": 4.180609455381084, - "velocityY": -0.08867325496545927, - "timestamp": 4.4471123916852955 - }, - { - "x": 6.155679411271227, - "y": 6.811288045591518, - "heading": 0.5224037961561394, - "angularVelocity": -2.0026083836087547e-16, - "velocityX": 4.18099653123254, - "velocityY": -0.06801742314188503, - "timestamp": 4.522474804432137 - }, - { - "x": 6.4694252556395035, - "y": 6.840809560208346, - "heading": 0.5224037961561394, - "angularVelocity": -1.0762473033828276e-16, - "velocityX": 4.163160824245574, - "velocityY": 0.3917273019906568, - "timestamp": 4.597837217178978 - }, - { - "x": 6.776577949523926, - "y": 6.9043755531311035, - "heading": 0.5224037961561394, - "angularVelocity": -3.677462960461617e-16, - "velocityX": 4.0756748979921005, - "velocityY": 0.843470778148919, - "timestamp": 4.673199629925819 - }, - { - "x": 7.013543953390312, - "y": 6.961987444002269, - "heading": 0.5224037961561394, - "angularVelocity": -4.893185861598382e-16, - "velocityX": 3.6868185744404176, - "velocityY": 0.8963504718263726, - "timestamp": 4.737473474456494 - }, - { - "x": 7.225303695322754, - "y": 7.018671437407212, - "heading": 0.5224037961561394, - "angularVelocity": -4.901113542018955e-16, - "velocityX": 3.2946487560952082, - "velocityY": 0.8819138456528895, - "timestamp": 4.801747318987169 - }, - { - "x": 7.411968501618956, - "y": 7.072813587578339, - "heading": 0.5224037961561394, - "angularVelocity": -4.1553599222426735e-16, - "velocityX": 2.9042109999677495, - "velocityY": 0.8423667600167797, - "timestamp": 4.866021163517844 - }, - { - "x": 7.573636696281331, - "y": 7.123581388206941, - "heading": 0.5224037961561394, - "angularVelocity": -4.213277119698898e-16, - "velocityX": 2.5153030107794323, - "velocityY": 0.7898671846893066, - "timestamp": 4.930295008048518 - }, - { - "x": 7.710381873366203, - "y": 7.1704684590736765, - "heading": 0.5224037961561394, - "angularVelocity": -4.2912506340016083e-16, - "velocityX": 2.12754002943782, - "velocityY": 0.729489129040025, - "timestamp": 4.994568852579193 - }, - { - "x": 7.822259372652904, - "y": 7.213134689148531, - "heading": 0.5224037961561394, - "angularVelocity": -4.3865920867652994e-16, - "velocityX": 1.7406380480835721, - "velocityY": 0.6638194803251983, - "timestamp": 5.058842697109868 - }, - { - "x": 7.909311852563935, - "y": 7.25133601958431, - "heading": 0.5224037961561394, - "angularVelocity": -4.515086254769384e-16, - "velocityX": 1.3543997647361083, - "velocityY": 0.5943526595417427, - "timestamp": 5.123116541640543 - }, - { - "x": 7.971573038400992, - "y": 7.284888837484052, - "heading": 0.5224037961561394, - "angularVelocity": -4.833939499970947e-16, - "velocityX": 0.9686861940760827, - "velocityY": 0.5220291106708211, - "timestamp": 5.187390386171217 - }, - { - "x": 8.009070195209654, - "y": 7.3136500159409, - "heading": 0.5224037961561394, - "angularVelocity": -5.006358797639765e-16, - "velocityX": 0.5833968246720782, - "velocityY": 0.4474787320855215, - "timestamp": 5.251664230701892 - }, - { - "x": 8.021825790405273, - "y": 7.337504863739014, - "heading": 0.5224037961561394, - "angularVelocity": -4.469977199106365e-16, - "velocityX": 0.19845701293833062, - "velocityY": 0.3711439384449641, - "timestamp": 5.315938075232567 - }, - { - "x": 7.983783192652999, - "y": 7.362254574962456, - "heading": 0.5224037961561394, - "angularVelocity": -4.2160773073279116e-16, - "velocityX": -0.3881238839919007, - "velocityY": 0.25250520772193735, - "timestamp": 5.41395471198525 - }, - { - "x": 7.888245908562877, - "y": 7.375375716980563, - "heading": 0.5224037961561394, - "angularVelocity": -4.616597613928156e-16, - "velocityX": -0.9747047772224879, - "velocityY": 0.1338664787204887, - "timestamp": 5.511971348737933 - }, - { - "x": 7.7352139386258125, - "y": 7.376868290112506, - "heading": 0.5224037961561394, - "angularVelocity": -5.113708650512922e-16, - "velocityX": -1.561285665444697, - "velocityY": 0.015227752975333887, - "timestamp": 5.609987985490616 - }, - { - "x": 7.524687283587215, - "y": 7.36673229479228, - "heading": 0.5224037961561394, - "angularVelocity": -5.254329700677736e-16, - "velocityX": -2.147866546061973, - "velocityY": -0.10341096834204828, - "timestamp": 5.7080046222432985 - }, - { - "x": 7.256665944815729, - "y": 7.344967731118788, - "heading": 0.5224037961561394, - "angularVelocity": -3.7838755078538407e-16, - "velocityX": -2.7344474127158738, - "velocityY": -0.22204968865039343, - "timestamp": 5.806021258995981 - }, - { - "x": 6.931149925685574, - "y": 7.311574596140671, - "heading": 0.5224037961561394, - "angularVelocity": -3.394615825938055e-16, - "velocityX": -3.321028244944788, - "velocityY": -0.3406884390695356, - "timestamp": 5.904037895748664 - }, - { - "x": 6.548139239864235, - "y": 7.26655286347746, - "heading": 0.5224037961561394, - "angularVelocity": -4.742302930350804e-16, - "velocityX": -3.9076089377332557, - "velocityY": -0.45932745863144137, - "timestamp": 6.002054532501347 - }, - { - "x": 6.146412026065515, - "y": 7.185302300694055, - "heading": 0.5224037961561394, - "angularVelocity": -2.3651181209873e-16, - "velocityX": -4.09856150045591, - "velocityY": -0.828946651050856, - "timestamp": 6.10007116925403 - }, - { - "x": 5.744684992223911, - "y": 7.1040508481538485, - "heading": 0.5224037961561394, - "angularVelocity": -2.6117867815425296e-16, - "velocityX": -4.098559664470492, - "velocityY": -0.8289557286608469, - "timestamp": 6.198087806006713 - }, - { - "x": 5.34295787439086, - "y": 7.022799810888984, - "heading": 0.5224037961561394, - "angularVelocity": -3.2687293678006866e-16, - "velocityX": -4.098560521380605, - "velocityY": -0.8289514918766033, - "timestamp": 6.296104442759396 - }, - { - "x": 4.941230796975172, - "y": 6.941548573791956, - "heading": 0.5224037961561394, - "angularVelocity": -1.6274431602051954e-16, - "velocityX": -4.098560109028538, - "velocityY": -0.8289535306342138, - "timestamp": 6.394121079512079 - }, - { - "x": 4.596262688532624, - "y": 6.871777230633822, - "heading": 0.5224037961561394, - "angularVelocity": 5.785170797428673e-16, - "velocityX": -3.5194852615987555, - "velocityY": -0.7118316386858059, - "timestamp": 6.492137716264762 - }, - { - "x": 4.308789253876432, - "y": 6.813634450082659, - "heading": 0.5224037961561394, - "angularVelocity": 3.9995305722921473e-16, - "velocityX": -2.9329044964228768, - "velocityY": -0.5931929770031786, - "timestamp": 6.590154353017445 - }, - { - "x": 4.0788105028099615, - "y": 6.767120224861494, - "heading": 0.5224037961561394, - "angularVelocity": 3.6861351582812966e-16, - "velocityX": -2.3463236312296227, - "velocityY": -0.4745543895627656, - "timestamp": 6.688170989770128 - }, - { - "x": 3.906326438276487, - "y": 6.732234554149373, - "heading": 0.5224037961561394, - "angularVelocity": 2.21916201762866e-16, - "velocityX": -1.7597427360080535, - "velocityY": -0.3559158104980193, - "timestamp": 6.7861876265228105 - }, - { - "x": 3.79133706145364, - "y": 6.708977438989503, - "heading": 0.5224037961561394, - "angularVelocity": 1.8561143927305445e-16, - "velocityX": -1.1731618287718801, - "velocityY": -0.23727722079009275, - "timestamp": 6.884204263275493 - }, - { - "x": 3.733842372894287, - "y": 6.697348880767819, - "heading": 0.5224037961561394, - "angularVelocity": 5.508639517425219e-17, - "velocityX": -0.5865809158951689, - "velocityY": -0.11863861694240564, - "timestamp": 6.982220900028176 - }, - { - "x": 3.733842372894287, - "y": 6.697348880767819, - "heading": 0.5224037961561394, - "angularVelocity": -1.6835319404035148e-20, - "velocityX": 3.846585110796379e-19, - "velocityY": 3.193403425909451e-20, - "timestamp": 7.080237536780859 - }, - { - "x": 3.751331338841791, - "y": 6.699587280336841, - "heading": 0.513975805961829, - "angularVelocity": -0.15604839616653143, - "velocityX": 0.3238168322219289, - "velocityY": 0.04144507227375776, - "timestamp": 7.134246359693184 - }, - { - "x": 3.7863260736878988, - "y": 6.704004062694685, - "heading": 0.4973370967850019, - "angularVelocity": -0.308073908661883, - "velocityX": 0.6479447793727443, - "velocityY": 0.08177890425448403, - "timestamp": 7.188255182605508 - }, - { - "x": 3.838845900665831, - "y": 6.71052756994018, - "heading": 0.4727433220581201, - "angularVelocity": -0.4553658717355572, - "velocityX": 0.9724305057192445, - "velocityY": 0.12078595484453863, - "timestamp": 7.242264005517833 - }, - { - "x": 3.9089133882112788, - "y": 6.719070782800993, - "heading": 0.4405046382901893, - "angularVelocity": -0.5969151340377453, - "velocityX": 1.2973340977860786, - "velocityY": 0.15818180067878418, - "timestamp": 7.2962728284301575 - }, - { - "x": 3.9965552657179173, - "y": 6.729525850718403, - "heading": 0.40100871332347776, - "angularVelocity": -0.7312865349949899, - "velocityX": 1.622732597763012, - "velocityY": 0.19358074021316565, - "timestamp": 7.350281651342482 - }, - { - "x": 4.101803555150174, - "y": 6.741755679434534, - "heading": 0.354754655561301, - "angularVelocity": -0.8564166976433442, - "velocityX": 1.9487240002085033, - "velocityY": 0.22644131193126646, - "timestamp": 7.404290474254807 - }, - { - "x": 4.224696877453653, - "y": 6.755580236078661, - "heading": 0.30240542478108134, - "angularVelocity": -0.9692718329596139, - "velocityX": 2.2754304885144183, - "velocityY": 0.2559684862336096, - "timestamp": 7.458299297167131 - }, - { - "x": 4.365281618112227, - "y": 6.770752614262487, - "heading": 0.24487468968297588, - "angularVelocity": -1.0652099415589684, - "velocityX": 2.602995826937264, - "velocityY": 0.28092406695210137, - "timestamp": 7.512308120079456 - }, - { - "x": 4.5236114777315315, - "y": 6.786913235329627, - "heading": 0.18348645255620313, - "angularVelocity": -1.1366334946130574, - "velocityX": 2.9315554585652097, - "velocityY": 0.2992218714593103, - "timestamp": 7.56631694299178 - }, - { - "x": 4.69973843079224, - "y": 6.803490840028783, - "heading": 0.12031512412262027, - "angularVelocity": -1.169648309798064, - "velocityX": 3.2610774233429534, - "velocityY": 0.3069425291135703, - "timestamp": 7.620325765904105 - }, - { - "x": 4.89365495499135, - "y": 6.819447149799665, - "heading": 0.059092961452105006, - "angularVelocity": -1.1335585441271512, - "velocityX": 3.590460108969724, - "velocityY": 0.2954389470176964, - "timestamp": 7.674334588816429 - }, - { - "x": 5.104830717151077, - "y": 6.832438699160781, - "heading": 0.008851181851826708, - "angularVelocity": -0.9302513347094954, - "velocityX": 3.9100234141844274, - "velocityY": 0.24054494544725308, - "timestamp": 7.728343411728754 - }, - { - "x": 5.328140039231948, - "y": 6.839579388098938, - "heading": 4.9993181720020666e-8, - "angularVelocity": -0.16388307282707454, - "velocityX": 4.134682261884916, - "velocityY": 0.1322133783539373, - "timestamp": 7.7823522346410785 - }, - { - "x": 5.5537444848612765, - "y": 6.829254816135378, - "heading": 1.8581535238630143e-8, - "angularVelocity": -5.816021306799029e-7, - "velocityX": 4.177177606621186, - "velocityY": -0.19116454325104273, - "timestamp": 7.836361057553403 - }, - { - "x": 5.7778338432312015, - "y": 6.801184844970702, - "heading": 7.562116538308675e-20, - "angularVelocity": -3.4404629163368187e-7, - "velocityX": 4.149125018586378, - "velocityY": -0.5197293636679055, - "timestamp": 7.890369880465728 - }, - { - "x": 6.023879514181097, - "y": 6.7480895192913355, - "heading": -8.873359130944661e-9, - "angularVelocity": -1.474096821803706e-7, - "velocityX": 4.087461537509469, - "velocityY": -0.8820521031648062, - "timestamp": 7.950565106449386 - }, - { - "x": 6.264312553803963, - "y": 6.673594285856147, - "heading": -1.6744083268388366e-8, - "angularVelocity": -1.3075329494712452e-7, - "velocityX": 3.9942210647757475, - "velocityY": -1.237560491182664, - "timestamp": 8.010760332433046 - }, - { - "x": 6.497275551280226, - "y": 6.578274673466115, - "heading": -2.399265114525153e-8, - "angularVelocity": -1.204176536996037e-7, - "velocityX": 3.8701241447204757, - "velocityY": -1.5835078418994266, - "timestamp": 8.070955558416705 - }, - { - "x": 6.720968856148328, - "y": 6.462867168278596, - "heading": -3.0899254081227276e-8, - "angularVelocity": -1.1473672244136315e-7, - "velocityX": 3.7161303278241413, - "velocityY": -1.9172202330272603, - "timestamp": 8.131150784400363 - }, - { - "x": 6.933377464225438, - "y": 6.349413240298023, - "heading": -0.03079337544261274, - "angularVelocity": -0.5115579190900974, - "velocityX": 3.528662026034608, - "velocityY": -1.88476621071864, - "timestamp": 8.191346010384022 - }, - { - "x": 7.127357335376337, - "y": 6.247833133054634, - "heading": -0.07153202857540313, - "angularVelocity": -0.676775482890449, - "velocityX": 3.2225125494762574, - "velocityY": -1.6875110207404995, - "timestamp": 8.25154123636768 - }, - { - "x": 7.302666826825636, - "y": 6.158120559909072, - "heading": -0.11291500541703978, - "angularVelocity": -0.6874793833795204, - "velocityX": 2.9123487549808393, - "velocityY": -1.490360268269716, - "timestamp": 8.31173646235134 - }, - { - "x": 7.459290055702994, - "y": 6.080235640166216, - "heading": -0.15221505882089248, - "angularVelocity": -0.6528765821814755, - "velocityX": 2.601921104505488, - "velocityY": -1.2938720383573232, - "timestamp": 8.371931688334998 - }, - { - "x": 7.597228420785523, - "y": 6.0141535807269655, - "heading": -0.18812935690621163, - "angularVelocity": -0.5966303390084257, - "velocityX": 2.2915166913730753, - "velocityY": -1.097795686607935, - "timestamp": 8.432126914318657 - }, - { - "x": 7.7164854369458595, - "y": 5.959858078865012, - "heading": -0.21989239705905567, - "angularVelocity": -0.5276670970795383, - "velocityX": 1.981170669459914, - "velocityY": -0.9019901657432539, - "timestamp": 8.492322140302315 - }, - { - "x": 7.817064511998192, - "y": 5.917337690294524, - "heading": -0.24699919876355111, - "angularVelocity": -0.4503148092151716, - "velocityX": 1.6708812602454004, - "velocityY": -0.706374764371373, - "timestamp": 8.552517366285974 - }, - { - "x": 7.898968592472621, - "y": 5.886583965823989, - "heading": -0.26909119151069666, - "angularVelocity": -0.36700572821410926, - "velocityX": 1.360640800595448, - "velocityY": -0.5108997261491135, - "timestamp": 8.612712592269633 - }, - { - "x": 7.9622001639044475, - "y": 5.867590422826931, - "heading": -0.2859005975102692, - "angularVelocity": -0.27924815838611156, - "velocityX": 1.0504416321817922, - "velocityY": -0.31553238129239974, - "timestamp": 8.672907818253291 - }, - { - "x": 8.006761315879022, - "y": 5.860351935159993, - "heading": -0.29722007092856884, - "angularVelocity": -0.18804603244404322, - "velocityX": 0.7402771772411256, - "velocityY": -0.12025019507199955, - "timestamp": 8.73310304423695 - }, - { - "x": 8.03265380859375, - "y": 5.864864349365234, - "heading": -0.302884711661745, - "angularVelocity": -0.09410448487582672, - "velocityX": 0.4301419637789344, - "velocityY": 0.07496299135859619, - "timestamp": 8.793298270220609 - }, - { - "x": 8.038999044372272, - "y": 5.883116303873676, - "heading": -0.30232446533447555, - "angularVelocity": 0.008705413942196032, - "velocityX": 0.09859574498610282, - "velocityY": 0.28360885474165515, - "timestamp": 8.857654351503994 - }, - { - "x": 8.023741230476212, - "y": 5.914373930337575, - "heading": -0.29538057133457873, - "angularVelocity": 0.10789802395394477, - "velocityX": -0.23708425982112472, - "velocityY": 0.48569810094960236, - "timestamp": 8.92201043278738 - }, - { - "x": 7.986572081097167, - "y": 5.958123497607152, - "heading": -0.2823371032309085, - "angularVelocity": 0.20267654343704639, - "velocityX": -0.5775545781815625, - "velocityY": 0.6798047114915214, - "timestamp": 8.986366514070765 - }, - { - "x": 7.927131820563721, - "y": 6.013727378429472, - "heading": -0.26354639848302325, - "angularVelocity": 0.2919802507107623, - "velocityX": -0.9236152877566656, - "velocityY": 0.8640035209333707, - "timestamp": 9.05072259535415 - }, - { - "x": 7.8449983231200475, - "y": 6.080375877201426, - "heading": -0.23945459436001962, - "angularVelocity": 0.3743516330168969, - "velocityX": -1.2762352182695424, - "velocityY": 1.0356208371120963, - "timestamp": 9.115078676637536 - }, - { - "x": 7.73967594274609, - "y": 6.157012398666797, - "heading": -0.21064125546050952, - "angularVelocity": 0.4477174235117473, - "velocityX": -1.6365567678084803, - "velocityY": 1.1908201981396094, - "timestamp": 9.179434757920921 - }, - { - "x": 7.610589170044395, - "y": 6.24221277947117, - "heading": -0.1778829463049905, - "angularVelocity": 0.5090165296309906, - "velocityX": -2.005820897224518, - "velocityY": 1.3238901298107526, - "timestamp": 9.243790839204307 - }, - { - "x": 7.457098123742525, - "y": 6.333983891334329, - "heading": -0.1422582406491948, - "angularVelocity": 0.5535561666492045, - "velocityX": -2.3850278519288124, - "velocityY": 1.4259897438293916, - "timestamp": 9.308146920487692 - }, - { - "x": 7.278589562677723, - "y": 6.429422311009697, - "heading": -0.10532315073359272, - "angularVelocity": 0.5739176341853679, - "velocityX": -2.7737636833224153, - "velocityY": 1.4829743789885954, - "timestamp": 9.372503001771078 - }, - { - "x": 7.0748043390181765, - "y": 6.524168352293141, - "heading": -0.06939014472798437, - "angularVelocity": 0.5583467061547885, - "velocityX": -3.166526295505748, - "velocityY": 1.4722158247367187, - "timestamp": 9.436859083054463 - }, - { - "x": 6.846786882119966, - "y": 6.6118039531436965, - "heading": -0.037838987740982835, - "angularVelocity": 0.4902591388072404, - "velocityX": -3.543059992950117, - "velocityY": 1.3617299111899137, - "timestamp": 9.501215164337848 - }, - { - "x": 6.5986490653165255, - "y": 6.684332838455106, - "heading": -0.014752410202795902, - "angularVelocity": 0.35873187238556964, - "velocityX": -3.855701152946053, - "velocityY": 1.12699350030396, - "timestamp": 9.565571245621234 - }, - { - "x": 6.337948603586263, - "y": 6.7352009376864705, - "heading": -0.00346493782708955, - "angularVelocity": 0.1753909211159554, - "velocityX": -4.050906402804312, - "velocityY": 0.7904163556412387, - "timestamp": 9.62992732690462 - }, - { - "x": 6.071046358370447, - "y": 6.761675318964879, - "heading": -0.0003587026360581851, - "angularVelocity": 0.04826638181018736, - "velocityX": -4.14727310757996, - "velocityY": 0.41137342035837426, - "timestamp": 9.694283408188005 - }, - { - "x": 5.802036285400391, - "y": 6.762963199615477, - "heading": 3.48426610312228e-20, - "angularVelocity": 0.0055737178042065665, - "velocityX": -4.180025688411564, - "velocityY": 0.020011794144629762, - "timestamp": 9.75863948947139 - }, - { - "x": 5.504490144089293, - "y": 6.7332005959035195, - "heading": 1.0813799079954769e-8, - "angularVelocity": 1.512165560586682e-7, - "velocityX": -4.160785901890718, - "velocityY": -0.4161903138202568, - "timestamp": 9.83015149425296 - }, - { - "x": 5.212483549504086, - "y": 6.672709068505996, - "heading": 1.7927215293047143e-8, - "angularVelocity": 9.947163745193156e-8, - "velocityX": -4.08332272989868, - "velocityY": -0.8458933235376672, - "timestamp": 9.901663499034528 - }, - { - "x": 4.936047112225373, - "y": 6.585152370785529, - "heading": 2.0960766953807052e-8, - "angularVelocity": 4.2420173648314827e-8, - "velocityX": -3.86559484834855, - "velocityY": -1.2243636294060563, - "timestamp": 9.973175503816098 - }, - { - "x": 4.685471386719961, - "y": 6.480097764592836, - "heading": 2.0521148140147226e-8, - "angularVelocity": -6.147482719554469e-9, - "velocityX": -3.5039672887200504, - "velocityY": -1.469048539662375, - "timestamp": 10.044687508597667 - }, - { - "x": 4.465637952492511, - "y": 6.36957828843063, - "heading": 1.806553462983808e-8, - "angularVelocity": -3.433847950126585e-8, - "velocityX": -3.0740773510534587, - "velocityY": -1.545467456824671, - "timestamp": 10.116199513379236 - }, - { - "x": 4.276834572623958, - "y": 6.2625357492286335, - "heading": 1.4753077547904654e-8, - "angularVelocity": -4.632029394280808e-8, - "velocityX": -2.640163430535123, - "velocityY": -1.4968471311768274, - "timestamp": 10.187711518160805 - }, - { - "x": 4.117926572195921, - "y": 6.164505408559498, - "heading": 1.1239712389074229e-8, - "angularVelocity": -4.912972541552041e-8, - "velocityX": -2.2221164252549563, - "velocityY": -1.3708235556892094, - "timestamp": 10.259223522942374 - }, - { - "x": 3.9876518132215875, - "y": 6.078928620338262, - "heading": 7.894590787280817e-9, - "angularVelocity": -4.6777063683539706e-8, - "velocityX": -1.8217187362073228, - "velocityY": -1.1966772359777518, - "timestamp": 10.330735527723943 - }, - { - "x": 3.8849194916806877, - "y": 6.008061273344668, - "heading": 4.950126193053713e-9, - "angularVelocity": -4.1174409852415885e-8, - "velocityX": -1.4365744864053387, - "velocityY": -0.9909853207171924, - "timestamp": 10.402247532505513 - }, - { - "x": 3.808836355920425, - "y": 5.953465817607232, - "heading": 2.5714210248063034e-9, - "angularVelocity": -3.3263018922920817e-8, - "velocityX": -1.0639211694967192, - "velocityY": -0.763444625894576, - "timestamp": 10.473759537287082 - }, - { - "x": 3.758675804955618, - "y": 5.916276486245191, - "heading": 8.864982180144823e-10, - "angularVelocity": -2.3561398005174934e-8, - "velocityX": -0.7014283981832174, - "velocityY": -0.5200431938055047, - "timestamp": 10.545271542068651 - }, - { - "x": 3.733842372894287, - "y": 5.897348880767822, - "heading": 2.776883269501392e-22, - "angularVelocity": -1.2396495116174843e-8, - "velocityX": -0.34726242310201455, - "velocityY": -0.26467731586021115, - "timestamp": 10.61678354685022 - }, - { - "x": 3.733842372894287, - "y": 5.897348880767822, - "heading": 1.3627894416387573e-22, - "angularVelocity": -7.174234051514954e-23, - "velocityX": 3.367103597351517e-20, - "velocityY": -6.161027541818125e-20, - "timestamp": 10.68829555163179 - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "timestamp": 1.087700259463512, - "isStopPoint": true, - "x": 2.629361867904663, - "y": 4.316425800323486, - "heading": -0.4973420499689195, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "timestamp": 1.7308796906716322, - "isStopPoint": false, - "x": 2.510251045227051, - "y": 5.334280490875244, - "heading": 0.5713370823927012, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 - }, - { - "timestamp": 2.2930859047476964, - "isStopPoint": true, - "x": 3.0191783905029297, - "y": 5.832379341125488, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 11 - }, - { - "timestamp": 2.8924182484996503, - "isStopPoint": false, - "x": 2.445281744003296, - "y": 6.449589252471924, - "heading": 0.5224037961561394, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 6 - }, - { - "timestamp": 3.3920386132295137, - "isStopPoint": true, - "x": 2.7051594257354736, - "y": 6.882719039916992, - "heading": 0.5224037961561394, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "timestamp": 4.673199629925819, - "isStopPoint": false, - "x": 6.776577949523926, - "y": 6.9043755531311035, - "heading": 0.5224037961561394, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 - }, - { - "timestamp": 5.315938075232567, - "isStopPoint": false, - "x": 8.021825790405273, - "y": 7.337504863739014, - "heading": 0.5224037961561394, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 18 - }, - { - "timestamp": 7.080237536780859, - "isStopPoint": true, - "x": 3.733842372894287, - "y": 6.697348880767819, - "heading": 0.5224037961561394, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 15 - }, - { - "timestamp": 7.890369880465728, - "isStopPoint": false, - "x": 5.7778338432312015, - "y": 6.801184844970702, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 15 - }, - { - "timestamp": 8.793298270220609, - "isStopPoint": false, - "x": 8.03265380859375, - "y": 5.864864349365234, - "heading": -0.302884711661745, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 15 - }, - { - "timestamp": 9.75863948947139, - "isStopPoint": false, - "x": 5.802036285400391, - "y": 6.762963199615477, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 10.68829555163179, - "isStopPoint": true, - "x": 3.733842372894287, - "y": 5.897348880767822, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "constraints": [ - { - "scope": [ - "first" - ], - "type": "StopPoint" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint" - }, - { - "scope": [ - 1 - ], - "type": "StopPoint" - }, - { - "scope": [ - 3 - ], - "type": "StopPoint" - }, - { - "scope": [ - 5 - ], - "type": "StopPoint" - }, - { - "scope": [ - 8 - ], - "type": "StopPoint" - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": false - }, - "Distance Center 6 Wing First Subwoofer": { - "waypoints": [ - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "x": 2.629361867904663, - "y": 4.2189717292785645, - "heading": -0.44684263169879895, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 - }, - { - "x": 2.6500000000000012, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "x": 2.629361867904663, - "y": 6.918971729278555, - "heading": 0.44684263169879895, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 8.08679485321045, - "y": 7.44578742980957, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "x": 4.056788444519045, - "y": 6.276337623596191, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 6.321792125701904, - "y": 6.503730297088623, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 7.90271520614624, - "y": 5.908177375793457, - "heading": -0.34555536227067424, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 6.321792125701904, - "y": 6.503730297088623, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "x": 4.056788444519045, - "y": 6.276337623596191, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "trajectory": [ - { - "x": 1.35, - "y": 5.58225679397583, - "heading": -1.3105569434022965e-22, - "angularVelocity": -4.761453764625247e-22, - "velocityX": 1.1722115722360089e-20, - "velocityY": -1.2492293356601218e-20, - "timestamp": 0 - }, - { - "x": 1.376106022093243, - "y": 5.554437182407712, - "heading": -0.009091989168136132, - "angularVelocity": -0.11487456261093582, - "velocityX": 0.32984177763681827, - "velocityY": -0.3514924679072023, - "timestamp": 0.07914710586476341 - }, - { - "x": 1.428318135425877, - "y": 5.498798018189392, - "heading": -0.027275691769830347, - "angularVelocity": -0.22974564139798406, - "velocityX": 0.6596844289145241, - "velocityY": -0.7029841914041539, - "timestamp": 0.15829421172952682 - }, - { - "x": 1.5066364383487854, - "y": 5.415339395500696, - "heading": -0.05455120903188366, - "angularVelocity": -0.34461799915537367, - "velocityX": 0.9895283228262182, - "velocityY": -1.05447472496721, - "timestamp": 0.2374413175942902 - }, - { - "x": 1.6110610489670512, - "y": 5.304061450304077, - "heading": -0.09091971001300213, - "angularVelocity": -0.4595051276197058, - "velocityX": 1.3193737089602908, - "velocityY": -1.4059635406853233, - "timestamp": 0.31658842345905364 - }, - { - "x": 1.7415920897935755, - "y": 5.164964366004136, - "heading": -0.1363843221081841, - "angularVelocity": -0.5744317697840544, - "velocityX": 1.6492206430082152, - "velocityY": -1.7574500391411858, - "timestamp": 0.39573552932381706 - }, - { - "x": 1.8982296650833075, - "y": 4.998048375309143, - "heading": -0.19095112736368186, - "angularVelocity": -0.6894352567829158, - "velocityX": 1.9790688942862253, - "velocityY": -2.108933597397716, - "timestamp": 0.4748826351885805 - }, - { - "x": 2.080973829240046, - "y": 4.803313756359354, - "heading": -0.25463009738549497, - "angularVelocity": -0.8045647320398506, - "velocityX": 2.308917832939953, - "velocityY": -2.4604136414353124, - "timestamp": 0.5540297410533439 - }, - { - "x": 2.237634329672691, - "y": 4.636382002307393, - "heading": -0.3095162598785737, - "angularVelocity": -0.6934702399208541, - "velocityX": 1.979358546607204, - "velocityY": -2.109132762696247, - "timestamp": 0.6331768469181073 - }, - { - "x": 2.368188294580038, - "y": 4.497268491668379, - "heading": -0.35527028560397067, - "angularVelocity": -0.5780884244027288, - "velocityX": 1.6495102819100074, - "velocityY": -1.7576575810202477, - "timestamp": 0.7123239527828706 - }, - { - "x": 2.47263578406431, - "y": 4.385973104721263, - "heading": -0.39188377719785317, - "angularVelocity": -0.46260051070525543, - "velocityX": 1.3196627765864057, - "velocityY": -1.4061839119838944, - "timestamp": 0.791471058647634 - }, - { - "x": 2.5509768566083473, - "y": 4.302495763635934, - "heading": -0.41935051793107386, - "angularVelocity": -0.34703405049519326, - "velocityX": 0.9898160101760007, - "velocityY": -1.0547112263076903, - "timestamp": 0.8706181645123974 - }, - { - "x": 2.603211554320217, - "y": 4.246836425701493, - "heading": -0.437666590123682, - "angularVelocity": -0.2314180915712106, - "velocityX": 0.6599697757884107, - "velocityY": -0.7032390802709192, - "timestamp": 0.9497652703771607 - }, - { - "x": 2.6293398948866087, - "y": 4.218995077070589, - "heading": -0.44683039365411925, - "angularVelocity": -0.11578191559013186, - "velocityX": 0.33012376486686545, - "velocityY": -0.3517671091912785, - "timestamp": 1.028912376241924 - }, - { - "x": 2.629361867904663, - "y": 4.2189717292785645, - "heading": -0.44684263169879895, - "angularVelocity": -0.00015462403262836384, - "velocityX": 0.00027762250829401467, - "velocityY": -0.0002949923660397582, - "timestamp": 1.1080594821066876 - }, - { - "x": 2.6032711516040385, - "y": 4.24677311445227, - "heading": -0.4377041053238575, - "angularVelocity": 0.11544864826739264, - "velocityX": -0.32960871432123445, - "velocityY": 0.35121990204749487, - "timestamp": 1.1872161159182462 - }, - { - "x": 2.5510677157973753, - "y": 4.302399261550015, - "heading": -0.4194176623258515, - "angularVelocity": 0.23101592522919745, - "velocityX": -0.6594953990961658, - "velocityY": 0.7027351267888616, - "timestamp": 1.2663727497298047 - }, - { - "x": 2.472751515756506, - "y": 4.38585023239311, - "heading": -0.3919884490131159, - "angularVelocity": 0.34651818795167477, - "velocityX": -0.9893826489300932, - "velocityY": 1.0542511325299573, - "timestamp": 1.3455293835413633 - }, - { - "x": 2.36832250186272, - "y": 4.497126133012537, - "heading": -0.35542377520119517, - "angularVelocity": 0.46192810445890287, - "velocityX": -1.3192705256061201, - "velocityY": 1.4057684777795487, - "timestamp": 1.4246860173529219 - }, - { - "x": 2.2377806374279694, - "y": 4.636227121930257, - "heading": -0.30973274156337427, - "angularVelocity": 0.5772230505227592, - "velocityX": -1.6491588657688505, - "velocityY": 1.7572878256655662, - "timestamp": 1.5038426511644805 - }, - { - "x": 2.081125922237724, - "y": 4.803153414756678, - "heading": -0.2549254844011435, - "angularVelocity": 0.6923899428657577, - "velocityX": -1.9790472086417852, - "velocityY": 2.1088098973967053, - "timestamp": 1.582999284976039 - }, - { - "x": 1.8983584218600063, - "y": 4.997905279612994, - "heading": -0.19101192332640735, - "angularVelocity": 0.8074315189664284, - "velocityX": -2.3089347231821, - "velocityY": 2.4603353563511114, - "timestamp": 1.6621559187875976 - }, - { - "x": 1.7416842694507195, - "y": 5.164862529299444, - "heading": -0.13643643316957763, - "angularVelocity": 0.6894619885776455, - "velocityX": -1.9792927625278673, - "velocityY": 2.1092009809804435, - "timestamp": 1.7413125525991562 - }, - { - "x": 1.6111226785905355, - "y": 5.303993796816868, - "heading": -0.09095798078133475, - "angularVelocity": 0.574537473340636, - "velocityX": -1.649408073251331, - "velocityY": 1.757670340664581, - "timestamp": 1.8204691864107148 - }, - { - "x": 1.506673537960871, - "y": 5.415298936436349, - "heading": -0.054575132238388, - "angularVelocity": 0.4596310731146078, - "velocityX": -1.319524790282489, - "velocityY": 1.4061378593290832, - "timestamp": 1.8996258202222733 - }, - { - "x": 1.428336751560515, - "y": 5.498777850544818, - "heading": -0.027287678660803165, - "angularVelocity": 0.34472731170637844, - "velocityX": -0.9896427201142192, - "velocityY": 1.054604144830112, - "timestamp": 1.978782454033832 - }, - { - "x": 1.3761122507008792, - "y": 5.55443047925558, - "heading": -0.009095885873172527, - "angularVelocity": 0.2298201920882369, - "velocityX": -0.6597615177012465, - "velocityY": 0.7030696737717484, - "timestamp": 2.0579390878453907 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 3.968181320363232e-22, - "angularVelocity": 0.11490996313494475, - "velocityX": -0.32988076227498664, - "velocityY": 0.3515348414953293, - "timestamp": 2.1370957216569493 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 1.7752085844076005e-22, - "angularVelocity": -5.239816034386896e-22, - "velocityX": 2.9480236062895993e-20, - "velocityY": -1.2346716393304613e-20, - "timestamp": 2.216252355468508 - }, - { - "x": 1.4019931563006072, - "y": 5.58225679397583, - "heading": 6.677169422600811e-24, - "angularVelocity": -1.8513645761030444e-21, - "velocityX": 0.563430207687053, - "velocityY": 1.0793744639684502e-16, - "timestamp": 2.3085320302023935 - }, - { - "x": 1.5059794683382701, - "y": 5.58225679397583, - "heading": -1.5919770654572408e-22, - "angularVelocity": -1.7975194292009434e-21, - "velocityX": 1.1268604092671195, - "velocityY": 2.1588928379491377e-16, - "timestamp": 2.400811704936279 - }, - { - "x": 1.661958935173697, - "y": 5.58225679397583, - "heading": -1.0739397610061377e-22, - "angularVelocity": 5.613814545355455e-22, - "velocityX": 1.6902906006684286, - "velocityY": 3.2384452847940683e-16, - "timestamp": 2.493091379670165 - }, - { - "x": 1.8699315549281479, - "y": 5.58225679397583, - "heading": 5.877231323874057e-22, - "angularVelocity": 7.532725689717569e-21, - "velocityX": 2.253720771710548, - "velocityY": 4.3180658827193484e-16, - "timestamp": 2.5853710544040505 - }, - { - "x": 2.1298973219641684, - "y": 5.58225679397583, - "heading": 3.2033613274405696e-21, - "angularVelocity": 2.834468774110536e-20, - "velocityX": 2.817150881661696, - "velocityY": 5.397890976977118e-16, - "timestamp": 2.677650729137936 - }, - { - "x": 2.3379041602219917, - "y": 5.58225679397583, - "heading": 1.310690511155894e-21, - "angularVelocity": -2.0510155439556265e-20, - "velocityX": 2.2540915847142853, - "velocityY": 5.581506402100161e-16, - "timestamp": 2.7699304038718218 - }, - { - "x": 2.4939178511908273, - "y": 5.58225679397583, - "heading": 3.997113631994639e-23, - "angularVelocity": -1.377030243024098e-20, - "velocityX": 1.6906614746827489, - "velocityY": 4.50249833557945e-16, - "timestamp": 2.8622100786057074 - }, - { - "x": 2.597938389238784, - "y": 5.58225679397583, - "heading": -6.030574852797699e-22, - "angularVelocity": -6.968254669755187e-21, - "velocityX": 1.127231303620532, - "velocityY": 3.4232862627505307e-16, - "timestamp": 2.954489753339593 - }, - { - "x": 2.6499657724881525, - "y": 5.58225679397583, - "heading": -6.166353516647707e-22, - "angularVelocity": -1.4713443371706887e-22, - "velocityX": 0.5638011122102904, - "velocityY": 2.344006170727818e-16, - "timestamp": 3.0467694280734787 - }, - { - "x": 2.6500000000000012, - "y": 5.58225679397583, - "heading": 7.150164834326212e-28, - "angularVelocity": 6.6822560720639164e-21, - "velocityX": 0.00037091062519919635, - "velocityY": 1.2646920658154274e-16, - "timestamp": 3.1390491028073644 - }, - { - "x": 2.5980273838116625, - "y": 5.58225679397583, - "heading": 1.2475447557817004e-21, - "angularVelocity": 1.3517380299097123e-20, - "velocityX": -0.5631334791901095, - "velocityY": 1.852154451951177e-17, - "timestamp": 3.2313409272307405 - }, - { - "x": 2.494047919980239, - "y": 5.58225679397583, - "heading": 3.2324491441975756e-21, - "angularVelocity": 2.1506824119623174e-20, - "velocityX": -1.1266378628992357, - "velocityY": -8.942818834696392e-17, - "timestamp": 3.3236327516541166 - }, - { - "x": 2.3380616094450217, - "y": 5.58225679397583, - "heading": 6.132702376489969e-21, - "angularVelocity": 3.142480817163132e-20, - "velocityX": -1.6901422364309449, - "velocityY": -1.9738137273676251e-16, - "timestamp": 3.415924576077493 - }, - { - "x": 2.1300684540847508, - "y": 5.58225679397583, - "heading": 1.0303595448942247e-20, - "angularVelocity": 4.519243978206457e-20, - "velocityX": -2.253646589606145, - "velocityY": -3.05341460883141e-16, - "timestamp": 3.508216400500869 - }, - { - "x": 1.8700684595368808, - "y": 5.58225679397583, - "heading": 1.681410681468819e-20, - "angularVelocity": 7.054266238709e-20, - "velocityX": -2.8171508816984203, - "velocityY": -4.133222662368775e-16, - "timestamp": 3.600508224924245 - }, - { - "x": 1.6620410811667898, - "y": 5.58225679397583, - "heading": 7.817959688103422e-21, - "angularVelocity": -9.747502065767468e-20, - "velocityX": -2.2540174026227233, - "velocityY": -4.316713876129951e-16, - "timestamp": 3.692800049347621 - }, - { - "x": 1.5060205419917154, - "y": 5.58225679397583, - "heading": 3.3227072373995285e-21, - "angularVelocity": -4.870694497734212e-20, - "velocityX": -1.6905131104500808, - "velocityY": -3.237733503311185e-16, - "timestamp": 3.7850918737709973 - }, - { - "x": 1.4020068476435492, - "y": 5.58225679397583, - "heading": 9.77517677073401e-22, - "angularVelocity": -2.5410592286057495e-20, - "velocityX": -1.1270087572547884, - "velocityY": -2.158546447821665e-16, - "timestamp": 3.8773836981943735 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 4.719104857778951e-25, - "angularVelocity": -1.0586486204388865e-20, - "velocityX": -0.5635043837141495, - "velocityY": -1.0792904871510697e-16, - "timestamp": 3.9696755226177496 - }, - { - "x": 1.35, - "y": 5.58225679397583, - "heading": 3.507762761410347e-25, - "angularVelocity": -1.3163866439134166e-24, - "velocityX": 1.7883460029357865e-20, - "velocityY": -7.181910053514036e-24, - "timestamp": 4.061967347041126 - }, - { - "x": 1.3761091905494292, - "y": 5.609537510382012, - "heading": 0.009092277255100973, - "angularVelocity": 0.11546531077977794, - "velocityX": 0.331567737808145, - "velocityY": 0.346445264454243, - "timestamp": 4.140712012375655 - }, - { - "x": 1.4283276412673929, - "y": 5.664098878978288, - "heading": 0.02727672011448041, - "angularVelocity": 0.23092920367528352, - "velocityX": 0.6631363597283135, - "velocityY": 0.6928897134108606, - "timestamp": 4.219456677710184 - }, - { - "x": 1.5066554501194507, - "y": 5.745940797463734, - "heading": 0.0545537157896761, - "angularVelocity": 0.3463980138758046, - "velocityX": 0.9947062257398623, - "velocityY": 1.0393328632201235, - "timestamp": 4.298201343044713 - }, - { - "x": 1.6110927331941791, - "y": 5.85506311882236, - "heading": 0.09092486765955961, - "angularVelocity": 0.4618871858222897, - "velocityX": 1.3262775659919341, - "velocityY": 1.3857741460331916, - "timestamp": 4.376946008379242 - }, - { - "x": 1.7416396083512349, - "y": 5.991465645233681, - "heading": 0.13639392962694408, - "angularVelocity": 0.5774240296053013, - "velocityX": 1.657850402975963, - "velocityY": 1.7322129166699285, - "timestamp": 4.455690673713772 - }, - { - "x": 1.8982961713119855, - "y": 6.155148124011134, - "heading": 0.19096791231543717, - "angularVelocity": 0.6930499032111946, - "velocityX": 1.9894244555517604, - "velocityY": 2.0786484783710053, - "timestamp": 4.534435339048301 - }, - { - "x": 2.081062461891351, - "y": 6.346110236484044, - "heading": 0.25465858240789885, - "angularVelocity": 0.8088252051346765, - "velocityX": 2.3209990137481022, - "velocityY": 2.425079993186225, - "timestamp": 4.61318000438283 - }, - { - "x": 2.2377196372080883, - "y": 6.509785226593951, - "heading": 0.30954671204597756, - "angularVelocity": 0.6970393410766176, - "velocityX": 1.9894322320275923, - "velocityY": 2.078553377737655, - "timestamp": 4.691924669717359 - }, - { - "x": 2.3682671510821507, - "y": 6.646180841197734, - "heading": 0.3553020329707184, - "angularVelocity": 0.5810593102448243, - "velocityX": 1.657858514217577, - "velocityY": 1.7321251417392771, - "timestamp": 4.770669335051888 - }, - { - "x": 2.472705075371397, - "y": 6.755297231195074, - "heading": 0.39191475956413135, - "angularVelocity": 0.46495500917899774, - "velocityX": 1.3262857089501277, - "velocityY": 1.3856988220571407, - "timestamp": 4.8494140003864175 - }, - { - "x": 2.5510334762030915, - "y": 6.837134483375156, - "heading": 0.4193781488302824, - "angularVelocity": 0.3487650769671707, - "velocityX": 0.9947137434508653, - "velocityY": 1.039273604534536, - "timestamp": 4.928158665720947 - }, - { - "x": 2.603252400434301, - "y": 6.891692644090699, - "heading": 0.437688018711337, - "angularVelocity": 0.23252203566132756, - "velocityX": 0.6631423730022795, - "velocityY": 0.6928489756577794, - "timestamp": 5.006903331055476 - }, - { - "x": 2.629361867904663, - "y": 6.918971729278555, - "heading": 0.44684263169879895, - "angularVelocity": 0.11625692926080337, - "velocityX": 0.3315712545026574, - "velocityY": 0.3464245491674547, - "timestamp": 5.085647996390005 - }, - { - "x": 2.629361867904663, - "y": 6.918971729278555, - "heading": 0.44684263169879895, - "angularVelocity": 1.7104653429303553e-24, - "velocityX": 8.676311589571829e-24, - "velocityY": 9.986643357418398e-25, - "timestamp": 5.164392661724534 - }, - { - "x": 2.647240076574808, - "y": 6.9229927793221195, - "heading": 0.43944656124636106, - "angularVelocity": -0.13452107233246685, - "velocityX": 0.32517210553324816, - "velocityY": 0.073135588315622, - "timestamp": 5.219373419193956 - }, - { - "x": 2.6830022691087487, - "y": 6.931034450131843, - "heading": 0.4248111822038071, - "angularVelocity": -0.26619093144894534, - "velocityX": 0.6504492513372576, - "velocityY": 0.14626336885583588, - "timestamp": 5.274354176663378 - }, - { - "x": 2.736655222701382, - "y": 6.94309618304354, - "heading": 0.40312445923850565, - "angularVelocity": -0.3944420550655893, - "velocityX": 0.9758496619926198, - "velocityY": 0.21938098831042505, - "timestamp": 5.3293349341328 - }, - { - "x": 2.8082070403706108, - "y": 6.959177291873429, - "heading": 0.3746181200720642, - "angularVelocity": -0.518478472805611, - "velocityX": 1.3013974518088953, - "velocityY": 0.29248612732978096, - "timestamp": 5.384315691602222 - }, - { - "x": 2.897667587057907, - "y": 6.979276960170721, - "heading": 0.3395861567651547, - "angularVelocity": -0.6371677095644406, - "velocityX": 1.6271246669719133, - "velocityY": 0.365576416593952, - "timestamp": 5.439296449071644 - }, - { - "x": 3.005049084237076, - "y": 7.003394214511703, - "heading": 0.29841332172862295, - "angularVelocity": -0.748858999613284, - "velocityX": 1.9530741685196018, - "velocityY": 0.4386490010508486, - "timestamp": 5.494277206541065 - }, - { - "x": 3.1303669283648046, - "y": 7.03152781229272, - "heading": 0.251621978066968, - "angularVelocity": -0.8510494546692724, - "velocityX": 2.279303703617138, - "velocityY": 0.5116989848068959, - "timestamp": 5.549257964010487 - }, - { - "x": 3.2736407888898387, - "y": 7.063675864480488, - "heading": 0.1999566397529945, - "angularVelocity": -0.9396985544025636, - "velocityX": 2.605890990219942, - "velocityY": 0.5847146104825557, - "timestamp": 5.604238721479909 - }, - { - "x": 3.4348957619080127, - "y": 7.099834631071478, - "heading": 0.14455793072354875, - "angularVelocity": -1.0076017788633853, - "velocityX": 2.932934729170615, - "velocityY": 0.6576622122948987, - "timestamp": 5.659219478949331 - }, - { - "x": 3.6141609000051536, - "y": 7.139994322888153, - "heading": 0.08739671753641093, - "angularVelocity": -1.0396585245106666, - "velocityX": 3.260506881827549, - "velocityY": 0.730431766768768, - "timestamp": 5.714200236418753 - }, - { - "x": 3.8114358161798583, - "y": 7.184118841743803, - "heading": 0.03277975478683384, - "angularVelocity": -0.9933832355793388, - "velocityX": 3.5880719956326845, - "velocityY": 0.8025447608682011, - "timestamp": 5.769180993888175 - }, - { - "x": 4.025725584987085, - "y": 7.231688135484132, - "heading": 1.1487831117686327e-8, - "angularVelocity": -0.5962039231131655, - "velocityX": 3.8975412247895487, - "velocityY": 0.8651989519566878, - "timestamp": 5.824161751357597 - }, - { - "x": 4.250000000000002, - "y": 7.282256793975824, - "heading": -1.3446001300471768e-25, - "angularVelocity": -2.0894275827457326e-7, - "velocityX": 4.079143782943505, - "velocityY": 0.9197519426649702, - "timestamp": 5.879142508827019 - }, - { - "x": 4.555578615051821, - "y": 7.331690581992348, - "heading": 1.1852293345406531e-17, - "angularVelocity": 1.6010580396806402e-16, - "velocityX": 4.127885452839213, - "velocityY": 0.6677725612361392, - "timestamp": 5.953170390303632 - }, - { - "x": 4.861157269791372, - "y": 7.381124124675592, - "heading": 2.2033445333656944e-17, - "angularVelocity": 1.3753131637930226e-16, - "velocityX": 4.127885988957933, - "velocityY": 0.667769247170231, - "timestamp": 6.027198271780246 - }, - { - "x": 5.166735924531274, - "y": 7.430557667356667, - "heading": -3.355740357093402e-17, - "angularVelocity": -7.5094474940707e-16, - "velocityX": 4.127885988962678, - "velocityY": 0.6677692471409031, - "timestamp": 6.101226153256859 - }, - { - "x": 5.472314579271176, - "y": 7.47999121003774, - "heading": -3.9827748951312203e-17, - "angularVelocity": -8.470248310915055e-17, - "velocityX": 4.12788598896268, - "velocityY": 0.6677692471408927, - "timestamp": 6.175254034733473 - }, - { - "x": 5.77789323401108, - "y": 7.529424752718813, - "heading": -2.9096619403201524e-17, - "angularVelocity": 1.4496064636808375e-16, - "velocityX": 4.12788598896268, - "velocityY": 0.6677692471408905, - "timestamp": 6.249281916210086 - }, - { - "x": 6.083471888751526, - "y": 7.578858295396524, - "heading": -1.7014104780220546e-17, - "angularVelocity": 1.632157287494049e-16, - "velocityX": 4.127885988970029, - "velocityY": 0.6677692470954667, - "timestamp": 6.3233097976867 - }, - { - "x": 6.389050604827326, - "y": 7.628291458921789, - "heading": -2.8399965998049225e-17, - "angularVelocity": -1.5380503927329875e-16, - "velocityX": 4.127886817513971, - "velocityY": 0.6677641253435272, - "timestamp": 6.397337679163313 - }, - { - "x": 6.6974520045085875, - "y": 7.654947886751572, - "heading": 7.456276940362482e-19, - "angularVelocity": 3.937110330692362e-16, - "velocityX": 4.166016824062293, - "velocityY": 0.36008632555834863, - "timestamp": 6.471365560639927 - }, - { - "x": 6.983237000162054, - "y": 7.656945566167564, - "heading": 6.6435514939088325e-18, - "angularVelocity": 7.96716545476509e-17, - "velocityX": 3.860504852401468, - "velocityY": 0.02698550027564136, - "timestamp": 6.5453934421165405 - }, - { - "x": 7.236389344029046, - "y": 7.6515490284862535, - "heading": 7.190524978488895e-18, - "angularVelocity": 7.388749666939387e-18, - "velocityX": 3.4196891605896758, - "velocityY": -0.07289871834323541, - "timestamp": 6.619421323593154 - }, - { - "x": 7.456702532389806, - "y": 7.639737294256418, - "heading": 8.941088425266997e-18, - "angularVelocity": 2.3647353022640597e-17, - "velocityX": 2.976083929003971, - "velocityY": -0.15955791242746284, - "timestamp": 6.693449205069768 - }, - { - "x": 7.6441107685462475, - "y": 7.621856856041679, - "heading": 1.0945616358890774e-17, - "angularVelocity": 2.7078012954548576e-17, - "velocityX": 2.53158988773232, - "velocityY": -0.24153653810000633, - "timestamp": 6.767477086546381 - }, - { - "x": 7.79858185865481, - "y": 7.598084937291478, - "heading": 9.68583076902552e-18, - "angularVelocity": -1.7017717713022894e-17, - "velocityX": 2.0866609583763616, - "velocityY": -0.3211211543006168, - "timestamp": 6.841504968022995 - }, - { - "x": 7.920096730975915, - "y": 7.568529170908052, - "heading": 8.319598760311882e-18, - "angularVelocity": -1.8455641056660778e-17, - "velocityX": 1.6414743998785648, - "velocityY": -0.3992518196372258, - "timestamp": 6.915532849499608 - }, - { - "x": 8.0086427775389, - "y": 7.533261859454375, - "heading": 6.577363737030138e-18, - "angularVelocity": -2.3534849148015073e-17, - "velocityX": 1.1961175275690947, - "velocityY": -0.476405791307416, - "timestamp": 6.989560730976222 - }, - { - "x": 8.064211046315053, - "y": 7.49233491761698, - "heading": 4.5104421550156944e-18, - "angularVelocity": -2.792085280315562e-17, - "velocityX": 0.7506397274614434, - "velocityY": -0.5528584773876515, - "timestamp": 7.063588612452835 - }, - { - "x": 8.08679485321045, - "y": 7.44578742980957, - "heading": -4.5362375322406465e-30, - "angularVelocity": -6.092896439943622e-17, - "velocityX": 0.30507163577996627, - "velocityY": -0.6287831946415446, - "timestamp": 7.137616493929449 - }, - { - "x": 8.056348015754137, - "y": 7.3720119192300455, - "heading": -3.562838906898219e-18, - "angularVelocity": -3.5333147474799246e-17, - "velocityX": -0.30194533800340373, - "velocityY": -0.7316415542426236, - "timestamp": 7.2384520877413605 - }, - { - "x": 7.964689737823336, - "y": 7.2878795305099695, - "heading": -7.250663421617498e-18, - "angularVelocity": -3.6572646376797225e-17, - "velocityX": -0.9089873373659229, - "velocityY": -0.8343520927442343, - "timestamp": 7.339287681553272 - }, - { - "x": 7.811816492885734, - "y": 7.1934111312196, - "heading": -9.984265294683441e-18, - "angularVelocity": -2.710949348016387e-17, - "velocityX": -1.516064309818574, - "velocityY": -0.9368556847751761, - "timestamp": 7.440123275365184 - }, - { - "x": 7.597723004977704, - "y": 7.088638022017575, - "heading": -1.433836387576785e-17, - "angularVelocity": -4.318017494077071e-17, - "velocityX": -2.1231936047045, - "velocityY": -1.039048864009848, - "timestamp": 7.5409588691770955 - }, - { - "x": 7.322400517715837, - "y": 6.973612368749597, - "heading": -2.1940207343875766e-17, - "angularVelocity": -7.538849309728229e-17, - "velocityX": -2.730409737809707, - "velocityY": -1.140724707612031, - "timestamp": 7.641794462989007 - }, - { - "x": 6.985831656638794, - "y": 6.848438495527462, - "heading": -2.9554201439643655e-17, - "angularVelocity": -7.550899248834429e-17, - "velocityX": -3.337798175759688, - "velocityY": -1.2413659551172047, - "timestamp": 7.742630056800919 - }, - { - "x": 6.587965404213338, - "y": 6.713429306112849, - "heading": -2.3579747883783766e-17, - "angularVelocity": 5.924945081446257e-17, - "velocityX": -3.945692561374678, - "velocityY": -1.3389040943860189, - "timestamp": 7.84346565061283 - }, - { - "x": 6.1730951719461284, - "y": 6.638125788985514, - "heading": 1.9461532946570554e-17, - "angularVelocity": 4.2684610863345274e-16, - "velocityX": -4.1143232918434265, - "velocityY": -0.7467949984784092, - "timestamp": 7.944301244424742 - }, - { - "x": 5.757475578384333, - "y": 6.567074520342679, - "heading": 3.073583715260816e-17, - "angularVelocity": 1.1180877485527298e-16, - "velocityX": -4.1217548075042965, - "velocityY": -0.704624884496314, - "timestamp": 8.045136838236653 - }, - { - "x": 5.341855982130269, - "y": 6.496023267448575, - "heading": 4.9911384157422675e-17, - "angularVelocity": 1.901664509492479e-16, - "velocityX": -4.12175483420387, - "velocityY": -0.7046247283140503, - "timestamp": 8.145972432048564 - }, - { - "x": 4.974693840732125, - "y": 6.433255942720096, - "heading": 4.3755003466781107e-17, - "angularVelocity": -6.105364641788702e-17, - "velocityX": -3.6411958071374304, - "velocityY": -0.6224719105196076, - "timestamp": 8.246808025860476 - }, - { - "x": 4.668725379751608, - "y": 6.380949837101729, - "heading": 4.297922243446681e-17, - "angularVelocity": -7.693523718012518e-18, - "velocityX": -3.034329936621781, - "velocityY": -0.5187266087403004, - "timestamp": 8.347643619672388 - }, - { - "x": 4.423950607483419, - "y": 6.339104952011474, - "heading": 3.647497975951615e-17, - "angularVelocity": -6.450343999932714e-17, - "velocityX": -2.4274639838465006, - "velocityY": -0.41498129289849484, - "timestamp": 8.4484792134843 - }, - { - "x": 4.240369526692457, - "y": 6.307721287922, - "heading": 2.807259348278656e-17, - "angularVelocity": -8.332758264591161e-17, - "velocityX": -1.8205980036513219, - "velocityY": -0.3112359723691862, - "timestamp": 8.549314807296211 - }, - { - "x": 4.1179821387611755, - "y": 6.286798845069638, - "heading": 1.6554566502834792e-17, - "angularVelocity": -1.1422580603516648e-16, - "velocityX": -1.2137320097461906, - "velocityY": -0.20749064949612547, - "timestamp": 8.650150401108123 - }, - { - "x": 4.056788444519045, - "y": 6.276337623596191, - "heading": -1.081005308476118e-27, - "angularVelocity": -1.6417383860510177e-16, - "velocityX": -0.6068660076150864, - "velocityY": -0.10374532521681326, - "timestamp": 8.750985994920034 - }, - { - "x": 4.056788444519045, - "y": 6.276337623596191, - "heading": -8.68734990058906e-28, - "angularVelocity": -7.610530353701758e-29, - "velocityX": -1.0690268508350096e-22, - "velocityY": -4.0812108972482127e-23, - "timestamp": 8.851821588731946 - }, - { - "x": 4.0828323692232145, - "y": 6.281987827191528, - "heading": 5.917096277980191e-10, - "angularVelocity": 8.956304425960182e-9, - "velocityX": 0.39420909706230056, - "velocityY": 0.08552327204275713, - "timestamp": 8.917887858887182 - }, - { - "x": 4.134945642418738, - "y": 6.293169746044328, - "heading": 1.7586803299010682e-9, - "angularVelocity": 1.766363833407003e-8, - "velocityX": 0.788803016623651, - "velocityY": 0.16925306705715784, - "timestamp": 8.983954129042418 - }, - { - "x": 4.213159185837416, - "y": 6.309735593389541, - "heading": 3.480401916232622e-9, - "angularVelocity": 2.6060523505958926e-8, - "velocityX": 1.183864977315949, - "velocityY": 0.25074591476540037, - "timestamp": 9.050020399197654 - }, - { - "x": 4.317511365530878, - "y": 6.33149590597647, - "heading": 5.730589257299653e-9, - "angularVelocity": 3.405954862866893e-8, - "velocityX": 1.57950765872307, - "velocityY": 0.3293709866744319, - "timestamp": 9.11608666935289 - }, - { - "x": 4.448050927235057, - "y": 6.358199069694473, - "heading": 8.474350324606633e-9, - "angularVelocity": 4.153043695156349e-8, - "velocityX": 1.975888171035693, - "velocityY": 0.4041875476738608, - "timestamp": 9.182152939508127 - }, - { - "x": 4.604841555340528, - "y": 6.389494861933726, - "heading": 1.1663148228371095e-8, - "angularVelocity": 4.826665553045075e-8, - "velocityX": 2.3732326304642357, - "velocityY": 0.4737030282732438, - "timestamp": 9.248219209663363 - }, - { - "x": 4.7879690180112195, - "y": 6.42486273284508, - "heading": 1.5224903472771874e-8, - "angularVelocity": 5.3911856020201134e-8, - "velocityX": 2.7718753040000252, - "velocityY": 0.5353393014052362, - "timestamp": 9.314285479818599 - }, - { - "x": 4.9975511936263155, - "y": 6.463449108142169, - "heading": 1.9041584229582254e-8, - "angularVelocity": 5.777048935625297e-8, - "velocityX": 3.1723022220361643, - "velocityY": 0.5840556036601274, - "timestamp": 9.380351749973835 - }, - { - "x": 5.233736795312115, - "y": 6.503606531218817, - "heading": 2.2885938036083167e-8, - "angularVelocity": 5.8189357405342333e-8, - "velocityX": 3.574980109075873, - "velocityY": 0.6078354806815993, - "timestamp": 9.446418020129071 - }, - { - "x": 5.496423817757033, - "y": 6.540955963494301, - "heading": 2.615742950768295e-8, - "angularVelocity": 4.9518331576957005e-8, - "velocityX": 3.9761140113961715, - "velocityY": 0.565332842125389, - "timestamp": 9.512484290284307 - }, - { - "x": 5.772317890968588, - "y": 6.555158418696577, - "heading": 2.6157432845131755e-8, - "angularVelocity": 5.051668270867061e-14, - "velocityX": 4.176020116820391, - "velocityY": 0.21497286238354563, - "timestamp": 9.578550560439544 - }, - { - "x": 6.0482967296543855, - "y": 6.542711256144356, - "heading": 2.61574082135951e-8, - "angularVelocity": -3.7283074403740065e-13, - "velocityX": 4.1773031538988095, - "velocityY": -0.1884041966191396, - "timestamp": 9.64461683059478 - }, - { - "x": 6.321792125701904, - "y": 6.503730297088623, - "heading": 1.1564358585154957e-28, - "angularVelocity": -3.9592681942136435e-7, - "velocityX": 4.139712979178139, - "velocityY": -0.5900281484657701, - "timestamp": 9.710683100750016 - }, - { - "x": 6.547355460734675, - "y": 6.4527161195833775, - "heading": -0.007269533201866749, - "angularVelocity": -0.1301585532473417, - "velocityX": 4.038635843353985, - "velocityY": -0.9133917343524579, - "timestamp": 9.76653446833592 - }, - { - "x": 6.760403627607179, - "y": 6.388539344746577, - "heading": -0.033469969753863994, - "angularVelocity": -0.46911002692456527, - "velocityX": 3.814555955945363, - "velocityY": -1.1490636238779843, - "timestamp": 9.822385835921823 - }, - { - "x": 6.955177537271062, - "y": 6.320001202518741, - "heading": -0.07019350986549461, - "angularVelocity": -0.6575226659427229, - "velocityX": 3.4873615111448264, - "velocityY": -1.227152443893485, - "timestamp": 9.878237203507727 - }, - { - "x": 7.130957377141255, - "y": 6.252260176669711, - "heading": -0.11078396487947455, - "angularVelocity": -0.7267584800237601, - "velocityX": 3.1472790634862915, - "velocityY": -1.212880342541995, - "timestamp": 9.93408857109363 - }, - { - "x": 7.288010376164827, - "y": 6.187988784317964, - "heading": -0.15176321891304065, - "angularVelocity": -0.7337197960378785, - "velocityX": 2.811981260476969, - "velocityY": -1.1507577187414648, - "timestamp": 9.989939938679534 - }, - { - "x": 7.426691779416035, - "y": 6.128716395109355, - "heading": -0.19110286527521025, - "angularVelocity": -0.7043631707256224, - "velocityX": 2.48304400134704, - "velocityY": -1.0612522444941654, - "timestamp": 10.045791306265437 - }, - { - "x": 7.547307972917185, - "y": 6.075411733859649, - "heading": -0.22748863294074106, - "angularVelocity": -0.6514749636088404, - "velocityX": 2.1595924811622984, - "velocityY": -0.9544020774015809, - "timestamp": 10.101642673851341 - }, - { - "x": 7.650107021696187, - "y": 6.028737089255784, - "heading": -0.26000406925250097, - "angularVelocity": -0.5821779791112268, - "velocityX": 1.8405824820831433, - "velocityY": -0.835693853549357, - "timestamp": 10.157494041437245 - }, - { - "x": 7.735288937949401, - "y": 5.989171589665674, - "heading": -0.2879751600685273, - "angularVelocity": -0.500812997515315, - "velocityX": 1.5251536342811545, - "velocityY": -0.708406997004223, - "timestamp": 10.213345409023148 - }, - { - "x": 7.803016656542128, - "y": 5.957077010153221, - "heading": -0.3108860017100809, - "angularVelocity": -0.41021093362333316, - "velocityX": 1.2126420805820985, - "velocityY": -0.574642679305731, - "timestamp": 10.269196776609052 - }, - { - "x": 7.853424723852741, - "y": 5.932735740203229, - "heading": -0.3283294175539037, - "angularVelocity": -0.3123185088886745, - "velocityX": 0.9025395346511673, - "velocityY": -0.4358222726158591, - "timestamp": 10.325048144194955 - }, - { - "x": 7.886625758394815, - "y": 5.916374096245245, - "heading": -0.3399762524437299, - "angularVelocity": -0.20853267150374424, - "velocityX": 0.5944533854253174, - "velocityY": -0.2929497461779804, - "timestamp": 10.380899511780859 - }, - { - "x": 7.90271520614624, - "y": 5.908177375793457, - "heading": -0.34555536227067424, - "angularVelocity": -0.0998920898107501, - "velocityX": 0.28807616441402983, - "velocityY": -0.14675952991089913, - "timestamp": 10.436750879366762 - }, - { - "x": 7.900517279512601, - "y": 5.908892154044228, - "heading": -0.34435114666329186, - "angularVelocity": 0.020228619667652558, - "velocityX": -0.03692114738981263, - "velocityY": 0.012006967268082137, - "timestamp": 10.496281169973198 - }, - { - "x": 7.878897174609603, - "y": 5.918918511140869, - "heading": -0.33622484089703686, - "angularVelocity": 0.1365070736842074, - "velocityX": -0.3631782187312475, - "velocityY": 0.168424460799739, - "timestamp": 10.555811460579633 - }, - { - "x": 7.83776699530333, - "y": 5.938088764329109, - "heading": -0.3214499320108964, - "angularVelocity": 0.24819144565948495, - "velocityX": -0.6909117843585054, - "velocityY": 0.3220251907550373, - "timestamp": 10.615341751186069 - }, - { - "x": 7.777022436898006, - "y": 5.966198255304121, - "heading": -0.3003583171650395, - "angularVelocity": 0.3543005523909993, - "velocityX": -1.0203974780992662, - "velocityY": 0.4721880355137041, - "timestamp": 10.674872041792504 - }, - { - "x": 7.69653792964951, - "y": 6.002991760583309, - "heading": -0.27336046232249744, - "angularVelocity": 0.45351458169470893, - "velocityX": -1.3519925138715216, - "velocityY": 0.6180635925739989, - "timestamp": 10.73440233239894 - }, - { - "x": 7.596159781373443, - "y": 6.048142382340488, - "heading": -0.24097637486036755, - "angularVelocity": 0.543993438167913, - "velocityX": -1.6861692972352893, - "velocityY": 0.7584478640575794, - "timestamp": 10.793932623005375 - }, - { - "x": 7.4756963505533935, - "y": 6.101216994676396, - "heading": -0.20388575895135275, - "angularVelocity": 0.6230545077333302, - "velocityX": -2.0235653075583584, - "velocityY": 0.8915564126302368, - "timestamp": 10.85346291361181 - }, - { - "x": 7.334904005956902, - "y": 6.161615825528181, - "heading": -0.16301475379345282, - "angularVelocity": 0.6865581327009607, - "velocityX": -2.3650538769799136, - "velocityY": 1.0145898875429862, - "timestamp": 10.912993204218246 - }, - { - "x": 7.173468437929862, - "y": 6.2284574380514455, - "heading": -0.11969881454856235, - "angularVelocity": 0.7276285535251157, - "velocityX": -2.7118222737113333, - "velocityY": 1.1228168356369232, - "timestamp": 10.972523494824681 - }, - { - "x": 6.990989423393413, - "y": 6.3003338750456575, - "heading": -0.07602350478150598, - "angularVelocity": 0.7336653210010509, - "velocityX": -3.0653136861509287, - "velocityY": 1.2073926779460713, - "timestamp": 11.032053785431117 - }, - { - "x": 6.7870402492258135, - "y": 6.374708055282701, - "heading": -0.03565897410889504, - "angularVelocity": 0.6780502877008852, - "velocityX": -3.425973098568256, - "velocityY": 1.2493501959992728, - "timestamp": 11.091584076037552 - }, - { - "x": 6.561897153690842, - "y": 6.4462208450798215, - "heading": -0.0063889390098301095, - "angularVelocity": 0.4916830541374962, - "velocityX": -3.781992213399873, - "velocityY": 1.2012840701535195, - "timestamp": 11.151114366643988 - }, - { - "x": 6.321792125701904, - "y": 6.503730297088623, - "heading": -2.3188011153160923e-28, - "angularVelocity": 0.10732248985761594, - "velocityX": -4.0333253129286994, - "velocityY": 0.9660536077172232, - "timestamp": 11.210644657250423 - }, - { - "x": 6.026159037797862, - "y": 6.542710336847052, - "heading": 7.2737432191713975e-9, - "angularVelocity": 1.0199984022231118e-7, - "velocityX": -4.145668443609958, - "velocityY": 0.5466178427552496, - "timestamp": 11.281955976986984 - }, - { - "x": 5.728075284165582, - "y": 6.550738026435919, - "heading": 7.273746219720962e-9, - "angularVelocity": 4.207676391895168e-14, - "velocityX": -4.180034175969023, - "velocityY": 0.11257244457854902, - "timestamp": 11.353267296723544 - }, - { - "x": 5.430772694641847, - "y": 6.527726353002143, - "heading": 7.273745820396832e-9, - "angularVelocity": -5.5997299201229045e-15, - "velocityX": -4.1690798967405485, - "velocityY": -0.3226931365004294, - "timestamp": 11.424578616460105 - }, - { - "x": 5.155259555560304, - "y": 6.482595213861262, - "heading": 6.079879033454249e-9, - "angularVelocity": -1.6741616777714582e-8, - "velocityX": -3.863526016617648, - "velocityY": -0.6328748269924842, - "timestamp": 11.495889936196665 - }, - { - "x": 4.910749929550947, - "y": 6.439148378340905, - "heading": 4.8501339645893866e-9, - "angularVelocity": -1.7244738611033904e-8, - "velocityX": -3.428763160079285, - "velocityY": -0.6092558051212502, - "timestamp": 11.567201255933226 - }, - { - "x": 4.69702658726096, - "y": 6.39973389360689, - "heading": 3.7031081606903725e-9, - "angularVelocity": -1.6084764776985806e-8, - "velocityX": -2.997046514908499, - "velocityY": -0.5527100729536375, - "timestamp": 11.638512575669786 - }, - { - "x": 4.513967146494363, - "y": 6.3651959253494725, - "heading": 2.681611531111107e-9, - "angularVelocity": -1.4324466765625498e-8, - "velocityX": -2.5670460376116413, - "velocityY": -0.48432658917276944, - "timestamp": 11.709823895406346 - }, - { - "x": 4.36149950762511, - "y": 6.335968042251882, - "heading": 1.8076673867467656e-9, - "angularVelocity": -1.2255335444539114e-8, - "velocityX": -2.138056614749246, - "velocityY": -0.4098631634579714, - "timestamp": 11.781135215142907 - }, - { - "x": 4.239576710769736, - "y": 6.31231402870262, - "heading": 1.0946867890651993e-9, - "angularVelocity": -9.998140552095568e-9, - "velocityX": -1.7097257112304496, - "velocityY": -0.33170068422020343, - "timestamp": 11.852446534879467 - }, - { - "x": 4.148165858183431, - "y": 6.294411248448443, - "heading": 5.516922206255535e-10, - "angularVelocity": -7.614423214232743e-9, - "velocityX": -1.2818561334160725, - "velocityY": -0.25105102977076493, - "timestamp": 11.923757854616028 - }, - { - "x": 4.087242656413975, - "y": 6.282387124354374, - "heading": 1.851682282397909e-10, - "angularVelocity": -5.139772952453801e-9, - "velocityX": -0.8543272231465969, - "velocityY": -0.16861452204907645, - "timestamp": 11.995069174352588 - }, - { - "x": 4.056788444519045, - "y": 6.276337623596191, - "heading": 6.063226678000312e-28, - "angularVelocity": -2.5966176046641755e-9, - "velocityX": -0.4270599956281157, - "velocityY": -0.08483226478671645, - "timestamp": 12.066380494089149 - }, - { - "x": 4.056788444519045, - "y": 6.276337623596191, - "heading": 2.9642655774633174e-28, - "angularVelocity": -1.8888378589965254e-28, - "velocityX": -6.1162792213078806e-27, - "velocityY": -8.775569155171093e-28, - "timestamp": 12.13769181382571 - } - ], - "trajectoryWaypoints": [ - { - "timestamp": 0, - "isStopPoint": true, - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "timestamp": 1.1080594821066876, - "isStopPoint": false, - "x": 2.629361867904663, - "y": 4.2189717292785645, - "heading": -0.44684263169879895, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "timestamp": 2.216252355468508, - "isStopPoint": true, - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 - }, - { - "timestamp": 3.1390491028073644, - "isStopPoint": false, - "x": 2.6500000000000012, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 10 - }, - { - "timestamp": 4.061967347041126, - "isStopPoint": true, - "x": 1.35, - "y": 5.58225679397583, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "timestamp": 5.164392661724534, - "isStopPoint": true, - "x": 2.629361867904663, - "y": 6.918971729278555, - "heading": 0.44684263169879895, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 5.879142508827019, - "isStopPoint": false, - "x": 4.250000000000002, - "y": 7.282256793975824, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "timestamp": 7.137616493929449, - "isStopPoint": false, - "x": 8.08679485321045, - "y": 7.44578742980957, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 17 - }, - { - "timestamp": 8.851821588731946, - "isStopPoint": true, - "x": 4.056788444519045, - "y": 6.276337623596191, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 9.710683100750016, - "isStopPoint": false, - "x": 6.321792125701904, - "y": 6.503730297088623, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 10.436750879366762, - "isStopPoint": false, - "x": 7.90271520614624, - "y": 5.908177375793457, - "heading": -0.34555536227067424, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 11.210644657250423, - "isStopPoint": false, - "x": 6.321792125701904, - "y": 6.503730297088623, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 13 - }, - { - "timestamp": 12.13769181382571, - "isStopPoint": true, - "x": 4.056788444519045, - "y": 6.276337623596191, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 40 - } - ], - "constraints": [ - { - "scope": [ - "first" - ], - "type": "StopPoint" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint" - }, - { - "scope": [ - 2 - ], - "type": "StopPoint" - }, - { - "scope": [ - 4 - ], - "type": "StopPoint" - }, - { - "scope": [ - 5 - ], - "type": "StopPoint" - }, - { - "scope": [ - 7 - ], - "type": "StopPoint" - } - ], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": false - } - }, - "splitTrajectoriesAtStopPoints": true, - "usesObstacles": true -} \ No newline at end of file diff --git a/settings.gradle b/settings.gradle index 4d2ffed..25f6f6e 100644 --- a/settings.gradle +++ b/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2026' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,12 +20,11 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } Properties props = System.getProperties(); props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); -rootProject.name = '2025RobotCode' \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/drive_comm/SysIDDriveCommand.java b/src/main/java/frc/robot/commands/drive_comm/SysIDDriveCommand.java index 17bb229..53660aa 100644 --- a/src/main/java/frc/robot/commands/drive_comm/SysIDDriveCommand.java +++ b/src/main/java/frc/robot/commands/drive_comm/SysIDDriveCommand.java @@ -7,7 +7,7 @@ package frc.robot.commands.drive_comm; import com.ctre.phoenix6.SignalLogger; import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.units.Units; +import edu.wpi.first.units.measure.Units; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.WaitCommand; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config; diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json index bef4a15..162ad66 100644 --- a/vendordeps/AdvantageKit.json +++ b/vendordeps/AdvantageKit.json @@ -1,9 +1,9 @@ { "fileName": "AdvantageKit.json", "name": "AdvantageKit", - "version": "4.1.2", + "version": "26.0.0", "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", - "frcYear": "2025", + "frcYear": "2026", "mavenUrls": [ "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" ], @@ -12,14 +12,14 @@ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-java", - "version": "4.1.2" + "version": "26.0.0" } ], "jniDependencies": [ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-wpilibio", - "version": "4.1.2", + "version": "26.0.0", "skipInvalidPlatforms": false, "isJar": false, "validPlatforms": [ diff --git a/vendordeps/ChoreoLib-2025.0.3.json b/vendordeps/ChoreoLib-2025.0.3.json deleted file mode 100644 index 5a8cd54..0000000 --- a/vendordeps/ChoreoLib-2025.0.3.json +++ /dev/null @@ -1,44 +0,0 @@ -{ - "fileName": "ChoreoLib-2025.0.3.json", - "name": "ChoreoLib", - "version": "2025.0.3", - "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", - "frcYear": "2025", - "mavenUrls": [ - "https://lib.choreo.autos/dep", - "https://repo1.maven.org/maven2" - ], - "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib2025.json", - "javaDependencies": [ - { - "groupId": "choreo", - "artifactId": "ChoreoLib-java", - "version": "2025.0.3" - }, - { - "groupId": "com.google.code.gson", - "artifactId": "gson", - "version": "2.11.0" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "choreo", - "artifactId": "ChoreoLib-cpp", - "version": "2025.0.3", - "libName": "ChoreoLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal", - "linuxathena", - "linuxarm32", - "linuxarm64" - ] - } - ] -} \ No newline at end of file diff --git a/vendordeps/ChoreoLib2026.json b/vendordeps/ChoreoLib2026.json new file mode 100644 index 0000000..a07c40d --- /dev/null +++ b/vendordeps/ChoreoLib2026.json @@ -0,0 +1,44 @@ +{ + "fileName": "ChoreoLib2026.json", + "name": "ChoreoLib", + "version": "2026.0.1", + "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", + "frcYear": "2026", + "mavenUrls": [ + "https://frcmaven.wpi.edu/artifactory/sleipnirgroup-mvn-release/", + "https://repo1.maven.org/maven2" + ], + "jsonUrl": "https://choreo.autos/lib/ChoreoLib2026.json", + "javaDependencies": [ + { + "groupId": "choreo", + "artifactId": "ChoreoLib-java", + "version": "2026.0.1" + }, + { + "groupId": "com.google.code.gson", + "artifactId": "gson", + "version": "2.11.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "choreo", + "artifactId": "ChoreoLib-cpp", + "version": "2026.0.1", + "libName": "ChoreoLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json index 10f6cd2..4414707 100644 --- a/vendordeps/PathplannerLib.json +++ b/vendordeps/PathplannerLib.json @@ -1,9 +1,9 @@ { "fileName": "PathplannerLib.json", "name": "PathplannerLib", - "version": "2025.2.6", + "version": "2026.1.2", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", - "frcYear": "2025", + "frcYear": "2026", "mavenUrls": [ "https://3015rangerrobotics.github.io/pathplannerlib/repo" ], @@ -12,7 +12,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - "version": "2025.2.6" + "version": "2026.1.2" } ], "jniDependencies": [], @@ -20,7 +20,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-cpp", - "version": "2025.2.6", + "version": "2026.1.2", "libName": "PathplannerLib", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/Phoenix5-frc2025-latest.json b/vendordeps/Phoenix5-frc2026-latest.json similarity index 87% rename from vendordeps/Phoenix5-frc2025-latest.json rename to vendordeps/Phoenix5-frc2026-latest.json index c1098dc..2350393 100644 --- a/vendordeps/Phoenix5-frc2025-latest.json +++ b/vendordeps/Phoenix5-frc2026-latest.json @@ -1,50 +1,50 @@ { - "fileName": "Phoenix5-frc2025-latest.json", + "fileName": "Phoenix5-frc2026-latest.json", "name": "CTRE-Phoenix (v5)", - "version": "5.35.1", - "frcYear": "2025", + "version": "5.36.0", + "frcYear": "2026", "uuid": "ab676553-b602-441f-a38d-f1296eff6537", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-latest.json", "requires": [ { "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", - "offlineFileName": "Phoenix6-frc2025-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" + "offlineFileName": "Phoenix6-frc2026-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json" } ], "conflictsWith": [ { "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + "offlineFileName": "Phoenix6-replay-frc2026-latest.json" }, { "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-replay-frc2025-latest.json" + "offlineFileName": "Phoenix5-replay-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "api-java", - "version": "5.35.1" + "version": "5.36.0" }, { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-java", - "version": "5.35.1" + "version": "5.36.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.35.1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -58,7 +58,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.35.1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -74,7 +74,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-cpp", - "version": "5.35.1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -90,7 +90,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "api-cpp", - "version": "5.35.1", + "version": "5.36.0", "libName": "CTRE_Phoenix", "headerClassifier": "headers", "sharedLibrary": true, @@ -106,7 +106,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.35.1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCI", "headerClassifier": "headers", "sharedLibrary": true, @@ -122,7 +122,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "wpiapi-cpp-sim", - "version": "5.35.1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -138,7 +138,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "api-cpp-sim", - "version": "5.35.1", + "version": "5.36.0", "libName": "CTRE_PhoenixSim", "headerClassifier": "headers", "sharedLibrary": true, @@ -154,7 +154,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.35.1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCISim", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/Phoenix6-frc2025-latest.json b/vendordeps/Phoenix6-frc2026-latest.json similarity index 90% rename from vendordeps/Phoenix6-frc2025-latest.json rename to vendordeps/Phoenix6-frc2026-latest.json index d7bea57..8f6e30f 100644 --- a/vendordeps/Phoenix6-frc2025-latest.json +++ b/vendordeps/Phoenix6-frc2026-latest.json @@ -1,32 +1,32 @@ { - "fileName": "Phoenix6-frc2025-latest.json", + "fileName": "Phoenix6-frc2026-latest.json", "name": "CTRE-Phoenix (v6)", - "version": "25.3.2", - "frcYear": "2025", + "version": "26.1.0", + "frcYear": "2026", "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-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-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-latest.json" + "offlineFileName": "Phoenix6-replay-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "25.3.2" + "version": "26.1.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "25.3.2", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.3.2", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "25.3.2", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.3.2", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.3.2", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.3.2", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.3.2", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -123,8 +123,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.3.2", + "artifactId": "simProTalonFX", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -137,8 +137,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.3.2", + "artifactId": "simProTalonFXS", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -151,8 +151,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.3.2", + "artifactId": "simProCANcoder", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -165,8 +165,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "25.3.2", + "artifactId": "simProPigeon2", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -179,8 +179,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "25.3.2", + "artifactId": "simProCANrange", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -193,8 +193,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "25.3.2", + "artifactId": "simProCANdi", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -207,8 +207,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "25.3.2", + "artifactId": "simProCANdle", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -224,7 +224,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "25.3.2", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -240,7 +240,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.3.2", + "version": "26.1.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -256,7 +256,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "25.3.2", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -272,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.3.2", + "version": "26.1.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -288,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.3.2", + "version": "26.1.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -304,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.3.2", + "version": "26.1.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -320,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.3.2", + "version": "26.1.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -335,9 +335,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.3.2", - "libName": "CTRE_SimCANCoder", + "artifactId": "simProTalonFX", + "version": "26.1.0", + "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -351,9 +351,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.3.2", - "libName": "CTRE_SimProTalonFX", + "artifactId": "simProTalonFXS", + "version": "26.1.0", + "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -367,9 +367,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.3.2", - "libName": "CTRE_SimProTalonFXS", + "artifactId": "simProCANcoder", + "version": "26.1.0", + "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -383,9 +383,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "25.3.2", - "libName": "CTRE_SimProCANcoder", + "artifactId": "simProPigeon2", + "version": "26.1.0", + "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -399,9 +399,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "25.3.2", - "libName": "CTRE_SimProPigeon2", + "artifactId": "simProCANrange", + "version": "26.1.0", + "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -415,9 +415,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "25.3.2", - "libName": "CTRE_SimProCANrange", + "artifactId": "simProCANdi", + "version": "26.1.0", + "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -431,9 +431,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "25.3.2", - "libName": "CTRE_SimProCANdi", + "artifactId": "simProCANdle", + "version": "26.1.0", + "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json index ac62be8..59be846 100644 --- a/vendordeps/REVLib.json +++ b/vendordeps/REVLib.json @@ -1,25 +1,55 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2025.0.3", - "frcYear": "2025", + "version": "2026.0.1", + "frcYear": "2026", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", "javaDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2025.0.3" + "version": "2026.0.1" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2025.0.3", + "version": "2026.0.1", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -53,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.1", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -66,6 +96,39 @@ "linuxarm32", "osxuniversal" ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.1", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.1", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } ] } \ No newline at end of file diff --git a/vendordeps/Studica-2025.0.1.json b/vendordeps/Studica-2025.0.1.json deleted file mode 100644 index 5010be0..0000000 --- a/vendordeps/Studica-2025.0.1.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2025.0.1.json", - "name": "Studica", - "version": "2025.0.1", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "frcYear": "2025", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2025/" - ], - "jsonUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.1.json", - "cppDependencies": [ - { - "artifactId": "Studica-cpp", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "Studica", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - }, - { - "artifactId": "Studica-driver", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "StudicaDriver", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - } - ], - "javaDependencies": [ - { - "artifactId": "Studica-java", - "groupId": "com.studica.frc", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "artifactId": "Studica-driver", - "groupId": "com.studica.frc", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "version": "2025.0.1" - } - ] -} \ No newline at end of file diff --git a/vendordeps/StudicaLib.json b/vendordeps/StudicaLib.json new file mode 100644 index 0000000..0fdd1d4 --- /dev/null +++ b/vendordeps/StudicaLib.json @@ -0,0 +1,78 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.1", + "frcYear": "2026", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1.json", + "conflictsWith": [ + { + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "errorMessage": "StudicaLib (newer devices) is not compatible with Studica (NavX, NavX2)", + "offlineFileName": "Studica.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.1", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json index 3718e0a..3d5ceca 100644 --- a/vendordeps/WPILibNewCommands.json +++ b/vendordeps/WPILibNewCommands.json @@ -3,7 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2025", + "frcYear": "2026", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ @@ -25,6 +25,7 @@ "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ + "linuxsystemcore", "linuxathena", "linuxarm32", "linuxarm64", @@ -35,4 +36,4 @@ ] } ] -} +} \ No newline at end of file diff --git a/vendordeps/libgrapplefrc2025.json b/vendordeps/libgrapplefrc2026.json similarity index 80% rename from vendordeps/libgrapplefrc2025.json rename to vendordeps/libgrapplefrc2026.json index a49af31..768ccfe 100644 --- a/vendordeps/libgrapplefrc2025.json +++ b/vendordeps/libgrapplefrc2026.json @@ -1,30 +1,27 @@ { - "fileName": "libgrapplefrc2025.json", + "fileName": "libgrapplefrc2026.json", "name": "libgrapplefrc", - "version": "2025.1.3", - "frcYear": "2025", + "version": "2026.0.0", + "frcYear": "2026", "uuid": "8ef3423d-9532-4665-8339-206dae1d7168", - "mavenUrls": [ - "https://storage.googleapis.com/grapple-frc-maven" - ], - "jsonUrl": "https://storage.googleapis.com/grapple-frc-maven/libgrapplefrc2025.json", + "mavenUrls": [ "https://storage.googleapis.com/grapple-frc-maven" ], + "jsonUrl": "https://storage.googleapis.com/grapple-frc-maven/libgrapplefrc2026.json", "javaDependencies": [ { "groupId": "au.grapplerobotics", "artifactId": "libgrapplefrcjava", - "version": "2025.1.3" + "version": "2026.0.0" } ], "jniDependencies": [ { "groupId": "au.grapplerobotics", "artifactId": "libgrapplefrcdriver", - "version": "2025.1.3", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ "windowsx86-64", - "windowsx86", "linuxarm64", "linuxx86-64", "linuxathena", @@ -37,14 +34,13 @@ { "groupId": "au.grapplerobotics", "artifactId": "libgrapplefrccpp", - "version": "2025.1.3", + "version": "2026.0.0", "libName": "grapplefrc", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", - "windowsx86", "linuxarm64", "linuxx86-64", "linuxathena", @@ -55,14 +51,13 @@ { "groupId": "au.grapplerobotics", "artifactId": "libgrapplefrcdriver", - "version": "2025.1.3", + "version": "2026.0.0", "libName": "grapplefrcdriver", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", - "windowsx86", "linuxarm64", "linuxx86-64", "linuxathena", diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json index 1219919..db230c7 100644 --- a/vendordeps/photonlib.json +++ b/vendordeps/photonlib.json @@ -1,71 +1,71 @@ { - "fileName": "photonlib.json", - "name": "photonlib", - "version": "v2025.2.1", - "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2025", - "mavenUrls": [ - "https://maven.photonvision.org/repository/internal", - "https://maven.photonvision.org/repository/snapshots" - ], - "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", - "jniDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.2.1", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-cpp", - "version": "v2025.2.1", - "libName": "photonlib", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.2.1", - "libName": "photontargeting", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "javaDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-java", - "version": "v2025.2.1" - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-java", - "version": "v2025.2.1" - } - ] + "fileName": "photonlib.json", + "name": "photonlib", + "version": "v2026.1.1-rc-3", + "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", + "frcYear": "2026", + "mavenUrls": [ + "https://maven.photonvision.org/repository/internal", + "https://maven.photonvision.org/repository/snapshots" + ], + "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", + "jniDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-cpp", + "version": "v2026.1.1-rc-3", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photonlib-cpp", + "version": "v2026.1.1-rc-3", + "libName": "photonlib", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-cpp", + "version": "v2026.1.1-rc-3", + "libName": "photontargeting", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "javaDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photonlib-java", + "version": "v2026.1.1-rc-3" + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-java", + "version": "v2026.1.1-rc-3" + } + ] } \ No newline at end of file -- 2.39.5